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Current view:top levelHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:148672329563.8 %
Date:2024-01-20 21:44:18Functions:2541427359.5 %
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/safety_zone +
0.0%
+ 		0.0 %0 / 80.0 %0 / 4
mrs_lib/src/geometry +
14.6%14.6%
+ 		14.6 %65 / 44514.9 %14 / 94
mrs_uav_state_estimators/src/estimators/heading +
19.1%19.1%
+ 		19.1 %89 / 46622.2 %12 / 54
mrs_uav_trajectory_generation/src/eth_trajectory_generation +
45.2%45.2%
+ 		45.2 %450 / 99629.5 %31 / 105
mrs_uav_trackers/src/speed_tracker +
14.8%14.8%
+ 		14.8 %61 / 41136.8 %7 / 19
mrs_uav_trackers/src/joy_tracker +
46.5%46.5%
+ 		46.5 %66 / 14238.9 %7 / 18
mrs_lib/include/mrs_lib/geometry +
71.0%71.0%
+ 		71.0 %66 / 9340.8 %49 / 120
mrs_lib/src/batch_visualizer +
47.1%47.1%
+ 		47.1 %192 / 40846.5 %20 / 43
mrs_lib/src/safety_zone/polygon +
40.8%40.8%
+ 		40.8 %42 / 10350.0 %4 / 8
mrs_lib/src/scope_timer +
14.1%14.1%
+ 		14.1 %20 / 14250.0 %5 / 10
mrs_uav_trackers/src/midair_activation_tracker +
72.8%72.8%
+ 		72.8 %67 / 9250.0 %9 / 18
mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors +
71.3%71.3%
+ 		71.3 %124 / 17450.0 %17 / 34
mrs_lib/include/mrs_lib/impl +
80.3%80.3%
+ 		80.3 %342 / 42655.1 %763 / 1386
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 +
77.5%77.5%
+ 		77.5 %748 / 96559.2 %781 / 1319
mrs_uav_trajectory_generation/include/eth_trajectory_generation/impl +
50.2%50.2%
+ 		50.2 %314 / 62559.4 %19 / 32
mrs_uav_managers/include/mrs_uav_managers +
100.0%
+ 		100.0 %12 / 1260.0 %6 / 10
mrs_uav_state_estimators/src/estimators/agl +
70.2%70.2%
+ 		70.2 %73 / 10460.0 %6 / 10
mrs_uav_trackers/src/line_tracker +
67.9%67.9%
+ 		67.9 %322 / 47463.3 %19 / 30
mrs_lib/src/transform_broadcaster +
53.3%53.3%
+ 		53.3 %16 / 3066.7 %2 / 3
mrs_uav_managers/src/control_manager/common +
40.9%40.9%
+ 		40.9 %230 / 56367.7 %21 / 31
mrs_uav_trackers/src/landoff_tracker +
72.1%72.1%
+ 		72.1 %427 / 59267.7 %21 / 31
mrs_uav_managers/src/control_manager +
60.7%60.7%
+ 		60.7 %2248 / 370469.7 %85 / 122
mrs_uav_managers/include/mrs_uav_managers/control_manager +
55.2%55.2%
+ 		55.2 %53 / 9670.4 %19 / 27
mrs_uav_trackers/src/mpc_tracker +
74.5%74.5%
+ 		74.5 %1232 / 165472.0 %36 / 50
mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators +
58.6%58.6%
+ 		58.6 %405 / 69172.5 %66 / 91
mrs_uav_state_estimators/src/estimators/altitude +
56.3%56.3%
+ 		56.3 %209 / 37173.3 %22 / 30
mrs_uav_managers/include/transform_manager +
52.5%52.5%
+ 		52.5 %209 / 39873.7 %14 / 19
mrs_uav_state_estimators/src/estimators/state +
70.7%70.7%
+ 		70.7 %311 / 44075.7 %28 / 37
mrs_uav_trajectory_generation/include/eth_trajectory_generation +
64.9%64.9%
+ 		64.9 %120 / 18576.9 %10 / 13
mrs_lib/src/transformer +
66.1%66.1%
+ 		66.1 %185 / 28076.9 %20 / 26
mrs_uav_managers/src +
66.8%66.8%
+ 		66.8 %1138 / 170479.5 %58 / 73
mrs_lib/src/timeout_manager +
79.0%79.0%
+ 		79.0 %49 / 6281.8 %9 / 11
mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/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 %9 / 983.3 %5 / 6
mrs_uav_state_estimators/src/estimators/lateral +
58.3%58.3%
+ 		58.3 %236 / 40583.3 %25 / 30
mrs_uav_managers/src/estimation_manager +
69.5%69.5%
+ 		69.5 %426 / 61385.1 %40 / 47
mrs_uav_controllers/src +
79.8%79.8%
+ 		79.8 %1734 / 217287.9 %58 / 66
mrs_lib/src/safety_zone +
63.3%63.3%
+ 		63.3 %31 / 4988.9 %8 / 9
mrs_lib/src/profiler +
38.6%38.6%
+ 		38.6 %39 / 10190.0 %9 / 10
mrs_uav_managers/src/transform_manager +
80.7%80.7%
+ 		80.7 %352 / 43692.3 %12 / 13
mrs_uav_controllers/include +
91.4%91.4%
+ 		91.4 %53 / 5892.9 %13 / 14
mrs_lib/src/median_filter +
89.1%89.1%
+ 		89.1 %82 / 9294.1 %16 / 17
mrs_uav_managers/include/mrs_uav_managers/estimation_manager +
97.2%97.2%
+ 		97.2 %106 / 10994.4 %17 / 18
mrs_lib/src/attitude_converter +
94.6%94.6%
+ 		94.6 %212 / 22495.1 %39 / 41
mrs_lib/src/math +
100.0%
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100.0%
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92.1%92.1%
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0.0%
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14.1%14.1%
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40.9%40.9%
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mrs_uav_trajectory_generation/src/eth_trajectory_generation +
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mrs_uav_trackers/src/joy_tracker +
46.5%46.5%
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mrs_lib/src/batch_visualizer +
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mrs_uav_state_estimators/src/estimators/altitude +
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mrs_uav_managers/src/estimation_manager/estimators +
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mrs_lib/src/safety_zone +
63.3%63.3%
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mrs_uav_trajectory_generation/include/eth_trajectory_generation +
64.9%64.9%
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mrs_lib/src/transformer +
66.1%66.1%
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mrs_uav_managers/src +
66.8%66.8%
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mrs_uav_trackers/src/line_tracker +
67.9%67.9%
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mrs_uav_managers/src/estimation_manager +
69.5%69.5%
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mrs_uav_trajectory_generation/src +
69.7%69.7%
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mrs_uav_state_estimators/src/estimators/agl +
70.2%70.2%
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mrs_uav_state_estimators/src/estimators/state +
70.7%70.7%
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71.0%71.0%
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79.0%79.0%
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mrs_lib/src/math +
100.0%
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100.0%
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47.1%47.1%
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mrs_lib/src/geometry +
14.6%14.6%
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mrs_lib/src/math +
100.0%
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mrs_lib/src/median_filter +
89.1%89.1%
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mrs_lib/src/param_loader +
85.5%85.5%
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mrs_lib/src/profiler +
38.6%38.6%
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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 +
92.1%92.1%
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mrs_lib/src/transform_broadcaster +
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mrs_lib/src/transformer +
66.1%66.1%
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mrs_lib/src/utils +
100.0%
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mrs_uav_autostart/src +
87.9%87.9%
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mrs_uav_controllers/include +
91.4%91.4%
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mrs_uav_controllers/src +
79.8%79.8%
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mrs_uav_managers/include/control_manager +
100.0%
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mrs_uav_managers/include/mrs_uav_managers +
100.0%
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mrs_uav_managers/include/mrs_uav_managers/control_manager +
55.2%55.2%
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mrs_uav_managers/include/mrs_uav_managers/estimation_manager +
97.2%97.2%
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mrs_uav_managers/include/transform_manager +
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mrs_uav_managers/src +
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mrs_uav_managers/src/control_manager +
60.7%60.7%
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mrs_uav_managers/src/control_manager/common +
40.9%40.9%
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mrs_uav_managers/src/estimation_manager +
69.5%69.5%
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mrs_uav_managers/src/estimation_manager/estimators +
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mrs_uav_managers/src/transform_manager +
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mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators +
58.6%58.6%
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100.0%
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mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude +
100.0%
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mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading +
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100.0%
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100.0%
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mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors +
71.3%71.3%
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mrs_uav_state_estimators/src/estimators/agl +
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mrs_uav_state_estimators/src/estimators/lateral +
58.3%58.3%
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mrs_uav_state_estimators/src/estimators/state +
70.7%70.7%
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72.1%72.1%
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mrs_uav_trackers/src/mpc_tracker +
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mrs_uav_trackers/src/speed_tracker +
14.8%14.8%
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mrs_uav_trajectory_generation/include/eth_mav_msgs +
100.0%
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mrs_uav_trajectory_generation/include/eth_trajectory_generation +
64.9%64.9%
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mrs_uav_trajectory_generation/include/eth_trajectory_generation/impl +
50.2%50.2%
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mrs_uav_trajectory_generation/src +
69.7%69.7%
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mrs_uav_trajectory_generation/src/eth_trajectory_generation +
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mrs_uav_trajectory_generation/src/eth_trajectory_generation/rpoly +
91.8%91.8%
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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_lib/include/mrs_lib - attitude_converter.h (source / functions)HitTotalCoverage
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Date:2024-01-20 21:44:18Functions:91275.0 %
Legend: Lines: + hit + not hit +
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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
mrs_lib::AttitudeConverter::EulerFormatException::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_Li0EEEIdEEv64376
mrs_lib::Vector3Converter::Vector3Converter(tf2::Vector3 const&)221230
mrs_lib::AttitudeConverter::AttitudeConverter<double>(Eigen::AngleAxis<double>)405192
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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:232979.3 %
Date:2024-01-20 21:44:18Functions:91275.0 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::Vector3Converter::Vector3Converter(tf2::Vector3 const&)221230
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>)405192
mrs_lib::AttitudeConverter::MathErrorException::what() const0
mrs_lib::AttitudeConverter::GetHeadingException::what() const1
mrs_lib::AttitudeConverter::SetHeadingException::what() const0
mrs_lib::AttitudeConverter::EulerFormatException::what() const0
mrs_lib::AttitudeConverter::InvalidAttitudeException::what() const2
_ZNK7mrs_lib17AttitudeConvertercvN5Eigen10QuaternionIT_Li0EEEIdEEv64376
_ZNK7mrs_lib17AttitudeConvertercvN5Eigen9AngleAxisIT_EEIdEEv1
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Generated by: LCOV version 1.14
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Current view:top level - mrs_lib/include/mrs_lib - attitude_converter.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:232979.3 %
Date:2024-01-20 21:44:18Functions:91275.0 %
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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      221230 :   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           0 :     const char* what() const throw() {
+     185           0 :       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     9842418 :   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      405192 :   AttitudeConverter(const Eigen::AngleAxis<T> angle_axis) {
+     254      404213 :     double       angle = angle_axis.angle();
+     255      403658 :     tf2::Vector3 axis(angle_axis.axis()[0], angle_axis.axis()[1], angle_axis.axis()[2]);
+     256             : 
+     257      404713 :     tf2_quaternion_.setRotation(axis, angle);
+     258      404474 :   }
+     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       64376 :   operator Eigen::Quaternion<T>() const {
+     334             : 
+     335       64376 :     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..708a493ebf15f10db204e2e60e12329b8d395a7e GIT binary patch literal 1660 zcmV-?27~#DP)R0{{R3v^8aD0000OP)t-s|NsB0 zs;a7|?_FK${{R500003000620&P%hU00009a7bBm000ie000ie0hKEb8vpRn< zn<Azo}&sJLrpMfT}Pk+x>i}3hiljFHK z=1Nx63Ge-A7s_wY#}A;7K_$0eSJB5@;!Ad26IP|lfkJ+RKBhZ9E4{puJ|+}x(auDu z?H?sLe)+F(^ZMR@@_I9l>Kx;4hh8wGCYr@qx`f!S-&ue#U?kaB6m>R9jXC>0F*Gmv zD*IONA90PfVxLS6+4!nwu!Ld0RkLv=feXAR39S|zysf41%n*9@N_kZ z0nd1UO$<-I#!3b_^57YmmqdHo<|TtiWL_+IhUdx1@EACb*78CE4@_bhji)^$-%Q+{ zNuUg>$wxKo%?xoHXPSEKVf8W-QZE|vH62!(l%U}139qC)9-R^UkAz0S(hA;flFD%}&FKWlTp zTlI*9*sfdfv{^AS=rtKFNA}6bn?}T5Su@q&;*{M zu{0DpZou!0}f;Q=#?<=C6FFLhk`p zp7zw0`xGAoZtpz_n1d@;iU~*Zp}2HlDV=>YrNrQMfm7$Q@noICIr}(qQNA7_2XK(p zr&p|CkRwAMUGn)h;$IVDy9R(y2q_%%_UF*!vH;JsDTyakz->A5X~Nrm*Hn1ss|50X zxSkjIgJ;a~51t`MUT)^9{~=JF{CIEjQ9GTC6E~GrgvY=6U*W-XeD~t4BuNHfWNey2 zdV*x<05e?5#Q4cdQJvB-65qlE+}R!Gg$)_-sRY*nTnzUqR#+xs^4O4z%Ly$R@JKM9 z5Cbd110it=1;_6W9GNy_pd3|MfH0VnuXDxUaik6=21zg`TQ9p=gAv3v$WfwZ;V1lx z6GUE0#TDb|rj@G)ZMNg8f5IQ#&>kh0eqeD(T5M_+Sw$Rgc}Bxtlj(*NS9C!ONE5$u z@4k+7+!Kse)q8q9w?-|l1J5=s;VGx>wf&&fy<>{J{80000 + + + + + + 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:2024-01-20 21:44:18Functions: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&)69
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::print_changed_params(mrs_uav_state_estimators::LateralEstimatorConfig const&)69
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::dynamic_reconfigure_callback(mrs_uav_state_estimators::LateralEstimatorConfig&, unsigned int)69
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&)69
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::load_defaults(mrs_uav_state_estimators::AltitudeEstimatorConfig&)124
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::print_changed_params(mrs_uav_state_estimators::AltitudeEstimatorConfig const&)124
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::dynamic_reconfigure_callback(mrs_uav_state_estimators::AltitudeEstimatorConfig&, unsigned int)124
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&)124
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::update_config(mrs_uav_state_estimators::LateralEstimatorConfig const&)138
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&)207
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&)207
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::try_cast<double>(boost::any&, double*&)207
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::try_cast<int>(boost::any&, int*&)207
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::update_config(mrs_uav_state_estimators::AltitudeEstimatorConfig const&)248
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&)259
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&)259
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::load_defaults(mrs_uav_state_estimators::CorrectionConfig&)259
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::print_changed_params(mrs_uav_state_estimators::CorrectionConfig const&)259
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::dynamic_reconfigure_callback(mrs_uav_state_estimators::CorrectionConfig&, unsigned int)259
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::try_cast<double>(boost::any&, double*&)259
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::try_cast<int>(boost::any&, int*&)259
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::DynamicReconfigureMgr(ros::NodeHandle const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)259
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&)259
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&)372
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&)372
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::try_cast<double>(boost::any&, double*&)372
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::try_cast<int>(boost::any&, int*&)372
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::update_config(mrs_uav_state_estimators::CorrectionConfig const&)518
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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..bb55e9f446 --- /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:2024-01-20 21:44:18Functions:288532.9 %
Legend: Lines: + hit + not hit +
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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&)259
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&)259
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&)259
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::update_config(mrs_uav_state_estimators::CorrectionConfig const&)518
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::print_changed_params(mrs_uav_state_estimators::CorrectionConfig const&)259
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::dynamic_reconfigure_callback(mrs_uav_state_estimators::CorrectionConfig&, unsigned int)259
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*&)259
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::try_cast<int>(boost::any&, int*&)259
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::DynamicReconfigureMgr(ros::NodeHandle const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)259
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&)259
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&)207
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&)207
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&)69
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::update_config(mrs_uav_state_estimators::LateralEstimatorConfig const&)138
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::print_changed_params(mrs_uav_state_estimators::LateralEstimatorConfig const&)69
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::dynamic_reconfigure_callback(mrs_uav_state_estimators::LateralEstimatorConfig&, unsigned int)69
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*&)207
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::try_cast<int>(boost::any&, int*&)207
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&)69
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&)372
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&)372
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&)124
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::update_config(mrs_uav_state_estimators::AltitudeEstimatorConfig const&)248
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::print_changed_params(mrs_uav_state_estimators::AltitudeEstimatorConfig const&)124
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::dynamic_reconfigure_callback(mrs_uav_state_estimators::AltitudeEstimatorConfig&, unsigned int)124
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*&)372
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::try_cast<int>(boost::any&, int*&)372
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&)124
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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:2024-01-20 21:44:18Functions:288532.9 %
Legend: Lines: + hit + not hit +
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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         452 :   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         452 :         m_server(m_server_mtx, nh),
+      54             :         m_usr_cbf(user_callback),
+      55         452 :         m_pl(nh, print_values, node_name)
+      56             :   {
+      57             :     // initialize the dynamic reconfigure callback
+      58         452 :     m_server.setCallback(boost::bind(&DynamicReconfigureMgr<ConfigType>::dynamic_reconfigure_callback, this, _1, _2));
+      59         452 :   };
+      60             : 
+      61             :   /* Constructor overloads //{ */
+      62             :   // Convenience constructor to enable writing DynamicReconfigureMgr<MyConfig> drmgr(nh, node_name)
+      63         259 :   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         904 :   void update_config(const ConfigType& cfg)
+      72             :   {
+      73         904 :     m_server.updateConfig(cfg);
+      74         904 :   }
+      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         452 :   void dynamic_reconfigure_callback(ConfigType& new_config, uint32_t level)
+     107             :   {
+     108         452 :     if (m_print_values)
+     109             :     {
+     110         452 :       if (m_node_name.empty())
+     111           0 :         ROS_INFO("Dynamic reconfigure request received");
+     112             :       else
+     113         452 :         ROS_INFO("[%s]: Dynamic reconfigure request received", m_node_name.c_str());
+     114             :     }
+     115             : 
+     116         452 :     if (m_not_initialized)
+     117             :     {
+     118         452 :       load_defaults(new_config);
+     119         452 :       update_config(new_config);
+     120             :     }
+     121         452 :     if (m_print_values)
+     122             :     {
+     123         452 :       print_changed_params(new_config);
+     124             :     }
+     125         452 :     m_not_initialized = false;
+     126         452 :     config = new_config;
+     127         452 :     if (m_usr_cbf)
+     128         193 :       m_usr_cbf(new_config, level);
+     129         452 :   }
+     130             : 
+     131             :   template <typename T>
+     132         838 :   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        1676 :     boost::shared_ptr<const param_descr_t> cast_descr = boost::dynamic_pointer_cast<const param_descr_t>(descr);
+     136         838 :     m_pl.loadParam(name, config.*(cast_descr->field));
+     137         838 :   }
+     138             :   
+     139         452 :   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         904 :     std::vector<typename ConfigType::AbstractParamDescriptionConstPtr> descrs = new_config.__getParamDescriptions__();
+     143        1290 :     for (auto& descr : descrs)
+     144             :     {
+     145        1676 :       std::string name = descr->name;
+     146         838 :       size_t pos = name.find("__");
+     147         838 :       while (pos != name.npos)
+     148             :       {
+     149           0 :         name.replace(pos, 2, "/");
+     150           0 :         pos = name.find("__");
+     151             :       }
+     152             : 
+     153         838 :       if (descr->type == "bool")
+     154           0 :         load_param<bool>(name, descr, new_config);
+     155         838 :       else if (descr->type == "int")
+     156           0 :         load_param<int>(name, descr, new_config);
+     157         838 :       else if (descr->type == "double")
+     158         838 :         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         452 :   }
+     168             : 
+     169             :   // method for printing names and values of new received parameters (prints only the changed ones) //{
+     170         452 :   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         904 :     std::vector<typename ConfigType::AbstractParamDescriptionConstPtr> descrs = new_config.__getParamDescriptions__();
+     174        1290 :     for (auto& descr : descrs)
+     175             :     {
+     176           0 :       boost::any val, old_val;
+     177         838 :       descr->getValue(new_config, val);
+     178         838 :       descr->getValue(config, old_val);
+     179         838 :       std::string name = descr->name;
+     180         838 :       const size_t pos = name.find("__");
+     181         838 :       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         838 :       if (try_cast(val, intval))
+     199             :       {
+     200           0 :         if (m_not_initialized || !try_compare(old_val, intval))
+     201           0 :           print_value(name, *intval);
+     202         838 :       } else if (try_cast(val, doubleval))
+     203             :       {
+     204         838 :         if (m_not_initialized || !try_compare(old_val, doubleval))
+     205         838 :           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         452 :   }
+     220             :   //}
+     221             :   
+     222             :   // helper method for parameter printing
+     223             :   template <typename T>
+     224         838 :   inline void print_value(const std::string& name, const T& val)
+     225             :   {
+     226         838 :     if (m_node_name.empty())
+     227           0 :       std::cout << "\t" << name << ":\t" << val << std::endl;
+     228             :     else
+     229         838 :       ROS_INFO_STREAM("[" << m_node_name << "]: parameter '" << name << "':\t" << val);
+     230         838 :   }
+     231             :   // helper methods for automatic parameter value parsing
+     232             :   template <typename T>
+     233        1676 :   inline bool try_cast(boost::any& val, T*& out)
+     234             :   {
+     235        1676 :     return (out = boost::any_cast<T>(&val));
+     236             :   }
+     237             :   template <typename T>
+     238           0 :   inline bool try_compare(boost::any& val, T*& to_what)
+     239             :   {
+     240             :     T* tmp;
+     241           0 :     if ((tmp = boost::any_cast<T>(&val)))
+     242             :     {
+     243             :       /* std::cout << std::endl << *tmp << " vs " << *to_what << std::endl; */
+     244           0 :       return *tmp == *to_what;
+     245             :     } else
+     246             :     {  // the value should not change during runtime - this should never happen (but its better to be safe than sorry)
+     247           0 :       if (m_node_name.empty())
+     248           0 :         ROS_WARN("DynamicReconfigure value type has changed - this should not happen!");
+     249             :       else
+     250           0 :         ROS_WARN_STREAM("[" << m_node_name << "]: DynamicReconfigure value type has changed - this should not happen!");
+     251           0 :       return false;
+     252             :     }
+     253             :   }
+     254             : };
+     255             : //}
+     256             : 
+     257             : }
+     258             : 
+     259             : #endif // DYNAMIC_RECONFIGURE_MGR_H
+
+
+
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Current view:top level - mrs_lib/include/mrs_lib/geometry - cyclic.h (source / functions)HitTotalCoverage
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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>::interpUnwrapped(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(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>::interp(double, double, 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(double, double, double)629
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::sradians>::dist(double, double)10000
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::unwrap(double, double)10001
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::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>)10008
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::radians>::dist(double, double)10870
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>)267268
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::diff(double, double)366164
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)479520
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::interpUnwrapped(double, double, double)479520
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::interp(double, double, double)479520
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::cyclic(mrs_lib::geometry::radians const&)513831
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::cyclic(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&)554103
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>)643418
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::cyclic(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&)979064
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::cyclic(double)1316542
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::wrap(double)1341635
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::unwrap(double, double)2187280
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::diff(double, double)2199602
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>)2688391
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::cyclic(double)5476779
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::wrap(double)6055289
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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:2024-01-20 21:44:18Functions:4611739.3 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::interpUnwrapped(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::interpUnwrapped(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::pinterpUnwrapped(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::pinterpUnwrapped(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::diff(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>)10000
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::diff(double, double)10000
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::dist(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::dist(double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::wrap(double)30005
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::pdist(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::pdist(double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::interp(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::interp(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::unwrap(double, double)10000
mrs_lib::geometry::radians mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::convert<mrs_lib::geometry::radians>(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees> const&)1
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::inRange(double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::pinterp(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::pinterp(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::cyclic(mrs_lib::geometry::degrees const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::cyclic(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::cyclic(double)20005
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::cyclic()0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::operator=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>&&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::operator=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::operator=(double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::operator-=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::operator+=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::interpUnwrapped(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::interpUnwrapped(double, double, double)629
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>)643418
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::diff(double, double)366164
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>)267268
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::dist(double, double)10870
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::wrap(double)1341635
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)0
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&)513831
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::cyclic(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&)554103
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::cyclic(double)1316542
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)479520
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::interpUnwrapped(double, double, double)479520
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>)2688391
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::diff(double, double)2199602
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>)10008
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::dist(double, double)10000
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::wrap(double)6055289
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)479520
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::unwrap(double, double)2187280
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&)979064
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::cyclic(double)5476779
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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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:2024-01-20 21:44:18Functions:4611739.3 %
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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     6837802 :       cyclic(const flt val) : val(wrap(val)){};
+      62             :       /*!
+      63             :        * \brief Copy constructor.
+      64             :        *
+      65             :        * \param val initialization value.
+      66             :        */
+      67     1534666 :       cyclic(const cyclic& other) : val(other.val){};
+      68             :       /*!
+      69             :        * \brief Copy constructor.
+      70             :        *
+      71             :        * \param val initialization value.
+      72             :        */
+      73      513831 :       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     7456929 :       static flt wrap(const flt val)
+     115             :       {
+     116             :         // these few ifs should cover most cases, improving speed and precision
+     117     7456929 :         if (val >= minimum)
+     118             :         {
+     119     6896097 :           if (val < supremum)  // value is actually in range and doesn't need to be wrapped
+     120     6660319 :             return val;
+     121      231006 :           else if (val < supremum + range)
+     122       68339 :             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      560916 :           if (val >= minimum - range)
+     126      396937 :             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      326663 :         const flt rem = std::fmod(val - minimum, range);
+     131      326663 :         const flt wrapped = rem + minimum + std::signbit(rem) * range;
+     132      326487 :         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     2217750 :       static flt unwrap(const flt what, const flt from)
+     158             :       {
+     159     2217750 :         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     2585766 :       static flt diff(const flt minuend, const flt subtrahend)
+     194             :       {
+     195     2585766 :         return diff(cyclic(minuend), cyclic(subtrahend));
+     196             :       }
+     197             : 
+     198     3354047 :       static flt diff(const cyclic minuend, const cyclic subtrahend)
+     199             :       {
+     200     3354047 :         const flt d = minuend.val - subtrahend.val;
+     201     3353418 :         if (d < -half_range)
+     202       25850 :           return d + range;
+     203     3328197 :         if (d >= half_range)
+     204       19398 :           return d - range;
+     205     3306673 :         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       20870 :       static flt dist(const flt from, const flt to)
+     220             :       {
+     221       20870 :         return dist(cyclic(from), cyclic(to));
+     222             :       }
+     223             : 
+     224      278146 :       static flt dist(const cyclic from, const cyclic to)
+     225             :       {
+     226      278146 :         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      480149 :       static flt interpUnwrapped(const flt from, const flt to, const flt coeff)
+     243             :       {
+     244      480149 :         return interpUnwrapped(cyclic(from), cyclic(to), coeff);
+     245             :       }
+     246             : 
+     247      480149 :       static flt interpUnwrapped(const cyclic from, const cyclic to, const flt coeff)
+     248             :       {
+     249      480149 :         const flt dang = diff(to, from);
+     250      480149 :         const flt intp = from.val + coeff * dang;
+     251      479520 :         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      480149 :       static flt interp(const flt from, const flt to, const flt coeff)
+     265             :       {
+     266      480149 :         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&)69398
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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&)69398
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       69404 :     double headingFromRot(const T& rot)
+      58             :     {
+      59       69404 :       const vec3_t rot_vec = rot*vec3_t::UnitX();
+      60      138807 :       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&)1260
mrs_lib::UTM(double, double, double*, double*)8294
mrs_lib::UTMLetterDesignator(double)124019
mrs_lib::LLtoUTM(double, double, double&, double&, char*)124092
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::UTMLetterDesignator(double)124019
mrs_lib::UTM(double, double, double*, double*)8294
mrs_lib::LLtoUTM(double, double, double&, double&, char*)124092
mrs_lib::UTMtoLL(double, double, char const*, double&, double&)1260
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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        8294 :   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        8294 :     int cm = ((lon >= 0.0) ? ((int)lon - ((int)lon) % 6 + 3) : ((int)lon - ((int)lon) % 6 - 3));
+      63             : 
+      64             :     // convert degrees into radians
+      65        8294 :     double rlat  = lat * RADIANS_PER_DEGREE;
+      66        8294 :     double rlon  = lon * RADIANS_PER_DEGREE;
+      67        8294 :     double rlon0 = cm * RADIANS_PER_DEGREE;
+      68             : 
+      69             :     // compute trigonometric functions
+      70        8294 :     double slat = sin(rlat);
+      71        8294 :     double clat = cos(rlat);
+      72        8294 :     double tlat = tan(rlat);
+      73             : 
+      74             :     // decide the false northing at origin
+      75        8294 :     double fn = (lat > 0) ? UTM_FN_N : UTM_FN_S;
+      76             : 
+      77        8294 :     double T = tlat * tlat;
+      78        8294 :     double C = UTM_EP2 * clat * clat;
+      79        8294 :     double A = (rlon - rlon0) * clat;
+      80        8294 :     double M = WGS84_A * (m0 * rlat + m1 * sin(2 * rlat) + m2 * sin(4 * rlat) + m3 * sin(6 * rlat));
+      81        8294 :     double V = WGS84_A / sqrt(1 - UTM_E2 * slat * slat);
+      82             : 
+      83             :     // compute the easting-northing coordinates
+      84        8294 :     *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        8242 :     *y = fn +
+      86        8242 :          UTM_K0 *
+      87        8267 :              (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        8242 :     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      124019 :   static inline char UTMLetterDesignator(double Lat) {
+     102             :     char LetterDesignator;
+     103             : 
+     104      124019 :     if ((84 >= Lat) && (Lat >= 72))
+     105           0 :       LetterDesignator = 'X';
+     106      124019 :     else if ((72 > Lat) && (Lat >= 64))
+     107           0 :       LetterDesignator = 'W';
+     108      124019 :     else if ((64 > Lat) && (Lat >= 56))
+     109           0 :       LetterDesignator = 'V';
+     110      124019 :     else if ((56 > Lat) && (Lat >= 48))
+     111           0 :       LetterDesignator = 'U';
+     112      124019 :     else if ((48 > Lat) && (Lat >= 40))
+     113      123469 :       LetterDesignator = 'T';
+     114         550 :     else if ((40 > Lat) && (Lat >= 32))
+     115           0 :       LetterDesignator = 'S';
+     116         550 :     else if ((32 > Lat) && (Lat >= 24))
+     117           0 :       LetterDesignator = 'R';
+     118         550 :     else if ((24 > Lat) && (Lat >= 16))
+     119           0 :       LetterDesignator = 'Q';
+     120         550 :     else if ((16 > Lat) && (Lat >= 8))
+     121           0 :       LetterDesignator = 'P';
+     122         550 :     else if ((8 > Lat) && (Lat >= 0))
+     123           2 :       LetterDesignator = 'N';
+     124         548 :     else if ((0 > Lat) && (Lat >= -8))
+     125           0 :       LetterDesignator = 'M';
+     126         548 :     else if ((-8 > Lat) && (Lat >= -16))
+     127           0 :       LetterDesignator = 'L';
+     128         548 :     else if ((-16 > Lat) && (Lat >= -24))
+     129           0 :       LetterDesignator = 'K';
+     130         548 :     else if ((-24 > Lat) && (Lat >= -32))
+     131           0 :       LetterDesignator = 'J';
+     132         548 :     else if ((-32 > Lat) && (Lat >= -40))
+     133           0 :       LetterDesignator = 'H';
+     134         548 :     else if ((-40 > Lat) && (Lat >= -48))
+     135           0 :       LetterDesignator = 'G';
+     136         548 :     else if ((-48 > Lat) && (Lat >= -56))
+     137           0 :       LetterDesignator = 'F';
+     138         548 :     else if ((-56 > Lat) && (Lat >= -64))
+     139           0 :       LetterDesignator = 'E';
+     140         548 :     else if ((-64 > Lat) && (Lat >= -72))
+     141           0 :       LetterDesignator = 'D';
+     142         548 :     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         548 :       LetterDesignator = 'Z';
+     147      124019 :     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      124092 :   static inline void LLtoUTM(const double Lat, const double Long, double& UTMNorthing, double& UTMEasting, char* UTMZone) {
+     160      124092 :     double a          = WGS84_A;
+     161      124092 :     double eccSquared = UTM_E2;
+     162      124092 :     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      124092 :     double LongTemp = (Long + 180) - int((Long + 180) / 360) * 360 - 180;
+     170             : 
+     171      124092 :     double LatRad  = Lat * RADIANS_PER_DEGREE;
+     172      124092 :     double LongRad = LongTemp * RADIANS_PER_DEGREE;
+     173             :     double LongOriginRad;
+     174             :     int    ZoneNumber;
+     175             : 
+     176      124092 :     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      124092 :     if (ZoneNumber > 99)
+     180           0 :       ZoneNumber = 99;
+     181      124092 :     if (ZoneNumber < -9)
+     182           0 :       ZoneNumber = -9;
+     183             : 
+     184      124092 :     if (Lat >= 56.0 && Lat < 64.0 && LongTemp >= 3.0 && LongTemp < 12.0)
+     185           0 :       ZoneNumber = 32;
+     186             : 
+     187             :     // Special zones for Svalbard
+     188      124092 :     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      124092 :     LongOrigin    = (ZoneNumber - 1) * 6 - 180 + 3;
+     200      124092 :     LongOriginRad = LongOrigin * RADIANS_PER_DEGREE;
+     201             : 
+     202             :     // compute the UTM Zone from the latitude and longitude
+     203      124092 :     snprintf(UTMZone, 4, "%d%c", ZoneNumber, UTMLetterDesignator(Lat));
+     204             : 
+     205      123715 :     eccPrimeSquared = (eccSquared) / (1 - eccSquared);
+     206             : 
+     207      123715 :     N = a / sqrt(1 - eccSquared * sin(LatRad) * sin(LatRad));
+     208      123715 :     T = tan(LatRad) * tan(LatRad);
+     209      123715 :     C = eccPrimeSquared * cos(LatRad) * cos(LatRad);
+     210      123715 :     A = cos(LatRad) * (LongRad - LongOriginRad);
+     211             : 
+     212      123715 :     M = a * ((1 - eccSquared / 4 - 3 * eccSquared * eccSquared / 64 - 5 * eccSquared * eccSquared * eccSquared / 256) * LatRad -
+     213      123715 :              (3 * eccSquared / 8 + 3 * eccSquared * eccSquared / 32 + 45 * eccSquared * eccSquared * eccSquared / 1024) * sin(2 * LatRad) +
+     214      123715 :              (15 * eccSquared * eccSquared / 256 + 45 * eccSquared * eccSquared * eccSquared / 1024) * sin(4 * LatRad) -
+     215      123715 :              (35 * eccSquared * eccSquared * eccSquared / 3072) * sin(6 * LatRad));
+     216             : 
+     217      123715 :     UTMEasting =
+     218      123715 :         (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      123715 :     UTMNorthing = (double)(k0 * (M + N * tan(LatRad) *
+     221      123715 :                                          (A * A / 2 + (5 - T + 9 * C + 4 * C * C) * A * A * A * A / 24 +
+     222      123715 :                                           (61 - 58 * T + T * T + 600 * C - 330 * eccPrimeSquared) * A * A * A * A * A * A / 720)));
+     223      123715 :     if (Lat < 0)
+     224           0 :       UTMNorthing += 10000000.0;  // 10000000 meter offset for southern hemisphere
+     225      123715 :   }
+     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        1260 :   static inline void UTMtoLL(const double UTMNorthing, const double UTMEasting, const char* UTMZone, double& Lat, double& Long) {
+     246        1260 :     double                  k0         = UTM_K0;
+     247        1260 :     double                  a          = WGS84_A;
+     248        1260 :     double                  eccSquared = UTM_E2;
+     249             :     double                  eccPrimeSquared;
+     250        1260 :     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        1260 :     x = UTMEasting - 500000.0;  // remove 500,000 meter offset for longitude
+     261        1260 :     y = UTMNorthing;
+     262             : 
+     263        1260 :     ZoneNumber = strtoul(UTMZone, &ZoneLetter, 10);
+     264        1260 :     if ((*ZoneLetter - 'N') >= 0)
+     265        1260 :       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        1260 :     LongOrigin = (ZoneNumber - 1) * 6 - 180 + 3;  //+3 puts origin in middle of zone
+     272             : 
+     273        1260 :     eccPrimeSquared = (eccSquared) / (1 - eccSquared);
+     274             : 
+     275        1260 :     M  = y / k0;
+     276        1260 :     mu = M / (a * (1 - eccSquared / 4 - 3 * eccSquared * eccSquared / 64 - 5 * eccSquared * eccSquared * eccSquared / 256));
+     277             : 
+     278        1260 :     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        1260 :               (151 * e1 * e1 * e1 / 96) * sin(6 * mu);
+     280        1260 :     phi1 = phi1Rad * DEGREES_PER_RADIAN;
+     281             : 
+     282        1260 :     N1 = a / sqrt(1 - eccSquared * sin(phi1Rad) * sin(phi1Rad));
+     283        1260 :     T1 = tan(phi1Rad) * tan(phi1Rad);
+     284        1260 :     C1 = eccPrimeSquared * cos(phi1Rad) * cos(phi1Rad);
+     285        1260 :     R1 = a * (1 - eccSquared) / pow(1 - eccSquared * sin(phi1Rad) * sin(phi1Rad), 1.5);
+     286        1260 :     D  = x / (N1 * k0);
+     287             : 
+     288        1260 :     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        1260 :                                                 (61 + 90 * T1 + 298 * C1 + 45 * T1 * T1 - 252 * eccPrimeSquared - 3 * C1 * C1) * D * D * D * D * D * D / 720);
+     290        1260 :     Lat = Lat * DEGREES_PER_RADIAN;
+     291             : 
+     292        1260 :     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        1260 :            cos(phi1Rad);
+     294        1260 :     Long = LongOrigin + Long * DEGREES_PER_RADIAN;
+     295        1260 :   }
+     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
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ Top

+ Overview +
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LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib/implHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:34242680.3 %
Date:2024-01-20 21:44:18Functions:763138655.1 %
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
subscribe_handler.hpp +
75.8%75.8%
+ 		75.8 %91 / 12043.8 %469 / 1071
<unnamed>75.8 %91 / 12043.8 %469 / 1071
ukf.hpp +
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+ 		74.0 %77 / 10466.7 %8 / 12
<unnamed>74.0 %77 / 10466.7 %8 / 12
transformer.hpp +
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<unnamed>85.9 %55 / 6483.3 %40 / 48
param_provider.hpp +
64.3%64.3%
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<unnamed>64.3 %9 / 1487.5 %14 / 16
publisher_handler.hpp +
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+ 		84.6 %44 / 5296.5 %192 / 199
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timer.hpp +
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<unnamed>87.5 %14 / 16100.0 %3 / 3
service_client_handler.hpp +
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+ 		92.9 %52 / 56100.0 %37 / 37
<unnamed>92.9 %52 / 56100.0 %37 / 37
+
+
+ + + + +
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LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib/implHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:34242680.3 %
Date:2024-01-20 21:44:18Functions:763138655.1 %
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
param_provider.hpp +
64.3%64.3%
+ 		64.3 %9 / 1487.5 %14 / 16
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ukf.hpp +
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subscribe_handler.hpp +
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transformer.hpp +
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timer.hpp +
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+ + + diff --git a/mrs_lib/include/mrs_lib/impl/index-detail.html b/mrs_lib/include/mrs_lib/impl/index-detail.html new file mode 100644 index 0000000000..d891ed275c --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/index-detail.html @@ -0,0 +1,218 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib/implHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:34242680.3 %
Date:2024-01-20 21:44:18Functions:763138655.1 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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param_provider.hpp +
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publisher_handler.hpp +
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ukf.hpp +
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LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib/implHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:34242680.3 %
Date:2024-01-20 21:44:18Functions:763138655.1 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
subscribe_handler.hpp +
75.8%75.8%
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ukf.hpp +
74.0%74.0%
+ 		74.0 %77 / 10466.7 %8 / 12
transformer.hpp +
85.9%85.9%
+ 		85.9 %55 / 6483.3 %40 / 48
param_provider.hpp +
64.3%64.3%
+ 		64.3 %9 / 1487.5 %14 / 16
publisher_handler.hpp +
84.6%84.6%
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timer.hpp +
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+ 		87.5 %14 / 16100.0 %3 / 3
service_client_handler.hpp +
92.9%92.9%
+ 		92.9 %52 / 56100.0 %37 / 37
+
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/include/mrs_lib/impl/index-sort-l.html b/mrs_lib/include/mrs_lib/impl/index-sort-l.html new file mode 100644 index 0000000000..9eba50e62f --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/index-sort-l.html @@ -0,0 +1,162 @@ + + + + + + + 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:34242680.3 %
Date:2024-01-20 21:44:18Functions:763138655.1 %
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 / 1487.5 %14 / 16
ukf.hpp +
74.0%74.0%
+ 		74.0 %77 / 10466.7 %8 / 12
subscribe_handler.hpp +
75.8%75.8%
+ 		75.8 %91 / 12043.8 %469 / 1071
publisher_handler.hpp +
84.6%84.6%
+ 		84.6 %44 / 5296.5 %192 / 199
transformer.hpp +
85.9%85.9%
+ 		85.9 %55 / 6483.3 %40 / 48
timer.hpp +
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+ 		87.5 %14 / 16100.0 %3 / 3
service_client_handler.hpp +
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+ 		92.9 %52 / 56100.0 %37 / 37
+
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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..5dee6d7efc --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/index.html @@ -0,0 +1,162 @@ + + + + + + + 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:34242680.3 %
Date:2024-01-20 21:44:18Functions:763138655.1 %
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 / 1487.5 %14 / 16
publisher_handler.hpp +
84.6%84.6%
+ 		84.6 %44 / 5296.5 %192 / 199
service_client_handler.hpp +
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+ 		92.9 %52 / 56100.0 %37 / 37
subscribe_handler.hpp +
75.8%75.8%
+ 		75.8 %91 / 12043.8 %469 / 1071
timer.hpp +
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+ 		87.5 %14 / 16100.0 %3 / 3
transformer.hpp +
85.9%85.9%
+ 		85.9 %55 / 6483.3 %40 / 48
ukf.hpp +
74.0%74.0%
+ 		74.0 %77 / 10466.7 %8 / 12
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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..14bd23d76d --- /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:2024-01-20 21:44:18Functions:141687.5 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
bool mrs_lib::ParamProvider::getParamImpl<std::vector<float, std::allocator<float> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<float, std::allocator<float> >&) const0
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> >&) const0
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> >&) const1
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> >&) const1
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> >&) const1164
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> >&) const1164
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> > > >&) const2298
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> > > >&) const2298
bool mrs_lib::ParamProvider::getParamImpl<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int&) const3639
bool mrs_lib::ParamProvider::getParam<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int&) const3639
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> >&) const10840
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> >&) const10840
bool mrs_lib::ParamProvider::getParamImpl<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool&) const13027
bool mrs_lib::ParamProvider::getParam<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool&) const13027
bool mrs_lib::ParamProvider::getParamImpl<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double&) const26746
bool mrs_lib::ParamProvider::getParam<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double&) const26746
+
+
+ + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/include/mrs_lib/impl/param_provider.hpp.func.html b/mrs_lib/include/mrs_lib/impl/param_provider.hpp.func.html new file mode 100644 index 0000000000..347a792485 --- /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:2024-01-20 21:44:18Functions:141687.5 %
Legend: Lines: + hit + not hit +
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+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
bool mrs_lib::ParamProvider::getParamImpl<std::__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> >&) const10840
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> > > >&) const2298
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> >&) const1164
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> >&) const0
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> >&) const1
bool mrs_lib::ParamProvider::getParamImpl<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool&) const13027
bool mrs_lib::ParamProvider::getParamImpl<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double&) const26746
bool mrs_lib::ParamProvider::getParamImpl<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int&) const3639
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> >&) const10840
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> > > >&) const2298
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> >&) const1164
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> >&) const0
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> >&) const1
bool mrs_lib::ParamProvider::getParam<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool&) const13027
bool mrs_lib::ParamProvider::getParam<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double&) const26746
bool mrs_lib::ParamProvider::getParam<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int&) const3639
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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..0fa0a9e16c --- /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:2024-01-20 21:44:18Functions:141687.5 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
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+       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       57715 :   bool ParamProvider::getParam(const std::string& param_name, T& value_out) const
+      10             :   {
+      11             :     try
+      12             :     {
+      13       57715 :       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       57715 :   bool ParamProvider::getParamImpl(const std::string& param_name, T& value_out) const
+      24             :   {
+      25             :     {
+      26       57715 :       const auto found_node = findYamlNode(param_name);
+      27       57715 :       if (found_node.has_value())
+      28             :       {
+      29             :         try
+      30             :         {
+      31             :           // try catch is the only type-generic option...
+      32       49714 :           value_out = found_node.value().as<T>();
+      33       49714 :           return true;
+      34             :         }
+      35           0 :         catch (const YAML::BadConversion& e)
+      36             :         {}
+      37             :       }
+      38             : 
+      39             :     }
+      40             : 
+      41        8001 :     if (m_use_rosparam)
+      42        8001 :       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 + + +
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+ + 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:445284.6 %
Date:2024-01-20 21:44:18Functions:19219996.5 %
Legend: Lines: + hit + not hit +
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+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_lib::PublisherHandler<mrs_msgs::BumperStatus_<std::allocator<void> > >::publish(mrs_msgs::BumperStatus_<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<mrs_msgs::BumperStatus_<std::allocator<void> > >::publish(mrs_msgs::BumperStatus_<std::allocator<void> > const&)0
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::EstimatorDiagnostics_<std::allocator<void> > const&)0
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorDiagnostics_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)0
mrs_lib::PublisherHandler_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<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<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<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&)19
mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > > const&)19
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&)19
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&)65
mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > > const&)65
mrs_lib::PublisherHandler<mrs_msgs::BumperStatus_<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&)65
mrs_lib::PublisherHandler<mrs_msgs::BumperStatus_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::BumperStatus_<std::allocator<void> > > const&)65
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&)65
mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > > const&)65
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&)65
mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > > const&)65
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&)65
mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)65
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&)65
mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > > const&)65
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&)65
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&)65
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&)65
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&)65
mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > > const&)65
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&)65
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&)65
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&)65
mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > > const&)65
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&)65
mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > > const&)65
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&)65
mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > > const&)65
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&)65
mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > > const&)65
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&)65
mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > > const&)65
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&)65
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&)65
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&)65
mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > > const&)65
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&)65
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&)65
mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > > const&)65
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&)65
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&)65
mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > > const&)65
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&)65
mrs_lib::PublisherHandler<std_msgs::String_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<std_msgs::String_<std::allocator<void> > > const&)65
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&)65
mrs_lib::PublisherHandler_impl<mrs_msgs::BumperStatus_<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&)65
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&)65
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&)65
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&)65
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&)65
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&)65
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&)65
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&)65
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&)65
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&)65
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&)65
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&)65
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&)65
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&)65
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&)65
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&)65
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&)65
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&)65
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&)65
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&)65
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&)65
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&)65
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&)65
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&)65
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&)66
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&)66
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&)69
mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > > const&)69
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&)69
mrs_lib::PublisherHandler<std_msgs::Int64_<std::allocator<void> > >::publish(std_msgs::Int64_<std::allocator<void> > const&)110
mrs_lib::PublisherHandler_impl<std_msgs::Int64_<std::allocator<void> > >::publish(std_msgs::Int64_<std::allocator<void> > const&)110
mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > > const&)130
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > > const&)130
mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > > const&)130
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > > const&)130
mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > > const&)130
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > > const&)130
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > > const&)130
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > > const&)130
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > > const&)131
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&)135
mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > > const&)135
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&)135
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&)193
mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > > const&)193
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&)193
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&)195
mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > > const&)195
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&)195
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&)260
mrs_lib::PublisherHandler<geometry_msgs::PoseArray_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<geometry_msgs::PoseArray_<std::allocator<void> > > const&)260
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&)260
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&)262
mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > > const&)262
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&)262
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > > const&)266
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&)325
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&)325
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&)380
mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > > const&)380
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&)380
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&)390
mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > > const&)390
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&)390
mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)482
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)482
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)504
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)504
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&)518
mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > > const&)518
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&)518
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)1023
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)1023
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)1025
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)1025
mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > const&)1046
mrs_lib::PublisherHandler_impl<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > const&)1046
mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > const&)1049
mrs_lib::PublisherHandler_impl<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > const&)1049
mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::publish(geometry_msgs::PoseStamped_<std::allocator<void> > const&)1228
mrs_lib::PublisherHandler_impl<geometry_msgs::PoseStamped_<std::allocator<void> > >::publish(geometry_msgs::PoseStamped_<std::allocator<void> > const&)1228
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)1284
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)1284
mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > const&)1293
mrs_lib::PublisherHandler_impl<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > const&)1293
mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::publish(mrs_msgs::FutureTrajectory_<std::allocator<void> > const&)1338
mrs_lib::PublisherHandler_impl<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::publish(mrs_msgs::FutureTrajectory_<std::allocator<void> > const&)1338
mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)3767
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)3767
mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)3768
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)3768
mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > >::publish(std_msgs::Bool_<std::allocator<void> > const&)4047
mrs_lib::PublisherHandler_impl<std_msgs::Bool_<std::allocator<void> > >::publish(std_msgs::Bool_<std::allocator<void> > const&)4047
mrs_lib::PublisherHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::publish(mrs_msgs::HwApiRcChannels_<std::allocator<void> > const&)6555
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::publish(mrs_msgs::HwApiRcChannels_<std::allocator<void> > const&)6555
mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > >::publish(mrs_msgs::ControlError_<std::allocator<void> > const&)7601
mrs_lib::PublisherHandler_impl<mrs_msgs::ControlError_<std::allocator<void> > >::publish(mrs_msgs::ControlError_<std::allocator<void> > const&)7601
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)7838
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)7838
mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > >::publish(std_msgs::Empty_<std::allocator<void> > const&)8352
mrs_lib::PublisherHandler_impl<std_msgs::Empty_<std::allocator<void> > >::publish(std_msgs::Empty_<std::allocator<void> > const&)8352
mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::publish(mrs_msgs::DynamicsConstraints_<std::allocator<void> > const&)9353
mrs_lib::PublisherHandler_impl<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::publish(mrs_msgs::DynamicsConstraints_<std::allocator<void> > const&)9353
mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::EstimationDiagnostics_<std::allocator<void> > const&)10683
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::EstimationDiagnostics_<std::allocator<void> > const&)10683
mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > const&)11145
mrs_lib::PublisherHandler_impl<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > const&)11145
mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const&)14141
mrs_lib::PublisherHandler<std_msgs::String_<std::allocator<void> > >::publish(std_msgs::String_<std::allocator<void> > const&)14141
mrs_lib::PublisherHandler_impl<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const&)14141
mrs_lib::PublisherHandler_impl<std_msgs::String_<std::allocator<void> > >::publish(std_msgs::String_<std::allocator<void> > const&)14141
mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > >::publish(visualization_msgs::MarkerArray_<std::allocator<void> > const&)21806
mrs_lib::PublisherHandler_impl<visualization_msgs::MarkerArray_<std::allocator<void> > >::publish(visualization_msgs::MarkerArray_<std::allocator<void> > const&)21806
mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::publish(mrs_msgs::EstimatorInput_<std::allocator<void> > const&)59896
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorInput_<std::allocator<void> > >::publish(mrs_msgs::EstimatorInput_<std::allocator<void> > const&)59896
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)61705
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)61705
mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::publish(mrs_msgs::TrackerCommand_<std::allocator<void> > const&)71245
mrs_lib::PublisherHandler_impl<mrs_msgs::TrackerCommand_<std::allocator<void> > >::publish(mrs_msgs::TrackerCommand_<std::allocator<void> > const&)71245
mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ControllerDiagnostics_<std::allocator<void> > const&)87676
mrs_lib::PublisherHandler_impl<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ControllerDiagnostics_<std::allocator<void> > const&)87676
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::PublisherHandler(mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > > const&)105221
mrs_lib::PublisherHandler<geometry_msgs::PoseArray_<std::allocator<void> > >::publish(geometry_msgs::PoseArray_<std::allocator<void> > const&)109369
mrs_lib::PublisherHandler_impl<geometry_msgs::PoseArray_<std::allocator<void> > >::publish(geometry_msgs::PoseArray_<std::allocator<void> > const&)109369
mrs_lib::PublisherHandler_impl<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::publish(geometry_msgs::QuaternionStamped_<std::allocator<void> > const&)139971
mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::publish(geometry_msgs::QuaternionStamped_<std::allocator<void> > const&)140046
mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > >::publish(std_msgs::Float64_<std::allocator<void> > const&)160922
mrs_lib::PublisherHandler_impl<std_msgs::Float64_<std::allocator<void> > >::publish(std_msgs::Float64_<std::allocator<void> > const&)160922
mrs_lib::PublisherHandler_impl<mrs_msgs::Float64Stamped_<std::allocator<void> > >::publish(mrs_msgs::Float64Stamped_<std::allocator<void> > const&)232936
mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::publish(mrs_msgs::Float64Stamped_<std::allocator<void> > const&)232937
mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > >::publish(mrs_msgs::UavState_<std::allocator<void> > const&)245695
mrs_lib::PublisherHandler_impl<mrs_msgs::UavState_<std::allocator<void> > >::publish(mrs_msgs::UavState_<std::allocator<void> > const&)245872
mrs_lib::PublisherHandler_impl<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::publish(mrs_msgs::Float64ArrayStamped_<std::allocator<void> > const&)329536
mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::publish(mrs_msgs::Float64ArrayStamped_<std::allocator<void> > const&)330104
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::publish(mrs_msgs::EstimatorOutput_<std::allocator<void> > const&)469947
mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::publish(mrs_msgs::EstimatorOutput_<std::allocator<void> > const&)470323
mrs_lib::PublisherHandler_impl<nav_msgs::Odometry_<std::allocator<void> > >::publish(nav_msgs::Odometry_<std::allocator<void> > const&)525188
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::publish(nav_msgs::Odometry_<std::allocator<void> > const&)525206
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::publish(mrs_msgs::EstimatorCorrection_<std::allocator<void> > const&)918330
mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::publish(mrs_msgs::EstimatorCorrection_<std::allocator<void> > const&)918907
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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..74d9d702fb --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/publisher_handler.hpp.func.html @@ -0,0 +1,876 @@ + + + + + + + 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:445284.6 %
Date:2024-01-20 21:44:18Functions:19219996.5 %
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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&)109369
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&)260
mrs_lib::PublisherHandler<geometry_msgs::PoseArray_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<geometry_msgs::PoseArray_<std::allocator<void> > > const&)260
mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::publish(geometry_msgs::PoseStamped_<std::allocator<void> > const&)1228
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&)65
mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > > const&)65
mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::publish(geometry_msgs::QuaternionStamped_<std::allocator<void> > const&)140046
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&)69
mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > > const&)69
mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > >::publish(visualization_msgs::MarkerArray_<std::allocator<void> > const&)21806
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&)390
mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > > const&)390
mrs_lib::PublisherHandler<mrs_msgs::BumperStatus_<std::allocator<void> > >::publish(mrs_msgs::BumperStatus_<std::allocator<void> > const&)0
mrs_lib::PublisherHandler<mrs_msgs::BumperStatus_<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&)65
mrs_lib::PublisherHandler<mrs_msgs::BumperStatus_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::BumperStatus_<std::allocator<void> > > const&)65
mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > >::publish(mrs_msgs::ControlError_<std::allocator<void> > const&)7601
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&)65
mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > > const&)65
mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::publish(mrs_msgs::EstimatorInput_<std::allocator<void> > const&)59896
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&)65
mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > > const&)65
mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::publish(mrs_msgs::Float64Stamped_<std::allocator<void> > const&)232937
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&)380
mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > > const&)380
mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::publish(mrs_msgs::TrackerCommand_<std::allocator<void> > const&)71245
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&)65
mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)65
mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::publish(mrs_msgs::EstimatorOutput_<std::allocator<void> > const&)470323
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&)262
mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > > const&)262
mrs_lib::PublisherHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::publish(mrs_msgs::HwApiRcChannels_<std::allocator<void> > const&)6555
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::FutureTrajectory_<std::allocator<void> > >::publish(mrs_msgs::FutureTrajectory_<std::allocator<void> > const&)1338
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&)65
mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > > const&)65
mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)3768
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&)65
mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > > const&)130
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)7838
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&)65
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > > const&)130
mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)482
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&)65
mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > > const&)130
mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::publish(mrs_msgs::DynamicsConstraints_<std::allocator<void> > const&)9353
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&)65
mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > > const&)65
mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::publish(mrs_msgs::EstimatorCorrection_<std::allocator<void> > const&)918907
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&)518
mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > > const&)518
mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::publish(mrs_msgs::Float64ArrayStamped_<std::allocator<void> > const&)330104
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&)193
mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > > const&)193
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)1284
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&)66
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > > const&)131
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&)61705
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&)65
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > > const&)130
mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)3767
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&)65
mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > > const&)130
mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ControllerDiagnostics_<std::allocator<void> > const&)87676
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&)65
mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > > const&)65
mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::EstimationDiagnostics_<std::allocator<void> > const&)10683
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&)65
mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > > const&)65
mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const&)14141
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&)65
mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > > const&)65
mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > const&)1293
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&)65
mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > > const&)65
mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > const&)1049
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&)65
mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > > const&)65
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)1025
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&)65
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > > const&)130
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)504
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&)65
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > > const&)130
mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > const&)11145
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&)65
mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > > const&)65
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)1023
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&)65
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > > const&)130
mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > const&)1046
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&)65
mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > > const&)65
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&)65
mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > >::publish(mrs_msgs::UavState_<std::allocator<void> > const&)245695
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&)135
mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > > const&)135
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::publish(nav_msgs::Odometry_<std::allocator<void> > const&)525206
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::PublisherHandler(mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > > const&)105221
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&)325
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > > const&)266
mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > >::publish(std_msgs::Bool_<std::allocator<void> > const&)4047
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&)19
mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > > const&)19
mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > >::publish(std_msgs::Empty_<std::allocator<void> > const&)8352
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&)65
mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > > const&)65
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&)14141
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&)65
mrs_lib::PublisherHandler<std_msgs::String_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<std_msgs::String_<std::allocator<void> > > const&)65
mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > >::publish(std_msgs::Float64_<std::allocator<void> > const&)160922
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&)195
mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > > const&)195
mrs_lib::PublisherHandler_impl<geometry_msgs::PoseArray_<std::allocator<void> > >::publish(geometry_msgs::PoseArray_<std::allocator<void> > const&)109369
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&)260
mrs_lib::PublisherHandler_impl<geometry_msgs::PoseStamped_<std::allocator<void> > >::publish(geometry_msgs::PoseStamped_<std::allocator<void> > const&)1228
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&)65
mrs_lib::PublisherHandler_impl<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::publish(geometry_msgs::QuaternionStamped_<std::allocator<void> > const&)139971
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&)69
mrs_lib::PublisherHandler_impl<visualization_msgs::MarkerArray_<std::allocator<void> > >::publish(visualization_msgs::MarkerArray_<std::allocator<void> > const&)21806
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&)390
mrs_lib::PublisherHandler_impl<mrs_msgs::BumperStatus_<std::allocator<void> > >::publish(mrs_msgs::BumperStatus_<std::allocator<void> > const&)0
mrs_lib::PublisherHandler_impl<mrs_msgs::BumperStatus_<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&)65
mrs_lib::PublisherHandler_impl<mrs_msgs::ControlError_<std::allocator<void> > >::publish(mrs_msgs::ControlError_<std::allocator<void> > const&)7601
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&)65
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorInput_<std::allocator<void> > >::publish(mrs_msgs::EstimatorInput_<std::allocator<void> > const&)59896
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&)65
mrs_lib::PublisherHandler_impl<mrs_msgs::Float64Stamped_<std::allocator<void> > >::publish(mrs_msgs::Float64Stamped_<std::allocator<void> > const&)232936
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&)380
mrs_lib::PublisherHandler_impl<mrs_msgs::TrackerCommand_<std::allocator<void> > >::publish(mrs_msgs::TrackerCommand_<std::allocator<void> > const&)71245
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&)65
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::publish(mrs_msgs::EstimatorOutput_<std::allocator<void> > const&)469947
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&)262
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::publish(mrs_msgs::HwApiRcChannels_<std::allocator<void> > const&)6555
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::FutureTrajectory_<std::allocator<void> > >::publish(mrs_msgs::FutureTrajectory_<std::allocator<void> > const&)1338
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&)65
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)3768
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&)65
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)7838
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&)65
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)482
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&)65
mrs_lib::PublisherHandler_impl<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::publish(mrs_msgs::DynamicsConstraints_<std::allocator<void> > const&)9353
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&)65
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::publish(mrs_msgs::EstimatorCorrection_<std::allocator<void> > const&)918330
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&)518
mrs_lib::PublisherHandler_impl<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::publish(mrs_msgs::Float64ArrayStamped_<std::allocator<void> > const&)329536
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&)193
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)1284
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&)66
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&)61705
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&)65
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)3767
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&)65
mrs_lib::PublisherHandler_impl<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ControllerDiagnostics_<std::allocator<void> > const&)87676
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&)65
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::EstimationDiagnostics_<std::allocator<void> > const&)10683
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&)65
mrs_lib::PublisherHandler_impl<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const&)14141
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&)65
mrs_lib::PublisherHandler_impl<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > const&)1293
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&)65
mrs_lib::PublisherHandler_impl<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > const&)1049
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&)65
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)1025
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&)65
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)504
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&)65
mrs_lib::PublisherHandler_impl<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > const&)11145
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&)65
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)1023
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&)65
mrs_lib::PublisherHandler_impl<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > const&)1046
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&)65
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&)65
mrs_lib::PublisherHandler_impl<mrs_msgs::UavState_<std::allocator<void> > >::publish(mrs_msgs::UavState_<std::allocator<void> > const&)245872
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&)135
mrs_lib::PublisherHandler_impl<nav_msgs::Odometry_<std::allocator<void> > >::publish(nav_msgs::Odometry_<std::allocator<void> > const&)525188
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&)325
mrs_lib::PublisherHandler_impl<std_msgs::Bool_<std::allocator<void> > >::publish(std_msgs::Bool_<std::allocator<void> > const&)4047
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&)19
mrs_lib::PublisherHandler_impl<std_msgs::Empty_<std::allocator<void> > >::publish(std_msgs::Empty_<std::allocator<void> > const&)8352
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&)65
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&)14141
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&)65
mrs_lib::PublisherHandler_impl<std_msgs::Float64_<std::allocator<void> > >::publish(std_msgs::Float64_<std::allocator<void> > const&)160922
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&)195
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + 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..67a864e6b9 --- /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:445284.6 %
Date:2024-01-20 21:44:18Functions:19219996.5 %
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        4441 : PublisherHandler_impl<TopicType>::PublisherHandler_impl(ros::NodeHandle& nh, const std::string& address, const unsigned int& buffer_size, const bool& latch,
+      23        4441 :                                                         const double& rate) {
+      24             : 
+      25             :   {
+      26        4441 :     std::scoped_lock lock(mutex_publisher_);
+      27             : 
+      28        4441 :     publisher_ = nh.advertise<TopicType>(address, buffer_size, latch);
+      29             : 
+      30        4441 :     if (rate > 0.0) {
+      31             : 
+      32         456 :       throttle_ = true;
+      33             : 
+      34         456 :       throttle_min_dt_ = 1.0 / rate;
+      35             : 
+      36             :     } else {
+      37             : 
+      38        3985 :       throttle_ = false;
+      39             : 
+      40        3985 :       throttle_min_dt_ = 0;
+      41             :     }
+      42             : 
+      43        4441 :     last_time_published_ = ros::Time(0);
+      44             :   }
+      45             : 
+      46        4441 :   publisher_initialized_ = true;
+      47        4441 : }
+      48             : 
+      49             : //}
+      50             : 
+      51             : /* publish(TopicType& msg) //{ */
+      52             : 
+      53             : template <class TopicType>
+      54     3546177 : void PublisherHandler_impl<TopicType>::publish(const TopicType& msg) {
+      55             : 
+      56     3546177 :   if (!publisher_initialized_) {
+      57           0 :     return;
+      58             :   }
+      59             : 
+      60             :   {
+      61     3546282 :     std::scoped_lock lock(mutex_publisher_);
+      62             : 
+      63     3546140 :     if (throttle_) {
+      64             : 
+      65      191731 :       if ((ros::Time::now() - last_time_published_).toSec() < throttle_min_dt_) {
+      66       84054 :         return;
+      67             :       }
+      68             : 
+      69      107682 :       last_time_published_ = ros::Time::now();
+      70             :     }
+      71             : 
+      72             :     try {
+      73     3462091 :       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             :     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           1 :         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        4965 : PublisherHandler<TopicType>& PublisherHandler<TopicType>::operator=(const PublisherHandler<TopicType>& other) {
+     169             : 
+     170        4900 :   if (this == &other) {
+     171           0 :     return *this;
+     172             :   }
+     173             : 
+     174        4965 :   if (other.impl_) {
+     175        5030 :     this->impl_ = other.impl_;
+     176             :   }
+     177             : 
+     178        4900 :   return *this;
+     179             : }
+     180             : 
+     181             : //}
+     182             : 
+     183             : /* copy constructor //{ */
+     184             : 
+     185             : template <class TopicType>
+     186      105221 : PublisherHandler<TopicType>::PublisherHandler(const PublisherHandler<TopicType>& other) {
+     187             : 
+     188      105221 :   if (other.impl_) {
+     189      105221 :     this->impl_ = other.impl_;
+     190             :   }
+     191      105221 : }
+     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        4441 : PublisherHandler<TopicType>::PublisherHandler(ros::NodeHandle& nh, const std::string& address, const unsigned int& buffer_size, const bool& latch,
+     199        4441 :                                               const double& rate) {
+     200             : 
+     201        4441 :   impl_ = std::make_shared<PublisherHandler_impl<TopicType>>(nh, address, buffer_size, latch, rate);
+     202        4441 : }
+     203             : 
+     204             : //}
+     205             : 
+     206             : /* publish(const TopicType& msg) //{ */
+     207             : 
+     208             : template <class TopicType>
+     209     3547615 : void PublisherHandler<TopicType>::publish(const TopicType& msg) {
+     210             : 
+     211     3547615 :   impl_->publish(msg);
+     212     3548563 : }
+     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             : }
+     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
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+ + + diff --git a/mrs_lib/include/mrs_lib/impl/publisher_handler.hpp.gcov.overview.html b/mrs_lib/include/mrs_lib/impl/publisher_handler.hpp.gcov.overview.html new file mode 100644 index 0000000000..4ab1195056 --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/publisher_handler.hpp.gcov.overview.html @@ -0,0 +1,82 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/publisher_handler.hpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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+ + diff --git a/mrs_lib/include/mrs_lib/impl/publisher_handler.hpp.gcov.png b/mrs_lib/include/mrs_lib/impl/publisher_handler.hpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..6040f866266270d282ed333f47d67fce552a18f5 GIT binary patch literal 799 zcmV+)1K|9LP)WdBtP7%&hFFN5RKR&B3IPI(DQh)13{=Zt${)1knM zuy6}m#p+=!F+KC5uw60sH(fm=BcAnf=5uQtHW-`6nqpxoz7DR)On1m!W|$5FbAdH4 z33lN)u7C*jGc5&KSGk%$DVL&RDEOw)2An6mWDsG~7Ey>~rE)hzM-&E7g`lDcBN`{A z4r^CLyK=qwRz#IU9`>Jh308gJUDK)ykyMK1)CH?17w%qbdDEC>is>~reTWEJCItM- z{>ZwVGNk^P_K2t#sWKJB@GLQ+I8=N*Ua!~lQI+WdC>cduZf(t?92h!c5OOJ#j_=<~ zgSb|@twV&i4Ib|$*D5lByr4;GLIb5c^0CmJaUXSsKh>_`D09wytg?fg%TuO{`q4;M(U5YEq?NTZ7uSG zP>Ig1-0YnXH~BbR^<*Ubq{7EO_~`N{6 + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/service_client_handler.hpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib/impl - service_client_handler.hpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:525692.9 %
Date:2024-01-20 21:44:18Functions:3737100.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_lib::ServiceClientHandler<mrs_msgs::Vec4>::call(mrs_msgs::Vec4&)1
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Vec4>::call(mrs_msgs::Vec4&)1
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::callAsync(std_srvs::Trigger&, int 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::Vec1>::call(mrs_msgs::Vec1&)13
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Vec1>::call(mrs_msgs::Vec1&)13
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::call(mrs_msgs::DynamicsConstraintsSrv&)65
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)65
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv> const&)65
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)65
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::Vec1> const&)65
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::initialize(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)65
mrs_lib::ServiceClientHandler_impl<mrs_msgs::DynamicsConstraintsSrv>::call(mrs_msgs::DynamicsConstraintsSrv&)65
mrs_lib::ServiceClientHandler_impl<mrs_msgs::DynamicsConstraintsSrv>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)65
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Vec1>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)65
mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)66
mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv> const&)66
mrs_lib::ServiceClientHandler_impl<mrs_msgs::ReferenceStampedSrv>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)66
mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>::call(mrs_msgs::ReferenceStampedSrv&)84
mrs_lib::ServiceClientHandler_impl<mrs_msgs::ReferenceStampedSrv>::call(mrs_msgs::ReferenceStampedSrv&)84
mrs_lib::ServiceClientHandler<mrs_msgs::String>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)132
mrs_lib::ServiceClientHandler<mrs_msgs::String>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::String> const&)132
mrs_lib::ServiceClientHandler_impl<mrs_msgs::String>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)132
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::call(std_srvs::SetBool&)247
mrs_lib::ServiceClientHandler_impl<std_srvs::SetBool>::call(std_srvs::SetBool&)247
mrs_lib::ServiceClientHandler<mrs_msgs::String>::call(mrs_msgs::String&)250
mrs_lib::ServiceClientHandler_impl<mrs_msgs::String>::call(mrs_msgs::String&)250
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)392
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::operator=(mrs_lib::ServiceClientHandler<std_srvs::SetBool> const&)392
mrs_lib::ServiceClientHandler_impl<std_srvs::SetBool>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)392
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::call(std_srvs::Trigger&)496
mrs_lib::ServiceClientHandler_impl<std_srvs::Trigger>::call(std_srvs::Trigger&)496
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)744
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::operator=(mrs_lib::ServiceClientHandler<std_srvs::Trigger> const&)744
mrs_lib::ServiceClientHandler_impl<std_srvs::Trigger>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)809
+
+
+ + + +
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..87f2fd0b45 --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/service_client_handler.hpp.func.html @@ -0,0 +1,228 @@ + + + + + + + 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:525692.9 %
Date:2024-01-20 21:44:18Functions:3737100.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>::call(mrs_msgs::ReferenceStampedSrv&)84
mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)66
mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv> const&)66
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::call(mrs_msgs::DynamicsConstraintsSrv&)65
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)65
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv> const&)65
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::call(mrs_msgs::Vec1&)13
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)65
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::Vec1> const&)65
mrs_lib::ServiceClientHandler<mrs_msgs::Vec4>::call(mrs_msgs::Vec4&)1
mrs_lib::ServiceClientHandler<mrs_msgs::String>::call(mrs_msgs::String&)250
mrs_lib::ServiceClientHandler<mrs_msgs::String>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)132
mrs_lib::ServiceClientHandler<mrs_msgs::String>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::String> const&)132
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::call(std_srvs::SetBool&)247
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)392
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::operator=(mrs_lib::ServiceClientHandler<std_srvs::SetBool> const&)392
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::initialize(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)65
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::call(std_srvs::Trigger&)496
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&)744
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::operator=(mrs_lib::ServiceClientHandler<std_srvs::Trigger> const&)744
mrs_lib::ServiceClientHandler_impl<mrs_msgs::ReferenceStampedSrv>::call(mrs_msgs::ReferenceStampedSrv&)84
mrs_lib::ServiceClientHandler_impl<mrs_msgs::ReferenceStampedSrv>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)66
mrs_lib::ServiceClientHandler_impl<mrs_msgs::DynamicsConstraintsSrv>::call(mrs_msgs::DynamicsConstraintsSrv&)65
mrs_lib::ServiceClientHandler_impl<mrs_msgs::DynamicsConstraintsSrv>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)65
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Vec1>::call(mrs_msgs::Vec1&)13
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Vec1>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)65
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Vec4>::call(mrs_msgs::Vec4&)1
mrs_lib::ServiceClientHandler_impl<mrs_msgs::String>::call(mrs_msgs::String&)250
mrs_lib::ServiceClientHandler_impl<mrs_msgs::String>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)132
mrs_lib::ServiceClientHandler_impl<std_srvs::SetBool>::call(std_srvs::SetBool&)247
mrs_lib::ServiceClientHandler_impl<std_srvs::SetBool>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)392
mrs_lib::ServiceClientHandler_impl<std_srvs::Trigger>::call(std_srvs::Trigger&)496
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&)809
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_lib/include/mrs_lib/impl/service_client_handler.hpp.gcov.frameset.html b/mrs_lib/include/mrs_lib/impl/service_client_handler.hpp.gcov.frameset.html new file mode 100644 index 0000000000..c6e9ac6564 --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/service_client_handler.hpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/service_client_handler.hpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_lib/include/mrs_lib/impl/service_client_handler.hpp.gcov.html b/mrs_lib/include/mrs_lib/impl/service_client_handler.hpp.gcov.html new file mode 100644 index 0000000000..b6a85fc8e6 --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/service_client_handler.hpp.gcov.html @@ -0,0 +1,403 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/service_client_handler.hpp + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/include/mrs_lib/impl - service_client_handler.hpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:525692.9 %
Date:2024-01-20 21:44:18Functions:3737100.0 %
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        1529 : ServiceClientHandler_impl<ServiceType>::ServiceClientHandler_impl(ros::NodeHandle& nh, const std::string& address) {
+      23             : 
+      24             :   {
+      25        1529 :     std::scoped_lock lock(mutex_service_client_);
+      26             : 
+      27        1529 :     service_client_ = nh.serviceClient<ServiceType>(address);
+      28             :   }
+      29             : 
+      30        1529 :   _address_       = address;
+      31        1529 :   async_attempts_ = 1;
+      32             : 
+      33             :   /* thread_oneshot_ = std::make_shared<std::thread>(std::thread(&ServiceClientHandler_impl::threadOneshot, this, true, false)); */
+      34             : 
+      35        1529 :   service_initialized_ = true;
+      36        1529 : }
+      37             : 
+      38             : //}
+      39             : 
+      40             : /* call(ServiceType& srv) //{ */
+      41             : 
+      42             : template <class ServiceType>
+      43        1156 : bool ServiceClientHandler_impl<ServiceType>::call(ServiceType& srv) {
+      44             : 
+      45        1156 :   if (!service_initialized_) {
+      46           0 :     return false;
+      47             :   }
+      48             : 
+      49        1156 :   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             : std::future<ServiceType> ServiceClientHandler_impl<ServiceType>::callAsync(ServiceType& srv) {
+     124             : 
+     125             :   {
+     126             :     std::scoped_lock lock(mutex_async_);
+     127             : 
+     128             :     async_data_         = srv;
+     129             :     async_attempts_     = 1;
+     130             :     async_repeat_delay_ = 0;
+     131             :   }
+     132             : 
+     133             :   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        1464 : ServiceClientHandler<ServiceType>& ServiceClientHandler<ServiceType>::operator=(const ServiceClientHandler<ServiceType>& other) {
+     205             : 
+     206        1464 :   if (this == &other) {
+     207           0 :     return *this;
+     208             :   }
+     209             : 
+     210        1464 :   if (other.impl_) {
+     211        1464 :     this->impl_ = other.impl_;
+     212             :   }
+     213             : 
+     214        1464 :   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        1464 : ServiceClientHandler<ServiceType>::ServiceClientHandler(ros::NodeHandle& nh, const std::string& address) {
+     235             : 
+     236        1464 :   impl_ = std::make_shared<ServiceClientHandler_impl<ServiceType>>(nh, address);
+     237        1464 : }
+     238             : 
+     239             : //}
+     240             : 
+     241             : /* initialize(ros::NodeHandle& nh, const std::string& address) //{ */
+     242             : 
+     243             : template <class ServiceType>
+     244          65 : void ServiceClientHandler<ServiceType>::initialize(ros::NodeHandle& nh, const std::string& address) {
+     245             : 
+     246          65 :   impl_ = std::make_shared<ServiceClientHandler_impl<ServiceType>>(nh, address);
+     247          65 : }
+     248             : 
+     249             : //}
+     250             : 
+     251             : /* call(ServiceType& srv) //{ */
+     252             : 
+     253             : template <class ServiceType>
+     254        1156 : bool ServiceClientHandler<ServiceType>::call(ServiceType& srv) {
+     255             : 
+     256        1156 :   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             : std::future<ServiceType> ServiceClientHandler<ServiceType>::callAsync(ServiceType& srv) {
+     285             : 
+     286             :   std::future<ServiceType> res = impl_->callAsync(srv);
+     287             : 
+     288             :   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
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_lib/include/mrs_lib/impl/service_client_handler.hpp.gcov.overview.html b/mrs_lib/include/mrs_lib/impl/service_client_handler.hpp.gcov.overview.html new file mode 100644 index 0000000000..ab6ff399da --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/service_client_handler.hpp.gcov.overview.html @@ -0,0 +1,100 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/service_client_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 + + +
+ Top

+ Overview +
+ + diff --git a/mrs_lib/include/mrs_lib/impl/service_client_handler.hpp.gcov.png b/mrs_lib/include/mrs_lib/impl/service_client_handler.hpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..263b73ad1380cf9f7a8ef86c51aca552078dfaf1 GIT binary patch literal 969 zcmV;)12+7LP)Wqk9Iv^@lP(dY(=QXOzU}^O$n3W+JqlhhKurdbsVPJ$4 zm2sw#fHn(q8wtvc3@&CusskcExa5-;CL|9hAa2i^A<8=Aw(a}=Z{L45n3k=@;Th4i zo+G;AC3x?_TV}BL=oh6ew&M%93cw*aU1|285l zT!NU`Mp*~6s%7#VjJVE+;1pg)`&RYb!*R9eBK&bfdM-)ECo1pbkef4EZ$u;FTpg)P zx3}9BbjHow&pHv-#>@V^FkzWGq7i_@V1BnXBT7cyp+S7ZdWwYd9?^X?Sx?~`3g+AB zi?{EDo+51^>hz*Duv_mvWO+jOvI5%_itJ)oVlEcCI)xaE{P+`cY9&_gK=;7v_ zg@l7f#Cmv|5B_Qn2e&pFhJ#l4pTj{!@4{Ust_Bh7;kDcl6MM*J$V{;&kWhNjcS!m@ zX4Bib=l$iw{G;lCNmYo9Mb=aKsEax3d?wu;Sze#!6tcc6k#V+yRHD*pb5cs;XTwjM zJKXO?L{du0Qb;+o5JyeY3<%(%%UefHGE10sW!5aF0me~nVH0i;^<5TL9l1NA@qtxXjPZ-Hy|8-Suo%AbI@I=D1MDetRyXI_3l`vS}O#^lU5 zmu0@;ASZ`RpG3To0T|}uDQ!LTkw$iqE6sxg*#assQV?bPCT_M`SRU@fW91^^N5(Y^ rzi2W3O>xaxC_|mFwRLjam4SZ&Pzvjg528x=00000NkvXXu0mjf<=M*E literal 0 HcmV?d00001 diff --git a/mrs_lib/include/mrs_lib/impl/subscribe_handler.hpp.func-sort-c.html b/mrs_lib/include/mrs_lib/impl/subscribe_handler.hpp.func-sort-c.html new file mode 100644 index 0000000000..66fa693da2 --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/subscribe_handler.hpp.func-sort-c.html @@ -0,0 +1,4364 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/subscribe_handler.hpp - functions + + + + + + + + + + + + + + +
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:9112075.8 %
Date:2024-01-20 21:44:18Functions:469107143.8 %
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> > >::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::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::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::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::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::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::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::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::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::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::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::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::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::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::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::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::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::data_callback(boost::shared_ptr<mrs_msgs::ObstacleSectors_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::getMsg()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::process_new_message(boost::shared_ptr<mrs_msgs::ObstacleSectors_<std::allocator<void> > const> 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::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::start()0
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&)0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().20
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&)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()0
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&)0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::~Impl().20
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > const> const&)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::process_new_message(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > const> 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::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> > >::ImplThreadsafe::~ImplThreadsafe().20
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::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::getMsg()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::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::data_callback(boost::shared_ptr<mrs_msgs::TrajectoryReference_<std::allocator<void> > const> const&)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::process_new_message(boost::shared_ptr<mrs_msgs::TrajectoryReference_<std::allocator<void> > const> 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::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::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::data_callback(boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()0
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&)0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().20
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&)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()0
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&)0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::~Impl().20
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::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::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> > >::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::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::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const> const&)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::process_new_message(boost::shared_ptr<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const> 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::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::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> > >::ImplThreadsafe::~ImplThreadsafe().20
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::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::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> > >::ImplThreadsafe::getMsg()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::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::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::Bool_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<std_msgs::Bool_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<std_msgs::Bool_<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::Bool_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<std_msgs::Bool_<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::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::hasMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::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::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::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::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::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::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::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::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::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::hasMsg() 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::hasMsg() 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::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() 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::lastMsgTime() 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::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::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::peekMsg() 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::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::peekMsg() 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::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]() 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::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::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::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::peekMsg() 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::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::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::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::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::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]() 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::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::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::newMsg() 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::newMsg() 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::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::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::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::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::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::peekMsg() 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::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<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::newMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()1
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::getMsg()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::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const1
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const1
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const1
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::start()2
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<std_msgs::Bool_<std::allocator<void> > const>)> const&)2
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()2
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().22
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::start()2
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<std_msgs::Bool_<std::allocator<void> > const>)> const&)2
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::~Impl().22
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const2
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()4
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::getMsg()4
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const4
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<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<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::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const6
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::RtkGps_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const9
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const13
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::hasMsg() const14
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const16
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const16
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::start()19
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&)19
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()19
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().219
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::start()19
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&)19
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::~Impl().219
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()19
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&)19
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()19
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().219
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&)19
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const19
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()21
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&)21
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()21
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().221
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&)21
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::start()25
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl().225
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const25
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::start()27
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::~Impl().227
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const27
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::getMsg()34
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const34
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const61
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::lastMsgTime() const61
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const61
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::lastMsgTime() const61
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::start()65
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()65
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().265
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::start()65
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::~Impl().265
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::start()65
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()65
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().265
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::start()65
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::~Impl().265
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::start()65
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()65
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().265
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::start()65
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::~Impl().265
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::start()65
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()65
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::start()65
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()65
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().265
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::start()65
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::~Impl().265
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::start()65
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()65
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().265
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::start()65
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::~Impl().265
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()65
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()65
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().265
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::start()65
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::~Impl().265
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()65
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()65
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().265
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::start()65
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()65
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().265
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::start()65
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::~Impl().265
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()65
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()65
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().265
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::start()65
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()65
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::start()65
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::~Impl().265
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const65
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const65
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const65
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const65
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const65
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const65
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const65
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const65
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const65
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const65
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&)66
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()66
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().266
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&)66
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::~Impl().266
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const66
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const66
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const67
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::start()69
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&)69
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()69
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().269
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::start()69
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&)69
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::~Impl().269
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const69
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::start()70
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::start()70
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::start()71
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::~Impl().271
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::start()71
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl().271
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::start()71
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl().271
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const71
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const71
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const71
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const73
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const85
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::hasMsg() const85
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::getMsg()86
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::getMsg()86
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const86
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::peekMsg() const86
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&)116
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2116
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const126
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::lastMsgTime() const126
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::start()130
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&)130
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()130
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2130
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::start()130
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&)130
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::~Impl().2130
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::start()130
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()130
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&)130
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::start()130
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&)130
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()130
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2130
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::start()130
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&)130
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::~Impl().2130
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const130
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const130
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::start()133
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&)133
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()133
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2133
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::start()133
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&)133
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::~Impl().2133
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const133
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::start()134
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&)134
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()134
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2134
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::start()134
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&)134
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::~Impl().2134
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const134
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::start()136
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::~Impl().2136
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const136
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::start()149
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&)149
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()149
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2149
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&)149
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::start()155
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::~Impl().2155
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const155
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::getMsg()184
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const184
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&)189
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2189
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::getMsg()191
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::peekMsg() const191
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::start()195
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()195
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&)195
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::start()201
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::~Impl().2201
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const201
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::start()202
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&)202
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()202
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2202
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::start()202
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&)202
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::~Impl().2202
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const203
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::start()211
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&)211
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()211
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2211
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::start()211
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&)211
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::~Impl().2211
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const211
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::start()214
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&)214
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()214
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2214
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::start()214
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&)214
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::~Impl().2214
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::start()257
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&)257
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()257
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2257
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::start()257
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&)257
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::~Impl().2257
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const257
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::start()258
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&)258
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()258
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2258
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::start()258
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&)258
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::~Impl().2258
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const258
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::start()260
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&)260
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()260
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2260
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&)260
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::start()272
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::~Impl().2272
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const272
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > const> const&)273
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > const> const&)273
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&)277
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2277
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const280
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()281
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&)281
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()281
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2281
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&)281
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()281
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()281
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&)281
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::start()287
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::~Impl().2287
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::start()287
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl().2287
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const287
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const360
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<std_msgs::Bool_<std::allocator<void> > const> const&)363
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<std_msgs::Bool_<std::allocator<void> > const> const&)369
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::start()397
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&)397
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()397
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2397
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::start()397
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&)397
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::~Impl().2397
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const523
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::getMsg()544
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::getMsg()544
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const544
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const544
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::hasMsg() const544
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::peekMsg() const544
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::getMsg()607
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const607
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::getMsg()608
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::peekMsg() const608
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > const> const&)1046
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > const> const&)1046
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > const> const&)1049
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > const> const&)1049
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const> const&)1084
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const> const&)1086
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()1377
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::getMsg()1377
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const1377
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::peekMsg() const1377
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const> const&)3196
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const> const&)3200
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const3788
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const3788
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::getMsg()4078
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::getMsg()4078
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const4078
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const4078
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::hasMsg() const4078
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::peekMsg() const4078
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::getMsg()7260
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::getMsg()7261
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const7261
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::peekMsg() const7262
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::getMsg()8351
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::getMsg()8351
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const8351
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::peekMsg() const8351
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::hasMsg() const8850
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const8855
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const9006
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const9148
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::hasMsg() const9148
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const9176
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::hasMsg() const9176
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::DynamicsConstraints_<std::allocator<void> > const> const&)9344
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::DynamicsConstraints_<std::allocator<void> > const> const&)9344
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::getMsg()10145
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::peekMsg() const10145
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const> const&)11711
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const> const&)11721
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::hasMsg() const12603
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const12604
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const12794
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<std_msgs::Float64_<std::allocator<void> > const> const&)14905
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<std_msgs::Float64_<std::allocator<void> > const> const&)14906
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::HwApiRcChannels_<std::allocator<void> > const> const&)17433
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::HwApiRcChannels_<std::allocator<void> > const> const&)17433
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::getMsg()26219
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::getMsg()26219
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const26219
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const26219
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::lastMsgTime() const26219
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::peekMsg() const26219
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const> const&)28678
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const> const&)28678
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()32314
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::getMsg()32316
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const32316
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::peekMsg() const32316
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const34670
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::hasMsg() const34670
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()40543
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::getMsg()40557
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const40557
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const40558
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::hasMsg() const41791
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const41793
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const42647
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > const> const&)44690
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > const> const&)44889
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const46443
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > const> const&)47272
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > const> const&)47324
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > const> const&)87650
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > const> const&)87650
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::getMsg()115536
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::getMsg()115536
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const115536
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::peekMsg() const115536
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const115539
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::hasMsg() const115539
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const> const&)119417
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const> const&)119479
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()122980
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const122981
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const123040
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const125489
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::getMsg()125494
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const127293
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const135787
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::getMsg()135871
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()135905
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::peekMsg() const135937
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::EstimatorOutput_<std::allocator<void> > const> const&)138266
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::EstimatorOutput_<std::allocator<void> > const> const&)138267
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::TrackerCommand_<std::allocator<void> > const> const&)142207
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::TrackerCommand_<std::allocator<void> > const> const&)142297
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::lastMsgTime() const143389
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const146884
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::getMsg()159158
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const159160
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::getMsg()159161
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::peekMsg() const159161
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const169051
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::hasMsg() const178520
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::Float64Stamped_<std::allocator<void> > const> const&)218349
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::Float64Stamped_<std::allocator<void> > const> const&)218410
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const> const&)219580
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const> const&)219617
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::HwApiAltitude_<std::allocator<void> > const> const&)246626
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::HwApiAltitude_<std::allocator<void> > const> const&)246638
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const> const&)247591
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const> const&)247652
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::EstimatorInput_<std::allocator<void> > const> const&)254802
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::EstimatorInput_<std::allocator<void> > const> const&)255043
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const256195
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::lastMsgTime() const256261
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::hasMsg() const278225
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const278390
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const300211
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::getMsg()300528
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::getMsg()300544
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::peekMsg() const300555
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const> const&)327060
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const> const&)327101
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const352357
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::hasMsg() const352362
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)356927
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)357102
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::newMsg() const376850
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::newMsg() const377070
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const> const&)392062
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const> const&)392139
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const507901
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()507922
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::getMsg()507945
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::peekMsg() const507961
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const> const&)574607
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const> const&)574718
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::hasMsg() const651403
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const651558
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const> const&)754646
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const> const&)754818
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/include/mrs_lib/impl/subscribe_handler.hpp.func.html b/mrs_lib/include/mrs_lib/impl/subscribe_handler.hpp.func.html new file mode 100644 index 0000000000..ba1b9d9687 --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/subscribe_handler.hpp.func.html @@ -0,0 +1,4364 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/subscribe_handler.hpp - functions + + + + + + + + + + + + + + +
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:9112075.8 %
Date:2024-01-20 21:44:18Functions:469107143.8 %
Legend: Lines: + hit + not hit +
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+ +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const> const&)247652
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::start()257
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&)257
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()257
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2257
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&)247591
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()257
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&)257
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::~Impl().2257
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const> const&)28678
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::start()19
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::getMsg()4078
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&)19
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()19
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().219
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&)28678
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()19
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::getMsg()4078
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&)19
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::~Impl().219
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()130
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&)130
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()130
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2130
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::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()130
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&)130
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::~Impl().2130
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const> const&)219617
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::start()134
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::getMsg()7260
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&)134
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()134
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2134
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&)219580
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()134
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::getMsg()7261
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&)134
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::~Impl().2134
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::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&)119479
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::stop()5
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::start()70
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()1377
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&)66
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()66
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().266
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&)119417
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()70
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::getMsg()1377
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&)66
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::~Impl().266
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const> const&)392139
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::start()211
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()135905
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&)211
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()211
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2211
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&)392062
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()211
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::getMsg()135871
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&)211
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::~Impl().2211
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const> const&)754646
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::start()397
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()507922
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&)397
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()397
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2397
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&)754818
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&)0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::start()397
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::getMsg()507945
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&)397
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::~Impl().2397
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const> const&)574718
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::start()149
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::getMsg()184
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&)149
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()149
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2149
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&)574607
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()155
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::getMsg()191
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&)149
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::~Impl().2155
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::HwApiAltitude_<std::allocator<void> > const> const&)246626
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::start()133
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::getMsg()115536
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&)133
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()133
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2133
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&)246638
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()133
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::getMsg()115536
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&)133
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::~Impl().2133
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::EstimatorInput_<std::allocator<void> > const> const&)255043
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::start()258
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::getMsg()300544
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&)258
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()258
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2258
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&)254802
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()258
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::getMsg()300528
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&)258
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::~Impl().2258
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::Float64Stamped_<std::allocator<void> > const> const&)218410
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::start()260
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()32314
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&)260
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()260
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2260
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&)218349
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()272
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::getMsg()32316
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&)260
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::~Impl().2272
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::TrackerCommand_<std::allocator<void> > const> const&)142207
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::start()130
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::getMsg()607
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&)116
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()130
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2116
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&)142297
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()136
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::getMsg()608
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&)130
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::~Impl().2136
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::EstimatorOutput_<std::allocator<void> > const> const&)138266
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::start()69
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&)69
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()69
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().269
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&)138267
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()69
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&)69
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::~Impl().269
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::HwApiRcChannels_<std::allocator<void> > const> const&)17433
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::start()65
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::getMsg()544
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()65
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().265
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&)17433
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()65
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::getMsg()544
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::~Impl().265
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::ObstacleSectors_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::start()65
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()65
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().265
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&)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()65
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::getMsg()0
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::~Impl().265
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::start()0
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&)0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().20
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&)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()0
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&)0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::~Impl().20
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::start()65
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()65
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().265
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&)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()65
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::~Impl().265
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const> const&)3196
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::start()214
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::getMsg()8351
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&)214
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()214
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2214
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&)3200
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()214
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::getMsg()8351
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&)214
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::~Impl().2214
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::DynamicsConstraints_<std::allocator<void> > const> const&)9344
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::start()65
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::getMsg()34
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()65
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().20
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&)9344
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()71
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::getMsg()0
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::~Impl().271
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()65
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()65
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().265
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::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()65
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::~Impl().265
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::TrajectoryReference_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::start()65
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()65
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().265
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&)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()65
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::~Impl().265
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > const> const&)87650
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()65
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()4
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()65
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().265
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&)87650
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()65
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::getMsg()4
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::~Impl().265
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > const> const&)44889
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()281
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()40543
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&)281
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()281
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2281
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&)44690
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()287
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::getMsg()40557
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&)281
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::~Impl().2287
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()0
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&)0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().20
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&)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()0
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&)0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::~Impl().20
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > const> const&)273
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()19
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&)19
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()19
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().219
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&)273
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()25
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&)19
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl().225
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > const> const&)1049
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()65
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()65
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().265
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&)1049
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()71
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl().271
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const> const&)1086
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()21
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()1
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&)21
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()21
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().221
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&)1084
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()27
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::getMsg()1
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&)21
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::~Impl().227
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::start()65
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()65
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().265
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&)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()65
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::~Impl().265
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > const> const&)47324
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()281
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()122980
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&)277
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()281
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2277
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&)47272
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()287
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::getMsg()125494
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&)281
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl().2287
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > const> const&)1046
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()65
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()65
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().265
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&)1046
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()71
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl().271
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()65
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()65
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().20
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::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()65
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::~Impl().265
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const> const&)11721
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()86
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&)11711
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()86
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&)327060
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::start()195
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
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&)189
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()195
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2189
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&)327101
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()201
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::getMsg()10145
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&)195
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::~Impl().2201
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)357102
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::start()202
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::getMsg()159158
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&)202
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()202
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2202
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&)356927
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()202
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::getMsg()159161
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&)202
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::~Impl().2202
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<std_msgs::Bool_<std::allocator<void> > const> const&)369
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::start()2
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<std_msgs::Bool_<std::allocator<void> > const>)> const&)2
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()2
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().22
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<std_msgs::Bool_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<std_msgs::Bool_<std::allocator<void> > const> const&)363
mrs_lib::SubscribeHandler<std_msgs::Bool_<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::Bool_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::start()2
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<std_msgs::Bool_<std::allocator<void> > const>)> const&)2
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::~Impl().22
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<std_msgs::Float64_<std::allocator<void> > const> const&)14906
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::start()130
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::getMsg()26219
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&)130
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()130
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2130
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&)14905
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()130
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::getMsg()26219
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&)130
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::~Impl().2130
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::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]() const257
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const4078
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const4078
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::hasMsg() const4078
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::peekMsg() const4078
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]() const19
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::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]() const130
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const8855
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const7261
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::hasMsg() const8850
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::peekMsg() const7262
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]() const134
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::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() const12604
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const1377
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::hasMsg() const12603
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::peekMsg() const1377
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]() const67
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const278390
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const135787
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::hasMsg() const278225
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::peekMsg() const135937
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]() const211
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const651558
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const507901
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]() const66
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::hasMsg() const651403
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::peekMsg() const507961
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]() const523
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const126
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const9148
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const184
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() const126
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::hasMsg() const9148
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::peekMsg() const191
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]() const155
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const115539
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const115536
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::hasMsg() const115539
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::peekMsg() const115536
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]() const133
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const256195
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::newMsg() const377070
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const300211
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() const256261
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::newMsg() const376850
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::peekMsg() const300555
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]() const258
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const41793
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const32316
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::hasMsg() const41791
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::peekMsg() const32316
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]() const272
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const13
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const607
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() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::hasMsg() const14
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::peekMsg() const608
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]() const136
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::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]() const69
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const544
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const544
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::hasMsg() const544
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::peekMsg() const544
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]() const65
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::peekMsg() 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::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::peekMsg() const0
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]() const65
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::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]() 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::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]() const65
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const9176
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const8351
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]() const66
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::hasMsg() const9176
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::peekMsg() const8351
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]() const280
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() const34
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::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::peekMsg() const0
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]() const71
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::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]() const65
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::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]() const65
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const65
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const4
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::hasMsg() const65
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const4
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]() const65
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const42647
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const40557
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::hasMsg() const46443
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const40558
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]() const287
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::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]() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const9006
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::hasMsg() const12794
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]() const25
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const61
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() const61
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const3788
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]() const71
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const16
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const1
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::hasMsg() const16
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const1
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]() const27
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::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]() const65
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const123040
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const122981
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]() const73
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const127293
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const125489
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]() const360
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const61
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() const61
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const3788
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]() const71
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::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]() const65
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const86
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const85
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::hasMsg() const85
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::peekMsg() const86
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]() const9
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const146884
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const169051
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::peekMsg() 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::lastMsgTime() const143389
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::hasMsg() const178520
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::peekMsg() const10145
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]() const201
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const352357
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const159160
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const1
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::hasMsg() const352362
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::peekMsg() const159161
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]() const203
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const2
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const26219
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const34670
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const26219
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() const26219
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::hasMsg() const34670
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::peekMsg() const26219
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]() const130
+
+
+ + + +
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..eb78dd2347 --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/subscribe_handler.hpp.gcov.html @@ -0,0 +1,413 @@ + + + + + + + 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:9112075.8 %
Date:2024-01-20 21:44:18Functions:469107143.8 %
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        4282 :     Impl(const SubscribeHandlerOptions& options, const message_callback_t& message_callback = message_callback_t())
+      29        4282 :         : m_nh(options.nh),
+      30        4282 :           m_topic_name(options.topic_name),
+      31        4282 :           m_node_name(options.node_name),
+      32             :           m_got_data(false),
+      33             :           m_new_data(false),
+      34             :           m_used_data(false),
+      35        4282 :           m_timeout_manager(options.timeout_manager),
+      36             :           m_latest_message_time(0),
+      37             :           m_latest_message(nullptr),
+      38             :           m_message_callback(message_callback),
+      39        4282 :           m_queue_size(options.queue_size),
+      40        4590 :           m_transport_hints(options.transport_hints)
+      41             :     {
+      42        4282 :       if (options.no_message_timeout != mrs_lib::no_timeout)
+      43             :       {
+      44             :         // initialize a new TimeoutManager if not provided by the user
+      45          61 :         if (!m_timeout_manager)
+      46          61 :           m_timeout_manager = std::make_shared<mrs_lib::TimeoutManager>(m_nh, ros::Rate(2.0/options.no_message_timeout.toSec()));
+      47             : 
+      48             :         // initialize the callback for the TimeoutManager
+      49         122 :         std::function<void(const ros::Time&)> timeout_mgr_callback;
+      50          61 :         if (options.timeout_callback)
+      51           1 :           timeout_mgr_callback = std::bind(options.timeout_callback, topicName(), std::placeholders::_1);
+      52             :         else
+      53          60 :           timeout_mgr_callback = std::bind(&Impl::default_timeout_callback, this, topicName(), std::placeholders::_1);
+      54             : 
+      55             :         // register the timeout callback with the TimeoutManager
+      56          61 :         m_timeout_id = m_timeout_manager->registerNew(options.no_message_timeout, timeout_mgr_callback);
+      57             :       }
+      58             : 
+      59       12692 :       const std::string msg = "Subscribed to topic '" + m_topic_name + "' -> '" + topicName() + "'";
+      60        4282 :       if (m_node_name.empty())
+      61           1 :         ROS_INFO_STREAM(msg);
+      62             :       else
+      63        4575 :         ROS_INFO_STREAM("[" << m_node_name << "]: " << msg);
+      64        4282 :     }
+      65             :     //}
+      66             : 
+      67        5097 :     virtual ~Impl() = default;
+      68             : 
+      69             :   public:
+      70             :     /* getMsg() method //{ */
+      71     1477683 :     virtual typename MessageType::ConstPtr getMsg()
+      72             :     {
+      73     1477683 :       m_new_data = false;
+      74     1477683 :       m_used_data = true;
+      75     1477683 :       return peekMsg();
+      76             :     }
+      77             :     //}
+      78             : 
+      79             :     /* peekMsg() method //{ */
+      80     1477789 :     virtual typename MessageType::ConstPtr peekMsg() const
+      81             :     {
+      82             :       /* assert(m_got_data); */
+      83             :       /* if (!m_got_data) */
+      84             :       /*   ROS_ERROR("[%s]: No data received yet from topic '%s' (forgot to check hasMsg()?)! Returning empty message.", m_node_name.c_str(), */
+      85             :       /*             topicName().c_str()); */
+      86     1479199 :       return m_latest_message;
+      87             :     }
+      88             :     //}
+      89             : 
+      90             :     /* hasMsg() method //{ */
+      91     1897052 :     virtual bool hasMsg() const
+      92             :     {
+      93     1897052 :       return m_got_data;
+      94             :     }
+      95             :     //}
+      96             : 
+      97             :     /* newMsg() method //{ */
+      98      376850 :     virtual bool newMsg() const
+      99             :     {
+     100      376850 :       return m_new_data;
+     101             :     }
+     102             :     //}
+     103             : 
+     104             :     /* usedMsg() method //{ */
+     105           0 :     virtual bool usedMsg() const
+     106             :     {
+     107           0 :       return m_used_data;
+     108             :     }
+     109             :     //}
+     110             : 
+     111             :     /* waitForNew() method //{ */
+     112           0 :     virtual typename MessageType::ConstPtr waitForNew(const ros::WallDuration& timeout)
+     113             :     {
+     114             :       // convert the ros type to chrono type
+     115           0 :       const std::chrono::duration<float> chrono_timeout(timeout.toSec());
+     116             :       // lock the mutex guarding the m_new_data flag
+     117           0 :       std::unique_lock lock(m_new_data_mtx);
+     118             :       // if new data is available, return immediately, otherwise attempt to wait for new data using the respective condition variable
+     119           0 :       if (m_new_data)
+     120           0 :         return getMsg();
+     121           0 :       else if (m_new_data_cv.wait_for(lock, chrono_timeout) == std::cv_status::no_timeout && m_new_data)
+     122           0 :         return getMsg();
+     123             :       else
+     124           0 :         return nullptr;
+     125             :     };
+     126             :     //}
+     127             : 
+     128             :     /* lastMsgTime() method //{ */
+     129      429617 :     virtual ros::Time lastMsgTime() const
+     130             :     {
+     131      429617 :       return m_latest_message_time;
+     132             :     };
+     133             :     //}
+     134             : 
+     135             :     /* topicName() method //{ */
+     136        4621 :     virtual std::string topicName() const
+     137             :     {
+     138        4621 :       std::string ret = m_sub.getTopic();
+     139        4621 :       if (ret.empty())
+     140        4415 :         ret = m_nh.resolveName(m_topic_name);
+     141        4621 :       return ret;
+     142             :     }
+     143             :     //}
+     144             : 
+     145             :     /* start() method //{ */
+     146        4358 :     virtual void start()
+     147             :     {
+     148        4358 :       if (m_timeout_manager)
+     149          65 :         m_timeout_manager->start(m_timeout_id);
+     150        4358 :       m_sub = m_nh.subscribe(m_topic_name, m_queue_size, &Impl::data_callback, this, m_transport_hints);
+     151        4358 :     }
+     152             :     //}
+     153             : 
+     154             :     /* stop() method //{ */
+     155           5 :     virtual void stop()
+     156             :     {
+     157           5 :       if (m_timeout_manager)
+     158           5 :         m_timeout_manager->pause(m_timeout_id);
+     159           5 :       m_sub.shutdown();
+     160           5 :     }
+     161             :     //}
+     162             : 
+     163             :   protected:
+     164             :     ros::NodeHandle m_nh;
+     165             :     ros::Subscriber m_sub;
+     166             : 
+     167             :   protected:
+     168             :     std::string m_topic_name;
+     169             :     std::string m_node_name;
+     170             : 
+     171             :   protected:
+     172             :     bool m_got_data;   // whether any data was received
+     173             : 
+     174             :     mutable std::mutex m_new_data_mtx;
+     175             :     mutable std::condition_variable m_new_data_cv;
+     176             :     bool m_new_data;   // whether new data was received since last call to get_data
+     177             : 
+     178             :     bool m_used_data;  // whether get_data was successfully called at least once
+     179             : 
+     180             :   protected:
+     181             :     std::shared_ptr<mrs_lib::TimeoutManager> m_timeout_manager;
+     182             :     mrs_lib::TimeoutManager::timeout_id_t m_timeout_id;
+     183             : 
+     184             :   protected:
+     185             :     ros::Time m_latest_message_time;
+     186             :     typename MessageType::ConstPtr m_latest_message;
+     187             :     message_callback_t m_message_callback;
+     188             : 
+     189             :   private:
+     190             :     uint32_t m_queue_size;
+     191             :     ros::TransportHints m_transport_hints;
+     192             : 
+     193             :   protected:
+     194             :     /* default_timeout_callback() method //{ */
+     195           0 :     void default_timeout_callback(const std::string& topic_name, const ros::Time& last_msg)
+     196             :     {
+     197           0 :       const ros::Duration since_msg = (ros::Time::now() - last_msg);
+     198           0 :       const auto n_pubs = m_sub.getNumPublishers();
+     199           0 :       const std::string txt = "Did not receive any message from topic '" + topic_name + "' for " + std::to_string(since_msg.toSec()) + "s ("
+     200             :                               + std::to_string(n_pubs) + " publishers on this topic)";
+     201           0 :       if (m_node_name.empty())
+     202           0 :         ROS_WARN_STREAM(txt);
+     203             :       else
+     204           0 :         ROS_WARN_STREAM("[" << m_node_name << "]: " << txt);
+     205           0 :     }
+     206             :     //}
+     207             : 
+     208             :     /* process_new_message() method //{ */
+     209     4261155 :     void process_new_message(const typename MessageType::ConstPtr& msg)
+     210             :     {
+     211     4261155 :       m_latest_message_time = ros::Time::now();
+     212     4262901 :       m_latest_message = msg;
+     213             :       // If the message callback is registered, the new data will immediately be processed,
+     214             :       // so reset the flag. Otherwise, set the flag.
+     215     4261323 :       m_new_data = !m_message_callback;
+     216     4257210 :       m_got_data = true;
+     217     4257210 :       m_new_data_cv.notify_one();
+     218     4262141 :     }
+     219             :     //}
+     220             : 
+     221             :     /* data_callback() method //{ */
+     222           0 :     virtual void data_callback(const typename MessageType::ConstPtr& msg)
+     223             :     {
+     224             :       {
+     225           0 :         std::lock_guard lck(m_new_data_mtx);
+     226           0 :         if (m_timeout_manager)
+     227           0 :           m_timeout_manager->reset(m_timeout_id);
+     228           0 :         process_new_message(msg);
+     229             :       }
+     230             : 
+     231             :       // execute the callback after unlocking the mutex to enable multi-threaded callback execution
+     232           0 :       if (m_message_callback)
+     233           0 :         m_message_callback(msg);
+     234           0 :     }
+     235             :     //}
+     236             :   };
+     237             :   //}
+     238             : 
+     239             :   /* SubscribeHandler_threadsafe class //{ */
+     240             :   template <typename MessageType>
+     241             :   class SubscribeHandler<MessageType>::ImplThreadsafe : public SubscribeHandler<MessageType>::Impl
+     242             :   {
+     243             :   private:
+     244             :     using impl_class_t = SubscribeHandler<MessageType>::Impl;
+     245             : 
+     246             :   public:
+     247             :     using timeout_callback_t = typename impl_class_t::timeout_callback_t;
+     248             :     using message_callback_t = typename impl_class_t::message_callback_t;
+     249             : 
+     250             :     friend class SubscribeHandler<MessageType>;
+     251             : 
+     252             :   public:
+     253        4282 :     ImplThreadsafe(const SubscribeHandlerOptions& options, const message_callback_t& message_callback = message_callback_t())
+     254        4282 :         : impl_class_t::Impl(options, message_callback)
+     255             :     {
+     256        4128 :     }
+     257             : 
+     258             :   public:
+     259     1862642 :     virtual bool hasMsg() const override
+     260             :     {
+     261     3718885 :       std::lock_guard lck(m_mtx);
+     262     3718990 :       return impl_class_t::hasMsg();
+     263             :     }
+     264      377070 :     virtual bool newMsg() const override
+     265             :     {
+     266      753511 :       std::lock_guard lck(m_mtx);
+     267      753415 :       return impl_class_t::newMsg();
+     268             :     }
+     269           0 :     virtual bool usedMsg() const override
+     270             :     {
+     271           0 :       std::lock_guard lck(m_mtx);
+     272           0 :       return impl_class_t::usedMsg();
+     273             :     }
+     274     1463647 :     virtual typename MessageType::ConstPtr getMsg() override
+     275             :     {
+     276     2925451 :       std::lock_guard lck(m_mtx);
+     277     2926136 :       return impl_class_t::getMsg();
+     278             :     }
+     279     1463194 :     virtual typename MessageType::ConstPtr peekMsg() const override
+     280             :     {
+     281     2924717 :       std::lock_guard lck(m_mtx);
+     282     2925706 :       return impl_class_t::peekMsg();
+     283             :     }
+     284      429551 :     virtual ros::Time lastMsgTime() const override
+     285             :     {
+     286      855624 :       std::lock_guard lck(m_mtx);
+     287      855490 :       return impl_class_t::lastMsgTime();
+     288             :     };
+     289         206 :     virtual std::string topicName() const override
+     290             :     {
+     291         411 :       std::lock_guard lck(m_mtx);
+     292         412 :       return impl_class_t::topicName();
+     293             :     };
+     294        4286 :     virtual void start() override
+     295             :     {
+     296        8418 :       std::lock_guard lck(m_mtx);
+     297        8572 :       return impl_class_t::start();
+     298             :     }
+     299           5 :     virtual void stop() override
+     300             :     {
+     301          10 :       std::lock_guard lck(m_mtx);
+     302          10 :       return impl_class_t::stop();
+     303             :     }
+     304             : 
+     305        8410 :     virtual ~ImplThreadsafe() override = default;
+     306             : 
+     307             :   protected:
+     308     4261930 :     virtual void data_callback(const typename MessageType::ConstPtr& msg) override
+     309             :     {
+     310             :       {
+     311     8477271 :         std::scoped_lock lck(m_mtx, this->m_new_data_mtx);
+     312     4248930 :         if (this->m_timeout_manager)
+     313      105389 :           this->m_timeout_manager->reset(this->m_timeout_id);
+     314     4235335 :         impl_class_t::process_new_message(msg);
+     315             :       }
+     316             : 
+     317             :       // execute the callback after unlocking the mutex to enable multi-threaded callback execution
+     318     4248422 :       if (this->m_message_callback)
+     319     2380385 :         impl_class_t::m_message_callback(msg);
+     320     4243001 :     }
+     321             : 
+     322             :   private:
+     323             :     mutable std::recursive_mutex m_mtx;
+     324             :   };
+     325             :   //}
+     326             : 
+     327             : }  // namespace mrs_lib
+     328             : 
+     329             : #endif  // SUBSCRIBE_HANDLER_HPP
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_lib/include/mrs_lib/impl/subscribe_handler.hpp.gcov.overview.html b/mrs_lib/include/mrs_lib/impl/subscribe_handler.hpp.gcov.overview.html new file mode 100644 index 0000000000..02a4b3f18a --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/subscribe_handler.hpp.gcov.overview.html @@ -0,0 +1,103 @@ + + + + + + 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 + + +
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+ + 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..c6682e9dff97067abef33079f6788709fa7e9ee7 GIT binary patch literal 1386 zcmV-w1(o`VP)~QyZhEahLIV1j%{))D8;>z# zP6X|k1^_jztv+xFfD(#I)}xe}B(&trpm8SqXQJ$5JS6zX1W`;R5P}A%Z8~}*UvpLx zYa=%^wvC>{m9@gn_fW1!39MW zI#;M{EvgnMBI%VjVY0^AX~Lub&RPTBBz3IywmsWp^AWCLszV3S^qkoAh>bt@yB zw`0$J5h!s?L2(OGtWMmum|WuN%4Kc&t$; zh;acA>fcJ>>kRZx?iD%3@0q6?KhZo{-7~3-`@W*BJ+5TasxQFF;_ufukNtM_^c7Ze0zX7LZ49%-60d+El z+SPzPJ5bI}R7J_?q6=I!Qm;L+KuIVKlM%Xx1;UL2@`W1mVW7(?0Iq!?io_8z3Js19 z&BztU752@#evhAfsO&YJ<^f0@sc#5R1#pLuM%Mx<9uDezsrczStbGsN2N;m(zVESD zIberGG+Ti6ixjMqQD~k_F}6;-(+f5F8iRNGya?398J>bvb!ZC!bn>vK(mnot(^dfR z5P+`PA#ml2Y+v_mevjRu)2W58ui{_5+To%=T5n8a9azBbHCO*2pj>OFoVves?M1|+ z*t|-q1Wm@cMIzswk*!c*ashtLIfF6)H@RLg1CXiUQQ|1oEO7XA&6`(q3f>UL29!Zq zX+E1FWfQ{J%J>CcRDt<&6@}87h8E~Z0u+onxLvHR1 z&pw(55Vt8qH5E!_)+dUp7VzuJ(5F)R)XZL#`Uzz|W-T5d9^=E>a;0uz7Zs2&di-eg z_D@&N$hDT$VHORUBCe&@c*+p07f7-iTS1XS0O0WcTG+)^O4F08sZ0y_jrvi(nF@-2 sL)M-5^@V;*U-sWqWWyQ<_9ztY4_tc183Gfly#N3J07*qoM6N<$f-2dM6aWAK 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..b1687f380f --- /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:2024-01-20 21:44:18Functions: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
+
+
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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..46b083b085 --- /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:2024-01-20 21:44:18Functions:33100.0 %
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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
+
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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..ec2edb6109 --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/timer.hpp.gcov.html @@ -0,0 +1,179 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/timer.hpp + + + + + + + + + + + + + + +
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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:2024-01-20 21:44:18Functions: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             : 
+      41             :   friend class ThreadTimer;
+      42             : 
+      43             :   // to keep rule of five since we have a custom destructor
+      44             :   Impl(const Impl&) = delete;
+      45             :   Impl(Impl&&) = delete;
+      46             :   Impl& operator=(const Impl&) = delete;
+      47             :   Impl& operator=(Impl&&) = delete;
+      48             : 
+      49             : private:
+      50             :   std::thread thread_;
+      51             :   std::function<void(const ros::TimerEvent&)> callback_;
+      52             : 
+      53             :   bool oneshot_;
+      54             : 
+      55             :   bool breakableSleep(const ros::Time& until);
+      56             :   void threadFcn();
+      57             : 
+      58             :   std::mutex mutex_wakeup_;
+      59             :   std::condition_variable wakeup_cond_;
+      60             :   std::recursive_mutex mutex_state_;
+      61             :   bool running_;
+      62             :   ros::Duration delay_dur_;
+      63             :   bool ending_;
+      64             :   ros::Time next_expected_;
+      65             :   ros::Time last_expected_;
+      66             :   ros::Time last_real_;
+      67             : 
+      68             : };
+      69             : 
+      70             : //}
+      71             : 
+      72             : /* ThreadTimer constructors and destructors//{ */
+      73             : 
+      74             : template <class ObjectType>
+      75           8 : ThreadTimer::ThreadTimer([[maybe_unused]] const ros::NodeHandle& nh, const ros::Rate& rate, void (ObjectType::*const callback)(const ros::TimerEvent&),
+      76             :                          ObjectType* const obj, const bool oneshot, const bool autostart)
+      77           8 :   : ThreadTimer(nh, rate.expectedCycleTime(), callback, obj, oneshot, autostart)
+      78             : {
+      79           8 : }
+      80             : 
+      81             : template <class ObjectType>
+      82           8 : ThreadTimer::ThreadTimer([[maybe_unused]] const ros::NodeHandle& nh, const ros::Duration& duration,
+      83           8 :                          void (ObjectType::*const callback)(const ros::TimerEvent&), ObjectType* const obj, bool oneshot, const bool autostart) 
+      84             : {
+      85           8 :   const auto cbk = std::bind(callback, obj, std::placeholders::_1);
+      86           8 :   if (duration == ros::Duration(0))
+      87           0 :     oneshot = true;
+      88           8 :   this->impl_ = std::make_unique<Impl>(cbk, duration, oneshot);
+      89           8 :   if (autostart)
+      90           0 :     this->impl_->start();
+      91           8 : }
+      92             : 
+      93             : //}
+      94             : 
+      95             : #endif  // MRS_TIMER_HPP
+
+
+
+ + + + +
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Current view:top level - mrs_lib/include/mrs_lib/impl - transformer.hpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:556485.9 %
Date:2024-01-20 21:44:18Functions:404883.3 %
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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::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&)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
void mrs_lib::Transformer::setHeader<geometry_msgs::Vector3Stamped_<std::allocator<void> > >(geometry_msgs::Vector3Stamped_<std::allocator<void> >&, std_msgs::Header_<std::allocator<void> > 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
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&)471
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&)9439
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&)9439
std_msgs::Header_<std::allocator<void> > mrs_lib::Transformer::getHeader<mrs_msgs::ReferenceStamped_<std::allocator<void> > >(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)9439
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&)15423
void mrs_lib::Transformer::setHeader<geometry_msgs::PointStamped_<std::allocator<void> > >(geometry_msgs::PointStamped_<std::allocator<void> >&, std_msgs::Header_<std::allocator<void> > const&)15423
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&)53991
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&)59959
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&)108664
void mrs_lib::Transformer::setHeader<geometry_msgs::PoseStamped_<std::allocator<void> > >(geometry_msgs::PoseStamped_<std::allocator<void> >&, std_msgs::Header_<std::allocator<void> > const&)108664
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&)186701
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&)202060
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&)202095
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&)202127
std_msgs::Header_<std::allocator<void> > mrs_lib::Transformer::getHeader<geometry_msgs::PointStamped_<std::allocator<void> > >(geometry_msgs::PointStamped_<std::allocator<void> > const&)217522
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&)527995
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&)528255
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&)535283
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&)539923
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&)539960
std_msgs::Header_<std::allocator<void> > mrs_lib::Transformer::getHeader<geometry_msgs::Vector3Stamped_<std::allocator<void> > >(geometry_msgs::Vector3Stamped_<std::allocator<void> > const&)540046
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&)540543
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&)540544
std_msgs::Header_<std::allocator<void> > mrs_lib::Transformer::getHeader<geometry_msgs::PoseStamped_<std::allocator<void> > >(geometry_msgs::PoseStamped_<std::allocator<void> > const&)636874
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&)643945
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LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib/impl - transformer.hpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:556485.9 %
Date:2024-01-20 21:44:18Functions:404883.3 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
std::optional<geometry_msgs::Quaternion_<std::allocator<void> > > mrs_lib::Transformer::doTransform<geometry_msgs::Quaternion_<std::allocator<void> > >(geometry_msgs::Quaternion_<std::allocator<void> > const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)6
std::optional<geometry_msgs::PoseStamped_<std::allocator<void> > > mrs_lib::Transformer::doTransform<geometry_msgs::PoseStamped_<std::allocator<void> > >(geometry_msgs::PoseStamped_<std::allocator<void> > const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)535283
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&)186701
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&)540543
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&)643945
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&)202127
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&)540544
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&)108664
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&)15423
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&)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<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&)528255
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&)527995
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&)202060
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&)202095
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&)539960
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&)539923
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&)9439
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&)9439
std_msgs::Header_<std::allocator<void> > mrs_lib::Transformer::getHeader<geometry_msgs::PoseStamped_<std::allocator<void> > >(geometry_msgs::PoseStamped_<std::allocator<void> > const&)636874
std_msgs::Header_<std::allocator<void> > mrs_lib::Transformer::getHeader<geometry_msgs::PointStamped_<std::allocator<void> > >(geometry_msgs::PointStamped_<std::allocator<void> > const&)217522
std_msgs::Header_<std::allocator<void> > mrs_lib::Transformer::getHeader<geometry_msgs::Vector3Stamped_<std::allocator<void> > >(geometry_msgs::Vector3Stamped_<std::allocator<void> > const&)540046
std_msgs::Header_<std::allocator<void> > mrs_lib::Transformer::getHeader<mrs_msgs::ReferenceStamped_<std::allocator<void> > >(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)9439
void mrs_lib::Transformer::setHeader<geometry_msgs::PoseStamped_<std::allocator<void> > >(geometry_msgs::PoseStamped_<std::allocator<void> >&, std_msgs::Header_<std::allocator<void> > const&)108664
void mrs_lib::Transformer::setHeader<geometry_msgs::PointStamped_<std::allocator<void> > >(geometry_msgs::PointStamped_<std::allocator<void> >&, std_msgs::Header_<std::allocator<void> > const&)15423
void mrs_lib::Transformer::setHeader<geometry_msgs::Vector3Stamped_<std::allocator<void> > >(geometry_msgs::Vector3Stamped_<std::allocator<void> >&, std_msgs::Header_<std::allocator<void> > const&)0
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&)53991
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&)471
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&)59959
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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:2024-01-20 21:44:18Functions:404883.3 %
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     1403881 :   std_msgs::Header Transformer::getHeader(const msg_t& msg)
+      15             :   {
+      16     1403881 :     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      124087 :   void Transformer::setHeader(msg_t& msg, const std_msgs::Header& header)
+      33             :   {
+      34      124087 :     msg.header = header;
+      35      124087 :   }
+      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      124087 :   T Transformer::copyChangeFrame(const T& what, const std::string& frame_id)
+      49             :   {
+      50      124087 :     T ret = what;
+      51             :     if constexpr (has_header_member_v<T>)
+      52             :     {
+      53      248174 :       std_msgs::Header new_header = getHeader(what);
+      54      124087 :       new_header.frame_id = frame_id;
+      55      124087 :       setHeader(ret, new_header);
+      56             :     }
+      57      124087 :     return ret;
+      58             :   }
+      59             : 
+      60             :   //}
+      61             : 
+      62             :   /* transformImpl() //{ */
+      63             : 
+      64             :   template <class T>
+      65     1386659 :   std::optional<T> Transformer::transformImpl(const geometry_msgs::TransformStamped& tf, const T& what)
+      66             :   {
+      67     2773294 :     const std::string from_frame = frame_from(tf);
+      68     2773273 :     const std::string to_frame = frame_to(tf);
+      69             : 
+      70     1386654 :     if (from_frame == to_frame)
+      71      124087 :       return copyChangeFrame(what, from_frame);
+      72             : 
+      73     2525130 :     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      721999 :       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      722000 :       else if (to_frame == latlon_frame_name)
+      89             :       {
+      90        2518 :         const std::optional<T> tmp = doTransform(what, tf);
+      91        1260 :         if (!tmp.has_value())
+      92           0 :           return std::nullopt;
+      93        1260 :         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      540571 :       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     1261308 :     return doTransform(what, tf);
+     108             :   }
+     109             : 
+     110             :   //}
+     111             : 
+     112             :   /* doTransform() //{ */
+     113             : 
+     114             :   template <class T>
+     115     1262568 :   std::optional<T> Transformer::doTransform(const T& what, const geometry_msgs::TransformStamped& tf)
+     116             :   {
+     117             :     try
+     118             :     {
+     119     2525017 :       T result;
+     120     1262550 :       tf2::doTransform(what, result, tf);
+     121     1262559 :       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     1279452 :   std::optional<T> Transformer::transformSingle(const T& what, const std::string& to_frame_raw)
+     139             :   {
+     140     2559635 :     const std_msgs::Header orig_header = getHeader(what);
+     141     2559291 :     return transformSingle(orig_header.frame_id, what, to_frame_raw, orig_header.stamp);
+     142             :   }
+     143             : 
+     144             :   template <class T>
+     145     1279715 :   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     2559889 :     std::scoped_lock lck(mutex_);
+     148             : 
+     149     1280203 :     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     2560372 :     const std::string from_frame = resolveFrameImpl(from_frame_raw);
+     156     2560347 :     const std::string to_frame = resolveFrameImpl(to_frame_raw);
+     157     2560336 :     const std::string latlon_frame = resolveFrameImpl(LATLON_ORIGIN);
+     158             : 
+     159             :     // get the transform
+     160     2560373 :     const auto tf_opt = getTransformImpl(from_frame, to_frame, time_stamp, latlon_frame);
+     161     1280191 :     if (!tf_opt.has_value())
+     162        8004 :       return std::nullopt;
+     163     1272169 :     const geometry_msgs::TransformStamped& tf = tf_opt.value();
+     164             : 
+     165             :     // do the transformation
+     166     2544333 :     const geometry_msgs::TransformStamped tf_resolved = create_transform(from_frame, to_frame, tf.header.stamp, tf.transform);
+     167     1272189 :     return transformImpl(tf_resolved, what);
+     168             :   }
+     169             : 
+     170             :   //}
+     171             : 
+     172             :   /* transform() //{ */
+     173             : 
+     174             :   template <class T>
+     175      114439 :   std::optional<T> Transformer::transform(const T& what, const geometry_msgs::TransformStamped& tf)
+     176             :   {
+     177      228878 :     std::scoped_lock lck(mutex_);
+     178             : 
+     179      114439 :     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      228878 :     const std::string from_frame = resolveFrameImpl(frame_from(tf));
+     186      228878 :     const std::string to_frame = resolveFrameImpl(frame_to(tf));
+     187      228878 :     const geometry_msgs::TransformStamped tf_resolved = create_transform(from_frame, to_frame, tf.header.stamp, tf.transform);
+     188             : 
+     189      114439 :     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
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Date:2024-01-20 21:44:18Functions:81266.7 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::UKF<4, 1, 2>::setConstants(double, double, double)0
mrs_lib::UKF<4, 1, 2>::setTransitionModel(std::function<Eigen::Matrix<double, 4, 1, 0, 4, 1> (Eigen::Matrix<double, 4, 1, 0, 4, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, double)> const&)0
mrs_lib::UKF<4, 1, 2>::setObservationModel(std::function<Eigen::Matrix<double, 2, 1, 0, 2, 1> (Eigen::Matrix<double, 4, 1, 0, 4, 1> const&)> const&)0
mrs_lib::UKF<4, 1, 2>::UKF()0
mrs_lib::UKF<4, 1, 2>::computeWeights()1
mrs_lib::UKF<4, 1, 2>::UKF(std::function<Eigen::Matrix<double, 4, 1, 0, 4, 1> (Eigen::Matrix<double, 4, 1, 0, 4, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, double)> const&, std::function<Eigen::Matrix<double, 2, 1, 0, 2, 1> (Eigen::Matrix<double, 4, 1, 0, 4, 1> const&)> const&, double, double, double)1
mrs_lib::UKF<4, 1, 2>::computeInverse(Eigen::Matrix<double, 2, 2, 0, 2, 2> const&) const100
mrs_lib::UKF<4, 1, 2>::computeKalmanGain(Eigen::Matrix<double, 4, 1, 0, 4, 1> const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 4, 2, 0, 4, 2> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&) const100
mrs_lib::UKF<4, 1, 2>::correct(mrs_lib::KalmanFilter<4, 1, 2>::statecov_t const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&) const100
mrs_lib::UKF<4, 1, 2>::predict(mrs_lib::KalmanFilter<4, 1, 2>::statecov_t const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 4, 4, 0, 4, 4> const&, double) const100
mrs_lib::UKF<4, 1, 2>::computePaSqrt(Eigen::Matrix<double, 4, 4, 0, 4, 4> const&) const200
mrs_lib::UKF<4, 1, 2>::computeSigmas(Eigen::Matrix<double, 4, 1, 0, 4, 1> const&, Eigen::Matrix<double, 4, 4, 0, 4, 4> const&) const200
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LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib/impl - ukf.hpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:7710474.0 %
Date:2024-01-20 21:44:18Functions: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:2024-01-20 21:44:18Functions:81266.7 %
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+
          Line data    Source code
+
+       1             : // clang: MatousFormat
+       2             : 
+       3             : #ifndef UKF_HPP
+       4             : #define UKF_HPP
+       5             : 
+       6             : /**  \file
+       7             :      \brief Implements UKF - a class implementing the Unscented Kalman Filter.
+       8             :      \author Tomáš Báča - bacatoma@fel.cvut.cz (original implementation)
+       9             :      \author Matouš Vrba - vrbamato@fel.cvut.cz (rewrite, documentation)
+      10             :  */
+      11             : 
+      12             : #include <ros/ros.h>
+      13             : #include <mrs_lib/ukf.h>
+      14             : 
+      15             : namespace mrs_lib
+      16             : {
+      17             :   /* constructor //{ */
+      18             : 
+      19             :   template <int n_states, int n_inputs, int n_measurements>
+      20           0 :   UKF<n_states, n_inputs, n_measurements>::UKF()
+      21             :   {
+      22           0 :   }
+      23             : 
+      24             :   template <int n_states, int n_inputs, int n_measurements>
+      25           1 :   UKF<n_states, n_inputs, n_measurements>::UKF(const transition_model_t& transition_model, const observation_model_t& observation_model, const double alpha, const double kappa, const double beta)
+      26           1 :     : m_alpha(alpha), m_kappa(kappa), m_beta(beta), m_Wm(W_t::Zero()), m_Wc(W_t::Zero()), m_transition_model(transition_model), m_observation_model(observation_model)
+      27             :   {
+      28           1 :     assert(alpha > 0.0);
+      29           1 :     computeWeights();
+      30           1 :   }
+      31             : 
+      32             :   //}
+      33             : 
+      34             :   /* computeWeights() //{ */
+      35             : 
+      36             :   template <int n_states, int n_inputs, int n_measurements>
+      37           1 :   void UKF<n_states, n_inputs, n_measurements>::computeWeights()
+      38             :   {
+      39             :     // initialize lambda
+      40             :     /* m_lambda = double(n) * (m_alpha * m_alpha - 1.0); */
+      41           1 :     m_lambda = m_alpha*m_alpha*(double(n) + m_kappa) - double(n);
+      42             : 
+      43             :     // initialize first terms of the weights
+      44           1 :     m_Wm(0) = m_lambda / (double(n) + m_lambda);
+      45           1 :     m_Wc(0) = m_Wm(0) + (1.0 - m_alpha*m_alpha + m_beta);
+      46             : 
+      47             :     // initialize the rest of the weights
+      48           9 :     for (int i = 1; i < w; i++)
+      49             :     {
+      50           8 :       m_Wm(i) = (1.0 - m_Wm(0))/(w - 1.0);
+      51           8 :       m_Wc(i) = m_Wm(i);
+      52             :     }
+      53           1 :   }
+      54             : 
+      55             :   //}
+      56             : 
+      57             :   /* setConstants() //{ */
+      58             : 
+      59             :   template <int n_states, int n_inputs, int n_measurements>
+      60             :   // update the UKF constants
+      61           0 :   void UKF<n_states, n_inputs, n_measurements>::setConstants(const double alpha, const double kappa, const double beta)
+      62             :   {
+      63           0 :     m_alpha = alpha;
+      64           0 :     m_kappa = kappa;
+      65           0 :     m_beta  = beta;
+      66             : 
+      67           0 :     computeWeights();
+      68           0 :   }
+      69             : 
+      70             :   //}
+      71             : 
+      72             :     /* setTransitionModel() method //{ */
+      73             : 
+      74             :     template <int n_states, int n_inputs, int n_measurements>
+      75           0 :     void UKF<n_states, n_inputs, n_measurements>::setTransitionModel(const transition_model_t& transition_model)
+      76             :     {
+      77           0 :       m_transition_model = transition_model;
+      78           0 :     }
+      79             : 
+      80             :     //}
+      81             : 
+      82             :     /* setObservationModel() method //{ */
+      83             : 
+      84             :     template <int n_states, int n_inputs, int n_measurements>
+      85           0 :     void UKF<n_states, n_inputs, n_measurements>::setObservationModel(const observation_model_t& observation_model)
+      86             :     {
+      87           0 :       m_observation_model = observation_model;
+      88           0 :     }
+      89             : 
+      90             :     //}
+      91             : 
+      92             :   /* computePaSqrt() method //{ */
+      93             :   template <int n_states, int n_inputs, int n_measurements>
+      94         200 :   typename UKF<n_states, n_inputs, n_measurements>::P_t UKF<n_states, n_inputs, n_measurements>::computePaSqrt(const P_t& P) const
+      95             :   {
+      96             :     // calculate the square root of the covariance matrix
+      97         200 :     const P_t Pa = (double(n) + m_lambda)*P;
+      98             : 
+      99             :     /* Eigen::SelfAdjointEigenSolver<P_t> es(Pa); */
+     100         200 :     Eigen::LLT<P_t> llt(Pa);
+     101         200 :     if (llt.info() != Eigen::Success)
+     102             :     {
+     103           0 :       P_t tmp = Pa + (double(n) + m_lambda)*1e-9*P_t::Identity();
+     104           0 :       llt.compute(tmp);
+     105           0 :       if (llt.info() != Eigen::Success)
+     106             :       {
+     107           0 :         ROS_WARN("UKF: taking the square root of covariance during sigma point generation failed.");
+     108           0 :         throw square_root_exception();
+     109             :       }
+     110             :     }
+     111             : 
+     112         200 :     const P_t Pa_sqrt = llt.matrixL();
+     113         400 :     return Pa_sqrt;
+     114             :   }
+     115             :   //}
+     116             : 
+     117             :   /* computeInverse() method //{ */
+     118             :   template <int n_states, int n_inputs, int n_measurements>
+     119         100 :   typename UKF<n_states, n_inputs, n_measurements>::Pzz_t UKF<n_states, n_inputs, n_measurements>::computeInverse(const Pzz_t& Pzz) const
+     120             :   {
+     121         100 :     Eigen::ColPivHouseholderQR<Pzz_t> qr(Pzz);
+     122         100 :     if (!qr.isInvertible())
+     123             :     {
+     124             :       // add some stuff to the tmp matrix diagonal to make it invertible
+     125           0 :       Pzz_t tmp = Pzz + 1e-9*Pzz_t::Identity(Pzz.rows(), Pzz.cols());
+     126           0 :       qr.compute(tmp);
+     127           0 :       if (!qr.isInvertible())
+     128             :       {
+     129             :         // never managed to make this happen except for explicitly putting NaNs in the input
+     130           0 :         ROS_ERROR("UKF: could not compute matrix inversion!!! Fix your covariances (the measurement's is probably too low...)");
+     131           0 :         throw inverse_exception();
+     132             :       }
+     133           0 :       ROS_WARN("UKF: artificially inflating matrix for inverse computation! Check your covariances (the measurement's might be too low...)");
+     134             :     }
+     135         100 :     Pzz_t ret = qr.inverse();
+     136         200 :     return ret;
+     137             :   }
+     138             :   //}
+     139             : 
+     140             :   /* computeKalmanGain() method //{ */
+     141             :   template <int n_states, int n_inputs, int n_measurements>
+     142         100 :   typename UKF<n_states, n_inputs, n_measurements>::K_t UKF<n_states, n_inputs, n_measurements>::computeKalmanGain([[maybe_unused]] const x_t& x, [[maybe_unused]] const z_t& inn, const K_t& Pxz, const Pzz_t& Pzz) const
+     143             :   {
+     144         100 :     const Pzz_t Pzz_inv = computeInverse(Pzz);
+     145         100 :     const K_t K = Pxz * Pzz_inv;
+     146         200 :     return K;
+     147             :   }
+     148             :   //}
+     149             : 
+     150             :   /* computeSigmas() method //{ */
+     151             :   template <int n_states, int n_inputs, int n_measurements>
+     152         200 :   typename UKF<n_states, n_inputs, n_measurements>::X_t UKF<n_states, n_inputs, n_measurements>::computeSigmas(const x_t& x, const P_t& P) const
+     153             :   {
+     154             :     // calculate sigma points
+     155             :     // fill in the middle of the elipsoid
+     156         200 :     X_t S;
+     157         200 :     S.col(0) = x;
+     158             : 
+     159         200 :     const P_t P_sqrt = computePaSqrt(P);
+     160         200 :     const auto xrep = x.replicate(1, n);
+     161             : 
+     162             :     // positive sigma points
+     163         200 :     S.template block<n, n>(0, 1) = xrep + P_sqrt;
+     164             : 
+     165             :     // negative sigma points
+     166         200 :     S.template block<n, n>(0, n+1) = xrep - P_sqrt;
+     167             : 
+     168             :     /* std::cout << "x: " << std::endl << x << std::endl; */
+     169             :     /* std::cout << "S rowmean: " << std::endl << S.rowwise().mean() << std::endl; */
+     170             : 
+     171         400 :     return S;
+     172             :   }
+     173             :   //}
+     174             : 
+     175             :   /* predict() method //{ */
+     176             : 
+     177             :   template <int n_states, int n_inputs, int n_measurements>
+     178         100 :   typename UKF<n_states, n_inputs, n_measurements>::statecov_t UKF<n_states, n_inputs, n_measurements>::predict(const statecov_t& sc, const u_t& u, const Q_t& Q, double dt) const
+     179             :   {
+     180         100 :     const auto& x = sc.x;
+     181         100 :     const auto& P = sc.P;
+     182         100 :     statecov_t ret;
+     183             : 
+     184         100 :     const X_t S = computeSigmas(x, P);
+     185             : 
+     186             :     // propagate sigmas through the transition model
+     187         100 :     X_t X;
+     188        1000 :     for (int i = 0; i < w; i++)
+     189             :     {
+     190         900 :       X.col(i) = m_transition_model(S.col(i), u, dt);
+     191             :     }
+     192             : 
+     193             :     /* std::cout << "x: " << std::endl << x << std::endl; */
+     194             :     /* std::cout << "X rowmean: " << std::endl << X.rowwise().mean() << std::endl; */
+     195             :     /* std::cout << "m_Wm sum: " << m_Wm.sum() << std::endl; */
+     196             : 
+     197             :     // recompute the state vector
+     198         100 :     ret.x = x_t::Zero();
+     199        1000 :     for (int i = 0; i < w; i++)
+     200             :     {
+     201             :       //TODO: WHY DOES THIS SHIT WORK IF I SUBSTITUTE m_Wm(i) FOR 1.0/w ??
+     202         900 :       x_t tmp = 1.0/w * X.col(i);
+     203             :       /* x_t tmp = m_Wm(i) * X.col(i); */
+     204         900 :       ret.x += tmp;
+     205             :     }
+     206             : 
+     207             :     // recompute the covariance
+     208         100 :     ret.P = P_t::Zero();
+     209        1000 :     for (int i = 0; i < w; i++)
+     210             :     {
+     211         900 :       ret.P += m_Wc(i) * (X.col(i) - ret.x) * (X.col(i) - ret.x).transpose();
+     212             :     }
+     213         100 :     ret.P += Q;
+     214             : 
+     215         200 :     return ret;
+     216             :   }
+     217             : 
+     218             :   //}
+     219             : 
+     220             :   /* correct() method //{ */
+     221             : 
+     222             :   template <int n_states, int n_inputs, int n_measurements>
+     223         100 :   typename UKF<n_states, n_inputs, n_measurements>::statecov_t UKF<n_states, n_inputs, n_measurements>::correct(const statecov_t& sc, const z_t& z, const R_t& R) const
+     224             :   {
+     225         100 :     const auto& x = sc.x;
+     226         100 :     const auto& P = sc.P;
+     227         100 :     const X_t S = computeSigmas(x, P);
+     228             : 
+     229             :     // propagate sigmas through the observation model
+     230         100 :     Z_t Z_exp(z.rows(), w);
+     231        1000 :     for (int i = 0; i < w; i++)
+     232             :     {
+     233         900 :       Z_exp.col(i) = m_observation_model(S.col(i));
+     234             :     }
+     235             : 
+     236             :     // compute expected measurement
+     237         100 :     z_t z_exp = z_t::Zero(z.rows());
+     238        1000 :     for (int i = 0; i < w; i++)
+     239             :     {
+     240         900 :       z_exp += m_Wm(i) * Z_exp.col(i);
+     241             :     }
+     242             : 
+     243             :     // compute the covariance of measurement
+     244         100 :     Pzz_t Pzz = Pzz_t::Zero(z.rows(), z.rows());
+     245        1000 :     for (int i = 0; i < w; i++)
+     246             :     {
+     247         900 :       Pzz += m_Wc(i) * (Z_exp.col(i) - z_exp) * (Z_exp.col(i) - z_exp).transpose();
+     248             :     }
+     249         100 :     Pzz += R;
+     250             : 
+     251             :     // compute cross covariance
+     252         100 :     K_t Pxz = K_t::Zero(n, z.rows());
+     253        1000 :     for (int i = 0; i < w; i++)
+     254             :     {
+     255         900 :       Pxz += m_Wc(i) * (S.col(i) - x) * (Z_exp.col(i) - z_exp).transpose();
+     256             :     }
+     257             : 
+     258             :     // compute Kalman gain
+     259         100 :     const z_t inn = (z - z_exp); // innovation
+     260         100 :     const K_t K = computeKalmanGain(sc.x, inn, Pxz, Pzz);
+     261             : 
+     262             :     // check whether the inverse produced valid numbers
+     263         100 :     if (!K.array().isFinite().all())
+     264             :     {
+     265           0 :       ROS_ERROR("UKF: inverting of Pzz in correction update produced non-finite numbers!!! Fix your covariances (the measurement's is probably too low...)");
+     266           0 :       throw inverse_exception();
+     267             :     }
+     268             : 
+     269             :     // correct
+     270         100 :     statecov_t ret;
+     271         100 :     ret.x = x + K * inn;
+     272         100 :     ret.P = P - K * Pzz * K.transpose();
+     273         200 :     return ret;
+     274             :   }
+     275             : 
+     276             :   //}
+     277             : 
+     278             : }  // namespace mrs_lib
+     279             : 
+     280             : #endif
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
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+ Top

+ Overview +
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LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_libHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:74896577.5 %
Date:2024-01-20 21:44:18Functions:781131959.2 %
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
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 / 11135.7 %20 / 56
<unnamed>90.1 %100 / 11135.7 %20 / 56
subscribe_handler.h +
79.6%79.6%
+ 		79.6 %39 / 4950.6 %380 / 751
<unnamed>79.6 %39 / 4950.6 %380 / 751
lkf.h +
81.5%81.5%
+ 		81.5 %44 / 5461.0 %25 / 41
<unnamed>81.5 %44 / 5461.0 %25 / 41
attitude_converter.h +
79.3%79.3%
+ 		79.3 %23 / 2975.0 %9 / 12
<unnamed>79.3 %23 / 2975.0 %9 / 12
transformer.h +
85.0%85.0%
+ 		85.0 %51 / 6077.8 %14 / 18
<unnamed>85.0 %51 / 6077.8 %14 / 18
mutex.h +
100.0%
+ 		100.0 %11 / 1182.1 %64 / 78
<unnamed>100.0 %11 / 1182.1 %64 / 78
timer.h +
100.0%
+ 		100.0 %4 / 485.7 %6 / 7
<unnamed>100.0 %4 / 485.7 %6 / 7
param_loader.h +
88.3%88.3%
+ 		88.3 %248 / 28197.2 %70 / 72
<unnamed>88.3 %248 / 28197.2 %70 / 72
publisher_handler.h +
100.0%
+ 		100.0 %4 / 499.1 %116 / 117
<unnamed>100.0 %4 / 499.1 %116 / 117
timeout_manager.h +
66.7%66.7%
+ 		66.7 %4 / 6-0 / 0
<unnamed>66.7 %4 / 6-0 / 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%
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<unnamed>100.0 %15 / 15100.0 %5 / 5
service_client_handler.h +
100.0%
+ 		100.0 %3 / 3100.0 %21 / 21
<unnamed>100.0 %3 / 3100.0 %21 / 21
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_lib/include/mrs_lib/index-detail-sort-l.html b/mrs_lib/include/mrs_lib/index-detail-sort-l.html new file mode 100644 index 0000000000..2e499a1dc3 --- /dev/null +++ b/mrs_lib/include/mrs_lib/index-detail-sort-l.html @@ -0,0 +1,426 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/include/mrs_libHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:74896577.5 %
Date:2024-01-20 21:44:18Functions:781131959.2 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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+ +
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Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
ukf.h +
0.0%
+ 		0.0 %0 / 40.0 %0 / 2
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
dynamic_reconfigure_mgr.h +
65.5%65.5%
+ 		65.5 %57 / 8732.9 %28 / 85
<unnamed>65.5 %57 / 8732.9 %28 / 85
timeout_manager.h +
66.7%66.7%
+ 		66.7 %4 / 6-0 / 0
<unnamed>66.7 %4 / 6-0 / 0
gps_conversions.h +
76.5%76.5%
+ 		76.5 %104 / 136100.0 %4 / 4
<unnamed>76.5 %104 / 136100.0 %4 / 4
attitude_converter.h +
79.3%79.3%
+ 		79.3 %23 / 2975.0 %9 / 12
<unnamed>79.3 %23 / 2975.0 %9 / 12
subscribe_handler.h +
79.6%79.6%
+ 		79.6 %39 / 4950.6 %380 / 751
<unnamed>79.6 %39 / 4950.6 %380 / 751
lkf.h +
81.5%81.5%
+ 		81.5 %44 / 5461.0 %25 / 41
<unnamed>81.5 %44 / 5461.0 %25 / 41
transformer.h +
85.0%85.0%
+ 		85.0 %51 / 6077.8 %14 / 18
<unnamed>85.0 %51 / 6077.8 %14 / 18
param_loader.h +
88.3%88.3%
+ 		88.3 %248 / 28197.2 %70 / 72
<unnamed>88.3 %248 / 28197.2 %70 / 72
repredictor.h +
90.1%90.1%
+ 		90.1 %100 / 11135.7 %20 / 56
<unnamed>90.1 %100 / 11135.7 %20 / 56
visual_object.h +
100.0%
+ 		100.0 %2 / 2100.0 %1 / 1
<unnamed>100.0 %2 / 2100.0 %1 / 1
service_client_handler.h +
100.0%
+ 		100.0 %3 / 3100.0 %21 / 21
<unnamed>100.0 %3 / 3100.0 %21 / 21
quadratic_throttle_model.h +
100.0%
+ 		100.0 %4 / 4100.0 %2 / 2
<unnamed>100.0 %4 / 4100.0 %2 / 2
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 / 499.1 %116 / 117
<unnamed>100.0 %4 / 499.1 %116 / 117
mutex.h +
100.0%
+ 		100.0 %11 / 1182.1 %64 / 78
<unnamed>100.0 %11 / 1182.1 %64 / 78
utils.h +
100.0%
+ 		100.0 %15 / 15100.0 %5 / 5
<unnamed>100.0 %15 / 15100.0 %5 / 5
+
+
+ + + + +
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+
+ + + diff --git a/mrs_lib/include/mrs_lib/index-detail.html b/mrs_lib/include/mrs_lib/index-detail.html new file mode 100644 index 0000000000..c0913657bd --- /dev/null +++ b/mrs_lib/include/mrs_lib/index-detail.html @@ -0,0 +1,426 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/include/mrs_libHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:74896577.5 %
Date:2024-01-20 21:44:18Functions:781131959.2 %
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
attitude_converter.h +
79.3%79.3%
+ 		79.3 %23 / 2975.0 %9 / 12
<unnamed>79.3 %23 / 2975.0 %9 / 12
dynamic_reconfigure_mgr.h +
65.5%65.5%
+ 		65.5 %57 / 8732.9 %28 / 85
<unnamed>65.5 %57 / 8732.9 %28 / 85
gps_conversions.h +
76.5%76.5%
+ 		76.5 %104 / 136100.0 %4 / 4
<unnamed>76.5 %104 / 136100.0 %4 / 4
lkf.h +
81.5%81.5%
+ 		81.5 %44 / 5461.0 %25 / 41
<unnamed>81.5 %44 / 5461.0 %25 / 41
msg_extractor.h +
33.3%33.3%
+ 		33.3 %33 / 9934.1 %15 / 44
<unnamed>33.3 %33 / 9934.1 %15 / 44
mutex.h +
100.0%
+ 		100.0 %11 / 1182.1 %64 / 78
<unnamed>100.0 %11 / 1182.1 %64 / 78
param_loader.h +
88.3%88.3%
+ 		88.3 %248 / 28197.2 %70 / 72
<unnamed>88.3 %248 / 28197.2 %70 / 72
publisher_handler.h +
100.0%
+ 		100.0 %4 / 499.1 %116 / 117
<unnamed>100.0 %4 / 499.1 %116 / 117
quadratic_throttle_model.h +
100.0%
+ 		100.0 %4 / 4100.0 %2 / 2
<unnamed>100.0 %4 / 4100.0 %2 / 2
repredictor.h +
90.1%90.1%
+ 		90.1 %100 / 11135.7 %20 / 56
<unnamed>90.1 %100 / 11135.7 %20 / 56
scope_timer.h +
33.3%33.3%
+ 		33.3 %2 / 633.3 %1 / 3
<unnamed>33.3 %2 / 633.3 %1 / 3
service_client_handler.h +
100.0%
+ 		100.0 %3 / 3100.0 %21 / 21
<unnamed>100.0 %3 / 3100.0 %21 / 21
subscribe_handler.h +
79.6%79.6%
+ 		79.6 %39 / 4950.6 %380 / 751
<unnamed>79.6 %39 / 4950.6 %380 / 751
timeout_manager.h +
66.7%66.7%
+ 		66.7 %4 / 6-0 / 0
<unnamed>66.7 %4 / 6-0 / 0
timer.h +
100.0%
+ 		100.0 %4 / 485.7 %6 / 7
<unnamed>100.0 %4 / 485.7 %6 / 7
transformer.h +
85.0%85.0%
+ 		85.0 %51 / 6077.8 %14 / 18
<unnamed>85.0 %51 / 6077.8 %14 / 18
ukf.h +
0.0%
+ 		0.0 %0 / 40.0 %0 / 2
utils.h +
100.0%
+ 		100.0 %15 / 15100.0 %5 / 5
<unnamed>100.0 %15 / 15100.0 %5 / 5
visual_object.h +
100.0%
+ 		100.0 %2 / 2100.0 %1 / 1
<unnamed>100.0 %2 / 2100.0 %1 / 1
+
+
+ + + + +
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+ + + diff --git a/mrs_lib/include/mrs_lib/index-sort-f.html b/mrs_lib/include/mrs_lib/index-sort-f.html new file mode 100644 index 0000000000..f99ebc2205 --- /dev/null +++ b/mrs_lib/include/mrs_lib/index-sort-f.html @@ -0,0 +1,282 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/include/mrs_libHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:74896577.5 %
Date:2024-01-20 21:44:18Functions:781131959.2 %
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
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
scope_timer.h +
33.3%33.3%
+ 		33.3 %2 / 633.3 %1 / 3
msg_extractor.h +
33.3%33.3%
+ 		33.3 %33 / 9934.1 %15 / 44
repredictor.h +
90.1%90.1%
+ 		90.1 %100 / 11135.7 %20 / 56
subscribe_handler.h +
79.6%79.6%
+ 		79.6 %39 / 4950.6 %380 / 751
lkf.h +
81.5%81.5%
+ 		81.5 %44 / 5461.0 %25 / 41
attitude_converter.h +
79.3%79.3%
+ 		79.3 %23 / 2975.0 %9 / 12
transformer.h +
85.0%85.0%
+ 		85.0 %51 / 6077.8 %14 / 18
mutex.h +
100.0%
+ 		100.0 %11 / 1182.1 %64 / 78
timer.h +
100.0%
+ 		100.0 %4 / 485.7 %6 / 7
param_loader.h +
88.3%88.3%
+ 		88.3 %248 / 28197.2 %70 / 72
publisher_handler.h +
100.0%
+ 		100.0 %4 / 499.1 %116 / 117
timeout_manager.h +
66.7%66.7%
+ 		66.7 %4 / 6-0 / 0
visual_object.h +
100.0%
+ 		100.0 %2 / 2100.0 %1 / 1
quadratic_throttle_model.h +
100.0%
+ 		100.0 %4 / 4100.0 %2 / 2
gps_conversions.h +
76.5%76.5%
+ 		76.5 %104 / 136100.0 %4 / 4
utils.h +
100.0%
+ 		100.0 %15 / 15100.0 %5 / 5
service_client_handler.h +
100.0%
+ 		100.0 %3 / 3100.0 %21 / 21
+
+
+ + + + +
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LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_libHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:74896577.5 %
Date:2024-01-20 21:44:18Functions:781131959.2 %
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
ukf.h +
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scope_timer.h +
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+ 		33.3 %2 / 633.3 %1 / 3
msg_extractor.h +
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+ 		33.3 %33 / 9934.1 %15 / 44
dynamic_reconfigure_mgr.h +
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+ 		65.5 %57 / 8732.9 %28 / 85
timeout_manager.h +
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gps_conversions.h +
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+ 		76.5 %104 / 136100.0 %4 / 4
attitude_converter.h +
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+ 		79.3 %23 / 2975.0 %9 / 12
subscribe_handler.h +
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+ 		79.6 %39 / 4950.6 %380 / 751
lkf.h +
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+ 		81.5 %44 / 5461.0 %25 / 41
transformer.h +
85.0%85.0%
+ 		85.0 %51 / 6077.8 %14 / 18
param_loader.h +
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+ 		88.3 %248 / 28197.2 %70 / 72
repredictor.h +
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+ 		90.1 %100 / 11135.7 %20 / 56
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service_client_handler.h +
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publisher_handler.h +
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mutex.h +
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utils.h +
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LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/include/mrs_libHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:74896577.5 %
Date:2024-01-20 21:44:18Functions:781131959.2 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
attitude_converter.h +
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+ 		79.3 %23 / 2975.0 %9 / 12
dynamic_reconfigure_mgr.h +
65.5%65.5%
+ 		65.5 %57 / 8732.9 %28 / 85
gps_conversions.h +
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+ 		76.5 %104 / 136100.0 %4 / 4
lkf.h +
81.5%81.5%
+ 		81.5 %44 / 5461.0 %25 / 41
msg_extractor.h +
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+ 		33.3 %33 / 9934.1 %15 / 44
mutex.h +
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+ 		100.0 %11 / 1182.1 %64 / 78
param_loader.h +
88.3%88.3%
+ 		88.3 %248 / 28197.2 %70 / 72
publisher_handler.h +
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+ 		100.0 %4 / 499.1 %116 / 117
quadratic_throttle_model.h +
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repredictor.h +
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scope_timer.h +
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+ 		33.3 %2 / 633.3 %1 / 3
service_client_handler.h +
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+ 		100.0 %3 / 3100.0 %21 / 21
subscribe_handler.h +
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+ 		79.6 %39 / 4950.6 %380 / 751
timeout_manager.h +
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+ 		66.7 %4 / 6-0 / 0
timer.h +
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transformer.h +
85.0%85.0%
+ 		85.0 %51 / 6077.8 %14 / 18
ukf.h +
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utils.h +
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visual_object.h +
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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:2024-01-20 21:44:18Functions:254161.0 %
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Function Name Sort by function nameHit count Sort by hit count
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
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<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&)69
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&)124
mrs_lib::LKF<2, 1, 1>::invert_W(Eigen::Matrix<double, 1, 1, 0, 1, 1>)5854
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&) const5854
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&) const5854
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&) const5854
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&)16114
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)16114
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) const16114
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&)124356
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) const124365
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)124372
mrs_lib::LKF<6, 2, 2>::invert_W(Eigen::Matrix<double, 2, 2, 0, 2, 2>)134868
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&) const134955
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&) const135066
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&) const135123
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&)205357
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) const205710
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)205746
mrs_lib::LKF<3, 1, 1>::invert_W(Eigen::Matrix<double, 1, 1, 0, 1, 1>)315707
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&) const316641
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&) const316818
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&) const316827
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/include/mrs_lib/lkf.h.func.html b/mrs_lib/include/mrs_lib/lkf.h.func.html new file mode 100644 index 0000000000..b72f768f9d --- /dev/null +++ b/mrs_lib/include/mrs_lib/lkf.h.func.html @@ -0,0 +1,244 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/lkf.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/include/mrs_lib - lkf.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:445481.5 %
Date:2024-01-20 21:44:18Functions:254161.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::varstepLKF<2, 1, 1>::varstepLKF(std::function<Eigen::Matrix<double, 2, 2, 0, 2, 2> (double)> const&, std::function<Eigen::Matrix<double, 2, 1, 0, 2, 1> (double)> const&, Eigen::Matrix<double, 1, 2, 1, 1, 2> const&)3
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&)16114
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)16114
mrs_lib::LKF<2, 1, 1>::invert_W(Eigen::Matrix<double, 1, 1, 0, 1, 1>)5854
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&)205357
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)205746
mrs_lib::LKF<3, 1, 1>::invert_W(Eigen::Matrix<double, 1, 1, 0, 1, 1>)315707
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&)124
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&)124356
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)124372
mrs_lib::LKF<6, 2, 2>::invert_W(Eigen::Matrix<double, 2, 2, 0, 2, 2>)134868
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&)69
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) const16114
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&) const5854
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&) const5854
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&) const5854
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&) const316827
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&) const316818
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&) const316641
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) const205710
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&) const135066
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&) const135123
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&) const134955
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) const124365
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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         193 :     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      457450 :     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      457450 :       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      330075 :     virtual statecov_t predict(const statecov_t& sc, const u_t& u, const Q_t& Q, [[maybe_unused]] double dt) const override
+     139             :     {
+     140      330075 :       statecov_t ret;
+     141      329478 :       ret.x = state_predict(A, sc.x, B, u);
+     142      329493 :       ret.P = covariance_predict(A, sc.P, Q, dt);
+     143      329209 :       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      346232 :     static P_t covariance_predict(const A_t& A, const P_t& P, const Q_t& Q, const double dt)
+     155             :     {
+     156      346232 :       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      345827 :     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      345827 :       return A * x + B * u;
+     172             :     }
+     173             :     //}
+     174             : 
+     175             :   protected:
+     176             :     /* invert_W() method //{ */
+     177      456429 :     static R_t invert_W(R_t W)
+     178             :     {
+     179      456429 :       Eigen::ColPivHouseholderQR<R_t> qr(W);
+     180      457260 :       if (!qr.isInvertible())
+     181             :       {
+     182             :         // add some stuff to the tmp matrix diagonal to make it invertible
+     183       23565 :         R_t ident = R_t::Identity(W.rows(), W.cols());
+     184       23584 :         W += 1e-9 * ident;
+     185       23615 :         qr.compute(W);
+     186       23629 :         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      454517 :       const R_t W_inv = qr.inverse();
+     193      914956 :       return W_inv;
+     194             :     }
+     195             :     //}
+     196             : 
+     197             :     /* computeKalmanGain() method //{ */
+     198      457795 :     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      457795 :       const R_t W = H * sc.P * H.transpose() + R;
+     202      457250 :       const R_t W_inv = invert_W(W);
+     203      457517 :       const K_t K = sc.P * H.transpose() * W_inv;
+     204      914350 :       return K;
+     205             :     }
+     206             :     //}
+     207             : 
+     208             :     /* correction_impl() method //{ */
+     209             :     template<int check=n>
+     210      457747 :     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      457747 :       statecov_t ret;
+     214      457431 :       const K_t K = computeKalmanGain(sc, z, R, H);
+     215      456277 :       ret.x = sc.x + K * (z - (H * sc.x));
+     216      457027 :       ret.P = (P_t::Identity() - (K * H)) * sc.P;
+     217      913358 :       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       16114 :     virtual statecov_t predict(const statecov_t& sc, const u_t& u, const Q_t& Q, double dt) const override
+     317             :     {
+     318       16114 :       statecov_t ret;
+     319       16114 :       A_t A = m_generateA(dt);
+     320       16114 :       B_t B = m_generateB(dt);
+     321       16114 :       ret.x = Base_class::state_predict(A, sc.x, B, u);
+     322       16114 :       ret.P = Base_class::covariance_predict(A, sc.P, Q, dt);
+     323       32228 :       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
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/include/mrs_lib/lkf.h.gcov.overview.html b/mrs_lib/include/mrs_lib/lkf.h.gcov.overview.html new file mode 100644 index 0000000000..1e9597d534 --- /dev/null +++ b/mrs_lib/include/mrs_lib/lkf.h.gcov.overview.html @@ -0,0 +1,114 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/lkf.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 + + +
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+ Overview +
+ + 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..4f6d9175a3 --- /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 + + + + + + + + + + + + + + +
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:2024-01-20 21:44:18Functions:154434.1 %
Legend: Lines: + hit + not hit +
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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&)262
mrs_lib::getHeading(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)262
mrs_lib::getPosition(mrs_msgs::Reference_<std::allocator<void> > const&)262
mrs_lib::getPosition(mrs_msgs::TrackerCommand_<std::allocator<void> > const&)262
mrs_lib::getPosition(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)262
mrs_lib::getPose(nav_msgs::Odometry_<std::allocator<void> > const&)1035
mrs_lib::getHeading(nav_msgs::Odometry_<std::allocator<void> > const&)156468
mrs_lib::getHeading(geometry_msgs::PoseWithCovariance_<std::allocator<void> > const&)156470
mrs_lib::getHeading(geometry_msgs::Pose_<std::allocator<void> > const&)156471
mrs_lib::getHeading(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)156472
mrs_lib::getPosition(geometry_msgs::PoseWithCovariance_<std::allocator<void> > const&)156472
mrs_lib::getPosition(geometry_msgs::Pose_<std::allocator<void> > const&)156472
mrs_lib::getPosition(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)156472
mrs_lib::getPosition(nav_msgs::Odometry_<std::allocator<void> > const&)156472
mrs_lib::getXYZ(geometry_msgs::Point_<std::allocator<void> > const&)156996
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + 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..d405af3e61 --- /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
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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:2024-01-20 21:44:18Functions: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&)156470
mrs_lib::getHeading(geometry_msgs::Pose_<std::allocator<void> > const&)156471
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&)156472
mrs_lib::getHeading(mrs_msgs::Reference_<std::allocator<void> > const&)262
mrs_lib::getHeading(mrs_msgs::TrackerCommand_<std::allocator<void> > const&)0
mrs_lib::getHeading(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)262
mrs_lib::getHeading(nav_msgs::Odometry_<std::allocator<void> > const&)156468
mrs_lib::getPosition(geometry_msgs::PoseWithCovariance_<std::allocator<void> > const&)156472
mrs_lib::getPosition(geometry_msgs::Pose_<std::allocator<void> > const&)156472
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&)156472
mrs_lib::getPosition(mrs_msgs::Reference_<std::allocator<void> > const&)262
mrs_lib::getPosition(mrs_msgs::TrackerCommand_<std::allocator<void> > const&)262
mrs_lib::getPosition(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)262
mrs_lib::getPosition(nav_msgs::Odometry_<std::allocator<void> > const&)156472
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&)156996
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&)1035
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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:2024-01-20 21:44:18Functions:154434.1 %
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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      156996 : std::tuple<double, double, double> getXYZ(const geometry_msgs::Point& data) {
+      30             : 
+      31      156996 :   double x = data.x;
+      32      156996 :   double y = data.y;
+      33      156996 :   double z = data.z;
+      34             : 
+      35      313987 :   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      156472 : std::tuple<double, double, double> getPosition(const geometry_msgs::Pose& data) {
+      96             : 
+      97      156472 :   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      156471 : double getHeading(const geometry_msgs::Pose& data) {
+     124             : 
+     125      156471 :   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      156472 : std::tuple<double, double, double> getPosition(const geometry_msgs::PoseWithCovariance& data) {
+     184             : 
+     185      156472 :   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      156470 : double getHeading(const geometry_msgs::PoseWithCovariance& data) {
+     212             : 
+     213      156470 :   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      156472 : std::tuple<double, double, double> getPosition(const nav_msgs::Odometry& data) {
+     336             : 
+     337      156472 :   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      156472 : std::tuple<double, double, double> getPosition(const nav_msgs::OdometryConstPtr& data) {
+     348             : 
+     349      156472 :   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      156468 : double getHeading(const nav_msgs::Odometry& data) {
+     392             : 
+     393      156468 :   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      156472 : double getHeading(const nav_msgs::OdometryConstPtr& data) {
+     404             : 
+     405      156472 :   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        1035 : geometry_msgs::Pose getPose(const nav_msgs::Odometry& data) {
+     448             : 
+     449        1035 :   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         262 : std::tuple<double, double, double> getPosition(const mrs_msgs::TrackerCommand& data) {
+     480             : 
+     481         262 :   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         262 : std::tuple<double, double, double> getPosition(const mrs_msgs::Reference& data) {
+     579             : 
+     580         262 :   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         262 : double getHeading(const mrs_msgs::Reference& data) {
+     607             : 
+     608         262 :   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         262 : std::tuple<double, double, double> getPosition(const mrs_msgs::ReferenceStamped& data) {
+     639             : 
+     640         262 :   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         262 : double getHeading(const mrs_msgs::ReferenceStamped& data) {
+     667             : 
+     668         262 :   return getHeading(data.reference);
+     669             : }
+     670             : 
+     671             : /**
+     672             :  * @brief get heading from mrs_msgs::ReferenceStampedConstPtr
+     673             :  *
+     674             :  * @param data referencestamped (ContrPtr)
+     675             :  *
+     676             :  * @return heading
+     677             :  */
+     678           0 : double getHeading(const mrs_msgs::ReferenceStampedConstPtr& data) {
+     679             : 
+     680           0 :   return getHeading(*data);
+     681             : }
+     682             : 
+     683             : //}
+     684             : 
+     685             : //}
+     686             : 
+     687             : }  // namespace mrs_lib
+     688             : 
+     689             : //}
+     690             : 
+     691             : #endif  // MRS_LIB_MSG_EXTRACTOR_H
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + diff --git a/mrs_lib/include/mrs_lib/msg_extractor.h.gcov.png b/mrs_lib/include/mrs_lib/msg_extractor.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..8043ecf807c268d9ebf3ec73e92b93e3796c8069 GIT binary patch literal 1287 zcmV+i1^D`jP)o6G8|QE17xcIDPQ~O}I%wnMSorb!w5W z0Y!DQCakha+q@xH*lxd^|F-j=&QM(1pFiEYu!)Tr=-RiB`&d+9L}*2{sBI|FFr12D z9}Ps**N^XGBATa9-HYGtB}|XjE7fZGp0&-MU3~y zLwt28Vw=vzJ;CfTj(Z+oiqUxIVNwc_du-_?agUWt8H(7Zb8!!+tu>-BvZwjuL8lZF z_W=BI9qwUdp480VsfcYl8}}d-qy2I8d18`3+Vb&2kyV_fh;2F>_aGEgZ0)l5U8}gP z>t;OloV>cwE*D6123-0OUKcJx&&|AwB62gAtu<36*qS4=uXUkU?ob!nLAyBj|LCDIBo5(3y(=!tqZvj(|3Ff^Oxrygkox~V3rHN<&Ti95B4t4JqSex zTOaIQ>q0I>{^!l))rGbqw&^Q8!G@|8270X^`{@VM)(o-mdQXQL}`1POm8-^ zau49yAH}3S&Fy7RBgD~S;nnsu8QvOV<(}-ecG#O}Yrvk@$$RANX*%yM&pimmgnh2{ zElNAYkz(P+_B5^g%X1GxF>z1RviDv0G+W+^E7~8`?vdSkILz*ox?h&(p74<3*8qAr z`Ju%^P_cO49&vWC!xZr7{R2%1_Tc+-T~z=8002ovPDHLkV1gERfj9sF literal 0 HcmV?d00001 diff --git a/mrs_lib/include/mrs_lib/mutex.h.func-sort-c.html b/mrs_lib/include/mrs_lib/mutex.h.func-sort-c.html new file mode 100644 index 0000000000..63fdf63db8 --- /dev/null +++ b/mrs_lib/include/mrs_lib/mutex.h.func-sort-c.html @@ -0,0 +1,392 @@ + + + + + + + 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:2024-01-20 21:44:18Functions:647882.1 %
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_msgs::ConstraintsOverrideRequest_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::ConstraintsOverrideRequest_<std::allocator<void> > >(std::mutex&, mrs_msgs::ConstraintsOverrideRequest_<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_uav_trajectory_generation::drsConfig mrs_lib::get_mutexed<mrs_uav_trajectory_generation::drsConfig>(std::mutex&, mrs_uav_trajectory_generation::drsConfig&)49
auto mrs_lib::set_mutexed<mrs_uav_trajectory_generation::drsConfig>(std::mutex&, mrs_uav_trajectory_generation::drsConfig, mrs_uav_trajectory_generation::drsConfig&)65
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> >&)76
auto mrs_lib::set_mutexed<mrs_uav_controllers::mpc_controllerConfig>(std::mutex&, mrs_uav_controllers::mpc_controllerConfig, mrs_uav_controllers::mpc_controllerConfig&)130
auto mrs_lib::set_mutexed<mrs_uav_controllers::se3_controllerConfig>(std::mutex&, mrs_uav_controllers::se3_controllerConfig, mrs_uav_controllers::se3_controllerConfig&)130
mrs_msgs::VelocityReference_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::VelocityReference_<std::allocator<void> > >(std::mutex&, mrs_msgs::VelocityReference_<std::allocator<void> >&)497
mrs_msgs::ReferenceStamped_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::ReferenceStamped_<std::allocator<void> > >(std::mutex&, mrs_msgs::ReferenceStamped_<std::allocator<void> >&)825
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> >&)1424
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&)2612
int mrs_lib::get_mutexed<int>(std::mutex&, int&)5744
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&)5862
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&)9032
std::optional<double> mrs_lib::get_mutexed<std::optional<double> >(std::mutex&, std::optional<double>&)11081
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&)11183
std::tuple<int, double> mrs_lib::get_mutexed<int, double>(std::mutex&, int&, double&)11238
std::tuple<double, double> mrs_lib::get_mutexed<double, double>(std::mutex&, double&, double&)13095
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&)16441
std::tuple<double, double, double> mrs_lib::get_mutexed<double, double, double>(std::mutex&, double&, double&, double&)21039
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> >&)21425
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&)21808
mrs_uav_controllers::se3_controllerConfig mrs_lib::get_mutexed<mrs_uav_controllers::se3_controllerConfig>(std::mutex&, mrs_uav_controllers::se3_controllerConfig&)40799
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&)47501
mrs_msgs::MpcPredictionFullState_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::MpcPredictionFullState_<std::allocator<void> > >(std::mutex&, mrs_msgs::MpcPredictionFullState_<std::allocator<void> >&)47501
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&)50188
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> >&)51263
std::tuple<bool, double, double> mrs_lib::get_mutexed<bool, double, double>(std::mutex&, bool&, double&, double&)54432
mrs_uav_trackers::mpc_trackerConfig mrs_lib::get_mutexed<mrs_uav_trackers::mpc_trackerConfig>(std::mutex&, mrs_uav_trackers::mpc_trackerConfig&)54432
auto mrs_lib::set_mutexed<mrs_uav_managers::Controller::ControlOutput>(std::mutex&, mrs_uav_managers::Controller::ControlOutput, mrs_uav_managers::Controller::ControlOutput&)71386
mrs_uav_controllers::mpc_controllerConfig mrs_lib::get_mutexed<mrs_uav_controllers::mpc_controllerConfig>(std::mutex&, mrs_uav_controllers::mpc_controllerConfig&)92074
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> >&)93754
mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > >(std::mutex&, mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> >&)97031
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>&)124257
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&)135666
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&)136746
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&)140046
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>&)146755
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>&)156456
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> >&)157836
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>&)168520
mrs_msgs::DynamicsConstraints_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >(std::mutex&, mrs_msgs::DynamicsConstraints_<std::allocator<void> >&)184487
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&)192359
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&)201876
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>&)204916
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&)218272
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&)246008
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&)259245
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&)259454
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> >&)273593
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> >&)367101
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&)411489
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> > >&)431817
mrs_uav_managers::Controller::ControlOutput mrs_lib::get_mutexed<mrs_uav_managers::Controller::ControlOutput>(std::mutex&, mrs_uav_managers::Controller::ControlOutput&)483156
double const mrs_lib::get_mutexed<double const>(std::mutex&, double const&)496939
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&)521776
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&)522586
mrs_msgs::UavState_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::UavState_<std::allocator<void> > >(std::mutex&, mrs_msgs::UavState_<std::allocator<void> >&)636118
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> >&)643429
ros::Time mrs_lib::get_mutexed<ros::Time>(std::mutex&, ros::Time&)646925
double mrs_lib::get_mutexed<double>(std::mutex&, double&)695522
auto mrs_lib::set_mutexed<double>(std::mutex&, double, double&)703700
unsigned int mrs_lib::get_mutexed<unsigned int>(std::mutex&, unsigned int&)767277
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&)1628318
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&)1671288
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&)1865326
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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..e8a679b510 --- /dev/null +++ b/mrs_lib/include/mrs_lib/mutex.h.func.html @@ -0,0 +1,392 @@ + + + + + + + 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:2024-01-20 21:44:18Functions:647882.1 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
std::tuple<Eigen::Matrix<double, -1, 1, 0, -1, 1>, double> mrs_lib::get_mutexed<Eigen::Matrix<double, -1, 1, 0, -1, 1>, double>(std::mutex&, Eigen::Matrix<double, -1, 1, 0, -1, 1>&, double&)47501
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>&)156456
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&)201876
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>&)146755
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&)5862
std::tuple<bool, double, double> mrs_lib::get_mutexed<bool, double, double>(std::mutex&, bool&, double&, double&)54432
std::tuple<double, double> mrs_lib::get_mutexed<double, double>(std::mutex&, double&, double&)13095
std::tuple<double, double, double> mrs_lib::get_mutexed<double, double, double>(std::mutex&, double&, double&, double&)21039
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&)16441
std::tuple<int, double> mrs_lib::get_mutexed<int, double>(std::mutex&, int&, double&)11238
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&)1628318
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&)135666
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&)411489
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&)140046
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&)192359
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&)136746
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&)246008
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&)1671288
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&)1865326
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&)11183
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&)218272
double const mrs_lib::get_mutexed<double const>(std::mutex&, double const&)496939
mrs_uav_managers::Controller::ControlOutput mrs_lib::get_mutexed<mrs_uav_managers::Controller::ControlOutput>(std::mutex&, mrs_uav_managers::Controller::ControlOutput&)483156
mrs_uav_trackers::mpc_trackerConfig mrs_lib::get_mutexed<mrs_uav_trackers::mpc_trackerConfig>(std::mutex&, mrs_uav_trackers::mpc_trackerConfig&)54432
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&)50188
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&)21808
mrs_uav_controllers::mpc_controllerConfig mrs_lib::get_mutexed<mrs_uav_controllers::mpc_controllerConfig>(std::mutex&, mrs_uav_controllers::mpc_controllerConfig&)92074
mrs_uav_controllers::se3_controllerConfig mrs_lib::get_mutexed<mrs_uav_controllers::se3_controllerConfig>(std::mutex&, mrs_uav_controllers::se3_controllerConfig&)40799
mrs_uav_trajectory_generation::drsConfig mrs_lib::get_mutexed<mrs_uav_trajectory_generation::drsConfig>(std::mutex&, mrs_uav_trajectory_generation::drsConfig&)49
ros::Time mrs_lib::get_mutexed<ros::Time>(std::mutex&, ros::Time&)646925
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>&)204916
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>&)124257
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>&)168520
mrs_msgs::ReferenceStamped_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::ReferenceStamped_<std::allocator<void> > >(std::mutex&, mrs_msgs::ReferenceStamped_<std::allocator<void> >&)825
mrs_msgs::VelocityReference_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::VelocityReference_<std::allocator<void> > >(std::mutex&, mrs_msgs::VelocityReference_<std::allocator<void> >&)497
mrs_msgs::DynamicsConstraints_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >(std::mutex&, mrs_msgs::DynamicsConstraints_<std::allocator<void> >&)184487
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> >&)47501
mrs_msgs::ConstraintsOverrideRequest_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::ConstraintsOverrideRequest_<std::allocator<void> > >(std::mutex&, mrs_msgs::ConstraintsOverrideRequest_<std::allocator<void> >&)0
mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > >(std::mutex&, mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> >&)97031
mrs_msgs::UavState_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::UavState_<std::allocator<void> > >(std::mutex&, mrs_msgs::UavState_<std::allocator<void> >&)636118
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&)522586
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&)259454
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> >&)51263
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> >&)157836
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> > >&)431817
std::optional<double> mrs_lib::get_mutexed<std::optional<double> >(std::mutex&, std::optional<double>&)11081
double mrs_lib::get_mutexed<double>(std::mutex&, double&)695522
int mrs_lib::get_mutexed<int>(std::mutex&, int&)5744
unsigned int mrs_lib::get_mutexed<unsigned int>(std::mutex&, unsigned int&)767277
auto mrs_lib::set_mutexed<mrs_uav_managers::Controller::ControlOutput>(std::mutex&, mrs_uav_managers::Controller::ControlOutput, mrs_uav_managers::Controller::ControlOutput&)71386
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&)9032
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&)2612
auto mrs_lib::set_mutexed<mrs_uav_controllers::mpc_controllerConfig>(std::mutex&, mrs_uav_controllers::mpc_controllerConfig, mrs_uav_controllers::mpc_controllerConfig&)130
auto mrs_lib::set_mutexed<mrs_uav_controllers::se3_controllerConfig>(std::mutex&, mrs_uav_controllers::se3_controllerConfig, mrs_uav_controllers::se3_controllerConfig&)130
auto mrs_lib::set_mutexed<mrs_uav_trajectory_generation::drsConfig>(std::mutex&, mrs_uav_trajectory_generation::drsConfig, mrs_uav_trajectory_generation::drsConfig&)65
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> >&)93754
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> >&)1424
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> >&)367101
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> >&)76
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> >&)643429
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> >&)273593
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&)521776
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&)259245
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> >&)21425
auto mrs_lib::set_mutexed<double>(std::mutex&, double, double&)703700
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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..4ea77e6330 --- /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:2024-01-20 21:44:18Functions:647882.1 %
Legend: Lines: + hit + not hit +
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+       1             : /**  \file
+       2             :      \brief Defines helper routines for getting and setting variables under mutex locks
+       3             :      \author Tomas Baca - tomas.baca@fel.cvut.cz
+       4             :  */
+       5             : #ifndef MUTEX_H
+       6             : #define MUTEX_H
+       7             : 
+       8             : #include <iostream>
+       9             : #include <mutex>
+      10             : #include <tuple>
+      11             : 
+      12             : namespace mrs_lib
+      13             : {
+      14             : 
+      15             : /**
+      16             :  * @brief thread-safe getter and setter for values of variables (args)
+      17             :  *
+      18             :  * @tparam GetArgs types of the variables to get
+      19             :  * @tparam SetArgs types of the variables to set
+      20             :  * @param mut mutex which protects the variables
+      21             :  * @param get tuple of variable references to obtain the values from
+      22             :  * @param to_set tuple of variable references to set the new values from \p from_set
+      23             :  * @param from_set tuple of the new values to be set to \p to_set
+      24             :  *
+      25             :  * @return tuple of the values from \p get
+      26             :  */
+      27             : template <class... GetArgs, class... SetArgs>
+      28             : std::tuple<GetArgs...> get_set_mutexed(std::mutex& mut, std::tuple<GetArgs&...> get, std::tuple<SetArgs...> from_set, std::tuple<SetArgs&...> to_set) {
+      29             : 
+      30             :   std::scoped_lock lock(mut);
+      31             : 
+      32             :   std::tuple<GetArgs...> result = get;
+      33             :   to_set = from_set;
+      34             : 
+      35             :   return result;
+      36             : }
+      37             : 
+      38             : /**
+      39             :  * @brief thread-safe getter for values of variables (args)
+      40             :  *
+      41             :  * @tparam Args types of the variables
+      42             :  * @param mut mutex which protects the variables
+      43             :  * @param args variables to obtain the values from
+      44             :  *
+      45             :  * @return std::tuple of the values
+      46             :  */
+      47             : template <class... Args>
+      48      674695 : std::tuple<Args...> get_mutexed(std::mutex& mut, Args&... args) {
+      49             : 
+      50     1349394 :   std::scoped_lock lock(mut);
+      51             : 
+      52      674699 :   std::tuple result = std::tuple(args...);
+      53             : 
+      54     1349398 :   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    12916161 : T get_mutexed(std::mutex& mut, T& arg) {
+      69             : 
+      70    21218247 :   std::scoped_lock lock(mut);
+      71             : 
+      72    25824007 :   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     2968878 : auto set_mutexed(std::mutex& mut, const T what, T& where) {
+     117             : 
+     118     5218049 :   std::scoped_lock lock(mut);
+     119             : 
+     120     2962665 :   where = what;
+     121             : 
+     122     5934236 :   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:24828188.3 %
Date:2024-01-20 21:44:18Functions:707297.2 %
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Function Name Sort by function nameHit count Sort by hit count
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&)0
mrs_lib::ParamLoader::print_warning(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
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
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
void 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>&)1
void 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&)1
void mrs_lib::ParamLoader::loadMatrixStatic<float>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<float, -1, -1, 0, -1, -1>&, int, int)1
void mrs_lib::ParamLoader::loadMatrixStatic<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)1
void 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)1
void 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, 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::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<float>, Eigen::Matrix<float, 3, 3, 0, 3, 3> > > 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
Eigen::Matrix<double, -1, -1, 0, -1, -1> mrs_lib::ParamLoader::loadMatrixDynamic2<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::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::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::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, 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&)2
Eigen::Matrix<float, -1, -1, 0, -1, -1> mrs_lib::ParamLoader::loadMatrixStatic2<float>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int, int)2
Eigen::Matrix<float, -1, -1, 0, -1, -1> mrs_lib::ParamLoader::loadMatrixStatic2<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)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
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
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::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)4
Eigen::Matrix<float, -1, -1, 0, -1, -1> mrs_lib::ParamLoader::loadMatrixStatic_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
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
Eigen::Matrix<float, -1, -1, 0, -1, -1> 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)8
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&)16
mrs_lib::ParamLoader::resolved(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)75
mrs_lib::ParamLoader::printError(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)85
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)189
Eigen::Matrix<double, -1, -1, 0, -1, -1> 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)191
void mrs_lib::ParamLoader::loadMatrixStatic<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, -1, -1, 0, -1, -1>&, int, int)260
Eigen::Matrix<double, -1, -1, 0, -1, -1> mrs_lib::ParamLoader::loadMatrixStatic2<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int, int)260
Eigen::Matrix<double, -1, -1, 0, -1, -1> mrs_lib::ParamLoader::loadMatrixStatic_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)260
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&)325
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&)385
Eigen::Matrix<double, -1, -1, 0, -1, -1> 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)453
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&)715
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)715
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> >&)715
mrs_lib::ParamLoader::ParamLoader(ros::NodeHandle const&, std::basic_string_view<char, std::char_traits<char> >)1106
mrs_lib::ParamLoader::setPrefix(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1345
mrs_lib::ParamLoader::addYamlFileFromParam(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1680
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&)2297
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)2298
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> > > >&)2298
mrs_lib::ParamLoader::ParamLoader(ros::NodeHandle const&, bool, std::basic_string_view<char, std::char_traits<char> >)2556
mrs_lib::ParamLoader::loadedSuccessfully()2941
bool mrs_lib::ParamLoader::loadParam<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int&)3309
void mrs_lib::ParamLoader::printValue<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int const&)3634
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)3634
bool mrs_lib::ParamLoader::loadParam<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool&, bool const&)3849
mrs_lib::ParamLoader::addYamlFile(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)7135
bool mrs_lib::ParamLoader::loadParam<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool&)7178
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> >&)10498
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&)10840
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)10840
void mrs_lib::ParamLoader::printValue<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool const&)11482
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)11482
bool mrs_lib::ParamLoader::loadParam<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double&)25771
void mrs_lib::ParamLoader::printValue<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double const&)26746
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)26746
mrs_lib::ParamLoader::check_duplicit_loading(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)56187
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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:24828188.3 %
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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&)325
mrs_lib::ParamLoader::printError(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)85
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&)2297
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&)10840
void mrs_lib::ParamLoader::printValue<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool const&)11482
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&)385
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&)715
void mrs_lib::ParamLoader::printValue<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double const&)26746
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&)0
void mrs_lib::ParamLoader::printValue<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int const&)3634
mrs_lib::ParamLoader::addYamlFile(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)7135
Eigen::Matrix<double, -1, -1, 0, -1, -1> 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)453
Eigen::Matrix<float, -1, -1, 0, -1, -1> 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)8
mrs_lib::ParamLoader::print_warning(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
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
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
void 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>&)1
void 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&)1
void mrs_lib::ParamLoader::loadMatrixStatic<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, -1, -1, 0, -1, -1>&, int, int)260
void mrs_lib::ParamLoader::loadMatrixStatic<float>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<float, -1, -1, 0, -1, -1>&, int, int)1
void mrs_lib::ParamLoader::loadMatrixStatic<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)1
void 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)1
void 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&)2
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::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::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<float>, Eigen::Matrix<float, 3, 3, 0, 3, 3> > > 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
Eigen::Matrix<double, -1, -1, 0, -1, -1> mrs_lib::ParamLoader::loadMatrixStatic2<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int, int)260
Eigen::Matrix<float, -1, -1, 0, -1, -1> mrs_lib::ParamLoader::loadMatrixStatic2<float>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int, int)2
Eigen::Matrix<float, -1, -1, 0, -1, -1> mrs_lib::ParamLoader::loadMatrixStatic2<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)2
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)189
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
Eigen::Matrix<double, -1, -1, 0, -1, -1> mrs_lib::ParamLoader::loadMatrixDynamic2<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::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> > > const&, int, int)1
mrs_lib::ParamLoader::loadedSuccessfully()2941
mrs_lib::ParamLoader::addYamlFileFromParam(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1680
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&)56187
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
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::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
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::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)4
Eigen::Matrix<double, -1, -1, 0, -1, -1> mrs_lib::ParamLoader::loadMatrixStatic_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)260
Eigen::Matrix<float, -1, -1, 0, -1, -1> mrs_lib::ParamLoader::loadMatrixStatic_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
Eigen::Matrix<double, -1, -1, 0, -1, -1> 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)191
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)10840
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)2298
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)715
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)11482
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)26746
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)3634
mrs_lib::ParamLoader::resolved(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)75
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> >&)10498
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&)16
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> > > >&)2298
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> >&)715
bool mrs_lib::ParamLoader::loadParam<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool&)7178
bool mrs_lib::ParamLoader::loadParam<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool&, bool const&)3849
bool mrs_lib::ParamLoader::loadParam<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double&)25771
bool mrs_lib::ParamLoader::loadParam<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int&)3309
mrs_lib::ParamLoader::setPrefix(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1345
mrs_lib::ParamLoader::ParamLoader(ros::NodeHandle const&, std::basic_string_view<char, std::char_traits<char> >)1106
mrs_lib::ParamLoader::ParamLoader(ros::NodeHandle const&, bool, std::basic_string_view<char, std::char_traits<char> >)2556
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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 - param_loader.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:24828188.3 %
Date:2024-01-20 21:44:18Functions:707297.2 %
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+ + + + + + + + +

+
          Line data    Source code
+
+       1             : // clang: MatousFormat
+       2             : /**  \file
+       3             :      \brief Defines ParamLoader - a convenience class for loading static ROS parameters.
+       4             :      \author Matouš Vrba - vrbamato@fel.cvut.cz
+       5             :  */
+       6             : 
+       7             : #ifndef PARAM_LOADER_H
+       8             : #define PARAM_LOADER_H
+       9             : 
+      10             : #include <ros/ros.h>
+      11             : #include <string>
+      12             : #include <map>
+      13             : #include <unordered_set>
+      14             : #include <iostream>
+      15             : #include <Eigen/Dense>
+      16             : #include <std_msgs/ColorRGBA.h>
+      17             : #include <mrs_lib/param_provider.h>
+      18             : 
+      19             : namespace mrs_lib
+      20             : {
+      21             : 
+      22             : /*** ParamLoader CLASS //{ **/
+      23             : 
+      24             : /**
+      25             : * \brief Convenience class for loading parameters from rosparam server.
+      26             : *
+      27             : * The parameters can be loaded as compulsory. If a compulsory parameter is not found
+      28             : * on the rosparam server (e.g. because it is missing in the launchfile or the yaml config file),
+      29             : * an internal flag is set to false, indicating that the parameter loading procedure failed.
+      30             : * This flag can be checked using the loaded_successfully() method after all parameters were
+      31             : * attempted to be loaded (see usage example usage below).
+      32             : *
+      33             : * The loaded parameter names and corresponding values are printed to stdout by default
+      34             : * for user convenience. Special cases such as loading of Eigen matrices or loading
+      35             : * of std::vectors of various values are also provided.
+      36             : *
+      37             : * To load parameters into the `rosparam` server, use a launchfile prefferably.
+      38             : * See documentation of ROS launchfiles here: http://wiki.ros.org/roslaunch/XML.
+      39             : * Specifically, the `param` XML tag is used for loading parameters directly from the launchfile: http://wiki.ros.org/roslaunch/XML/param,
+      40             : * and the `rosparam` XML tag tag is used for loading parameters from a `yaml` file: http://wiki.ros.org/roslaunch/XML/rosparam.
+      41             : *
+      42             : */
+      43             : class ParamLoader
+      44             : {
+      45             : 
+      46             : private:
+      47             :   enum unique_t
+      48             :   {
+      49             :     UNIQUE = true,
+      50             :     REUSABLE = false
+      51             :   };
+      52             :   enum optional_t
+      53             :   {
+      54             :     OPTIONAL = true,
+      55             :     COMPULSORY = false
+      56             :   };
+      57             :   enum swap_t
+      58             :   {
+      59             :     SWAP = true,
+      60             :     NO_SWAP = false
+      61             :   };
+      62             : 
+      63             :   template <typename T>
+      64             :   using MatrixX = Eigen::Matrix<T, Eigen::Dynamic, Eigen::Dynamic>;
+      65             : 
+      66             : private:
+      67             :   bool m_load_successful, m_print_values;
+      68             :   std::string m_node_name;
+      69             :   std::string m_prefix;
+      70             :   const ros::NodeHandle& m_nh;
+      71             :   mrs_lib::ParamProvider m_pp;
+      72             :   std::unordered_set<std::string> m_loaded_params;
+      73             : 
+      74             :   /* printing helper functions //{ */
+      75             :   /* printError and print_warning functions //{*/
+      76          85 :   void printError(const std::string& str)
+      77             :   {
+      78          85 :     if (m_node_name.empty())
+      79          20 :       ROS_ERROR_STREAM(str);
+      80             :     else
+      81          65 :       ROS_ERROR_STREAM("[" << m_node_name << "]: " << str);
+      82          85 :   }
+      83           0 :   void print_warning(const std::string& str)
+      84             :   {
+      85           0 :     if (m_node_name.empty())
+      86           0 :       ROS_WARN_STREAM(str);
+      87             :     else
+      88           0 :       ROS_WARN_STREAM("[" << m_node_name << "]: " << str);
+      89           0 :   }
+      90             :   //}
+      91             : 
+      92             :   /* printValue function and overloads //{ */
+      93             : 
+      94             :   template <typename T>
+      95       52702 :   void printValue(const std::string& name, const T& value)
+      96             :   {
+      97       52702 :     if (m_node_name.empty())
+      98       29139 :       std::cout << "\t" << name << ":\t" << value << std::endl;
+      99             :     else
+     100       23627 :       ROS_INFO_STREAM("[" << m_node_name << "]: parameter '" << name << "':\t" << value);
+     101       52702 :   }
+     102             : 
+     103             :   template <typename T>
+     104        3012 :   void printValue(const std::string& name, const std::vector<T>& value)
+     105             :   {
+     106        6024 :     std::stringstream strstr;
+     107        3012 :     if (m_node_name.empty())
+     108        1450 :       strstr << "\t";
+     109        3012 :     strstr << name << ":\t";
+     110        3012 :     size_t it = 0;
+     111       10525 :     for (const auto& elem : value)
+     112             :     {
+     113        7513 :       strstr << elem;
+     114        7513 :       if (it < value.size() - 1)
+     115        4834 :         strstr << ", ";
+     116        7513 :       it++;
+     117             :     }
+     118        3012 :     if (m_node_name.empty())
+     119        1450 :       std::cout << strstr.str() << std::endl;
+     120             :     else
+     121        1562 :       ROS_INFO_STREAM("[" << m_node_name << "]: parameter '" << strstr.str());
+     122        3012 :   }
+     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         385 :   void printValue(const std::string& name, const MatrixX<T>& value)
+     147             :   {
+     148         770 :     std::stringstream strstr;
+     149             :     /* const Eigen::IOFormat fmt(4, 0, ", ", "\n", "\t\t[", "]"); */
+     150             :     /* strstr << value.format(fmt); */
+     151        1155 :     const Eigen::IOFormat fmt;
+     152         385 :     strstr << value.format(fmt);
+     153         385 :     if (m_node_name.empty())
+     154          60 :       std::cout << "\t" << name << ":\t" << std::endl << strstr.str() << std::endl;
+     155             :     else
+     156         325 :       ROS_INFO_STREAM("[" << m_node_name << "]: parameter '" << name << "':" << std::endl << strstr.str());
+     157         385 :   }
+     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          75 :   std::string resolved(const std::string& param_name)
+     209             :   {
+     210          75 :     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       56187 :   bool check_duplicit_loading(const std::string& name)
+     216             :   {
+     217       56187 :     if (m_loaded_params.count(name))
+     218             :     {
+     219          14 :       printError(std::string("Tried to load parameter ") + name + std::string(" twice"));
+     220          14 :       m_load_successful = false;
+     221          14 :       return true;
+     222             :     } else
+     223             :     {
+     224       56173 :       return false;
+     225             :     }
+     226             :   }
+     227             :   //}
+     228             : 
+     229             :   /* loadMatrixStatic_internal helper function for loading static Eigen matrices //{ */
+     230             :   template <int rows, int cols, typename T>
+     231           5 :   Eigen::Matrix<T, rows, cols> loadMatrixStatic_internal(const std::string& name, const Eigen::Matrix<T, rows, cols>& default_value, optional_t optional, unique_t unique)
+     232             :   {
+     233          10 :     MatrixX<T> dynamic = loadMatrixX(name, MatrixX<T>(default_value), rows, cols, optional, unique, NO_SWAP);
+     234           5 :     if (dynamic.rows() == rows || dynamic.cols() == cols)
+     235           5 :       return dynamic;
+     236             :     else
+     237           0 :       return default_value;
+     238             :   }
+     239             :   //}
+     240             : 
+     241             :   /* helper functions for loading dynamic Eigen matrices //{ */
+     242             :   // loadMatrixX helper function for loading dynamic Eigen matrices //{
+     243             :   template <typename T>
+     244         461 :   MatrixX<T> 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)
+     245             :   {
+     246         922 :     const std::string name_prefixed = m_prefix + name;
+     247         461 :     MatrixX<T> loaded = default_value;
+     248             :     // first, check if the user already tried to load this parameter
+     249         461 :     if (unique && check_duplicit_loading(name_prefixed))
+     250          12 :       return loaded;
+     251             : 
+     252             :     // this function only accepts dynamic columns (you can always transpose the matrix afterward)
+     253         449 :     if (rows < 0)
+     254             :     {
+     255             :       // if the parameter was compulsory, alert the user and set the flag
+     256           0 :       printError(std::string("Invalid expected matrix dimensions for parameter ") + resolved(name_prefixed));
+     257           0 :       m_load_successful = false;
+     258           0 :       return loaded;
+     259             :     }
+     260         449 :     bool expect_zero_matrix = rows == 0;
+     261         449 :     if (expect_zero_matrix)
+     262             :     {
+     263           1 :       if (cols > 0)
+     264             :       {
+     265           0 :         printError(std::string("Invalid expected matrix dimensions for parameter ") + resolved(name_prefixed) + ". One dimension indicates zero matrix, but other expects non-zero.");
+     266           0 :         m_load_successful = false;
+     267           0 :         return loaded;
+     268             :       }
+     269             :     }
+     270             : 
+     271             : 
+     272         449 :     bool cur_load_successful = true;
+     273         449 :     bool check_size_exact = true;
+     274         449 :     if (cols <= 0)  // this means that the cols dimension is dynamic or a zero matrix is expected
+     275         123 :       check_size_exact = false;
+     276             : 
+     277         898 :     std::vector<T> tmp_vec;
+     278             :     // try to load the parameter
+     279         449 :     bool success = m_pp.getParam(name_prefixed, tmp_vec);
+     280             :     // check if the loaded vector has correct length
+     281         449 :     bool correct_size = (int)tmp_vec.size() == rows * cols;
+     282         449 :     if (!check_size_exact && !expect_zero_matrix)
+     283         122 :       correct_size = (int)tmp_vec.size() % rows == 0;  // if the cols dimension is dynamic, the size just has to be divisable by rows
+     284             : 
+     285         449 :     if (success && correct_size)
+     286             :     {
+     287             :       // if successfully loaded, everything is in order
+     288             :       // transform the vector to the matrix
+     289         384 :       if (cols <= 0 && rows > 0)
+     290         122 :         cols = tmp_vec.size() / rows;
+     291         384 :       if (swap)
+     292             :       {
+     293          57 :         int tmp = cols;
+     294          57 :         cols = rows;
+     295          57 :         rows = tmp;
+     296             :       }
+     297         384 :       loaded = Eigen::Map<Eigen::Matrix<T, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>, Eigen::Unaligned>(tmp_vec.data(), rows, cols);
+     298             :     } else
+     299             :     {
+     300          65 :       if (success && !correct_size)
+     301             :       {
+     302             :         // warn the user that this parameter was not successfully loaded because of wrong vector length (might be an oversight)
+     303           0 :         std::string warning =
+     304             :             std::string("Matrix parameter ") + name_prefixed
+     305             :             + std::string(" could not be loaded because the vector has a wrong length " + std::to_string(tmp_vec.size()) + " instead of expected ");
+     306             :         // process the message correctly based on whether the loaded matrix should be dynamic or static
+     307           0 :         if (cols <= 0)  // for dynamic matrices
+     308           0 :           warning = warning + std::string("number divisible by ") + std::to_string(rows);
+     309             :         else  // for static matrices
+     310           0 :           warning = warning + std::to_string(rows * cols);
+     311           0 :         print_warning(warning);
+     312             :       }
+     313             :       // if it was not loaded, set the default value
+     314          65 :       loaded = default_value;
+     315          65 :       if (!optional)
+     316             :       {
+     317             :         // if the parameter was compulsory, alert the user and set the flag
+     318          65 :         printError(std::string("Could not load non-optional parameter ") + resolved(name_prefixed));
+     319          65 :         cur_load_successful = false;
+     320             :       }
+     321             :     }
+     322             : 
+     323             :     // check if load was a success
+     324         449 :     if (cur_load_successful)
+     325             :     {
+     326         384 :       if (m_print_values && printValues)
+     327         383 :         printValue(name_prefixed, loaded);
+     328         384 :       m_loaded_params.insert(name_prefixed);
+     329             :     } else
+     330             :     {
+     331          65 :       m_load_successful = false;
+     332             :     }
+     333             :     // finally, return the resulting value
+     334         449 :     return loaded;
+     335             :   }
+     336             :   //}
+     337             : 
+     338             :   /* loadMatrixArray_internal helper function for loading an array of EigenXd matrices with known dimensions //{ */
+     339             :   template <typename T>
+     340           5 :   std::vector<MatrixX<T>> loadMatrixArray_internal(const std::string& name, const std::vector<MatrixX<T>>& default_value, optional_t optional, unique_t unique)
+     341             :   {
+     342          10 :     const std::string name_prefixed = m_prefix + name;
+     343             :     int rows;
+     344          10 :     std::vector<int> cols;
+     345           5 :     bool success = true;
+     346           5 :     success = success && m_pp.getParam(name_prefixed + "/rows", rows);
+     347           5 :     success = success && m_pp.getParam(name_prefixed + "/cols", cols);
+     348             : 
+     349          10 :     std::vector<MatrixX<T>> loaded;
+     350           5 :     loaded.reserve(cols.size());
+     351             : 
+     352           5 :     int total_cols = 0;
+     353             :     /* check correctness of loaded parameters so far calculate the total dimension //{ */
+     354             : 
+     355           5 :     if (!success)
+     356             :     {
+     357           4 :       printError(std::string("Failed to load ") + resolved(name_prefixed) + std::string("/rows or ") + resolved(name_prefixed) + std::string("/cols"));
+     358           4 :       m_load_successful = false;
+     359           4 :       return default_value;
+     360             :     }
+     361           1 :     if (rows < 0)
+     362             :     {
+     363           0 :       printError(std::string("Invalid expected matrix dimensions for parameter ") + resolved(name_prefixed) + std::string(" (rows and cols must be >= 0)"));
+     364           0 :       m_load_successful = false;
+     365           0 :       return default_value;
+     366             :     }
+     367           3 :     for (const auto& col : cols)
+     368             :     {
+     369           2 :       if (col < 0)
+     370             :       {
+     371           0 :         printError(std::string("Invalid expected matrix dimensions for parameter ") + resolved(name_prefixed) + std::string(" (rows and cols must be >= 0)"));
+     372           0 :         m_load_successful = false;
+     373           0 :         return default_value;
+     374             :       }
+     375           2 :       total_cols += col;
+     376             :     }
+     377             :     
+     378             :     //}
+     379             : 
+     380           3 :     const MatrixX<T> loaded_matrix = loadMatrixX(name + "/data", MatrixX<T>(), rows, total_cols, optional, unique, NO_SWAP, false);
+     381             :     /* std::cout << "loaded_matrix: " << loaded_matrix << std::endl; */
+     382             :     /* std::cout << "loaded_matrix: " << loaded_matrix.rows() << "x" << loaded_matrix.cols() << std::endl; */
+     383             :     /* std::cout << "expected dims: " << rows << "x" << total_cols << std::endl; */
+     384           1 :     if (loaded_matrix.rows() != rows || loaded_matrix.cols() != total_cols)
+     385             :     {
+     386           0 :       m_load_successful = false;
+     387           0 :       return default_value;
+     388             :     }
+     389             : 
+     390           1 :     int cols_loaded = 0;
+     391           3 :     for (unsigned it = 0; it < cols.size(); it++)
+     392             :     {
+     393           2 :       const int cur_cols = cols.at(it);
+     394           2 :       const MatrixX<T> cur_mat = loaded_matrix.block(0, cols_loaded, rows, cur_cols);
+     395             :       /* std::cout << "cur_mat: " << cur_mat << std::endl; */
+     396           2 :       loaded.push_back(cur_mat);
+     397           2 :       cols_loaded += cur_cols;
+     398           2 :       printValue(name_prefixed + "/matrix#" + std::to_string(it), cur_mat);
+     399             :     }
+     400           1 :     return loaded;
+     401             :   }
+     402             :   //}
+     403             : 
+     404             :   /* loadMatrixStatic_internal helper function for loading EigenXd matrices with known dimensions //{ */
+     405             :   template <typename T>
+     406         264 :   MatrixX<T> loadMatrixStatic_internal(const std::string& name, const MatrixX<T>& default_value, int rows, int cols, optional_t optional, unique_t unique)
+     407             :   {
+     408         528 :     MatrixX<T> loaded = default_value;
+     409             :     // first, check that at least one dimension is set
+     410         264 :     if (rows <= 0 || cols <= 0)
+     411             :     {
+     412           0 :       printError(std::string("Invalid expected matrix dimensions for parameter ") + resolved(name) + std::string(" (use loadMatrixDynamic?)"));
+     413           0 :       m_load_successful = false;
+     414           0 :       return loaded;
+     415             :     }
+     416             : 
+     417         264 :     return loadMatrixX(name, default_value, rows, cols, optional, unique, NO_SWAP);
+     418             :   }
+     419             :   //}
+     420             : 
+     421             :   /* loadMatrixDynamic_internal helper function for loading Eigen matrices with one dynamic (unspecified) dimension //{ */
+     422             :   template <typename T>
+     423         191 :   MatrixX<T> loadMatrixDynamic_internal(const std::string& name, const MatrixX<T>& default_value, int rows, int cols, optional_t optional, unique_t unique)
+     424             :   {
+     425         382 :     MatrixX<T> loaded = default_value;
+     426             : 
+     427             :     // next, check that at least one dimension is set
+     428         191 :     if (rows <= 0 && cols <= 0)
+     429             :     {
+     430           0 :       printError(std::string("Invalid expected matrix dimensions for parameter ") + resolved(name) + std::string(" (at least one dimension must be specified)"));
+     431           0 :       m_load_successful = false;
+     432           0 :       return loaded;
+     433             :     }
+     434             : 
+     435         191 :     swap_t swap = NO_SWAP;
+     436         191 :     if (rows <= 0)
+     437             :     {
+     438          57 :       int tmp = rows;
+     439          57 :       rows = cols;
+     440          57 :       cols = tmp;
+     441          57 :       swap = SWAP;
+     442             :     }
+     443         191 :     return loadMatrixX(name, default_value, rows, cols, optional, unique, swap);
+     444             :   }
+     445             :   //}
+     446             :   //}
+     447             : 
+     448             :   /* load helper function for generic types //{ */
+     449             :   // This function tries to load a parameter with name 'name' and a default value.
+     450             :   // You can use the flag 'optional' to not throw a ROS_ERROR when the parameter
+     451             :   // cannot be loaded and the flag 'printValues' to set whether the loaded
+     452             :   // value and name of the parameter should be printed to cout.
+     453             :   // If 'optional' is set to false and the parameter could not be loaded,
+     454             :   // the flag 'load_successful' is set to false and a ROS_ERROR message
+     455             :   // is printer.
+     456             :   // If 'unique' flag is set to false then the parameter is not checked
+     457             :   // for being loaded twice.
+     458             :   // Returns a tuple, containing either the loaded or the default value and a bool,
+     459             :   // indicating if the value was loaded (true) or the default value was used (false).
+     460             :   template <typename T>
+     461       55721 :   std::pair<T, bool> load(const std::string& name, const T& default_value, optional_t optional = OPTIONAL, unique_t unique = UNIQUE)
+     462             :   {
+     463      111442 :     const std::string name_prefixed = m_prefix + name;
+     464       69580 :     T loaded = default_value;
+     465       55721 :     if (unique && check_duplicit_loading(name_prefixed))
+     466           2 :       return {loaded, false};
+     467             : 
+     468       55719 :     bool cur_load_successful = true;
+     469             :     // try to load the parameter
+     470       55719 :     const bool success = m_pp.getParam(name_prefixed, loaded);
+     471       55719 :     if (!success)
+     472             :     {
+     473             :       // if it was not loaded, set the default value
+     474         996 :       loaded = default_value;
+     475         996 :       if (!optional)
+     476             :       {
+     477             :         // if the parameter was compulsory, alert the user and set the flag
+     478           2 :         printError(std::string("Could not load non-optional parameter ") + resolved(name_prefixed));
+     479           2 :         cur_load_successful = false;
+     480             :       }
+     481             :     }
+     482             : 
+     483       55607 :     if (cur_load_successful)
+     484             :     {
+     485             :       // everything is fine and just print the name_prefixed and value if required
+     486       55717 :       if (m_print_values)
+     487       55717 :         printValue(name_prefixed, loaded);
+     488             :       // mark the param name_prefixed as successfully loaded
+     489       55829 :       m_loaded_params.insert(name_prefixed);
+     490             :     } else
+     491             :     {
+     492           2 :       m_load_successful = false;
+     493             :     }
+     494             :     // finally, return the resulting value
+     495       55719 :     return {loaded, success};
+     496             :   }
+     497             :   //}
+     498             : 
+     499             : public:
+     500             :   /*!
+     501             :     * \brief Main constructor.
+     502             :     *
+     503             :     * \param nh            The parameters will be loaded from rosparam using this node handle.
+     504             :     * \param printValues  If true, the loaded values will be printed to stdout using std::cout or ROS_INFO if node_name is not empty.
+     505             :     * \param node_name     Optional node name used when printing the loaded values or loading errors.
+     506             :     */
+     507        2556 :   ParamLoader(const ros::NodeHandle& nh, bool printValues = true, std::string_view node_name = std::string())
+     508        2556 :       : m_load_successful(true),
+     509             :         m_print_values(printValues),
+     510             :         m_node_name(node_name),
+     511             :         m_nh(nh),
+     512        2686 :         m_pp(nh, m_node_name)
+     513             :   {
+     514             :     /* std::cout << "Initialized1 ParamLoader for node " << node_name << std::endl; */
+     515        2556 :   }
+     516             : 
+     517             :   /* Constructor overloads //{ */
+     518             :   /*!
+     519             :     * \brief Convenience overload to enable writing ParamLoader pl(nh, node_name);
+     520             :     *
+     521             :     * \param nh            The parameters will be loaded from rosparam using this node handle.
+     522             :     * \param node_name     Optional node name used when printing the loaded values or loading errors.
+     523             :     */
+     524        1106 :   ParamLoader(const ros::NodeHandle& nh, std::string_view node_name)
+     525        1106 :       : ParamLoader(nh, true, node_name)
+     526             :   {
+     527             :     /* std::cout << "Initialized2 ParamLoader for node " << node_name << std::endl; */
+     528        1106 :   }
+     529             : 
+     530             :   /*!
+     531             :     * \brief Convenience overload to enable writing ParamLoader pl(nh, "node_name");
+     532             :     *
+     533             :     * \param nh            The parameters will be loaded from rosparam using this node handle.
+     534             :     * \param node_name     Optional node name used when printing the loaded values or loading errors.
+     535             :     */
+     536             :   ParamLoader(const std::string& filepath, const ros::NodeHandle& nh)
+     537             :     : ParamLoader(nh, "none")
+     538             :   {
+     539             :     YAML::Node node = YAML::Load(filepath);
+     540             :   }
+     541             :   //}
+     542             : 
+     543             :   /* setPrefix function //{ */
+     544             :   
+     545             :   /*!
+     546             :     * \brief All loaded parameters will be prefixed with this string.
+     547             :     *
+     548             :     * \param prefix  the prefix to be applied to all loaded parameters from now on.
+     549             :     */
+     550        1345 :   void setPrefix(const std::string& prefix)
+     551             :   {
+     552        1345 :     m_prefix = prefix;
+     553        1345 :   }
+     554             :   
+     555             :   //}
+     556             : 
+     557             :   /* getPrefix function //{ */
+     558             :   
+     559             :   /*!
+     560             :     * \brief Returns the current parameter name prefix.
+     561             :     *
+     562             :     * \return the current prefix to be applied to the loaded parameters.
+     563             :     */
+     564             :   std::string getPrefix()
+     565             :   {
+     566             :     return m_prefix;
+     567             :   }
+     568             :   
+     569             :   //}
+     570             : 
+     571             :   /* addYamlFile() function //{ */
+     572             :   
+     573             :   /*!
+     574             :     * \brief Adds the specified file as a source of static parameters.
+     575             :     *
+     576             :     * \param filepath The full path to the yaml file to be loaded.
+     577             :     * \return true if loading and parsing the file was successful, false otherwise.
+     578             :     */
+     579        7265 :   bool addYamlFile(const std::string& filepath)
+     580             :   {
+     581        7265 :     return m_pp.addYamlFile(filepath);
+     582             :   }
+     583             :   //}
+     584             : 
+     585             :   /* addYamlFileFromParam() function //{ */
+     586             :   
+     587             :   /*!
+     588             :     * \brief Loads a filepath from a parameter loads that file as a YAML.
+     589             :     *
+     590             :     * \param param_name Name of the parameter from which to load the YAML filename to be loaded.
+     591             :     * \return true      if loading and parsing the file was successful, false otherwise.
+     592             :     */
+     593        1680 :   bool addYamlFileFromParam(const std::string& param_name)
+     594             :   {
+     595        3360 :     std::string filepath;
+     596        1680 :     if (!loadParam(param_name, filepath))
+     597           0 :       return false;
+     598        1680 :     return m_pp.addYamlFile(filepath);
+     599             :   }
+     600             :   //}
+     601             : 
+     602             :   /* loadedSuccessfully function //{ */
+     603             :   /*!
+     604             :     * \brief Indicates whether all compulsory parameters were successfully loaded.
+     605             :     *
+     606             :     * \return false if any compulsory parameter was not loaded (is not present at rosparam server). Otherwise returns true.
+     607             :     */
+     608        3006 :   bool loadedSuccessfully()
+     609             :   {
+     610        3006 :     return m_load_successful;
+     611             :   }
+     612             :   //}
+     613             : 
+     614             :   /* loadParam function for optional parameters //{ */
+     615             :   /*!
+     616             :     * \brief Loads a parameter from the rosparam server with a default value.
+     617             :     *
+     618             :     * 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),
+     619             :     * the default value is used.
+     620             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+     621             :     *
+     622             :     * \param name          Name of the parameter in the rosparam server.
+     623             :     * \param out_value     Reference to the variable to which the parameter value will be stored (such as a class member variable).
+     624             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+     625             :     * \return              true if the parameter was loaded from \p rosparam, false if the default value was used.
+     626             :     */
+     627             :   template <typename T>
+     628        3867 :   bool loadParam(const std::string& name, T& out_value, const T& default_value)
+     629             :   {
+     630        3867 :     const auto [ret, success] = load<T>(name, default_value, OPTIONAL, UNIQUE);
+     631        3867 :     out_value = ret;
+     632        3885 :     return success;
+     633             :   }
+     634             :   /*!
+     635             :     * \brief Loads a parameter from the rosparam server with a default value.
+     636             :     *
+     637             :     * 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),
+     638             :     * the default value is used.
+     639             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+     640             :     *
+     641             :     * \param name          Name of the parameter in the rosparam server.
+     642             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+     643             :     * \return              The loaded parameter value.
+     644             :     */
+     645             :   template <typename T>
+     646         326 :   T loadParam2(const std::string& name, const T& default_value)
+     647             :   {
+     648         587 :     const auto loaded = load<T>(name, default_value, OPTIONAL, UNIQUE);
+     649         587 :     return loaded.first;
+     650             :   }
+     651             :   /*!
+     652             :     * \brief Loads a parameter from the rosparam server with a default value.
+     653             :     *
+     654             :     * 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),
+     655             :     * the default value is used.
+     656             :     * Using this method, the parameter can be loaded multiple times using the same ParamLoader instance without error.
+     657             :     *
+     658             :     * \param name          Name of the parameter in the rosparam server.
+     659             :     * \param out_value     Reference to the variable to which the parameter value will be stored (such as a class member variable).
+     660             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+     661             :     * \return              true if the parameter was loaded from \p rosparam, false if the default value was used.
+     662             :     */
+     663             :   template <typename T>
+     664             :   bool loadParamReusable(const std::string& name, T& out_value, const T& default_value)
+     665             :   {
+     666             :     const auto [ret, success] = load<T>(name, default_value, OPTIONAL, REUSABLE);
+     667             :     out_value = ret;
+     668             :     return success;
+     669             :   }
+     670             :   /*!
+     671             :     * \brief Loads an optional reusable parameter from the rosparam server.
+     672             :     *
+     673             :     * 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),
+     674             :     * the default value is used.
+     675             :     * Using this method, the parameter can be loaded multiple times using the same ParamLoader instance without error.
+     676             :     *
+     677             :     * \param name          Name of the parameter in the rosparam server.
+     678             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+     679             :     * \return              The loaded parameter value.
+     680             :     */
+     681             :   template <typename T>
+     682             :   T loadParamReusable2(const std::string& name, const T& default_value)
+     683             :   {
+     684             :     const auto [ret, success] = load<T>(name, default_value, OPTIONAL, REUSABLE);
+     685             :     return ret;
+     686             :   }
+     687             :   //}
+     688             : 
+     689             :   /* loadParam function for compulsory parameters //{ */
+     690             :   /*!
+     691             :     * \brief Loads a compulsory parameter from the rosparam server.
+     692             :     *
+     693             :     * 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),
+     694             :     * the loading process is unsuccessful (loaded_successfully() will return false).
+     695             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+     696             :     *
+     697             :     * \param name          Name of the parameter in the rosparam server.
+     698             :     * \param out_value     Reference to the variable to which the parameter value will be stored (such as a class member variable).
+     699             :     * \return              true if the parameter was loaded from \p rosparam, false if the default value was used.
+     700             :     */
+     701             :   template <typename T>
+     702       49772 :   bool loadParam(const std::string& name, T& out_value)
+     703             :   {
+     704       65041 :     const auto [ret, success] = load<T>(name, T(), COMPULSORY, UNIQUE);
+     705       51527 :     out_value = ret;
+     706       63286 :     return success;
+     707             :   }
+     708             :   /*!
+     709             :     * \brief Loads a compulsory parameter from the rosparam server.
+     710             :     *
+     711             :     * 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),
+     712             :     * the loading process is unsuccessful (loaded_successfully() will return false).
+     713             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+     714             :     *
+     715             :     * \param name          Name of the parameter in the rosparam server.
+     716             :     * \return              The loaded parameter value.
+     717             :     */
+     718             :   template <typename T>
+     719             :   T loadParam2(const std::string& name)
+     720             :   {
+     721             :     const auto [ret, success] = load<T>(name, T(), COMPULSORY, UNIQUE);
+     722             :     return ret;
+     723             :   }
+     724             :   /*!
+     725             :     * \brief Loads a compulsory parameter from the rosparam server.
+     726             :     *
+     727             :     * 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),
+     728             :     * the loading process is unsuccessful (loaded_successfully() will return false).
+     729             :     * Using this method, the parameter can be loaded multiple times using the same ParamLoader instance without error.
+     730             :     *
+     731             :     * \param name          Name of the parameter in the rosparam server.
+     732             :     * \param out_value     Reference to the variable to which the parameter value will be stored (such as a class member variable).
+     733             :     * \return              true if the parameter was loaded from \p rosparam, false if the default value was used.
+     734             :     */
+     735             :   template <typename T>
+     736           1 :   bool loadParamReusable(const std::string& name, T& out_value)
+     737             :   {
+     738           2 :     const auto [ret, success] = load<T>(name, T(), COMPULSORY, REUSABLE);
+     739           1 :     out_value = ret;
+     740           2 :     return success;
+     741             :   }
+     742             :   /*!
+     743             :     * \brief Loads a compulsory parameter from the rosparam server.
+     744             :     *
+     745             :     * 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),
+     746             :     * the loading process is unsuccessful (loaded_successfully() will return false).
+     747             :     * Using this method, the parameter can be loaded multiple times using the same ParamLoader instance without error.
+     748             :     *
+     749             :     * \param name          Name of the parameter in the rosparam server.
+     750             :     * \return              The loaded parameter value.
+     751             :     */
+     752             :   template <typename T>
+     753             :   T loadParamReusable2(const std::string& name)
+     754             :   {
+     755             :     const auto [ret, success] = load<T>(name, T(), COMPULSORY, REUSABLE);
+     756             :     return ret;
+     757             :   }
+     758             :   //}
+     759             : 
+     760             :   /* loadParam specializations for ros::Duration type //{ */
+     761             : 
+     762             :   /*!
+     763             :     * \brief An overload for loading ros::Duration.
+     764             :     *
+     765             :     * The duration will be loaded as a \p double, representing a number of seconds, and then converted to ros::Duration.
+     766             :     *
+     767             :     * \param name          Name of the parameter in the rosparam server.
+     768             :     * \param out_value     Reference to the variable to which the parameter value will be stored (such as a class member variable).
+     769             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+     770             :     * \return              true if the parameter was loaded from \p rosparam, false if the default value was used.
+     771             :     */
+     772             :   bool loadParam(const std::string& name, ros::Duration& out, const ros::Duration& default_value)
+     773             :   {
+     774             :     double secs;
+     775             :     const bool ret = loadParam<double>(name, secs, default_value.toSec());
+     776             :     out = ros::Duration(secs);
+     777             :     return ret;
+     778             :   }
+     779             : 
+     780             :   /*!
+     781             :     * \brief An overload for loading ros::Duration.
+     782             :     *
+     783             :     * The duration will be loaded as a \p double, representing a number of seconds, and then converted to ros::Duration.
+     784             :     *
+     785             :     * \param name          Name of the parameter in the rosparam server.
+     786             :     * \param out_value     Reference to the variable to which the parameter value will be stored (such as a class member variable).
+     787             :     * \return              true if the parameter was loaded from \p rosparam, false if the default value was used.
+     788             :     */
+     789             :   bool loadParam(const std::string& name, ros::Duration& out)
+     790             :   {
+     791             :     double secs;
+     792             :     const bool ret = loadParam<double>(name, secs);
+     793             :     out = ros::Duration(secs);
+     794             :     return ret;
+     795             :   }
+     796             :   
+     797             :   //}
+     798             : 
+     799             :   /* loadParam specializations for std_msgs::ColorRGBA type //{ */
+     800             : 
+     801             :   /*!
+     802             :     * \brief An overload for loading std_msgs::ColorRGBA.
+     803             :     *
+     804             :     * The color will be loaded as several \p double -typed variables, representing the R, G, B and A color elements.
+     805             :     *
+     806             :     * \param name          Name of the parameter in the rosparam server.
+     807             :     * \param out_value     Reference to the variable to which the parameter value will be stored (such as a class member variable).
+     808             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+     809             :     * \return              true if the parameter was loaded from \p rosparam, false if the default value was used.
+     810             :     */
+     811             :   bool loadParam(const std::string& name, std_msgs::ColorRGBA& out, const std_msgs::ColorRGBA& default_value = {})
+     812             :   {
+     813             :     std_msgs::ColorRGBA res;
+     814             :     bool ret = true;
+     815             :     ret = ret & loadParam(name+"/r", res.r, default_value.r);
+     816             :     ret = ret & loadParam(name+"/g", res.g, default_value.g);
+     817             :     ret = ret & loadParam(name+"/b", res.b, default_value.b);
+     818             :     ret = ret & loadParam(name+"/a", res.a, default_value.a);
+     819             :     if (ret)
+     820             :       out = res;
+     821             :     return ret;
+     822             :   }
+     823             : 
+     824             :   /*!
+     825             :     * \brief An overload for loading std_msgs::ColorRGBA.
+     826             :     *
+     827             :     * The color will be loaded as several \p double -typed variables, representing the R, G, B and A color elements.
+     828             :     *
+     829             :     * \param name          Name of the parameter in the rosparam server.
+     830             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+     831             :     * \return              The loaded parameter value.
+     832             :     */
+     833             :   std_msgs::ColorRGBA loadParam2(const std::string& name, const std_msgs::ColorRGBA& default_value = {})
+     834             :   {
+     835             :     std_msgs::ColorRGBA ret;
+     836             :     loadParam(name, ret, default_value);
+     837             :     return ret;
+     838             :   }
+     839             : 
+     840             :   //}
+     841             : 
+     842             :   /* loadParam specializations for XmlRpc::Value type //{ */
+     843             : 
+     844             :   /*!
+     845             :     * \brief An overload for loading an optional XmlRpc::XmlRpcValue.
+     846             :     *
+     847             :     * This can be used if you want to manually parse some more complex parameter but still take advantage of ParamLoader.
+     848             :     * \warning  XmlRpc::XmlRpcValue must be loaded from a rosparam server and not directly from a YAML file
+     849             :     * (i.e. you cannot use it to load parameters from a file added using the addYamlFile() or addYamlFileFromParam() methods).
+     850             :     *
+     851             :     * \param name          Name of the parameter in the rosparam server.
+     852             :     * \param out_value     Reference to the variable to which the parameter value will be stored (such as a class member variable).
+     853             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+     854             :     * \return              true if the parameter was loaded from \p rosparam, false if the default value was used.
+     855             :     */
+     856           2 :   bool loadParam(const std::string& name, XmlRpc::XmlRpcValue& out, const XmlRpc::XmlRpcValue& default_value)
+     857             :   {
+     858           2 :     return loadParam<XmlRpc::XmlRpcValue>(name, out, default_value);
+     859             :   }
+     860             : 
+     861             :   /*!
+     862             :     * \brief An overload for loading a compulsory XmlRpc::XmlRpcValue.
+     863             :     *
+     864             :     * This can be used if you want to manually parse some more complex parameter but still take advantage of ParamLoader.
+     865             :     * \warning  XmlRpc::XmlRpcValue must be loaded from a rosparam server and not directly from a YAML file
+     866             :     * (i.e. you cannot use it to load parameters from a file added using the addYamlFile() or addYamlFileFromParam() methods).
+     867             :     *
+     868             :     * \param name          Name of the parameter in the rosparam server.
+     869             :     * \param out_value     Reference to the variable to which the parameter value will be stored (such as a class member variable).
+     870             :     * \return              true if the parameter was loaded from \p rosparam, false if the default value was used.
+     871             :     */
+     872           3 :   bool loadParam(const std::string& name, XmlRpc::XmlRpcValue& out)
+     873             :   {
+     874           3 :     return loadParam<XmlRpc::XmlRpcValue>(name, out);
+     875             :   }
+     876             : 
+     877             :   /*!
+     878             :     * \brief An overload for loading an optional XmlRpc::XmlRpcValue.
+     879             :     *
+     880             :     * This can be used if you want to manually parse some more complex parameter but still take advantage of ParamLoader.
+     881             :     * \warning  XmlRpc::XmlRpcValue must be loaded from a rosparam server and not directly from a YAML file
+     882             :     * (i.e. you cannot use it to load parameters from a file added using the addYamlFile() or addYamlFileFromParam() methods).
+     883             :     *
+     884             :     * \param name          Name of the parameter in the rosparam server.
+     885             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+     886             :     * \return              the loaded parameter.
+     887             :     */
+     888           1 :   XmlRpc::XmlRpcValue loadParam2(const std::string& name, const XmlRpc::XmlRpcValue& default_value)
+     889             :   {
+     890           1 :     return loadParam2<XmlRpc::XmlRpcValue>(name, default_value);
+     891             :   }
+     892             : 
+     893             :   //}
+     894             : 
+     895             :   /* loadParam specializations and convenience functions for Eigen dynamic matrix type //{ */
+     896             : 
+     897             :   /*!
+     898             :     * \brief An overload for loading Eigen matrices.
+     899             :     *
+     900             :     * For compulsory Eigen matrices, use loadMatrixStatic() or loadMatrixDynamic().
+     901             :     * Matrix dimensions are deduced from the provided default value.
+     902             :     * 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),
+     903             :     * the default value is used.
+     904             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+     905             :     *
+     906             :     * \param name          Name of the parameter in the rosparam server.
+     907             :     * \param out_value     Reference to the variable to which the parameter value will be stored (such as a class member variable).
+     908             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+     909             :     */
+     910             :   template <typename T>
+     911             :   void loadParam(const std::string& name, MatrixX<T>& mat, const MatrixX<T>& default_value)
+     912             :   {
+     913             :     mat = loadParam2(name, default_value);
+     914             :   }
+     915             : 
+     916             :   /*!
+     917             :     * \brief An overload for loading Eigen matrices.
+     918             :     *
+     919             :     * For compulsory Eigen matrices, use loadMatrixStatic() or loadMatrixDynamic().
+     920             :     * Matrix dimensions are deduced from the provided default value.
+     921             :     * 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),
+     922             :     * the default value is used.
+     923             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+     924             :     *
+     925             :     * \param name          Name of the parameter in the rosparam server.
+     926             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+     927             :     * \return              The loaded parameter value.
+     928             :     */
+     929             :   template <typename T>
+     930             :   MatrixX<T> loadParam2(const std::string& name, const MatrixX<T>& default_value)
+     931             :   {
+     932             :     int rows = default_value.rows();
+     933             :     int cols = default_value.cols();
+     934             :     MatrixX<T> loaded;
+     935             :     loadMatrixDynamic(name, loaded, default_value, rows, cols);
+     936             :     return loaded;
+     937             :   }
+     938             :   
+     939             :   //}
+     940             : 
+     941             :   // loadMatrixStatic function for loading of static Eigen::Matrices //{
+     942             : 
+     943             :   /*!
+     944             :     * \brief Specialized method for loading compulsory Eigen matrix parameters.
+     945             :     *
+     946             :     * 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).
+     947             :     * 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),
+     948             :     * the loading process is unsuccessful.
+     949             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+     950             :     *
+     951             :     * \tparam rows  Expected number of rows of the matrix.
+     952             :     * \tparam cols  Expected number of columns of the matrix.
+     953             :     *
+     954             :     * \param name  Name of the parameter in the rosparam server.
+     955             :     * \param mat   Reference to the variable to which the parameter value will be stored (such as a class member variable).
+     956             :     *
+     957             :     */
+     958             :   template <int rows, int cols, typename T>
+     959           1 :   void loadMatrixStatic(const std::string& name, Eigen::Matrix<T, rows, cols>& mat)
+     960             :   {
+     961           1 :     mat = loadMatrixStatic2<rows, cols, T>(name);
+     962           1 :   }
+     963             : 
+     964             :   /*!
+     965             :     * \brief Specialized method for loading Eigen matrix parameters with default value.
+     966             :     *
+     967             :     * 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).
+     968             :     * 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),
+     969             :     * the default value is used.
+     970             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+     971             :     *
+     972             :     * \tparam rows          Expected number of rows of the matrix.
+     973             :     * \tparam cols          Expected number of columns of the matrix.
+     974             :     *
+     975             :     * \param name          Name of the parameter in the rosparam server.
+     976             :     * \param mat           Reference to the variable to which the parameter value will be stored (such as a class member variable).
+     977             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+     978             :     *
+     979             :     */
+     980             :   template <int rows, int cols, typename T, typename Derived>
+     981           1 :   void loadMatrixStatic(const std::string& name, Eigen::Matrix<T, rows, cols>& mat, const Eigen::MatrixBase<Derived>& default_value)
+     982             :   {
+     983           1 :     mat = loadMatrixStatic2<rows, cols, T>(name, default_value);
+     984           1 :   }
+     985             : 
+     986             :   /*!
+     987             :     * \brief Specialized method for loading compulsory Eigen matrix parameters.
+     988             :     *
+     989             :     * 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).
+     990             :     * 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),
+     991             :     * the loading process is unsuccessful.
+     992             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+     993             :     *
+     994             :     * \tparam rows  Expected number of rows of the matrix.
+     995             :     * \tparam cols  Expected number of columns of the matrix.
+     996             :     *
+     997             :     * \param name  Name of the parameter in the rosparam server.
+     998             :     * \return      The loaded parameter value.
+     999             :     *
+    1000             :     */
+    1001             :   template <int rows, int cols, typename T = double>
+    1002           3 :   Eigen::Matrix<T, rows, cols> loadMatrixStatic2(const std::string& name)
+    1003             :   {
+    1004           3 :     return loadMatrixStatic_internal<rows, cols, T>(name, Eigen::Matrix<T, rows, cols>::Zero(), COMPULSORY, UNIQUE);
+    1005             :   }
+    1006             : 
+    1007             :   /*!
+    1008             :     * \brief Specialized method for loading Eigen matrix parameters with default value.
+    1009             :     *
+    1010             :     * 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).
+    1011             :     * 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),
+    1012             :     * the default value is used.
+    1013             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+    1014             :     *
+    1015             :     * \tparam rows          Expected number of rows of the matrix.
+    1016             :     * \tparam cols          Expected number of columns of the matrix.
+    1017             :     *
+    1018             :     * \param name          Name of the parameter in the rosparam server.
+    1019             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+    1020             :     * \return              The loaded parameter value.
+    1021             :     *
+    1022             :     */
+    1023             :   template <int rows, int cols, typename T, typename Derived>
+    1024           2 :   Eigen::Matrix<T, rows, cols> loadMatrixStatic2(const std::string& name, const Eigen::MatrixBase<Derived>& default_value)
+    1025             :   {
+    1026           2 :     return loadMatrixStatic_internal<rows, cols, T>(name, Eigen::Matrix<T, rows, cols>(default_value), OPTIONAL, UNIQUE);
+    1027             :   }
+    1028             :   //}
+    1029             : 
+    1030             :   // loadMatrixStatic function for loading of Eigen matrices with known dimensions //{
+    1031             : 
+    1032             :   /*!
+    1033             :     * \brief Specialized method for loading compulsory Eigen matrix parameters.
+    1034             :     *
+    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 loading process is unsuccessful.
+    1038             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+    1039             :     *
+    1040             :     * \param name  Name of the parameter in the rosparam server.
+    1041             :     * \param mat   Reference to the variable to which the parameter value will be stored (such as a class member variable).
+    1042             :     * \param rows  Expected number of rows of the matrix.
+    1043             :     * \param cols  Expected number of columns of the matrix.
+    1044             :     */
+    1045             :   template <typename T>
+    1046         261 :   void loadMatrixStatic(const std::string& name, MatrixX<T>& mat, int rows, int cols)
+    1047             :   {
+    1048         261 :     mat = loadMatrixStatic2<T>(name, rows, cols);
+    1049         261 :   }
+    1050             : 
+    1051             :   /*!
+    1052             :     * \brief Specialized method for loading Eigen matrix parameters with default value.
+    1053             :     *
+    1054             :     * 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).
+    1055             :     * 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),
+    1056             :     * the default value is used.
+    1057             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+    1058             :     *
+    1059             :     * \param name          Name of the parameter in the rosparam server.
+    1060             :     * \param mat           Reference to the variable to which the parameter value will be stored (such as a class member variable).
+    1061             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+    1062             :     * \param rows          Expected number of rows of the matrix.
+    1063             :     * \param cols          Expected number of columns of the matrix.
+    1064             :     */
+    1065             :   template <typename T, typename Derived>
+    1066           1 :   void loadMatrixStatic(const std::string& name, MatrixX<T>& mat, const Eigen::MatrixBase<Derived>& default_value, int rows, int cols)
+    1067             :   {
+    1068           1 :     mat = loadMatrixStatic2<T>(name, default_value, rows, cols);
+    1069           1 :   }
+    1070             : 
+    1071             :   /*!
+    1072             :     * \brief Specialized method for loading compulsory Eigen matrix parameters.
+    1073             :     *
+    1074             :     * 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).
+    1075             :     * 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),
+    1076             :     * the loading process is unsuccessful.
+    1077             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+    1078             :     *
+    1079             :     * \param name  Name of the parameter in the rosparam server.
+    1080             :     * \param rows  Expected number of rows of the matrix.
+    1081             :     * \param cols  Expected number of columns of the matrix.
+    1082             :     * \return      The loaded parameter value.
+    1083             :     */
+    1084             :   template <typename T = double>
+    1085         262 :   MatrixX<T> loadMatrixStatic2(const std::string& name, int rows, int cols)
+    1086             :   {
+    1087         262 :     return loadMatrixStatic_internal(name, MatrixX<T>(), rows, cols, COMPULSORY, UNIQUE);
+    1088             :   }
+    1089             : 
+    1090             :   /*!
+    1091             :     * \brief Specialized method for loading Eigen matrix parameters with default value.
+    1092             :     *
+    1093             :     * 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).
+    1094             :     * 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),
+    1095             :     * the default value is used.
+    1096             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+    1097             :     *
+    1098             :     * \param name          Name of the parameter in the rosparam server.
+    1099             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+    1100             :     * \param rows          Expected number of rows of the matrix.
+    1101             :     * \param cols          Expected number of columns of the matrix.
+    1102             :     * \return              The loaded parameter value.
+    1103             :     */
+    1104             :   template <typename T, typename Derived>
+    1105           2 :   MatrixX<T> loadMatrixStatic2(const std::string& name, const Eigen::MatrixBase<Derived>& default_value, int rows, int cols)
+    1106             :   {
+    1107           2 :     return loadMatrixStatic_internal(name, MatrixX<T>(default_value), rows, cols, OPTIONAL, UNIQUE);
+    1108             :   }
+    1109             :   //}
+    1110             : 
+    1111             :   // loadMatrixDynamic function for half-dynamic loading of MatrixX<T> //{
+    1112             : 
+    1113             :   /*!
+    1114             :     * \brief Specialized method for loading compulsory dynamic Eigen matrix parameters.
+    1115             :     *
+    1116             :     * 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).
+    1117             :     * 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),
+    1118             :     * the loading process is unsuccessful.
+    1119             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+    1120             :     *
+    1121             :     * \param name  Name of the parameter in the rosparam server.
+    1122             :     * \param mat   Reference to the variable to which the parameter value will be stored (such as a class member variable).
+    1123             :     * \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).
+    1124             :     * \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).
+    1125             :     */
+    1126             :   template <typename T>
+    1127           1 :   void loadMatrixDynamic(const std::string& name, MatrixX<T>& mat, int rows, int cols)
+    1128             :   {
+    1129           1 :     mat = loadMatrixDynamic2<T>(name, rows, cols);
+    1130           1 :   }
+    1131             : 
+    1132             :   /*!
+    1133             :     * \brief Specialized method for loading compulsory dynamic Eigen matrix parameters.
+    1134             :     *
+    1135             :     * 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).
+    1136             :     * 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),
+    1137             :     * the default value is used.
+    1138             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+    1139             :     *
+    1140             :     * \param name          Name of the parameter in the rosparam server.
+    1141             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+    1142             :     * \param mat           Reference to the variable to which the parameter value will be stored (such as a class member variable).
+    1143             :     * \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).
+    1144             :     * \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).
+    1145             :     */
+    1146             :   template <typename T, typename Derived>
+    1147           1 :   void loadMatrixDynamic(const std::string& name, MatrixX<T>& mat, const Eigen::MatrixBase<Derived>& default_value, int rows, int cols)
+    1148             :   {
+    1149           1 :     mat = loadMatrixDynamic2<T>(name, default_value, rows, cols);
+    1150           1 :   }
+    1151             : 
+    1152             :   /*!
+    1153             :     * \brief Specialized method for loading compulsory dynamic Eigen matrix parameters.
+    1154             :     *
+    1155             :     * 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).
+    1156             :     * 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),
+    1157             :     * the loading process is unsuccessful.
+    1158             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+    1159             :     *
+    1160             :     * \param name  Name of the parameter in the rosparam server.
+    1161             :     * \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).
+    1162             :     * \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).
+    1163             :     * \return      The loaded parameter value.
+    1164             :     */
+    1165             :   template <typename T = double>
+    1166         189 :   MatrixX<T> loadMatrixDynamic2(const std::string& name, int rows, int cols)
+    1167             :   {
+    1168         189 :     return loadMatrixDynamic_internal(name, MatrixX<T>(), rows, cols, COMPULSORY, UNIQUE);
+    1169             :   }
+    1170             : 
+    1171             :   /*!
+    1172             :     * \brief Specialized method for loading compulsory dynamic Eigen matrix parameters.
+    1173             :     *
+    1174             :     * 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).
+    1175             :     * 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),
+    1176             :     * the default value is used.
+    1177             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+    1178             :     *
+    1179             :     * \param name          Name of the parameter in the rosparam server.
+    1180             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+    1181             :     * \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).
+    1182             :     * \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).
+    1183             :     * \return              The loaded parameter value.
+    1184             :     */
+    1185             :   template <typename T, typename Derived>
+    1186           2 :   MatrixX<T> loadMatrixDynamic2(const std::string& name, const Eigen::MatrixBase<Derived>& default_value, int rows, int cols)
+    1187             :   {
+    1188           2 :     return loadMatrixDynamic_internal(name, MatrixX<T>(default_value), rows, cols, OPTIONAL, UNIQUE);
+    1189             :   }
+    1190             : 
+    1191             :   //}
+    1192             : 
+    1193             :   // loadMatrixArray function for loading of an array of MatrixX<T> with known dimensions //{
+    1194             :   /*!
+    1195             :     * \brief Specialized method for loading compulsory parameters, interpreted as an array of dynamic Eigen matrices.
+    1196             :     *
+    1197             :     * 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
+    1198             :     * 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
+    1199             :     * 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
+    1200             :     * \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$-th matrix.
+    1201             :     * A typical structure of a \c yaml file, specifying the
+    1202             :     * matrix array to be loaded using this method, is
+    1203             :     *
+    1204             :     * \code{.yaml}
+    1205             :     *
+    1206             :     * matrix_array:
+    1207             :     *   rows: 3
+    1208             :     *   cols: [1, 2]
+    1209             :     *   data: [-5.0, 0.0, 23.0,
+    1210             :     *          -5.0, 0.0, 12.0,
+    1211             :     *           2.0,   4.0,  7.0]
+    1212             :     *
+    1213             :     * \endcode
+    1214             :     *
+    1215             :     * which will be loaded as a \c std::vector, containing one \f$ 3\times 1 \f$ matrix and one \f$ 3\times 2 \f$ matrix.
+    1216             :     *
+    1217             :     * 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).
+    1218             :     * 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),
+    1219             :     * the loading process is unsuccessful.
+    1220             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+    1221             :     *
+    1222             :     * \param name  Name of the parameter in the rosparam server.
+    1223             :     * \param mat   Reference to the variable to which the parameter value will be stored (such as a class member variable).
+    1224             :     *
+    1225             :     */
+    1226             :   template <typename T>
+    1227           1 :   void loadMatrixArray(const std::string& name, std::vector<MatrixX<T>>& mat)
+    1228             :   {
+    1229           1 :     mat = loadMatrixArray2<double>(name);
+    1230           1 :   }
+    1231             : 
+    1232             :   /*!
+    1233             :     * \brief Specialized method for loading compulsory parameters, interpreted as an array of dynamic Eigen matrices.
+    1234             :     *
+    1235             :     * 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
+    1236             :     * found in the \c rosparam server, instead of causing an unsuccessful load. This makes specifying the parameter value in the \c rosparam server optional.
+    1237             :     *
+    1238             :     * \param name           Name of the parameter in the rosparam server.
+    1239             :     * \param mat            Reference to the variable to which the parameter value will be stored (such as a class member variable).
+    1240             :     * \param default_value  The default value to be used in case the parameter is not found on the \c rosparam server.
+    1241             :     *
+    1242             :     */
+    1243             :   template <typename T>
+    1244           1 :   void loadMatrixArray(const std::string& name, std::vector<MatrixX<T>>& mat, const std::vector<MatrixX<T>>& default_value)
+    1245             :   {
+    1246           1 :     mat = loadMatrixArray2(name, default_value);
+    1247           1 :   }
+    1248             : 
+    1249             :   /*!
+    1250             :     * \brief Specialized method for loading compulsory parameters, interpreted as an array of dynamic Eigen matrices.
+    1251             :     *
+    1252             :     * This method works in the same way as the loadMatrixArray() method for compulsory parameters, except that the loaded
+    1253             :     * parameter is returned and not stored in the reference parameter.
+    1254             :     *
+    1255             :     * \param name           Name of the parameter in the rosparam server.
+    1256             :     * \returns              The loaded parameter or a default constructed object of the respective type.
+    1257             :     *
+    1258             :     */
+    1259             :   template <typename T = double>
+    1260           3 :   std::vector<MatrixX<T>> loadMatrixArray2(const std::string& name)
+    1261             :   {
+    1262           3 :     return loadMatrixArray_internal(name, std::vector<MatrixX<T>>(), COMPULSORY, UNIQUE);
+    1263             :   }
+    1264             : 
+    1265             :   /*!
+    1266             :     * \brief Specialized method for loading compulsory parameters, interpreted as an array of dynamic Eigen matrices.
+    1267             :     *
+    1268             :     * This method works in the same way as the loadMatrixArray() method for optional parameters, except that the loaded
+    1269             :     * parameter is returned and not stored in the reference parameter.
+    1270             :     *
+    1271             :     * \param name           Name of the parameter in the rosparam server.
+    1272             :     * \param default_value  The default value to be used in case the parameter is not found on the \c rosparam server.
+    1273             :     * \returns              The loaded parameter or the default value.
+    1274             :     *
+    1275             :     */
+    1276             :   template <typename T>
+    1277           2 :   std::vector<MatrixX<T>> loadMatrixArray2(const std::string& name, const std::vector<MatrixX<T>>& default_value)
+    1278             :   {
+    1279           2 :     return loadMatrixArray_internal(name, default_value, OPTIONAL, UNIQUE);
+    1280             :   }
+    1281             :   //}
+    1282             : 
+    1283             :   //}
+    1284             : 
+    1285             : };
+    1286             : //}
+    1287             : 
+    1288             :   /*!
+    1289             :     * \brief An overload for loading ros::Duration.
+    1290             :     *
+    1291             :     * The duration will be loaded as a \p double, representing a number of seconds, and then converted to ros::Duration.
+    1292             :     *
+    1293             :     * \param name          Name of the parameter in the rosparam server.
+    1294             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+    1295             :     * \return              The loaded parameter value.
+    1296             :     */
+    1297             :   template <>
+    1298             :   ros::Duration ParamLoader::loadParam2<ros::Duration>(const std::string& name, const ros::Duration& default_value);
+    1299             : 
+    1300             :   /*!
+    1301             :     * \brief An overload for loading ros::Duration.
+    1302             :     *
+    1303             :     * The duration will be loaded as a \p double, representing a number of seconds, and then converted to ros::Duration.
+    1304             :     *
+    1305             :     * \param name          Name of the parameter in the rosparam server.
+    1306             :     * \return              The loaded parameter value.
+    1307             :     */
+    1308             :   template <>
+    1309             :   ros::Duration ParamLoader::loadParam2<ros::Duration>(const std::string& name);
+    1310             : 
+    1311             : }  // namespace mrs_lib
+    1312             : 
+    1313             : #endif  // PARAM_LOADER_H
+
+
+
+ + + + +
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+ + diff --git a/mrs_lib/include/mrs_lib/param_loader.h.gcov.png b/mrs_lib/include/mrs_lib/param_loader.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..22a8302368250acc0e6662b3868567977bab6d44 GIT binary patch literal 4285 zcmV;u5JK;XP)wjsdp^?$tW|NWN;r}Phq>izIR*RKAe-VH~sCA2gh$2??+gu}rDp{3~o zH4%>57990Wclj2Cis6qg0NCE`^rh&4x0suiJN|JBG!kE^TT(e93-B`# zYi6GWE?@!BD9{#1s2_}4OUS_t#iQk@zP5AKrc{}5ODCr!Qx&0#(jak_Q!oxjH=0RF zX&a2Dqn5$wCMHG|LF3ugO=~aI-Dwn4ffb{$%oo4SN@djbxaZ(5uWhshbY%^RGPh-D#ZVn9G>T?!irV=7n@zu=NHM*t_r|q z<+#B61%@?S2BRc=T;O+lx1^>G0v8P1pR&$OVLzHplU&Dy%V-`~!UbirbeR4l)XB#( zm|HZPNtErbMo=V{bC+dmTG36*VC>2zes5bjQn^x}&Q&gm1)326hieq8P{J2P1Z)e~ zkzw~!GOZl4^r~n$(P6Qm{fS5zG#L_=C}N=7CbVT|SmRhrpS~5pQg%L#y2>m^P3yX; zPsJ@$IOTPXdSCQ$uZWnTP(ei@FDkO<XMX`V~E$Y_1jtr#+(rEpN4VqrE0 zbE8qLzXyFJ>(-`xJnkv2_0e(9yqsW~ZxRnYKR7LPodXIS;R=R1HCZ3b-5$=22~~4# ziBbf9T8!h&Xn3Y6ye}#2nwN!Sy3`1DQA%V<>M$h4WOSXJnFhCza5o$?1f|K{)5q?d z2tutKw=>g#nQdm~e)uS+a2yQl+O|(&IWtndS26HhtD1h|6e?_~bqdG1&k2K3hXB$@ z^_$k3X7$wy6~sMb)6$$QTVs(Cn%!_$8T4+rRceCwKUmQ^B||zoF3cUf(D_2sjgGxA zq;*0y9uFUNmH}YN*~{G1r}Smx6By_F#iJ08z4DRuapsVT)M$}}JvT#<)KDMRKB|<) z8LSyJJs7-RJchLJRG8s{zC;+@z~l^<`$IELqY0b~TU+R_ISyYx$+26;cL9zJTylr_ zX306C1yID{sy-%*`>j|m&=&VknrlepaXUfa2@g484Gp}T0*DP6yPPwbmr-cGUi;iI z+lvU07JA5AH#tJ)wmRaJ^O2>R`Ev-fZ9H1A7BCwQMmg#@HGx!7{_}Enu}(3F>rF;# zZ97Q(@a7-bfRa!lgAWWrl5YIKI$l(hZ%O#`(^-uZ$~DlLFQs<5ER$N2t!RixMvF(t z@ur-bl~BcU6^}~d8DUT2NH~=EN~n^!JEL5vyz;DhV<4o!MY7PT(V%kugG@3G(LQiM zb5E6yb#;%!nYkA*7^+;zaNxXBA7|)U#{$u)=iF0^nnyWmSQcB*MBW=5?=nAHpmMNm zIP%|Hdd6~`vx!`*N%JCPZ<6CITkR0q>?1l(Tu84juZS=nwgXlpDU>+KuG7aT@_7VZ zm7zfZ~)GMqJftRD=(2iz|1UiGx86jMbu_CL|u zcWwArRxe0Jg70#R3=E04G>M(VxK(#uR`U#Tu^rXZj@&?zW$NR1tWA7@m-?>7&knoz z^MgO~&f+Z?H8A_h2cY9v_{Gw@HU(+%g)Z&N_9P?_Qw2Rjulop}yLN0J%oO3??Y7PB z7qb6g*^_d~wV`%$Z|UO+OOSw5SRrna8ESjBurS%8rOkIE@TEbyExI&#o>n3m&9u$C zioKU;P#QC%Nx805+arrD9%=wfY0a+%AU2*3OC)FH*TeNp;z&Ij5ze)?svMUTg%;i& zmgDbcLfz$VrNrBgeWZUxsBe0KzK=pKu_%ejMNMZ#X`KP zwr8yj4?1e;iXAOXqlM>1wDXSxmoF6-LGV{;jqaI`Sl19C^93@7Uww_hTUjbR1?4v9L3e|+wqX*_3?Hap&S$b)&Om9YgU`@(>)@LrdK6CuCi<7njO|Cd<2#fLA`b>|vZGC1= zvw;>sOiMx7*JvK~8!qH*cA}I`KQH^3CM`>S(*a|Mk(0G?Ow=C1F3#x!$UAv(8O0Y9 zl3{2Om-mSIw5x8m)Qprx&!|Xx3aBKjrGZB6&aOEu)_`>() zpURne2~hkW=Q=xofmH%yg-H}&f}rdT%y{-gepYMs!%u&b1heKtI2vIl5<@=UGM@x1 za071A#Jw3=8!I=xrO3A&Hc~HZS#ch&EWE@+eiuMbv0bsIyC#m}$mQ$^R*0~mlS+ot z#P?g)cF_srdk{x;%crdZ9ETr!z)r=y5GL|SQov?B(k5Rh%>j;bLiB#3L|7a!>-HF_ ztU~aJNx93)P%{v}%o-8~2ah#kwmlx*6-N~aC17O_xxyqWL|DndDz78-xMH(5A7mWT zCd57H5i#+m@MT^(8&m*95l~{c_5ogO8Z0Hf8gK`&-4U=eBt*c2X2qF(A+JT$D!xk$Ows}=^Y-24!3&~AJBL) zXHR(~ErQwl7`wN=lHHQ7~s?g-x-hGeNR=mtPQ8Sc?odDxIGy*A>1GOZ83k40<>~~o$jNhFOg8s z(W)~vyK?$*51zY5+@o|i4Sj=9*>cm^duk>S z;nR%$tK#vB0sFHpZrAD_YH=gmkHvi#gkLJWt`I6)R#;qdQsnD|*JMc;bNe_NcQtXl zdAcJB^&A8CK7!19RE=qZXDIxRomX#Dbm4hMJ(%*Iqybp>Q>X}&JuIp@@+}Z{znZ&j z`bgzcUmt}3d6d!vt{jVY&<_K5+tOPBSIx2RKBoO1X%Kq5Tg8D+64T7bNg{0 zxfY7fSl!2jyoPP-zPCAqOcA~4WVi~U&hh|Dosqh}NqJ9oHEH2diOIM`KCCO{w zjeUFtw5Y3HY6lFk+o(uQhfu(ggsv!K;YV@ZAJ>4 z3QcpBZ`;WZ@RQl!YznXQ?$N0h7f^<fT&Ek+F zNv7(AtAusWesoQ$A869K%Qh{{0!?K1N%vmN7d|WJl1=yYra`#Xn;klXFRKC@>rA@& zpw6%l{3K^@=su403h>!+&Sh7H?)N)az6DCeZuH}bRH}>=KdIFFxR0lJ1@XDVmjOra zqpdSyYt=D2BmKxV5+8tQ;5Q!Kh>_zVo{PPgyN0@6-g7;a_&|@zK5hx6NP(sM%g58< z1$^)KBSBmdy%FJ6gSgA7!uxnGmpC@{rfj;YH*LZ~Z`|35PgQ5)%?EWx#Ci)6estzt z+{ck#0fM+IBtEhZfIl8ieE5tLQnM>2J{MJm_i-ObdWFE|{n?4n_Uoc;2=D2P^dqmd za~~y$wj6Oxpgc@n>8CRxoFF)PiEYpuPaG$VaS+^zHqZc9>O|=AZTvjIXyxz8+&k85 zQcf?_Ab?qjgfz~OPP+il0)O6!2m4OeU?UBaz3ZNI zdlB_>ltb=A+w?iv@HYI;wo@9>vyJR)E94i>hTj^GI{VlFE(yxq#}f?c0JujSwo&^+ zl;^I+9nDd_a(Db#{`Y4qV%n7zhA?q(XVrT&1DeP=Rjw@B(_a7MxxVrg8W!#Ym2{3W f1#9!|>E-J`6YuqhU_-h-00000NkvXXu0mjf4lXN) literal 0 HcmV?d00001 diff --git a/mrs_lib/include/mrs_lib/publisher_handler.h.func-sort-c.html b/mrs_lib/include/mrs_lib/publisher_handler.h.func-sort-c.html new file mode 100644 index 0000000000..b445bb5560 --- /dev/null +++ b/mrs_lib/include/mrs_lib/publisher_handler.h.func-sort-c.html @@ -0,0 +1,548 @@ + + + + + + + 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:2024-01-20 21:44:18Functions:11611799.1 %
Legend: Lines: + hit + not hit +
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+ +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()0
mrs_lib::PublisherHandler<mrs_msgs::HwApiRcChannels_<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()19
mrs_lib::PublisherHandler_impl<std_msgs::Bool_<std::allocator<void> > >::~PublisherHandler_impl()19
mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > >::~PublisherHandler()38
mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::PublisherHandler()65
mrs_lib::PublisherHandler<mrs_msgs::BumperStatus_<std::allocator<void> > >::PublisherHandler()65
mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > >::PublisherHandler()65
mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::PublisherHandler()65
mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::PublisherHandler()65
mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::PublisherHandler()65
mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::PublisherHandler()65
mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::PublisherHandler()65
mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::PublisherHandler()65
mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::PublisherHandler()65
mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::PublisherHandler()65
mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::PublisherHandler()65
mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::PublisherHandler()65
mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::PublisherHandler()65
mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > >::PublisherHandler()65
mrs_lib::PublisherHandler<std_msgs::String_<std::allocator<void> > >::PublisherHandler()65
mrs_lib::PublisherHandler_impl<geometry_msgs::PoseStamped_<std::allocator<void> > >::~PublisherHandler_impl()65
mrs_lib::PublisherHandler_impl<mrs_msgs::BumperStatus_<std::allocator<void> > >::~PublisherHandler_impl()65
mrs_lib::PublisherHandler_impl<mrs_msgs::ControlError_<std::allocator<void> > >::~PublisherHandler_impl()65
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorInput_<std::allocator<void> > >::~PublisherHandler_impl()65
mrs_lib::PublisherHandler_impl<mrs_msgs::TrackerCommand_<std::allocator<void> > >::~PublisherHandler_impl()65
mrs_lib::PublisherHandler_impl<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::~PublisherHandler_impl()65
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::~PublisherHandler_impl()65
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::~PublisherHandler_impl()65
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::~PublisherHandler_impl()65
mrs_lib::PublisherHandler_impl<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::~PublisherHandler_impl()65
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::~PublisherHandler_impl()65
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::~PublisherHandler_impl()65
mrs_lib::PublisherHandler_impl<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()65
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()65
mrs_lib::PublisherHandler_impl<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()65
mrs_lib::PublisherHandler_impl<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()65
mrs_lib::PublisherHandler_impl<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()65
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::~PublisherHandler_impl()65
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::~PublisherHandler_impl()65
mrs_lib::PublisherHandler_impl<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()65
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::~PublisherHandler_impl()65
mrs_lib::PublisherHandler_impl<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()65
mrs_lib::PublisherHandler_impl<std_msgs::Empty_<std::allocator<void> > >::~PublisherHandler_impl()65
mrs_lib::PublisherHandler_impl<std_msgs::String_<std::allocator<void> > >::~PublisherHandler_impl()65
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::~PublisherHandler_impl()66
mrs_lib::PublisherHandler_impl<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::~PublisherHandler_impl()69
mrs_lib::PublisherHandler<mrs_msgs::Path_<std::allocator<void> > >::~PublisherHandler()108
mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::~PublisherHandler()130
mrs_lib::PublisherHandler<mrs_msgs::BumperStatus_<std::allocator<void> > >::~PublisherHandler()130
mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > >::~PublisherHandler()130
mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::~PublisherHandler()130
mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::~PublisherHandler()130
mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::~PublisherHandler()130
mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::PublisherHandler()130
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::PublisherHandler()130
mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::PublisherHandler()130
mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::~PublisherHandler()130
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::PublisherHandler()130
mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::PublisherHandler()130
mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::~PublisherHandler()130
mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::~PublisherHandler()130
mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::~PublisherHandler()130
mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler()130
mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler()130
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::PublisherHandler()130
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::PublisherHandler()130
mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler()130
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::PublisherHandler()130
mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler()130
mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > >::~PublisherHandler()130
mrs_lib::PublisherHandler<std_msgs::String_<std::allocator<void> > >::~PublisherHandler()130
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::PublisherHandler()131
mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::PublisherHandler()135
mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > >::PublisherHandler()135
mrs_lib::PublisherHandler_impl<mrs_msgs::UavState_<std::allocator<void> > >::~PublisherHandler_impl()135
mrs_lib::PublisherHandler_impl<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::~PublisherHandler_impl()193
mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::~PublisherHandler()195
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::~PublisherHandler()195
mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::~PublisherHandler()195
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::~PublisherHandler()195
mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::~PublisherHandler()195
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::~PublisherHandler()195
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::~PublisherHandler()195
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::~PublisherHandler()195
mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > >::PublisherHandler()195
mrs_lib::PublisherHandler_impl<std_msgs::Float64_<std::allocator<void> > >::~PublisherHandler_impl()195
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::~PublisherHandler()197
mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::~PublisherHandler()204
mrs_lib::PublisherHandler<geometry_msgs::PoseArray_<std::allocator<void> > >::PublisherHandler()260
mrs_lib::PublisherHandler_impl<geometry_msgs::PoseArray_<std::allocator<void> > >::~PublisherHandler_impl()260
mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::PublisherHandler()262
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::~PublisherHandler_impl()262
mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > >::~PublisherHandler()270
mrs_lib::PublisherHandler_impl<nav_msgs::Odometry_<std::allocator<void> > >::~PublisherHandler_impl()325
mrs_lib::PublisherHandler_impl<mrs_msgs::Float64Stamped_<std::allocator<void> > >::~PublisherHandler_impl()380
mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics_<std::allocator<void> > >::PublisherHandler()387
mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics_<std::allocator<void> > >::~PublisherHandler()387
mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > >::PublisherHandler()390
mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > >::~PublisherHandler()390
mrs_lib::PublisherHandler_impl<visualization_msgs::MarkerArray_<std::allocator<void> > >::~PublisherHandler_impl()390
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::PublisherHandler()401
mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::PublisherHandler()457
mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::PublisherHandler()518
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::~PublisherHandler_impl()518
mrs_lib::PublisherHandler<geometry_msgs::PoseArray_<std::allocator<void> > >::~PublisherHandler()520
mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::~PublisherHandler()524
mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::~PublisherHandler()650
mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::PublisherHandler()704
mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > >::~PublisherHandler()780
mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::~PublisherHandler()1036
mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::~PublisherHandler()1084
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::~PublisherHandler()105947
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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..1054c3872d --- /dev/null +++ b/mrs_lib/include/mrs_lib/publisher_handler.h.func.html @@ -0,0 +1,548 @@ + + + + + + + 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:2024-01-20 21:44:18Functions:11611799.1 %
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()260
mrs_lib::PublisherHandler<geometry_msgs::PoseArray_<std::allocator<void> > >::~PublisherHandler()520
mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::PublisherHandler()65
mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::~PublisherHandler()130
mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::PublisherHandler()135
mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::~PublisherHandler()204
mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > >::PublisherHandler()390
mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > >::~PublisherHandler()780
mrs_lib::PublisherHandler<mrs_msgs::BumperStatus_<std::allocator<void> > >::PublisherHandler()65
mrs_lib::PublisherHandler<mrs_msgs::BumperStatus_<std::allocator<void> > >::~PublisherHandler()130
mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > >::PublisherHandler()65
mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > >::~PublisherHandler()130
mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::PublisherHandler()65
mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::~PublisherHandler()130
mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::PublisherHandler()704
mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::~PublisherHandler()1084
mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::PublisherHandler()65
mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::~PublisherHandler()130
mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::PublisherHandler()262
mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::~PublisherHandler()524
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::FutureTrajectory_<std::allocator<void> > >::PublisherHandler()65
mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::~PublisherHandler()130
mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::PublisherHandler()130
mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::~PublisherHandler()195
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::PublisherHandler()130
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::~PublisherHandler()195
mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::PublisherHandler()130
mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::~PublisherHandler()195
mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::PublisherHandler()65
mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::~PublisherHandler()130
mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::PublisherHandler()518
mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::~PublisherHandler()1036
mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::PublisherHandler()457
mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::~PublisherHandler()650
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::PublisherHandler()131
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::~PublisherHandler()197
mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics_<std::allocator<void> > >::PublisherHandler()387
mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics_<std::allocator<void> > >::~PublisherHandler()387
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::PublisherHandler()130
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::~PublisherHandler()195
mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::PublisherHandler()130
mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::~PublisherHandler()195
mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::PublisherHandler()65
mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::~PublisherHandler()130
mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::PublisherHandler()65
mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::~PublisherHandler()130
mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::PublisherHandler()65
mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::~PublisherHandler()130
mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::PublisherHandler()65
mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler()130
mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::PublisherHandler()65
mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler()130
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::PublisherHandler()130
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::~PublisherHandler()195
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::PublisherHandler()130
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::~PublisherHandler()195
mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::PublisherHandler()65
mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler()130
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::PublisherHandler()130
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::~PublisherHandler()195
mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::PublisherHandler()65
mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler()130
mrs_lib::PublisherHandler<mrs_msgs::Path_<std::allocator<void> > >::~PublisherHandler()108
mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > >::PublisherHandler()135
mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > >::~PublisherHandler()270
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::PublisherHandler()401
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::~PublisherHandler()105947
mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > >::PublisherHandler()19
mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > >::~PublisherHandler()38
mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > >::PublisherHandler()65
mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > >::~PublisherHandler()130
mrs_lib::PublisherHandler<std_msgs::Int64_<std::allocator<void> > >::~PublisherHandler()2
mrs_lib::PublisherHandler<std_msgs::String_<std::allocator<void> > >::PublisherHandler()65
mrs_lib::PublisherHandler<std_msgs::String_<std::allocator<void> > >::~PublisherHandler()130
mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > >::PublisherHandler()195
mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > >::~PublisherHandler()390
mrs_lib::PublisherHandler_impl<geometry_msgs::PoseArray_<std::allocator<void> > >::~PublisherHandler_impl()260
mrs_lib::PublisherHandler_impl<geometry_msgs::PoseStamped_<std::allocator<void> > >::~PublisherHandler_impl()65
mrs_lib::PublisherHandler_impl<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::~PublisherHandler_impl()69
mrs_lib::PublisherHandler_impl<visualization_msgs::MarkerArray_<std::allocator<void> > >::~PublisherHandler_impl()390
mrs_lib::PublisherHandler_impl<mrs_msgs::BumperStatus_<std::allocator<void> > >::~PublisherHandler_impl()65
mrs_lib::PublisherHandler_impl<mrs_msgs::ControlError_<std::allocator<void> > >::~PublisherHandler_impl()65
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorInput_<std::allocator<void> > >::~PublisherHandler_impl()65
mrs_lib::PublisherHandler_impl<mrs_msgs::Float64Stamped_<std::allocator<void> > >::~PublisherHandler_impl()380
mrs_lib::PublisherHandler_impl<mrs_msgs::TrackerCommand_<std::allocator<void> > >::~PublisherHandler_impl()65
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::~PublisherHandler_impl()262
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::~PublisherHandler_impl()2
mrs_lib::PublisherHandler_impl<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::~PublisherHandler_impl()65
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::~PublisherHandler_impl()65
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::~PublisherHandler_impl()65
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::~PublisherHandler_impl()65
mrs_lib::PublisherHandler_impl<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::~PublisherHandler_impl()65
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::~PublisherHandler_impl()518
mrs_lib::PublisherHandler_impl<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::~PublisherHandler_impl()193
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::~PublisherHandler_impl()66
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()65
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::~PublisherHandler_impl()65
mrs_lib::PublisherHandler_impl<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()65
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()65
mrs_lib::PublisherHandler_impl<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()65
mrs_lib::PublisherHandler_impl<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()65
mrs_lib::PublisherHandler_impl<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()65
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::~PublisherHandler_impl()65
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::~PublisherHandler_impl()65
mrs_lib::PublisherHandler_impl<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()65
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::~PublisherHandler_impl()65
mrs_lib::PublisherHandler_impl<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()65
mrs_lib::PublisherHandler_impl<mrs_msgs::UavState_<std::allocator<void> > >::~PublisherHandler_impl()135
mrs_lib::PublisherHandler_impl<nav_msgs::Odometry_<std::allocator<void> > >::~PublisherHandler_impl()325
mrs_lib::PublisherHandler_impl<std_msgs::Bool_<std::allocator<void> > >::~PublisherHandler_impl()19
mrs_lib::PublisherHandler_impl<std_msgs::Empty_<std::allocator<void> > >::~PublisherHandler_impl()65
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()65
mrs_lib::PublisherHandler_impl<std_msgs::Float64_<std::allocator<void> > >::~PublisherHandler_impl()195
+
+
+ + + +
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..4912d390da --- /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:2024-01-20 21:44:18Functions:11611799.1 %
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        4441 :   ~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        6076 :   PublisherHandler(void){};
+     102             : 
+     103             :   /**
+     104             :    * @brief generic destructor
+     105             :    */
+     106      115911 :   ~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         166 :   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
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_lib/include/mrs_lib/publisher_handler.h.gcov.overview.html b/mrs_lib/include/mrs_lib/publisher_handler.h.gcov.overview.html new file mode 100644 index 0000000000..f7a333c6d4 --- /dev/null +++ b/mrs_lib/include/mrs_lib/publisher_handler.h.gcov.overview.html @@ -0,0 +1,63 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/publisher_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 + + +
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Current view:top level - mrs_lib/include/mrs_lib - quadratic_throttle_model.h (source / functions)HitTotalCoverage
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mrs_lib::quadratic_throttle_model::forceToThrottle(mrs_lib::quadratic_throttle_model::MotorParams_t, double)57454
mrs_lib::quadratic_throttle_model::throttleToForce(mrs_lib::quadratic_throttle_model::MotorParams_t, double)87572
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mrs_lib::quadratic_throttle_model::forceToThrottle(mrs_lib::quadratic_throttle_model::MotorParams_t, double)57454
mrs_lib::quadratic_throttle_model::throttleToForce(mrs_lib::quadratic_throttle_model::MotorParams_t, double)87572
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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       87572 : double inline throttleToForce(const MotorParams_t motor_params, const double throttle) {
+      20             : 
+      21       87572 :   return motor_params.n_motors * pow((throttle - motor_params.B) / motor_params.A, 2);
+      22             : }
+      23             : 
+      24       57454 : double inline forceToThrottle(const MotorParams_t motor_params, const double force) {
+      25             : 
+      26       57454 :   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::LKF<2, 1, 1>, false>::correctFrom(mrs_lib::KalmanFilter<2, 1, 1>::statecov_t const&, mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t const&)0
mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::predictFrom(mrs_lib::KalmanFilter<2, 1, 1>::statecov_t const&, mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t const&, ros::Time const&, ros::Time const&)0
std::enable_if<!(false), void>::type mrs_lib::Repredictor<mrs_lib::LKF<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::LKF<2, 1, 1> > const&, double const&)0
std::enable_if<!(false), void>::type mrs_lib::Repredictor<mrs_lib::LKF<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::LKF<2, 1, 1> > const&)0
mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t::updateUsing(mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t const&)0
mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t::info_t(ros::Time const&)0
mrs_lib::Repredictor<mrs_lib::LKF<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::LKF<2, 1, 1> > const&)0
mrs_lib::Repredictor<mrs_lib::LKF<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::LKF<2, 1, 1> > const&, mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t const&, int const&)0
mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::addInfo(mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t const&, boost::cb_details::iterator<boost::circular_buffer<mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t, std::allocator<mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t> >, boost::cb_details::nonconst_traits<boost::cb_details::allocator_traits<std::allocator<mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t> > > > const&)0
mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::earlier(mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t const&, mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t const&)0
std::enable_if<!(false), mrs_lib::KalmanFilter<2, 1, 1>::statecov_t>::type mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::predictTo<false>(ros::Time const&)0
mrs_lib::Repredictor<mrs_lib::LKF<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::LKF<2, 1, 1> > const&, unsigned int)0
mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::correctFrom(mrs_lib::KalmanFilter<3, 1, 1>::statecov_t const&, mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t const&)0
mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::predictFrom(mrs_lib::KalmanFilter<3, 1, 1>::statecov_t const&, mrs_lib::Repredictor<mrs_lib::LKF<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::LKF<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::LKF<3, 1, 1> > const&, double const&)0
std::enable_if<!(false), void>::type mrs_lib::Repredictor<mrs_lib::LKF<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::LKF<3, 1, 1> > const&)0
mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t::updateUsing(mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t const&)0
mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t::info_t(ros::Time const&)0
mrs_lib::Repredictor<mrs_lib::LKF<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::LKF<3, 1, 1> > const&)0
mrs_lib::Repredictor<mrs_lib::LKF<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::LKF<3, 1, 1> > const&, mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t const&, int const&)0
mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::addInfo(mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t const&, boost::cb_details::iterator<boost::circular_buffer<mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t, std::allocator<mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t> >, boost::cb_details::nonconst_traits<boost::cb_details::allocator_traits<std::allocator<mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t> > > > const&)0
mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::earlier(mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t const&, mrs_lib::Repredictor<mrs_lib::LKF<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::LKF<3, 1, 1>, false>::predictTo<false>(ros::Time const&)0
mrs_lib::Repredictor<mrs_lib::LKF<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::LKF<3, 1, 1> > const&, unsigned int)0
mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::correctFrom(mrs_lib::KalmanFilter<6, 2, 2>::statecov_t const&, mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t const&)0
mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::predictFrom(mrs_lib::KalmanFilter<6, 2, 2>::statecov_t const&, mrs_lib::Repredictor<mrs_lib::LKF<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::LKF<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::LKF<6, 2, 2> > const&, double const&)0
std::enable_if<!(false), void>::type mrs_lib::Repredictor<mrs_lib::LKF<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::LKF<6, 2, 2> > const&)0
mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t::updateUsing(mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t const&)0
mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t::info_t(ros::Time const&)0
mrs_lib::Repredictor<mrs_lib::LKF<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::LKF<6, 2, 2> > const&, mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t const&, int const&)0
mrs_lib::Repredictor<mrs_lib::LKF<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::LKF<6, 2, 2> > const&)0
mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::addInfo(mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t const&, boost::cb_details::iterator<boost::circular_buffer<mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t, std::allocator<mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t> >, boost::cb_details::nonconst_traits<boost::cb_details::allocator_traits<std::allocator<mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t> > > > const&)0
mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::earlier(mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t const&, mrs_lib::Repredictor<mrs_lib::LKF<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::LKF<6, 2, 2>, false>::predictTo<false>(ros::Time const&)0
mrs_lib::Repredictor<mrs_lib::LKF<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::LKF<6, 2, 2> > const&, unsigned int)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::Repredictor(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, ros::Time const&, std::shared_ptr<mrs_lib::varstepLKF<2, 1, 1> > const&, unsigned int)1
mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, true>::info_t::info_t(ros::Time const&)2
mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, true>::Repredictor(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, ros::Time const&, std::shared_ptr<mrs_lib::varstepLKF<2, 1, 1> > const&, unsigned int)2
std::enable_if<!(false), void>::type mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::addMeasurement<false>(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, ros::Time const&, std::shared_ptr<mrs_lib::varstepLKF<2, 1, 1> > const&, double const&)100
mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::info_t::info_t(ros::Time const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, std::shared_ptr<mrs_lib::varstepLKF<2, 1, 1> > const&, mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::info_t const&, int const&)100
std::enable_if<!(false), mrs_lib::KalmanFilter<2, 1, 1>::statecov_t>::type mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::predictTo<false>(ros::Time const&)102
std::enable_if<true, void>::type mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, true>::addInputChange<true>(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, ros::Time const&, std::shared_ptr<mrs_lib::varstepLKF<2, 1, 1> > const&)108
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&)189
std::enable_if<!(false), void>::type mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::addInputChangeWithNoise<false>(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, ros::Time const&, std::shared_ptr<mrs_lib::varstepLKF<2, 1, 1> > const&)200
mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::info_t::info_t(ros::Time const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, std::shared_ptr<mrs_lib::varstepLKF<2, 1, 1> > const&)200
mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, 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>::correctFrom(mrs_lib::KalmanFilter<2, 1, 1>::statecov_t const&, mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, true>::info_t const&)302
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&)302
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&)604
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&)604
mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::info_t::info_t(ros::Time const&)629
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&)2042
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&)5458
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&)15007
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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:2024-01-20 21:44:18Functions:205635.7 %
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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&)15007
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&)5458
mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::info_t::info_t(ros::Time const&)629
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&)2042
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&)302
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&)604
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&)108
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&)302
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&)189
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&)604
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::LKF<2, 1, 1>, false>::correctFrom(mrs_lib::KalmanFilter<2, 1, 1>::statecov_t const&, mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t const&)0
mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::predictFrom(mrs_lib::KalmanFilter<2, 1, 1>::statecov_t const&, mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t const&, ros::Time const&, ros::Time const&)0
std::enable_if<!(false), void>::type mrs_lib::Repredictor<mrs_lib::LKF<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::LKF<2, 1, 1> > const&, double const&)0
std::enable_if<!(false), void>::type mrs_lib::Repredictor<mrs_lib::LKF<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::LKF<2, 1, 1> > const&)0
mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t::updateUsing(mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t const&)0
mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t::info_t(ros::Time const&)0
mrs_lib::Repredictor<mrs_lib::LKF<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::LKF<2, 1, 1> > const&)0
mrs_lib::Repredictor<mrs_lib::LKF<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::LKF<2, 1, 1> > const&, mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t const&, int const&)0
mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::addInfo(mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t const&, boost::cb_details::iterator<boost::circular_buffer<mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t, std::allocator<mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t> >, boost::cb_details::nonconst_traits<boost::cb_details::allocator_traits<std::allocator<mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t> > > > const&)0
mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::earlier(mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t const&, mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t const&)0
std::enable_if<!(false), mrs_lib::KalmanFilter<2, 1, 1>::statecov_t>::type mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::predictTo<false>(ros::Time const&)0
mrs_lib::Repredictor<mrs_lib::LKF<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::LKF<2, 1, 1> > const&, unsigned int)0
mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::correctFrom(mrs_lib::KalmanFilter<3, 1, 1>::statecov_t const&, mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t const&)0
mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::predictFrom(mrs_lib::KalmanFilter<3, 1, 1>::statecov_t const&, mrs_lib::Repredictor<mrs_lib::LKF<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::LKF<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::LKF<3, 1, 1> > const&, double const&)0
std::enable_if<!(false), void>::type mrs_lib::Repredictor<mrs_lib::LKF<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::LKF<3, 1, 1> > const&)0
mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t::updateUsing(mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t const&)0
mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t::info_t(ros::Time const&)0
mrs_lib::Repredictor<mrs_lib::LKF<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::LKF<3, 1, 1> > const&)0
mrs_lib::Repredictor<mrs_lib::LKF<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::LKF<3, 1, 1> > const&, mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t const&, int const&)0
mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::addInfo(mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t const&, boost::cb_details::iterator<boost::circular_buffer<mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t, std::allocator<mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t> >, boost::cb_details::nonconst_traits<boost::cb_details::allocator_traits<std::allocator<mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t> > > > const&)0
mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::earlier(mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t const&, mrs_lib::Repredictor<mrs_lib::LKF<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::LKF<3, 1, 1>, false>::predictTo<false>(ros::Time const&)0
mrs_lib::Repredictor<mrs_lib::LKF<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::LKF<3, 1, 1> > const&, unsigned int)0
mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::correctFrom(mrs_lib::KalmanFilter<6, 2, 2>::statecov_t const&, mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t const&)0
mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::predictFrom(mrs_lib::KalmanFilter<6, 2, 2>::statecov_t const&, mrs_lib::Repredictor<mrs_lib::LKF<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::LKF<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::LKF<6, 2, 2> > const&, double const&)0
std::enable_if<!(false), void>::type mrs_lib::Repredictor<mrs_lib::LKF<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::LKF<6, 2, 2> > const&)0
mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t::updateUsing(mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t const&)0
mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t::info_t(ros::Time const&)0
mrs_lib::Repredictor<mrs_lib::LKF<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::LKF<6, 2, 2> > const&, mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t const&, int const&)0
mrs_lib::Repredictor<mrs_lib::LKF<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::LKF<6, 2, 2> > const&)0
mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::addInfo(mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t const&, boost::cb_details::iterator<boost::circular_buffer<mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t, std::allocator<mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t> >, boost::cb_details::nonconst_traits<boost::cb_details::allocator_traits<std::allocator<mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t> > > > const&)0
mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::earlier(mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t const&, mrs_lib::Repredictor<mrs_lib::LKF<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::LKF<6, 2, 2>, false>::predictTo<false>(ros::Time const&)0
mrs_lib::Repredictor<mrs_lib::LKF<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::LKF<6, 2, 2> > const&, unsigned int)0
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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 - repredictor.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:10011190.1 %
Date:2024-01-20 21:44:18Functions:205635.7 %
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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       14905 :       do
+      81             :       {
+      82       15007 :         cur_sc.stamp = hist_it->stamp;
+      83             :         // do the correction if current history point is a measurement
+      84       15007 :         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       15007 :         ros::Time next_stamp = to_stamp;
+      90       15007 :         if ((hist_it + 1) != std::end(m_history) && (hist_it + 1)->stamp <= to_stamp)
+      91       14905 :           next_stamp = (hist_it + 1)->stamp;
+      92             : 
+      93             :         // do the prediction
+      94       15007 :         cur_sc = predictFrom(cur_sc, *hist_it, cur_stamp, next_stamp);
+      95       15007 :         cur_stamp = next_stamp;
+      96             : 
+      97             :         // increment the history pointer
+      98       15007 :         hist_it++;
+      99       15007 :       } 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         604 :     std::enable_if_t<check, statecov_t> predictTo(const ros::Time& to_stamp)
+     118             :     {
+     119         604 :       assert(!m_history.empty());
+     120         604 :       const auto& info = m_history.front();
+     121         604 :       auto sc = predictFrom(m_sc, info, info.stamp, to_stamp);
+     122         604 :       sc.stamp = to_stamp;
+     123         604 :       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        5558 :         for (auto it = added + 1; it != std::end(m_history) && it->is_measurement; it++)
+     151        5358 :           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         189 :     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         189 :       if (m_history.empty())
+     170           2 :         m_history.push_back({stamp});
+     171         189 :       m_history.front().u = u;
+     172         189 :       m_history.front().Q = Q;
+     173         189 :       m_history.front().stamp = stamp;
+     174         189 :       m_history.front().predict_model = model;
+     175         189 :     }
+     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         108 :     std::enable_if_t<check> addInputChange(const u_t& u, [[maybe_unused]] const ros::Time& stamp, const ModelPtr& model = nullptr)
+     221             :     {
+     222         108 :       if (m_history.empty())
+     223           0 :         m_history.push_back({stamp});
+     224         108 :       m_history.front().u = u;
+     225         108 :       m_history.front().stamp = stamp;
+     226         108 :       m_history.front().predict_model = model;
+     227         108 :     }
+     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         302 :     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         302 :       if (m_history.empty())
+     325           0 :         m_history.push_back({stamp});
+     326         302 :       auto& info = m_history.front();
+     327         302 :       const ros::Time to_stamp = stamp > info.stamp ? stamp : info.stamp;
+     328         302 :       const auto sc = predictTo(to_stamp);
+     329         302 :       info.z = z;
+     330         302 :       info.R = R;
+     331         302 :       info.stamp = to_stamp;
+     332         302 :       info.is_measurement = true;
+     333         302 :       info.meas_id = meas_id;
+     334         302 :       info.correct_model = model;
+     335         302 :       m_sc = correctFrom(sc, info);
+     336         302 :     }
+     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         631 :       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        5458 :       void updateUsing(const info_t& info)
+     431             :       {
+     432        5458 :         u = info.u;
+     433        5458 :         Q = info.Q;
+     434        5458 :         predict_model = info.predict_model;
+     435        5458 :       };
+     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        2042 :     static bool earlier(const info_t& ob1, const info_t& ob2)
+     526             :     {
+     527        2042 :       return ob1.stamp < ob2.stamp;
+     528             :     }
+     529             :     //}
+     530             : 
+     531             :     /* predictFrom() method //{ */
+     532       15611 :     statecov_t predictFrom(const statecov_t& sc, const info_t& inpt, const ros::Time& from_stamp, const ros::Time& to_stamp)
+     533             :     {
+     534       31222 :       const auto model = inpt.predict_model == nullptr ? m_default_model : inpt.predict_model;
+     535       15611 :       const auto dt = (to_stamp - from_stamp).toSec();
+     536       31222 :       return model->predict(sc, inpt.u, inpt.Q, dt);
+     537             :     }
+     538             :     //}
+     539             : 
+     540             :     /* correctFrom() method //{ */
+     541        5452 :     statecov_t correctFrom(const statecov_t& sc, const info_t& meas)
+     542             :     {
+     543        5452 :       assert(meas.is_measurement);
+     544       10904 :       const auto model = meas.correct_model == nullptr ? m_default_model : meas.correct_model;
+     545        5452 :       auto sc_tmp = sc;
+     546       10904 :       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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+ + + diff --git a/mrs_lib/include/mrs_lib/safety_zone/polygon.h.func-sort-c.html b/mrs_lib/include/mrs_lib/safety_zone/polygon.h.func-sort-c.html new file mode 100644 index 0000000000..c8a1cd7e0f --- /dev/null +++ b/mrs_lib/include/mrs_lib/safety_zone/polygon.h.func-sort-c.html @@ -0,0 +1,92 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/safety_zone/polygon.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib/safety_zone - polygon.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:060.0 %
Date:2024-01-20 21:44:18Functions:030.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::Polygon::ExtraVertices::what() const0
mrs_lib::Polygon::WrongNumberOfColumns::what() const0
mrs_lib::Polygon::WrongNumberOfVertices::what() const0
+
+
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+ + + diff --git a/mrs_lib/include/mrs_lib/safety_zone/polygon.h.func.html b/mrs_lib/include/mrs_lib/safety_zone/polygon.h.func.html new file mode 100644 index 0000000000..72de198fcc --- /dev/null +++ b/mrs_lib/include/mrs_lib/safety_zone/polygon.h.func.html @@ -0,0 +1,92 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/safety_zone/polygon.h - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_lib/include/mrs_lib/safety_zone - polygon.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:060.0 %
Date:2024-01-20 21:44:18Functions:030.0 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + + + + + + + + + + + +

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mrs_lib::Polygon::ExtraVertices::what() const0
mrs_lib::Polygon::WrongNumberOfColumns::what() const0
mrs_lib::Polygon::WrongNumberOfVertices::what() const0
+
+
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/include/mrs_lib/safety_zone/polygon.h.gcov.frameset.html b/mrs_lib/include/mrs_lib/safety_zone/polygon.h.gcov.frameset.html new file mode 100644 index 0000000000..8b592d08da --- /dev/null +++ b/mrs_lib/include/mrs_lib/safety_zone/polygon.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/safety_zone/polygon.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_lib/include/mrs_lib/safety_zone/polygon.h.gcov.html b/mrs_lib/include/mrs_lib/safety_zone/polygon.h.gcov.html new file mode 100644 index 0000000000..395d3c80b2 --- /dev/null +++ b/mrs_lib/include/mrs_lib/safety_zone/polygon.h.gcov.html @@ -0,0 +1,136 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/safety_zone/polygon.h + + + + + + + + + + + + + + +
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Date:2024-01-20 21:44:18Functions: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
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + 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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+ Overview +
+ + diff --git a/mrs_lib/include/mrs_lib/safety_zone/polygon.h.gcov.png b/mrs_lib/include/mrs_lib/safety_zone/polygon.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..69c6e8249f4419ea60e73f57611e818597436175 GIT binary patch literal 337 zcmeAS@N?(olHy`uVBq!ia0vp^0YGfR!VDzeM=iPpq$C1-LR|m<|Gx?dmcNgUef6J# zVHHpuOr7)IycEdhEbxddW?X?_wfUrhg7-aL978-h&xUsL9#P=QHuETJ;yv_l zwT!=jKeuP;+m|{aEh%#nda48j6jdK=WDT9?W-5Hv!)wCVGcHRjR9F4&?V8P&wrH0l zYv;tQ{4dKZToN)kHmM>qTYD`~>&gdj!ff zE*HJCIw^nk`X48Z_Xu(sh{@jPaWKwMisF9|!!gJGLnX`mbpoC13bZDEZu)%9qTFR) zh=ryc|B=)~3H(aB&40A3ZBDmKf0Tc7Q$_t@YPE{xr-x#T&EFW_?r3;s-?6d8WIJoo b+20JO`5O;uuKc40^eTg=tDnm{r-UW|8XSfQ literal 0 HcmV?d00001 diff --git a/mrs_lib/include/mrs_lib/safety_zone/safety_zone.h.func-sort-c.html b/mrs_lib/include/mrs_lib/safety_zone/safety_zone.h.func-sort-c.html new file mode 100644 index 0000000000..41c220de90 --- /dev/null +++ b/mrs_lib/include/mrs_lib/safety_zone/safety_zone.h.func-sort-c.html @@ -0,0 +1,84 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/safety_zone/safety_zone.h - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_lib/include/mrs_lib/safety_zone - safety_zone.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:020.0 %
Date:2024-01-20 21:44:18Functions:010.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::SafetyZone::BorderError::what() const0
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+
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+ + + diff --git a/mrs_lib/include/mrs_lib/safety_zone/safety_zone.h.func.html b/mrs_lib/include/mrs_lib/safety_zone/safety_zone.h.func.html new file mode 100644 index 0000000000..c9f572d625 --- /dev/null +++ b/mrs_lib/include/mrs_lib/safety_zone/safety_zone.h.func.html @@ -0,0 +1,84 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/safety_zone/safety_zone.h - functions + + + + + + + + + + + + + + +
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Date:2024-01-20 21:44:18Functions:010.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::SafetyZone::BorderError::what() const0
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+ + + diff --git a/mrs_lib/include/mrs_lib/safety_zone/safety_zone.h.gcov.frameset.html b/mrs_lib/include/mrs_lib/safety_zone/safety_zone.h.gcov.frameset.html new file mode 100644 index 0000000000..b372dc445a --- /dev/null +++ b/mrs_lib/include/mrs_lib/safety_zone/safety_zone.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/safety_zone/safety_zone.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_lib/include/mrs_lib/safety_zone/safety_zone.h.gcov.html b/mrs_lib/include/mrs_lib/safety_zone/safety_zone.h.gcov.html new file mode 100644 index 0000000000..465c900c11 --- /dev/null +++ b/mrs_lib/include/mrs_lib/safety_zone/safety_zone.h.gcov.html @@ -0,0 +1,121 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/safety_zone/safety_zone.h + + + + + + + + + + + + + + +
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Current view:top level - mrs_lib/include/mrs_lib/safety_zone - safety_zone.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:020.0 %
Date:2024-01-20 21:44:18Functions:010.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          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
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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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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+ + diff --git a/mrs_lib/include/mrs_lib/safety_zone/safety_zone.h.gcov.png b/mrs_lib/include/mrs_lib/safety_zone/safety_zone.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..1b39b2911483785bd7a8e252290372648cd02641 GIT binary patch literal 280 zcmeAS@N?(olHy`uVBq!ia0vp^0YI$E!VDzUFBHE4QW60^A+G=b|6c_J%iqVwzWUF= zunH&+rp|e9UJ7J$7I;J!GcfQS0b$0e+I-SL!DXH$Xhoi1$?<^|$XXd{aqZ z@a?+Nrut{KJqP__-W)l)eS=`_BawZ+ioN1V8Co_XvbSaKZg6;E-mvA~rPO(wMHgk6 VNwG-e^8j7U;OXk;vd$@?2>?zzaFhT5 literal 0 HcmV?d00001 diff --git a/mrs_lib/include/mrs_lib/scope_timer.h.func-sort-c.html b/mrs_lib/include/mrs_lib/scope_timer.h.func-sort-c.html new file mode 100644 index 0000000000..f9cbe0d883 --- /dev/null +++ b/mrs_lib/include/mrs_lib/scope_timer.h.func-sort-c.html @@ -0,0 +1,92 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/scope_timer.h - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_lib/include/mrs_lib - scope_timer.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:2633.3 %
Date:2024-01-20 21:44:18Functions:1333.3 %
Legend: Lines: + hit + not hit +
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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&)3607778
+
+
+ + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/include/mrs_lib/scope_timer.h.func.html b/mrs_lib/include/mrs_lib/scope_timer.h.func.html new file mode 100644 index 0000000000..1db7fec747 --- /dev/null +++ b/mrs_lib/include/mrs_lib/scope_timer.h.func.html @@ -0,0 +1,92 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/scope_timer.h - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_lib/include/mrs_lib - scope_timer.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:2633.3 %
Date:2024-01-20 21:44:18Functions:1333.3 %
Legend: Lines: + hit + not hit +
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mrs_lib::ScopeTimer::time_point::time_point(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)3607778
mrs_lib::ScopeTimerLogger::loggingEnabled()0
mrs_lib::ScopeTimerLogger::shouldLog()0
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+ + + diff --git a/mrs_lib/include/mrs_lib/scope_timer.h.gcov.frameset.html b/mrs_lib/include/mrs_lib/scope_timer.h.gcov.frameset.html new file mode 100644 index 0000000000..bb60579787 --- /dev/null +++ b/mrs_lib/include/mrs_lib/scope_timer.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/scope_timer.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_lib/include/mrs_lib/scope_timer.h.gcov.html b/mrs_lib/include/mrs_lib/scope_timer.h.gcov.html new file mode 100644 index 0000000000..29ed1ab23b --- /dev/null +++ b/mrs_lib/include/mrs_lib/scope_timer.h.gcov.html @@ -0,0 +1,248 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/scope_timer.h + + + + + + + + + + + + + + +
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Test:MRS UAV System - Test coverage reportLines:2633.3 %
Date:2024-01-20 21:44:18Functions:1333.3 %
Legend: Lines: + hit + not hit +
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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     3607778 :     time_point(const std::string& label) : ros_time(ros::Time::now()), chrono_time(std::chrono::steady_clock::now()), label(label) {
+      93     3607728 :     }
+      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
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/include/mrs_lib/scope_timer.h.gcov.overview.html b/mrs_lib/include/mrs_lib/scope_timer.h.gcov.overview.html new file mode 100644 index 0000000000..82f8580772 --- /dev/null +++ b/mrs_lib/include/mrs_lib/scope_timer.h.gcov.overview.html @@ -0,0 +1,61 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/scope_timer.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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+ + diff --git a/mrs_lib/include/mrs_lib/scope_timer.h.gcov.png b/mrs_lib/include/mrs_lib/scope_timer.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..d57ab8c0703ba94fdd794b60b6475e555513d985 GIT binary patch literal 777 zcmV+k1NQuhP)<}7j3 zxrRs>_JFGeLNsPr?+Qn&IfG`S=o<3?vJ)hU zjAZ~dhqBB;Jj)NpJoctB;8UAh9a`dqF$4OxIgSP-PXv;_1F;fDX6CW)&;6w5qe17B@U0r+Y6Q1l9h?T!Z=(6(!i`f=Z1Ee9liJg|S=kHM1_;Lw^erM{3NIurD< zjRu378I8)E*k~ZS9J4GuCF1Z?RNL{#nRt26U&cbf5JiYA(~Lam@z zr^t`RCZ%smU>U`(w)(it^w$NeAqx5rR{-KsMk + + + + + + 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:2024-01-20 21:44:18Functions:2121100.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::ServiceClientHandler()65
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::ServiceClientHandler()65
mrs_lib::ServiceClientHandler_impl<mrs_msgs::DynamicsConstraintsSrv>::~ServiceClientHandler_impl()65
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Vec1>::~ServiceClientHandler_impl()65
mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>::ServiceClientHandler()66
mrs_lib::ServiceClientHandler_impl<mrs_msgs::ReferenceStampedSrv>::~ServiceClientHandler_impl()66
mrs_lib::ServiceClientHandler<mrs_msgs::GetPathSrv>::~ServiceClientHandler()108
mrs_lib::ServiceClientHandler<mrs_msgs::PathSrv>::~ServiceClientHandler()108
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::~ServiceClientHandler()130
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::~ServiceClientHandler()130
mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>::~ServiceClientHandler()132
mrs_lib::ServiceClientHandler<mrs_msgs::String>::ServiceClientHandler()132
mrs_lib::ServiceClientHandler_impl<mrs_msgs::String>::~ServiceClientHandler_impl()132
mrs_lib::ServiceClientHandler<mrs_msgs::Vec4>::~ServiceClientHandler()216
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::ServiceClientHandler()392
mrs_lib::ServiceClientHandler_impl<std_srvs::SetBool>::~ServiceClientHandler_impl()392
mrs_lib::ServiceClientHandler<mrs_msgs::String>::~ServiceClientHandler()480
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::ServiceClientHandler()809
mrs_lib::ServiceClientHandler_impl<std_srvs::Trigger>::~ServiceClientHandler_impl()809
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::~ServiceClientHandler()892
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::~ServiceClientHandler()2257
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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..f169244e09 --- /dev/null +++ b/mrs_lib/include/mrs_lib/service_client_handler.h.func.html @@ -0,0 +1,164 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/service_client_handler.h - functions + + + + + + + + + + + + + + +
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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:2024-01-20 21:44:18Functions:2121100.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::ServiceClientHandler<mrs_msgs::GetPathSrv>::~ServiceClientHandler()108
mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>::ServiceClientHandler()66
mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>::~ServiceClientHandler()132
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::ServiceClientHandler()65
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::~ServiceClientHandler()130
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::ServiceClientHandler()65
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::~ServiceClientHandler()130
mrs_lib::ServiceClientHandler<mrs_msgs::Vec4>::~ServiceClientHandler()216
mrs_lib::ServiceClientHandler<mrs_msgs::String>::ServiceClientHandler()132
mrs_lib::ServiceClientHandler<mrs_msgs::String>::~ServiceClientHandler()480
mrs_lib::ServiceClientHandler<mrs_msgs::PathSrv>::~ServiceClientHandler()108
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::ServiceClientHandler()392
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::~ServiceClientHandler()892
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::ServiceClientHandler()809
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::~ServiceClientHandler()2257
mrs_lib::ServiceClientHandler_impl<mrs_msgs::ReferenceStampedSrv>::~ServiceClientHandler_impl()66
mrs_lib::ServiceClientHandler_impl<mrs_msgs::DynamicsConstraintsSrv>::~ServiceClientHandler_impl()65
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Vec1>::~ServiceClientHandler_impl()65
mrs_lib::ServiceClientHandler_impl<mrs_msgs::String>::~ServiceClientHandler_impl()132
mrs_lib::ServiceClientHandler_impl<std_srvs::SetBool>::~ServiceClientHandler_impl()392
mrs_lib::ServiceClientHandler_impl<std_srvs::Trigger>::~ServiceClientHandler_impl()809
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+
+ + + +
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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..8c5f80b561 --- /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 + + + + + + + + + + + + + + +
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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:2024-01-20 21:44:18Functions:2121100.0 %
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        1529 :   ~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        1529 :   ServiceClientHandler(void){};
+     135             : 
+     136             :   /**
+     137             :    * @brief generic destructor
+     138             :    */
+     139        4453 :   ~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
+
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+ + diff --git a/mrs_lib/include/mrs_lib/service_client_handler.h.gcov.png b/mrs_lib/include/mrs_lib/service_client_handler.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..1f77d70b09707c50b06bd68bf8ff5cf1bfc35fd8 GIT binary patch literal 689 zcmV;i0#5yjP)N=w&DXGh)NcNV9X*KZ$UKn;|9Ec z%=R(v35*q7{{(}P>|P0=Oz*;#7R(h3iU)aC#R`HW)W(Qamehh{>?1^!sFsFWp&A0= zl#G2^>Rz}35b_MrFN!_2nhZAqv?$0D9Q%2dM9)cT`LU)JW~ulYys+DxDG3S@U%%=2 zc^!@A@V`fbEty-H0YX5BxEB6O9f)}>iZ&+&RRO9CDDX2uRP%^l6CNgqlE-6^c0?PN zO3hag4uR$&yGSSDKo95*nm{t8^JIjJC+edVe#P(IwLAX1?$LnPil&ZeEnw=CG zpcSXwex4PXIo0g+5DGZqfJ)V*H)pd?qu9U_B1VF8%d?0Lc`QOKLs}OFZrE=H9@}rr zTcObK#eCxZ}&H!66aVyy(-h{|HNEpFbXNKO-z`xN3jR8f8VKE+FNub+IipVp_i z!kOv>x?VI^sDL(dU>HM!e zviA>ttw)Qf=aF8%WoBM~V}DrxF%a%gQp~*%y0OoS%tigjJ4a^Ljs1iWp51>eO}f6C zJ+S|nSuR#ks=9s6U}oMeBXe&5@vf2i_8+CHlfnG^gyt23f3-IVI|)b_J%|f~%vkyd XJM*UY61ZA500000NkvXXu0mjf!D=)% literal 0 HcmV?d00001 diff --git a/mrs_lib/include/mrs_lib/subscribe_handler.h.func-sort-c.html b/mrs_lib/include/mrs_lib/subscribe_handler.h.func-sort-c.html new file mode 100644 index 0000000000..8877062e9a --- /dev/null +++ b/mrs_lib/include/mrs_lib/subscribe_handler.h.func-sort-c.html @@ -0,0 +1,3084 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/subscribe_handler.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib - subscribe_handler.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:394979.6 %
Date:2024-01-20 21:44:18Functions:38075150.6 %
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> > >::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::ProcTfToWorld<1>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::ProcTfToWorld<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::ProcTfToWorld<1>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::ProcTfToWorld<1>*)0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::ProcTfToWorld<1>>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::ProcTfToWorld<1>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::ProcTfToWorld<1>*)0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::waitForNew(ros::WallDuration 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> > >::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> > >::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> > >::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> > >::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> > >::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> > >::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> > >::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> > >::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> > >::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> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::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> > >::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> > >::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> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::start()0
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> > >&&)0
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&)0
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*)0
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*)0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::~SubscribeHandler()0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::waitForNew(ros::WallDuration 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> > >::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> > >::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> > >::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> > >::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> > >::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> > >::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> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::start()0
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> > >&&)0
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&)0
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*)0
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*)0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::waitForNew(ros::WallDuration 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> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::waitForNew(ros::WallDuration 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> > >::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> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::waitForNew(ros::WallDuration 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> > >::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> > >::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> > >::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::Bool_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::waitForNew(ros::WallDuration 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> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::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> > >::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> > >::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> > >::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> > >::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> > >::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> > >::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> > >::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> > >::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> > >::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> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::hasMsg() 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> > >::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> > >::lastMsgTime() 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> > >::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> > >::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> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::hasMsg() 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> > >::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> > >::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> > >::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> > >::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> > >::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> > >::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> > >::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> > >::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> > >::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> > >::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> > >::subscribedTopicName[abi:cxx11]() 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> > >::subscribedTopicName[abi:cxx11]() 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> > >::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> > >::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> > >::subscribedTopicName[abi:cxx11]() 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> > >::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> > >::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> > >::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> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::ProcTfToWorld<1>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::ProcTfToWorld<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::ProcTfToWorld<1>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::ProcTfToWorld<1>*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<sensor_msgs::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::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()() const0
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()() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::TfMappingOrigin::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::TfMappingOrigin*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::TfMappingOrigin::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::TfMappingOrigin*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::SubscribeHandler<void (*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)>(mrs_lib::SubscribeHandlerOptions const&, std::function<void (std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)> const&, void (*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>))1
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::SubscribeHandler<void (*)(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&), void (*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (*)(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&), void (*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>))1
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<Tester>(mrs_lib::SubscribeHandlerOptions const&, void (Tester::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), Tester*)1
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (Tester::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), Tester*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (Tester::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), Tester*)1
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::topicName[abi:cxx11]() const1
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::SubscribeHandler<void (*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)>(mrs_lib::SubscribeHandlerOptions const&, std::function<void (std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)> const&, void (*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>))::{lambda()#1}::operator()() const1
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::SubscribeHandler<void (*)(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&), void (*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (*)(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&), void (*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>))::{lambda()#1}::operator()() const1
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (Tester::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), Tester*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (Tester::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), Tester*)::{lambda()#1}::operator()() const1
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::getMsg()2
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)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>*)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<std_msgs::Bool_<std::allocator<void> > >::start()2
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<std_msgs::Bool_<std::allocator<void> > const>)> const&)2
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::SubscribeHandler()2
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >&&)2
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)::{lambda()#1}::operator()() const2
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<std_msgs::Bool_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)::{lambda()#1}::operator()() const2
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::ControllerDiagnostics_<std::allocator<void> > >::getMsg()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<std_msgs::Bool_<std::allocator<void> > >::~SubscribeHandler()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<geometry_msgs::PointStamped_<std::allocator<void> > >::lastMsgTime() const5
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::hasMsg() 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::TrackerCommand_<std::allocator<void> > >::hasMsg() const15
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::start()19
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&)19
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::SubscribeHandler()19
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&)19
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >&&)19
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&)19
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*)19
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*)19
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&)19
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler()19
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&)19
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >&&)19
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*)19
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*)19
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()() const19
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()() const19
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()() const19
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()() const19
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()() const19
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&)21
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::SubscribeHandler()21
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >&&)21
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::getMsg()35
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::hasMsg() const35
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::~SubscribeHandler()38
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::lastMsgTime() const61
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::lastMsgTime() const61
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*)62
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*)62
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()() const62
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*)65
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*)65
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>*)65
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*)65
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*)65
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>*)65
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&)65
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*)65
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*)65
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>*)65
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>*)65
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*)65
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*)65
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&)65
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*)65
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*)65
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*)65
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*)65
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*)65
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*)65
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::SubscribeHandler()65
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::start()65
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::SubscribeHandler()65
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*)65
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*)65
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >&&)65
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::start()65
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::SubscribeHandler()65
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >&&)65
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::start()65
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::SubscribeHandler()65
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*)65
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*)65
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >&&)65
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&)65
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >&&)65
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::start()65
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::SubscribeHandler()65
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*)65
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*)65
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >&&)65
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::start()65
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::SubscribeHandler()65
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*)65
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*)65
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >&&)65
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::start()65
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::SubscribeHandler()65
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >&&)65
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler()65
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >&&)65
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::start()65
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::SubscribeHandler()65
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*)65
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*)65
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >&&)65
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler()65
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >&&)65
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::start()65
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&)65
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*)65
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*)65
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >&&)65
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*)65
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*)65
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*)65
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*)65
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*)65
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*)65
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*)65
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*)65
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::hasMsg() const65
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()() const65
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()() const65
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()() const65
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()() const65
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()() const65
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()() const65
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()() const65
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()() const65
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()() const65
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()() const65
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()() const65
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()() const65
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()() const65
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()() const65
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()() const65
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()() const65
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()() const65
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()() const65
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()() const65
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()() const65
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()() const65
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()() const65
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()() const65
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()() const65
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()() const65
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()() const65
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&)66
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >&&)66
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&)66
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::topicName[abi:cxx11]() const66
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::topicName[abi:cxx11]() const66
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()() const66
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&)68
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()() const68
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&)69
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>*)69
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*)69
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>*)69
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*)69
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*)69
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*)69
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*)69
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*)69
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::start()69
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&)69
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::SubscribeHandler()69
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&)69
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >&&)69
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()() const69
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()() const69
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()() const69
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()() const69
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()() const69
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()() const69
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::start()70
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*)70
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*)70
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()() const70
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::topicName[abi:cxx11]() const73
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::start()79
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::start()81
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::getMsg()86
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::hasMsg() const86
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::~SubscribeHandler()108
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>*)115
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>*)115
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()() const115
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::start()125
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::start()125
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::start()125
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::lastMsgTime() const126
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::start()130
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&)130
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::SubscribeHandler()130
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >&&)130
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&)130
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&)130
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >&&)130
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::~SubscribeHandler()130
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::~SubscribeHandler()130
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::~SubscribeHandler()130
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::~SubscribeHandler()130
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::~SubscribeHandler()130
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()130
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::~SubscribeHandler()130
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::SubscribeHandler()130
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::start()130
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&)130
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::SubscribeHandler()130
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&)130
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >&&)130
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()() const130
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()() const130
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::start()133
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&)133
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >&&)133
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::start()134
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&)134
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >&&)134
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::SubscribeHandler()135
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::~SubscribeHandler()138
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()146
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&)149
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::SubscribeHandler()149
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >&&)149
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::SubscribeHandler()149
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >&&)149
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()150
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::start()190
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&)194
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()() const194
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&)195
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&)195
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >&&)195
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()() const195
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::start()202
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&)202
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >&&)202
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::start()209
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::start()211
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&)211
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >&&)211
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::start()214
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&)214
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&)214
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()() const214
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler()216
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::~SubscribeHandler()238
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()238
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()238
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::start()255
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::start()257
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&)257
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >&&)257
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::start()258
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&)258
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::SubscribeHandler()258
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&)258
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >&&)258
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()() const258
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::SubscribeHandler()259
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::~SubscribeHandler()259
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::SubscribeHandler()259
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::~SubscribeHandler()259
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler()260
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::~SubscribeHandler()260
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::SubscribeHandler()260
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&)260
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::SubscribeHandler()260
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >&&)260
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::~SubscribeHandler()260
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::~SubscribeHandler()268
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::SubscribeHandler()278
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&)281
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::SubscribeHandler()281
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&)281
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >&&)281
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&)281
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&)281
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >&&)281
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()() const281
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()() const281
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::getMsg()317
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler()324
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::~SubscribeHandler()326
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::~SubscribeHandler()333
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::start()341
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::start()341
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::~SubscribeHandler()363
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::~SubscribeHandler()368
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::start()380
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::SubscribeHandler()397
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::start()397
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&)397
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >&&)397
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::~SubscribeHandler()406
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::~SubscribeHandler()412
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::~SubscribeHandler()516
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::~SubscribeHandler()517
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler()526
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()540
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::getMsg()544
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::hasMsg() const544
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::~SubscribeHandler()608
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::getMsg()609
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::~SubscribeHandler()670
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::~SubscribeHandler()728
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::~SubscribeHandler()736
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::SubscribeHandler()916
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::~SubscribeHandler()1313
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::getMsg()1377
mrs_lib::SubscribeHandlerOptions::SubscribeHandlerOptions()1712
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::getMsg()4078
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::hasMsg() const4078
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::getMsg()7261
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::getMsg()8351
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::hasMsg() const8855
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::hasMsg() const9176
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::hasMsg() const9208
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::hasMsg() const12604
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::getMsg()26219
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::lastMsgTime() const26219
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::getMsg()32320
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::getMsg()33744
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::hasMsg() const34670
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::getMsg()40595
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::hasMsg() const41812
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::getMsg()115536
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::hasMsg() const115539
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::getMsg()135920
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::lastMsgTime() const146884
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::getMsg()159161
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::lastMsgTime() const256185
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::hasMsg() const278459
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::getMsg()300579
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::hasMsg() const352363
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::newMsg() const377176
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::getMsg()507915
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::hasMsg() const651607
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::hasMsg() const28663425
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::hasMsg() const28663425
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::hasMsg() const28672431
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::hasMsg() const28706083
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::hasMsg() const28866082
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::getMsg()77301419
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::hasMsg() const77388647
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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..f81b8a2469 --- /dev/null +++ b/mrs_lib/include/mrs_lib/subscribe_handler.h.func.html @@ -0,0 +1,3084 @@ + + + + + + + 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:394979.6 %
Date:2024-01-20 21:44:18Functions:38075150.6 %
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> > >::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::start()257
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&)257
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler()260
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*)65
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*)65
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*)62
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>*)65
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*)65
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*)65
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*)62
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>*)65
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::~SubscribeHandler()517
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >&&)257
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::start()19
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::getMsg()4078
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&)19
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::SubscribeHandler()19
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&)19
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::~SubscribeHandler()38
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >&&)19
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::start()130
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&)130
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::SubscribeHandler()130
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&)65
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*)65
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*)65
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::~SubscribeHandler()260
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >&&)130
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::start()134
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::getMsg()7261
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&)134
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::SubscribeHandler()278
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&)19
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>*)115
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>*)115
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()412
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >&&)134
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::waitForNew(ros::WallDuration 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()259
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()259
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> > >::stop()5
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::start()70
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::getMsg()1377
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&)66
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::SubscribeHandler()260
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>*)65
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>*)65
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::~SubscribeHandler()326
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >&&)66
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::start()211
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::getMsg()135920
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&)211
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::SubscribeHandler()397
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&)69
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>*)69
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*)69
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>*)69
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*)69
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::~SubscribeHandler()608
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >&&)211
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::start()397
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::getMsg()507915
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&)397
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::SubscribeHandler()916
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&)194
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*)65
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*)69
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*)69
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*)65
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*)69
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*)69
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::~SubscribeHandler()1313
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >&&)397
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::waitForNew(ros::WallDuration 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()259
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::~SubscribeHandler()259
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::start()209
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::getMsg()317
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&)149
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::SubscribeHandler()149
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&)65
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*)65
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*)19
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*)65
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*)19
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::~SubscribeHandler()406
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >&&)149
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::start()133
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::getMsg()115536
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&)133
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::SubscribeHandler()135
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&)68
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*)65
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*)65
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::~SubscribeHandler()268
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >&&)133
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::start()258
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::getMsg()300579
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&)258
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::SubscribeHandler()258
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&)258
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::~SubscribeHandler()516
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >&&)258
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::start()380
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::getMsg()32320
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&)260
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::SubscribeHandler()260
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&)195
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*)65
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*)65
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::~SubscribeHandler()736
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >&&)260
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::start()190
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::getMsg()609
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&)130
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::SubscribeHandler()65
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&)130
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::~SubscribeHandler()238
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >&&)130
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::start()69
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&)69
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::SubscribeHandler()69
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&)69
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::~SubscribeHandler()138
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >&&)69
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::start()65
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::getMsg()544
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::SubscribeHandler()65
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*)65
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*)65
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::~SubscribeHandler()130
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >&&)65
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::start()65
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::getMsg()0
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::SubscribeHandler()65
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::~SubscribeHandler()130
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >&&)65
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::start()0
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> > >&&)0
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&)0
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*)0
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*)0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::~SubscribeHandler()0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::start()65
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::SubscribeHandler()65
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*)65
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*)65
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::~SubscribeHandler()130
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >&&)65
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::start()214
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::getMsg()8351
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&)214
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::SubscribeHandler()149
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&)214
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::~SubscribeHandler()363
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >&&)149
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::start()125
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::getMsg()35
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&)65
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::~SubscribeHandler()108
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >&&)65
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::start()65
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::SubscribeHandler()65
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*)65
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*)65
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::~SubscribeHandler()130
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >&&)65
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::start()65
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::SubscribeHandler()65
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*)65
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*)65
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::~SubscribeHandler()130
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >&&)65
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::start()65
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::getMsg()4
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::SubscribeHandler()65
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()130
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >&&)65
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::start()341
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::getMsg()40595
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&)281
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::SubscribeHandler()281
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&)281
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::~SubscribeHandler()670
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >&&)281
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::start()0
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> > >&&)0
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&)0
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*)0
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*)0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::start()79
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&)19
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler()19
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&)19
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()146
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >&&)19
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::start()125
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::getMsg()0
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler()65
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()238
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >&&)65
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::start()81
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::getMsg()2
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&)21
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::SubscribeHandler()21
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2
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*)19
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*)19
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()150
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >&&)21
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::start()65
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::SubscribeHandler()65
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*)65
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*)65
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::~SubscribeHandler()130
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >&&)65
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::start()341
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::getMsg()77301419
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&)281
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler()216
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&)281
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()540
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >&&)281
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::start()125
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::getMsg()0
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler()65
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()238
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >&&)65
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::start()65
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&)65
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*)65
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*)65
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >&&)65
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::waitForNew(ros::WallDuration 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()86
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()324
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()333
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> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::start()255
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::getMsg()33744
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&)195
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::SubscribeHandler()130
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*)65
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*)65
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*)65
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*)65
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*)65
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*)65
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::~SubscribeHandler()368
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >&&)195
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::start()202
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::getMsg()159161
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&)202
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler()526
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&)66
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*)65
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*)70
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<mrs_uav_managers::uav_manager::UavManager>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_managers::uav_manager::UavManager::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::uav_manager::UavManager*)65
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*)70
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()728
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >&&)202
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::start()2
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<std_msgs::Bool_<std::allocator<void> > const>)> const&)2
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::SubscribeHandler()2
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::~SubscribeHandler()4
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >&&)2
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::start()130
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::getMsg()26219
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&)130
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::SubscribeHandler()130
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&)130
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::~SubscribeHandler()260
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >&&)130
mrs_lib::SubscribeHandlerOptions::SubscribeHandlerOptions()1712
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::hasMsg() const4078
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> > >::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> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::hasMsg() const8855
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> > >::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> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::hasMsg() const12604
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> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::hasMsg() const278459
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> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::hasMsg() const651607
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]() const66
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::lastMsgTime() 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() const126
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::hasMsg() const9208
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> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::hasMsg() const115539
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() const256185
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::newMsg() const377176
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> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::hasMsg() const41812
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() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::hasMsg() const15
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> > >::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> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::hasMsg() const544
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() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::hasMsg() 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> > >::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> > >::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> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::hasMsg() const9176
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]() const66
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::hasMsg() const7
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> > >::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> > >::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> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::hasMsg() const65
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> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::hasMsg() const28706083
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> > >::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> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::hasMsg() const28672431
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() const61
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::hasMsg() const28663425
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> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::hasMsg() const35
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> > >::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> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::hasMsg() const77388647
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]() const73
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::lastMsgTime() const61
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::hasMsg() const28663425
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> > >::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> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::hasMsg() const86
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() const146884
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::hasMsg() const28866082
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> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::hasMsg() const352363
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::topicName[abi:cxx11]() const1
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::lastMsgTime() const26219
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::hasMsg() const34670
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()() const65
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()() const65
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()() const62
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()() const65
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()() const19
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()() const65
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()() const65
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()() const19
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()() const115
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()() const65
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()() const69
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()() const69
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()() const69
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()() const194
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()() const65
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()() const69
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()() const69
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()() const65
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()() const65
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()() const19
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()() const68
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()() const65
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()() const258
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()() const195
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()() const65
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()() const130
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()() const69
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()() const65
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()() const65
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()() const0
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()() const65
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()() const214
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()() const65
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()() const65
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()() const65
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()() const65
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()() const281
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()() const0
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()() const19
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()() const65
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)::{lambda()#1}::operator()() const2
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()() const19
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()() const65
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()() const281
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()() const65
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()() const65
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()() const65
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()() const65
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()() const65
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()() const66
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()() const65
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()() const70
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)::{lambda()#1}::operator()() const2
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()() const130
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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.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..55f2289ff8 --- /dev/null +++ b/mrs_lib/include/mrs_lib/subscribe_handler.h.gcov.html @@ -0,0 +1,548 @@ + + + + + + + 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:394979.6 %
Date:2024-01-20 21:44:18Functions:38075150.6 %
Legend: Lines: + hit + not hit +
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+
          Line data    Source code
+
+       1             : // clang: MatousFormat
+       2             : /**  \file
+       3             :      \brief Defines SubscribeHandler and related convenience classes for subscribing to ROS topics.
+       4             :      \author Matouš Vrba - vrbamato@fel.cvut.cz
+       5             :  */
+       6             : 
+       7             : #ifndef SUBRSCRIBE_HANDLER_H
+       8             : #define SUBRSCRIBE_HANDLER_H
+       9             : 
+      10             : #include <ros/ros.h>
+      11             : #include <mrs_lib/timeout_manager.h>
+      12             : 
+      13             : namespace mrs_lib
+      14             : {
+      15             : 
+      16             :   static const ros::Duration no_timeout = ros::Duration(0);
+      17             : 
+      18             :   /* struct SubscribeHandlerOptions //{ */
+      19             :   
+      20             :   /**
+      21             :   * \brief A helper class to simplify setup of SubscribeHandler construction.
+      22             :   * This class is passed to the SubscribeHandler constructor and specifies its common options.
+      23             :   *
+      24             :   * \note Any option, passed directly to the SubscribeHandler constructor outside this structure, *OVERRIDES* values in this structure.
+      25             :   * The values in this structure can be thought of as default common values for all SubscribeHandler objects you want to create,
+      26             :   * and values passed directly to the constructor as specific options for the concrete handler.
+      27             :   *
+      28             :   */
+      29             :   struct SubscribeHandlerOptions
+      30             :   {
+      31             :     SubscribeHandlerOptions(const ros::NodeHandle& nh) : nh(nh) {}
+      32        1777 :     SubscribeHandlerOptions() = default;
+      33             :   
+      34             :     ros::NodeHandle nh;  /*!< \brief The ROS NodeHandle to be used for subscription. */
+      35             :   
+      36             :     std::string node_name = {};  /*!< \brief Name of the ROS node, using this handle (used for messages printed to console). */
+      37             :   
+      38             :     std::string topic_name = {};  /*!< \brief Name of the ROS topic to be handled. */
+      39             : 
+      40             :     std::shared_ptr<mrs_lib::TimeoutManager> timeout_manager = nullptr;  /*!< \brief Will be used for handling message timouts if necessary. If no manager is specified, it will be created with rate equal to half of \p no_message_timeout. */
+      41             :   
+      42             :     ros::Duration no_message_timeout = mrs_lib::no_timeout;  /*!< \brief If no new message is received for this duration, the \p timeout_callback function will be called. If \p timeout_callback is empty, an error message will be printed to the console. */
+      43             :   
+      44             :     std::function<void(const std::string& topic_name, const ros::Time& last_msg)> timeout_callback = {};  /*!< \brief This function will be called if no new message is received for the \p no_message_timeout duration. If this variable is empty, an error message will be printed to the console. */
+      45             :   
+      46             :     bool threadsafe = true;  /*!< \brief If true, all methods of the SubscribeHandler will be mutexed (using a recursive mutex) to avoid data races. */
+      47             :   
+      48             :     bool autostart = true;  /*!< \brief If true, the SubscribeHandler will be started after construction. Otherwise it has to be started using the start() method */
+      49             :   
+      50             :     uint32_t queue_size = 3;  /*!< \brief This parameter is passed to the NodeHandle when subscribing to the topic */
+      51             :   
+      52             :     ros::TransportHints transport_hints = ros::TransportHints();  /*!< \brief This parameter is passed to the NodeHandle when subscribing to the topic */
+      53             :   };
+      54             :   
+      55             :   //}
+      56             : 
+      57             :   /* SubscribeHandler class //{ */
+      58             :   /**
+      59             :   * \brief The main class for ROS topic subscription, message timeout handling etc.
+      60             :   *
+      61             :   * This class handles the raw ROS Subscriber for a specified topic. The last message received on the topic is remembered
+      62             :   * and may be retrieved by calling the getMsg() method. To check whether at least one message was received, use hasMsg()
+      63             :   * (if no message was received and you call getMsg(), a nullptr is returned and an error message is printed). To check
+      64             :   * whether a new message has arrived since the last call to getMsg(), use newMsg() (useful to check whether a new message
+      65             :   * needs to be processed in a loop or ROS Timer callback).
+      66             :   *
+      67             :   * A timeout callback function may be specified, which is called if no message is received on the topic for a specified
+      68             :   * timeout (use the \p timeout_callback and \p no_message_timeout parameters). If the timeout callback is not set by the
+      69             :   * user, an error message is printed to the console after the timeout by default.
+      70             :   *
+      71             :   * A message callback function may be specified, which is called whenever a new message is received (use the
+      72             :   * \p message_callback parameter).
+      73             :   *
+      74             :   * The callbacks and timeouts may be stopped and started using the stop() and start() methods.
+      75             :   *
+      76             :   * For more details, see the example below (I recommend starting with the simple_example which covers most use-cases).
+      77             :   *
+      78             :   */
+      79             :   template <typename MessageType>
+      80             :   class SubscribeHandler
+      81             :   {
+      82             :     public:
+      83             :     /*!
+      84             :       * \brief Convenience type for the template parameter to enable nice aliasing.
+      85             :       */
+      86             :       using message_type = MessageType;
+      87             : 
+      88             :     /*!
+      89             :       * \brief Type for the timeout callback function.
+      90             :       */
+      91             :       using timeout_callback_t = std::function<void(const std::string& topic_name, const ros::Time& last_msg)>;
+      92             : 
+      93             :     /*!
+      94             :       * \brief Convenience type for the message callback function.
+      95             :       */
+      96             :       using message_callback_t = std::function<void(typename MessageType::ConstPtr)>;
+      97             : 
+      98             :     public:
+      99             :     /*!
+     100             :       * \brief Returns the last received message on the topic, handled by this SubscribeHandler.
+     101             :       * Use hasMsg() first to check if at least one message is available or newMsg() to check if a new message
+     102             :       * since the last call to getMsg() is available.
+     103             :       *
+     104             :       * \return the last received message.
+     105             :       */
+     106    78676072 :       virtual typename MessageType::ConstPtr getMsg() {assert(m_pimpl); return m_pimpl->getMsg();};
+     107             : 
+     108             :     /*!
+     109             :       * \brief Returns the last received message on the topic without modifying the newMsg() or usedMsg() flags.
+     110             :       *
+     111             :       * \return the last received message.
+     112             :       */
+     113           0 :       virtual typename MessageType::ConstPtr peekMsg() const {assert(m_pimpl); return m_pimpl->peekMsg();};
+     114             : 
+     115             :     /*!
+     116             :       * \brief Used to check whether at least one message has been received on the handled topic.
+     117             :       *
+     118             :       * \return true if at least one message was received, otherwise false.
+     119             :       */
+     120   222479216 :       virtual bool hasMsg() const {assert(m_pimpl); return m_pimpl->hasMsg();};
+     121             : 
+     122             :     /*!
+     123             :       * \brief Used to check whether at least one message has been received on the handled topic since the last call to getMsg().
+     124             :       *
+     125             :       * \return true if at least one message was received, otherwise false.
+     126             :       */
+     127      377176 :       virtual bool newMsg() const {assert(m_pimpl); return m_pimpl->newMsg();};
+     128             : 
+     129             :     /*!
+     130             :       * \brief Used to check whether getMsg() was called at least once on this SubscribeHandler.
+     131             :       *
+     132             :       * \return true if getMsg() was called at least once, otherwise false.
+     133             :       */
+     134           0 :       virtual bool usedMsg() const {assert(m_pimpl); return m_pimpl->usedMsg();};
+     135             : 
+     136             :     /*!
+     137             :       * \brief Blocks until new data becomes available or until the timeout runs out or until a spurious wake-up.
+     138             :       *
+     139             :       * \return the message if a new message is available after waking up, \p nullptr otherwise.
+     140             :       */
+     141           0 :       virtual typename MessageType::ConstPtr waitForNew(const ros::WallDuration& timeout) {assert(m_pimpl); return m_pimpl->waitForNew(timeout);};
+     142             : 
+     143             :     /*!
+     144             :       * \brief Returns time of the last received message on the topic, handled by this SubscribeHandler.
+     145             :       *
+     146             :       * \return time when the last message was received.
+     147             :       */
+     148      429541 :       virtual ros::Time lastMsgTime() const {assert(m_pimpl); return m_pimpl->lastMsgTime();};
+     149             : 
+     150             :     /*!
+     151             :       * \brief Returns the resolved (full) name of the topic, handled by this SubscribeHandler.
+     152             :       *
+     153             :       * \return name of the handled topic.
+     154             :       */
+     155         206 :       virtual std::string topicName() const {assert(m_pimpl); return m_pimpl->topicName();};
+     156             : 
+     157             :     /*!
+     158             :       * \brief Returns the subscribed (unresolved) name of the topic, handled by this SubscribeHandler.
+     159             :       *
+     160             :       * \return name of the handled topic.
+     161             :       */
+     162           0 :       virtual std::string subscribedTopicName() const {assert(m_pimpl); return m_pimpl->m_topic_name;};
+     163             : 
+     164             :     /*!
+     165             :       * \brief Enables the callbacks for the handled topic.
+     166             :       *
+     167             :       * If the SubscribeHandler object is stopped using the stop() method, no callbacks will be called
+     168             :       * until the start() method is called.
+     169             :       */
+     170        5006 :       virtual void start() {assert(m_pimpl); return m_pimpl->start();};
+     171             : 
+     172             :     /*!
+     173             :       * \brief Disables the callbacks for the handled topic.
+     174             :       *
+     175             :       * All messages after this method is called will be ignored until start() is called again.
+     176             :       * Timeout checking will also be disabled.
+     177             :       */
+     178           5 :       virtual void stop() {assert(m_pimpl); return m_pimpl->stop();};
+     179             : 
+     180             :     public:
+     181             :     /*!
+     182             :       * \brief Default constructor to avoid having to use pointers.
+     183             :       *
+     184             :       * It does nothing and the SubscribeHandler it constructs will also do nothing.
+     185             :       * Use some of the other constructors for actual construction of a usable SubscribeHandler.
+     186             :       */
+     187        6097 :       SubscribeHandler() {};
+     188             : 
+     189             :     /*!
+     190             :       * \brief Main constructor.
+     191             :       *
+     192             :       * \param options    The common options struct (see documentation of SubscribeHandlerOptions).
+     193             :       * \param topic_name Name of the topic to be handled by this subscribed.
+     194             :       * \param args       Remaining arguments to be parsed (see other constructors).
+     195             :       *
+     196             :       */
+     197             :       template<class ... Types>
+     198        4282 :       SubscribeHandler(
+     199             :             const SubscribeHandlerOptions& options,
+     200             :             const std::string& topic_name,
+     201             :             Types ... args
+     202             :           )
+     203             :       :
+     204             :         SubscribeHandler(
+     205        4282 :             [options, topic_name]()
+     206             :             {
+     207        8564 :               SubscribeHandlerOptions opts = options;
+     208        4282 :               opts.topic_name = topic_name;
+     209        8564 :               return opts;
+     210             :             }(),
+     211             :             args...
+     212        4477 :             )
+     213             :       {
+     214        4282 :       }
+     215             : 
+     216             :     /*!
+     217             :       * \brief Convenience constructor overload.
+     218             :       *
+     219             :       * \param options          The common options struct (see documentation of SubscribeHandlerOptions).
+     220             :       * \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).
+     221             :       *
+     222             :       */
+     223        4282 :       SubscribeHandler(
+     224             :             const SubscribeHandlerOptions& options,
+     225             :             const message_callback_t& message_callback = {}
+     226             :           )
+     227        4282 :       {
+     228        4282 :         if (options.threadsafe)
+     229             :         {
+     230        4282 :           m_pimpl = std::make_unique<ImplThreadsafe>
+     231             :             (
+     232             :               options,
+     233             :               message_callback
+     234             :             );
+     235             :         }
+     236             :         else
+     237             :         {
+     238           0 :           m_pimpl = std::make_unique<Impl>
+     239             :             (
+     240             :               options,
+     241             :               message_callback
+     242             :             );
+     243             :         }
+     244        4282 :         if (options.autostart)
+     245        4281 :           start();
+     246        4282 :       };
+     247             : 
+     248             :     /*!
+     249             :       * \brief Convenience constructor overload.
+     250             :       *
+     251             :       * \param options          The common options struct (see documentation of SubscribeHandlerOptions).
+     252             :       * \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.
+     253             :       * \param args             Remaining arguments to be parsed (see other constructors).
+     254             :       *
+     255             :       */
+     256             :       template <class ... Types>
+     257           1 :       SubscribeHandler(
+     258             :             const SubscribeHandlerOptions& options,
+     259             :             const timeout_callback_t& timeout_callback,
+     260             :             Types ... args
+     261             :           )
+     262             :       :
+     263             :         SubscribeHandler(
+     264           1 :             [options, timeout_callback]()
+     265             :             {
+     266           2 :               SubscribeHandlerOptions opts = options;
+     267           1 :               opts.timeout_callback = timeout_callback;
+     268           2 :               return opts;
+     269             :             }(),
+     270             :             args...
+     271           1 :             )
+     272             :       {
+     273           1 :       }
+     274             : 
+     275             :     /*!
+     276             :       * \brief Convenience constructor overload.
+     277             :       *
+     278             :       * \param options          The common options struct (see documentation of SubscribeHandlerOptions).
+     279             :       * \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.
+     280             :       * \param obj1             The object on which the callback method \p timeout_callback will be called.
+     281             :       * \param args             Remaining arguments to be parsed (see other constructors).
+     282             :       *
+     283             :       */
+     284             :       template <class ObjectType1, class ... Types>
+     285             :       SubscribeHandler(
+     286             :             const SubscribeHandlerOptions& options,
+     287             :             void (ObjectType1::*const timeout_callback) (const std::string& topic_name, const ros::Time& last_msg),
+     288             :             ObjectType1* const obj1,
+     289             :             Types ... args
+     290             :           )
+     291             :       :
+     292             :         SubscribeHandler(
+     293             :             [options, timeout_callback, obj1]()
+     294             :             {
+     295             :               SubscribeHandlerOptions opts = options;
+     296             :               opts.timeout_callback = timeout_callback == nullptr ? timeout_callback_t() : std::bind(timeout_callback, obj1, std::placeholders::_1, std::placeholders::_2);
+     297             :               return opts;
+     298             :             }(),
+     299             :             args...
+     300             :             )
+     301             :       {
+     302             :       }
+     303             : 
+     304             :     /*!
+     305             :       * \brief Convenience constructor overload.
+     306             :       *
+     307             :       * \param options          The common options struct (see documentation of SubscribeHandlerOptions).
+     308             :       * \param message_callback The callback method to call when a new message is received.
+     309             :       * \param obj2             The object on which the callback method \p timeout_callback will be called.
+     310             :       * \param args             Remaining arguments to be parsed (see other constructors).
+     311             :       *
+     312             :       */
+     313             :       template <class ObjectType2, class ... Types>
+     314        1810 :       SubscribeHandler(
+     315             :             const SubscribeHandlerOptions& options,
+     316             :             void (ObjectType2::*const message_callback) (typename MessageType::ConstPtr),
+     317             :             ObjectType2* const obj2,
+     318             :             Types ... args
+     319             :           )
+     320             :       :
+     321             :         SubscribeHandler(
+     322             :             options,
+     323        3490 :             message_callback == nullptr ? message_callback_t() : std::bind(message_callback, obj2, std::placeholders::_1),
+     324             :             args...
+     325        1810 :             )
+     326             :       {
+     327        1810 :       }
+     328             : 
+     329             :     /*!
+     330             :       * \brief Convenience constructor overload.
+     331             :       *
+     332             :       * \param options          The common options struct (see documentation of SubscribeHandlerOptions).
+     333             :       * \param message_callback The callback method to call when a new message is received.
+     334             :       * \param obj2             The object on which the callback method \p timeout_callback will be called.
+     335             :       * \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.
+     336             :       * \param obj1             The object on which the callback method \p timeout_callback will be called.
+     337             :       * \param args             Remaining arguments to be parsed (see other constructors).
+     338             :       *
+     339             :       */
+     340             :      template <class ObjectType1, class ObjectType2, class ... Types>
+     341             :      SubscribeHandler(
+     342             :            const SubscribeHandlerOptions& options,
+     343             :            void (ObjectType2::*const message_callback) (typename MessageType::ConstPtr),
+     344             :            ObjectType2* const obj2,
+     345             :            void (ObjectType1::*const timeout_callback) (const std::string& topic_name, const ros::Time& last_msg),
+     346             :            ObjectType1* const obj1,
+     347             :            Types ... args
+     348             :          )
+     349             :      :
+     350             :        SubscribeHandler(
+     351             :             [options, timeout_callback, obj1]()
+     352             :             {
+     353             :               SubscribeHandlerOptions opts = options;
+     354             :               opts.timeout_callback = timeout_callback == nullptr ? timeout_callback_t() : std::bind(timeout_callback, obj1, std::placeholders::_1, std::placeholders::_2);
+     355             :               return opts;
+     356             :             }(),
+     357             :             message_callback == nullptr ? message_callback_t() : std::bind(message_callback, obj2, std::placeholders::_1),
+     358             :             args...
+     359             :             )
+     360             :      {
+     361             :      }
+     362             : 
+     363             :     /*!
+     364             :       * \brief Convenience constructor overload.
+     365             :       *
+     366             :       * \param options            The common options struct (see documentation of SubscribeHandlerOptions).
+     367             :       * \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.
+     368             :       * \param args               Remaining arguments to be parsed (see other constructors).
+     369             :       *
+     370             :       */
+     371             :       template<class ... Types>
+     372             :       SubscribeHandler(
+     373             :             const SubscribeHandlerOptions& options,
+     374             :             const ros::Duration& no_message_timeout,
+     375             :             Types ... args
+     376             :           )
+     377             :       :
+     378             :         SubscribeHandler(
+     379             :             [options, no_message_timeout]()
+     380             :             {
+     381             :               SubscribeHandlerOptions opts = options;
+     382             :               opts.no_message_timeout = no_message_timeout;
+     383             :               return opts;
+     384             :             }(),
+     385             :             args...
+     386             :             )
+     387             :       {
+     388             :       }
+     389             : 
+     390             :     /*!
+     391             :       * \brief Convenience constructor overload.
+     392             :       *
+     393             :       * \param options          The common options struct (see documentation of SubscribeHandlerOptions).
+     394             :       * \param timeout_manager  The manager for timeout callbacks.
+     395             :       * \param args             Remaining arguments to be parsed (see other constructors).
+     396             :       *
+     397             :       */
+     398             :       template <class ... Types>
+     399             :       SubscribeHandler(
+     400             :             const SubscribeHandlerOptions& options,
+     401             :             mrs_lib::TimeoutManager& timeout_manager,
+     402             :             Types ... args
+     403             :           )
+     404             :       :
+     405             :         SubscribeHandler(
+     406             :             options,
+     407             :             timeout_manager = timeout_manager,
+     408             :             args...
+     409             :             )
+     410             :       {
+     411             :       }
+     412             : 
+     413       11675 :       ~SubscribeHandler() = default;
+     414             :       // delete copy constructor and assignment operator (forbid copying shandlers)
+     415             :       SubscribeHandler(const SubscribeHandler&) = delete;
+     416             :       SubscribeHandler& operator=(const SubscribeHandler&) = delete;
+     417             :       // define only move constructor and assignemnt operator
+     418           0 :       SubscribeHandler(SubscribeHandler&& other)
+     419           0 :       {
+     420           0 :         this->m_pimpl = std::move(other.m_pimpl);
+     421           0 :         other.m_pimpl = nullptr;
+     422           0 :       }
+     423        4217 :       SubscribeHandler& operator=(SubscribeHandler&& other)
+     424             :       {
+     425        4217 :         this->m_pimpl = std::move(other.m_pimpl);
+     426        4217 :         other.m_pimpl = nullptr;
+     427        4217 :         return *this;
+     428             :       }
+     429             : 
+     430             :     private:
+     431             :       class Impl;
+     432             :       class ImplThreadsafe;
+     433             :       std::unique_ptr<Impl> m_pimpl;
+     434             :   };
+     435             :   //}
+     436             : 
+     437             : /*!
+     438             :   * \brief Helper alias for convenient extraction of handled message type from a SubscribeHandlerPtr.
+     439             :   */
+     440             :   template<typename SubscribeHandler>
+     441             :   using message_type = typename SubscribeHandler::message_type;
+     442             : 
+     443             : /*!
+     444             :   * \brief Helper function for object construstion e.g. in case of member objects.
+     445             :   * This function is useful to avoid specifying object template parameters twice - once in definition of the variable and second time during object construction.
+     446             :   * 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
+     447             :   * argument and not as a return type.
+     448             :   *
+     449             :   * \param object The object to be constructed.
+     450             :   * \param args   These arguments are passed to the object constructor.
+     451             :   */
+     452             :   template<typename Class, class ... Types>
+     453             :   void construct_object(
+     454             :         Class& object,
+     455             :         Types ... args
+     456             :       )
+     457             :   {
+     458             :     object = Class(args...);
+     459             :   }
+     460             : }
+     461             : 
+     462             : #include <mrs_lib/impl/subscribe_handler.hpp>
+     463             : 
+     464             : #endif // SUBRSCRIBE_HANDLER_H
+
+
+
+ + + + +
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+ + + diff --git a/mrs_lib/include/mrs_lib/subscribe_handler.h.gcov.overview.html b/mrs_lib/include/mrs_lib/subscribe_handler.h.gcov.overview.html new file mode 100644 index 0000000000..056386c498 --- /dev/null +++ b/mrs_lib/include/mrs_lib/subscribe_handler.h.gcov.overview.html @@ -0,0 +1,136 @@ + + + + + + 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 + + +
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+ + diff --git a/mrs_lib/include/mrs_lib/subscribe_handler.h.gcov.png b/mrs_lib/include/mrs_lib/subscribe_handler.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..4fbffc4bc0b89a8b74c7423122e9f29b5abf23f7 GIT binary patch literal 1794 zcmV+d2mSboP)GAf72gj3K5r zbz2ND5}}4FQEmJ-0qHg3YyO-C@r%I16(bOAcI{2~uIrUq&|?~*Fbke#KB6~6I8Vnr z*#`C}y~&UtGp8aqYx(}~$v#>;vYCZ!J|t)Of*?k(LiRez2b~a-7TcQx@sJ(OR zSq>>wvJ`~KR`Ok-ZVp=~gM8B6WXF=d4O(*_&BL&Z@Q&A3jZ={@1qCG!No<}!R9n~W zb*{9j_GML&O^1ys1CB351|2_`Jt2(&lZCYg(hT|2F^wA_6OB9MF{bcvYuq&&R7fFo zsE;bOL1Kh32wTn^>m!tz668ytM&>Z-6K5u6q!$AOc%jcH>3fS({;hPmwMn+C2MvDs~C)tCPOw1-3bupJYJgBin5(kdU98OtK zN-*pu2VTAz1vBYHiE0uiLlN>kL#(mA6FXs73unw;3sz_yc$`3{Fzh2wZJ5Y%O{q?O z6g)UZIm3|l&g)}FbThr1oSPcWrg26f^YA!E?wTS*9S^FU0fyKGkEa3RWj`QnTtj@P)_8$ z2uGra;0+aAu({!p*B^pM3f2OmBou>R#tqPAJ6&N4mRxM#Slrw2_gpYNmF=GG1RVEwfr_%69B zg1?$lN=5+@BubI(e|^i#a1Wu_TKJigkY$BZh;SQ%asVCl1<+MtJ#PXHO}{QliD=<% z>z+eDCe1n-oV|-Sf6kQh2wK~lq+XMx=F1AC21)TJ)y+ReQUejf z5dmCx>)nM`Fd{f87~WNiSz{ifA0U9gK`C-_jAmQh!l`dlDolYY8-l7ng5m-SbGmz7 z44N9nFSo{o#1MJo;|=zwAUudO%yjXuR8o)D(idg)oLq95htT!Ji>bW~y~$N6c$RxX$#k;(w-iXq@Ae&+a*xjc`l|iCimSGlp%iNo zmj%`H0P#WN3-4Y}mr+V7)im&1D8-{wa=#<^7t(cByX);opz)k*;UC3quL~auEb4Dl zT8W&D=)Uv(kGprIXeCG~98fOQqBoytmhDzK)|^ZSnsoSydTxc*kzh}w&9oYs-BI^a zEccy<@w;P`+MdpX;7H>#+JCV3(b3E~J&o67TF}BN65#E%=;WdLvuEMMj|@=G@{dDt z7s6i(_s=}DAT6RH?&c*ky_O0Ocuh4s@m0V-oOQ8qpvR6G9r_vpQ-Xn1^1rHIdE#T$ zNdSM|*$f}QGq@uJE&QmM;VK4iP#ZP~q}8+@>&_WhvDa%+3KqE^Ej{*I0#9i?y$G-T kuY(Tel-8&otZ%#hAJepWR?y0d2mk;807*qoM6N<$f{w&dzW@LL literal 0 HcmV?d00001 diff --git a/mrs_lib/include/mrs_lib/timeout_manager.h.func-sort-c.html b/mrs_lib/include/mrs_lib/timeout_manager.h.func-sort-c.html new file mode 100644 index 0000000000..bf3c932a23 --- /dev/null +++ b/mrs_lib/include/mrs_lib/timeout_manager.h.func-sort-c.html @@ -0,0 +1,80 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/timeout_manager.h - functions + + + + + + + + + + + + + + +
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+
          Line data    Source code
+
+       1             : // clang: MatousFormat
+       2             : /**  \file
+       3             :      \brief TODO
+       4             :      \author Matouš Vrba - vrbamato@fel.cvut.cz
+       5             :  */
+       6             : 
+       7             : #ifndef TIMEOUT_MANAGER_H
+       8             : #define TIMEOUT_MANAGER_H
+       9             : 
+      10             : #include <ros/ros.h>
+      11             : 
+      12             : namespace mrs_lib
+      13             : {
+      14             :   /* TimeoutManager class //{ */
+      15             :   /**
+      16             :   * \brief TODO
+      17             :   *
+      18             :   */
+      19           0 :   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          61 :       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      105390 :       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          65 :       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             :       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           0 :         struct timeout_info_t
+      58             :         {
+      59             :           bool oneshot;
+      60             :           bool started;
+      61             :           callback_t callback;
+      62             :           ros::Duration timeout;
+      63             :           ros::Time last_reset;
+      64             :           ros::Time last_callback;
+      65             :         };
+      66             :       
+      67             :       private:
+      68             :         // | --------------------- private methods -------------------- |
+      69             :         void main_timer_callback([[maybe_unused]] const ros::TimerEvent& evt);
+      70             :       
+      71             :       private:
+      72             :         // | ------------------------- members ------------------------ |
+      73             :         std::recursive_mutex m_mtx;
+      74             :         timeout_id_t m_last_id;
+      75             :         std::vector<timeout_info_t> m_timeouts;
+      76             :       
+      77             :         ros::Timer m_main_timer;
+      78             :       
+      79             :       //}
+      80             : 
+      81             :   };
+      82             :   //}
+      83             : }
+      84             : 
+      85             : #endif // TIMEOUT_MANAGER_H
+
+
+
+ + + + +
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+ + + diff --git a/mrs_lib/include/mrs_lib/timeout_manager.h.gcov.overview.html b/mrs_lib/include/mrs_lib/timeout_manager.h.gcov.overview.html new file mode 100644 index 0000000000..bc8b5520c4 --- /dev/null +++ b/mrs_lib/include/mrs_lib/timeout_manager.h.gcov.overview.html @@ -0,0 +1,42 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/timeout_manager.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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+ + diff --git a/mrs_lib/include/mrs_lib/timeout_manager.h.gcov.png b/mrs_lib/include/mrs_lib/timeout_manager.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..fb548ce0cdbff8a4352875b509c0e585c652d55b GIT binary patch literal 466 zcmV;@0WJQCP)iw^>LI6YShQZq1^!c8(!!Y@fRL7o~IGHnz$@d_| zgc1X?T$DAO>hOf^iyK#`_nTXQBU>k*(O_bXgy_Q^$Ob(a+0JO0D^=Ljo-R$ z&rNK#%&kxJ_X8+p0jl)=sB8%W>nD|_7Ft?hF=n79E^9B9=tXC8<4^~ehPTHB|6l#M z#^oGss#!pKXJgYeEy?C(X>LNkm#=dKLMDu}q6(2Kta9o+c#myZ}jkGxg<0Od-EP$7d#-T(jq07*qo IM6N<$f@@{U^8f$< literal 0 HcmV?d00001 diff --git a/mrs_lib/include/mrs_lib/timer.h.func-sort-c.html b/mrs_lib/include/mrs_lib/timer.h.func-sort-c.html new file mode 100644 index 0000000000..7a79b04dae --- /dev/null +++ b/mrs_lib/include/mrs_lib/timer.h.func-sort-c.html @@ -0,0 +1,108 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/timer.h - functions + + + + + + + + + + + + + + +
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Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2024-01-20 21:44:18Functions:6785.7 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::MRSTimer::~MRSTimer()0
mrs_lib::ThreadTimer::~ThreadTimer()8
mrs_lib::ThreadTimer::~ThreadTimer().28
mrs_lib::ROSTimer::~ROSTimer()8
mrs_lib::ROSTimer::~ROSTimer().28
mrs_lib::MRSTimer::MRSTimer()16
mrs_lib::MRSTimer::~MRSTimer().216
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Current view:top level - mrs_lib/include/mrs_lib - timer.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2024-01-20 21:44:18Functions:6785.7 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::ThreadTimer::~ThreadTimer()8
mrs_lib::ThreadTimer::~ThreadTimer().28
mrs_lib::MRSTimer::MRSTimer()16
mrs_lib::MRSTimer::~MRSTimer()0
mrs_lib::MRSTimer::~MRSTimer().216
mrs_lib::ROSTimer::~ROSTimer()8
mrs_lib::ROSTimer::~ROSTimer().28
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Current view:top level - mrs_lib/include/mrs_lib - timer.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2024-01-20 21:44:18Functions:6785.7 %
Legend: Lines: + hit + not hit +
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+
          Line data    Source code
+
+       1             : #ifndef MRS_TIMER_H
+       2             : #define MRS_TIMER_H
+       3             : 
+       4             : #include <ros/ros.h>
+       5             : #include <thread>
+       6             : #include <mutex>
+       7             : #include <condition_variable>
+       8             : #include <atomic>
+       9             : 
+      10             : namespace mrs_lib
+      11             : {
+      12             :   bool breakable_sleep(const ros::Duration& dur, const std::atomic<bool>& continue_sleep);
+      13             : 
+      14             :   /**
+      15             :    * @brief Common wrapper representing the functionality of the ros::Timer.
+      16             :    *
+      17             :    * The implementation can then use either ros::Timer (the ROSTimer class)
+      18             :    * or threads and synchronization primitives from the C++ standard library
+      19             :    * (the ThreadTimer class). Both these variants implement the same interface.
+      20             :    *
+      21             :    * @note Functionality of the two implementations differs in some details.
+      22             :    */
+      23             :   class MRSTimer
+      24             :   {
+      25             :     public:
+      26             :     using callback_t = std::function<void(const ros::TimerEvent&)>;
+      27             : 
+      28             :     /**
+      29             :      * @brief stop the timer
+      30             :      */
+      31             :     virtual void stop() = 0;
+      32             : 
+      33             :     /**
+      34             :      * @brief start the timer
+      35             :      */
+      36             :     virtual void start() = 0;
+      37             : 
+      38             :     /**
+      39             :      * @brief set the timer period/duration
+      40             :      *
+      41             :      * @param duration
+      42             :      * @param reset
+      43             :      */
+      44             :     virtual void setPeriod(const ros::Duration& duration, const bool reset = true) = 0;
+      45             : 
+      46             :     /**
+      47             :      * @brief returns true if callbacks should be called
+      48             :      *
+      49             :      * @return true if timer is running
+      50             :      */
+      51             :     virtual bool running() = 0;
+      52             : 
+      53          16 :     virtual ~MRSTimer() = default;
+      54             :     MRSTimer(const MRSTimer&) = default;
+      55             :     MRSTimer(MRSTimer&&) = default;
+      56             :     MRSTimer& operator=(const MRSTimer&) = default;
+      57             :     MRSTimer& operator=(MRSTimer&&) = default;
+      58             : 
+      59             :     protected:
+      60          16 :     MRSTimer() = default;
+      61             :   };
+      62             : 
+      63             :   // | ------------------------ ROSTimer ------------------------ |
+      64             : 
+      65             :   /* class ROSTimer //{ */
+      66             : 
+      67             :   /**
+      68             :    * @brief ros::Timer wrapper. The interface is the same as with ros::Timer, except for the initialization method.
+      69             :    */
+      70             :   class ROSTimer : public MRSTimer {
+      71             :   public:
+      72             :     ROSTimer();
+      73             : 
+      74             :     /**
+      75             :      * @brief Constructs the object.
+      76             :      *
+      77             :      * @tparam ObjectType
+      78             :      * @param nh                            ROS node handle to be used for creating the underlying ros::Timer object.
+      79             :      * @param rate                          rate at which the callback should be called.
+      80             :      * @param ObjectType::*const callback   callback method to be called.
+      81             :      * @param obj                           object for the method.
+      82             :      * @param oneshot                       whether the callback should only be called once after starting.
+      83             :      * @param autostart                     whether the timer should immediately start after construction.
+      84             :      */
+      85             :     template <class ObjectType>
+      86             :     ROSTimer(const ros::NodeHandle& nh, const ros::Rate& rate, void (ObjectType::*const callback)(const ros::TimerEvent&), ObjectType* const obj,
+      87             :              const bool oneshot = false, const bool autostart = true);
+      88             : 
+      89             :     /**
+      90             :      * @brief full constructor
+      91             :      *
+      92             :      * @tparam ObjectType
+      93             :      * @param nh                            ROS node handle to be used for creating the underlying ros::Timer object.
+      94             :      * @param duration                      desired callback period.
+      95             :      * @param ObjectType::*const callback   callback method to be called.
+      96             :      * @param obj                           object for the method.
+      97             :      * @param oneshot                       whether the callback should only be called once after starting.
+      98             :      * @param autostart                     whether the timer should immediately start after construction.
+      99             :      */
+     100             :     template <class ObjectType>
+     101             :     ROSTimer(const ros::NodeHandle& nh, const ros::Duration& duration, void (ObjectType::*const callback)(const ros::TimerEvent&), ObjectType* const obj,
+     102             :              const bool oneshot = false, const bool autostart = true);
+     103             : 
+     104             :     /**
+     105             :      * @brief stop the timer
+     106             :      */
+     107             :     virtual void stop() override;
+     108             : 
+     109             :     /**
+     110             :      * @brief start the timer
+     111             :      */
+     112             :     virtual void start() override;
+     113             : 
+     114             :     /**
+     115             :      * @brief set the timer period/duration
+     116             :      *
+     117             :      * @param duration
+     118             :      * @param reset
+     119             :      */
+     120             :     virtual void setPeriod(const ros::Duration& duration, const bool reset = true) override;
+     121             : 
+     122             :     /**
+     123             :      * @brief returns true if callbacks should be called
+     124             :      *
+     125             :      * @return true if timer is running
+     126             :      */
+     127             :     virtual bool running() override;
+     128             : 
+     129          16 :     virtual ~ROSTimer() override {stop();};
+     130             :     // to keep rule of five since we have a custom destructor
+     131             :     ROSTimer(const ROSTimer&) = delete;
+     132             :     ROSTimer(ROSTimer&&) = delete;
+     133             :     ROSTimer& operator=(const ROSTimer&) = delete;
+     134             :     ROSTimer& operator=(ROSTimer&&) = delete;
+     135             : 
+     136             :   private:
+     137             :     std::mutex mutex_timer_;
+     138             : 
+     139             :     std::unique_ptr<ros::Timer> timer_;
+     140             :   };
+     141             : 
+     142             :   //}
+     143             : 
+     144             :   // | ----------------------- ThreadTimer ---------------------- |
+     145             : 
+     146             :   /* class ThreadTimer //{ */
+     147             : 
+     148             :   /**
+     149             :    * @brief Custom thread-based Timers with the same interface as mrs_lib::ROSTimer.
+     150             :    */
+     151             :   class ThreadTimer : public MRSTimer {
+     152             : 
+     153             :   public:
+     154             :     ThreadTimer();
+     155             : 
+     156             :     /**
+     157             :      * @brief Constructs the object.
+     158             :      *
+     159             :      * @tparam ObjectType
+     160             :      * @param nh                            ignored (used just for consistency with ROSTimer)
+     161             :      * @param rate                          rate at which the callback should be called.
+     162             :      * @param ObjectType::*const callback   callback method to be called.
+     163             :      * @param obj                           object for the method.
+     164             :      * @param oneshot                       whether the callback should only be called once after starting.
+     165             :      * @param autostart                     whether the timer should immediately start after construction.
+     166             :      */
+     167             :     template <class ObjectType>
+     168             :     ThreadTimer(const ros::NodeHandle& nh, const ros::Rate& rate, void (ObjectType::*const callback)(const ros::TimerEvent&), ObjectType* const obj,
+     169             :                 const bool oneshot = false, const bool autostart = true);
+     170             : 
+     171             :     /**
+     172             :      * @brief Constructs the object.
+     173             :      *
+     174             :      * @tparam ObjectType
+     175             :      * @param nh                            ignored (used just for consistency with ROSTimer)
+     176             :      * @param duration                      desired callback period.
+     177             :      * @param ObjectType::*const callback   callback method to be called.
+     178             :      * @param obj                           object for the method.
+     179             :      * @param oneshot                       whether the callback should only be called once after starting.
+     180             :      * @param autostart                     whether the timer should immediately start after construction.
+     181             :      */
+     182             :     template <class ObjectType>
+     183             :     ThreadTimer(const ros::NodeHandle& nh, const ros::Duration& duration, void (ObjectType::*const callback)(const ros::TimerEvent&), ObjectType* const obj,
+     184             :                 bool oneshot = false, const bool autostart = true);
+     185             : 
+     186             :     /**
+     187             :      * @brief stop the timer
+     188             :      *
+     189             :      * No more callbacks will be called after this method returns.
+     190             :      */
+     191             :     virtual void stop() override;
+     192             : 
+     193             :     /**
+     194             :      * @brief start the timer
+     195             :      *
+     196             :      * The first callback will be called in now + period.
+     197             :      *
+     198             :      * @note If the timer is already started, nothing will change.
+     199             :      */
+     200             :     virtual void start() override;
+     201             : 
+     202             :     /**
+     203             :      * @brief set the timer period/duration
+     204             :      *
+     205             :      * The new period will be applied after the next callback.
+     206             :      *
+     207             :      * @param duration the new desired callback period.
+     208             :      * @param reset    ignored in this implementation.
+     209             :      */
+     210             :     virtual void setPeriod(const ros::Duration& duration, const bool reset = true) override;
+     211             : 
+     212             :     /**
+     213             :      * @brief returns true if callbacks should be called
+     214             :      *
+     215             :      * @return true if timer is running
+     216             :      */
+     217             :     virtual bool running() override;
+     218             : 
+     219             :     /**
+     220             :      * @brief stops the timer and then destroys the object
+     221             :      *
+     222             :      * No more callbacks will be called when the destructor is started.
+     223             :      */
+     224          16 :     virtual ~ThreadTimer() override {stop();};
+     225             :     // to keep rule of five since we have a custom destructor
+     226             :     ThreadTimer(const ThreadTimer&) = delete;
+     227             :     ThreadTimer(ThreadTimer&&) = delete;
+     228             :     ThreadTimer& operator=(const ThreadTimer&) = delete;
+     229             :     ThreadTimer& operator=(ThreadTimer&&) = delete;
+     230             : 
+     231             :   private:
+     232             :     class Impl;
+     233             : 
+     234             :     std::unique_ptr<Impl> impl_;
+     235             : 
+     236             :   };  // namespace mrs_lib
+     237             : 
+     238             :   //}
+     239             : 
+     240             : #include <mrs_lib/impl/timer.hpp>
+     241             : 
+     242             : }  // namespace mrs_lib
+     243             : 
+     244             : #endif  // MRS_TIMER_H
+
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Current view:top level - mrs_lib/include/mrs_lib - transformer.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:516085.0 %
Date:2024-01-20 21:44:18Functions: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&)207
mrs_lib::Transformer::retryLookupNewest(bool)261
mrs_lib::Transformer::resolveFrame(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1028
mrs_lib::Transformer::setDefaultFrame(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)305978
mrs_lib::Transformer::frame_from[abi:cxx11](geometry_msgs::TransformStamped_<std::allocator<void> > const&)1501100
mrs_lib::Transformer::frame_to[abi:cxx11](geometry_msgs::TransformStamped_<std::allocator<void> > const&)1501129
mrs_lib::Transformer::frame_from[abi:cxx11](geometry_msgs::TransformStamped_<std::allocator<void> >&)1509854
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&)1509894
mrs_lib::Transformer::frame_to[abi:cxx11](geometry_msgs::TransformStamped_<std::allocator<void> >&)1511595
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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..ff42453c7d --- /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:2024-01-20 21:44:18Functions: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&)1501100
mrs_lib::Transformer::frame_from[abi:cxx11](geometry_msgs::TransformStamped_<std::allocator<void> >&)1509854
mrs_lib::Transformer::resolveFrame(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1028
mrs_lib::Transformer::setDefaultFrame(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)305978
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&)1509894
mrs_lib::Transformer::setDefaultPrefix(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)207
mrs_lib::Transformer::setLookupTimeout(ros::Duration)2
mrs_lib::Transformer::retryLookupNewest(bool)261
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&)1501129
mrs_lib::Transformer::frame_to[abi:cxx11](geometry_msgs::TransformStamped_<std::allocator<void> >&)1511595
std::optional<boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > > > mrs_lib::Transformer::transform<mrs_msgs::ReferenceStamped_<std::allocator<void> > >(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > const> const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)0
std::optional<boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > > > mrs_lib::Transformer::transform<mrs_msgs::ReferenceStamped_<std::allocator<void> > >(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > > const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)0
+
+
+ + + +
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LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/include/mrs_lib - transformer.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:516085.0 %
Date:2024-01-20 21:44:18Functions:141877.8 %
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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      305978 :     void setDefaultFrame(const std::string& frame_id)
+     131             :     {
+     132      502841 :       std::scoped_lock lck(mutex_);
+     133      305978 :       default_frame_id_ = frame_id;
+     134      305972 :     }
+     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         207 :     void setDefaultPrefix(const std::string& prefix)
+     154             :     {
+     155         349 :       std::scoped_lock lck(mutex_);
+     156         207 :       if (prefix.empty())
+     157          66 :         prefix_ = "";
+     158             :       else
+     159         206 :         prefix_ = prefix + "/";
+     160         207 :     }
+     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         326 :     void retryLookupNewest(const bool retry = true)
+     212             :     {
+     213         391 :       std::scoped_lock lck(mutex_);
+     214         326 :       retry_lookup_newest_ = retry;
+     215         261 :     }
+     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        1028 :     std::string resolveFrame(const std::string& frame_id)
+     249             :     {
+     250        2038 :       std::scoped_lock lck(mutex_);
+     251        2056 :       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     1501100 :     static constexpr const std::string& frame_from(const geometry_msgs::TransformStamped& msg)
+     551             :     {
+     552     1501100 :       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     1509854 :     static constexpr std::string& frame_from(geometry_msgs::TransformStamped& msg)
+     564             :     {
+     565     1509854 :       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     1501129 :     static constexpr const std::string& frame_to(const geometry_msgs::TransformStamped& msg)
+     575             :     {
+     576     1501129 :       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     1511597 :     static constexpr std::string& frame_to(geometry_msgs::TransformStamped& msg)
+     588             :     {
+     589     1511597 :       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     1509894 :     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     1509894 :       geometry_msgs::TransformStamped ret;
+     621     1509683 :       frame_from(ret) = from_frame;
+     622     1509909 :       frame_to(ret) = to_frame;
+     623     1509838 :       ret.header.stamp = time_stamp;
+     624     1509838 :       ret.transform = tf;
+     625     1509838 :       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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Current view:top level - mrs_lib/include/mrs_lib - ukf.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:040.0 %
Date:2024-01-20 21:44:18Functions:020.0 %
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mrs_lib::UKF<4, 1, 2>::inverse_exception::what() const0
mrs_lib::UKF<4, 1, 2>::square_root_exception::what() const0
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Test:MRS UAV System - Test coverage reportLines:040.0 %
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mrs_lib::UKF<4, 1, 2>::inverse_exception::what() const0
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          Line data    Source code
+
+       1             : // clang: MatousFormat
+       2             : #ifndef UKF_H
+       3             : #define UKF_H
+       4             : 
+       5             : /**  \file
+       6             :      \brief Defines UKF - a class implementing the Unscented Kalman Filter \cite UKF.
+       7             :      \author Tomáš Báča - bacatoma@fel.cvut.cz (original implementation)
+       8             :      \author Matouš Vrba - vrbamato@fel.cvut.cz (rewrite, documentation)
+       9             :  */
+      10             : 
+      11             : #include <mrs_lib/kalman_filter.h>
+      12             : 
+      13             : namespace mrs_lib
+      14             : {
+      15             : 
+      16             :   /**
+      17             :   * \brief Implementation of the Unscented Kalman filter \cite UKF.
+      18             :   *
+      19             :   * The Unscented Kalman filter (abbreviated UKF, \cite UKF) is a variant of the Kalman filter, which may be used
+      20             :   * for state filtration or estimation of non-linear systems as opposed to the Linear Kalman Filter
+      21             :   * (which is implemented in \ref LKF). The UKF tends to be more accurate than the simpler Extended Kalman Filter,
+      22             :   * espetially for highly non-linear systems. However, it is generally less stable than the LKF because of the extra
+      23             :   * matrix square root in the sigma points calculation, so it is recommended to use LKF for linear systems.
+      24             :   *
+      25             :   * The UKF C++ class itself is templated. This has its advantages and disadvantages. Main disadvantage is that it
+      26             :   * may be harder to use if you're not familiar with C++ templates, which, admittedly, can get somewhat messy,
+      27             :   * espetially during compilation. Another disadvantage is that if used unwisely, the compilation times can get
+      28             :   * much higher when using templates. The main advantage is compile-time checking (if it compiles, then it has
+      29             :   * a lower chance of crashing at runtime) and enabling more effective optimalizations during compilation. Also in case
+      30             :   * of Eigen, the code is arguably more readable when you use aliases to the specific Matrix instances instead of
+      31             :   * having Eigen::MatrixXd and Eigen::VectorXd everywhere.
+      32             :   *
+      33             :   * \tparam n_states         number of states of the system (length of the \f$ \mathbf{x} \f$ vector).
+      34             :   * \tparam n_inputs         number of inputs of the system (length of the \f$ \mathbf{u} \f$ vector).
+      35             :   * \tparam n_measurements   number of measurements of the system (length of the \f$ \mathbf{z} \f$ vector).
+      36             :   *
+      37             :   */
+      38             :   template <int n_states, int n_inputs, int n_measurements>
+      39             :   class UKF : KalmanFilter<n_states, n_inputs, n_measurements>
+      40             :   {
+      41             :   protected:
+      42             :     /* protected UKF definitions (typedefs, constants etc) //{ */
+      43             :     static constexpr int n = n_states;            /*!< \brief Length of the state vector of the system. */
+      44             :     static constexpr int m = n_inputs;            /*!< \brief Length of the input vector of the system. */
+      45             :     static constexpr int p = n_measurements;      /*!< \brief Length of the measurement vector of the system. */
+      46             :     static constexpr int w = 2 * n + 1;           /*!< \brief Number of sigma points/weights. */
+      47             : 
+      48             :     using Base_class = KalmanFilter<n, m, p>; /*!< \brief Base class of this class. */
+      49             : 
+      50             :     using X_t = typename Eigen::Matrix<double, n, w>;    /*!< \brief State sigma points matrix. */
+      51             :     using Z_t = typename Eigen::Matrix<double, p, w>;    /*!< \brief Measurement sigma points matrix. */
+      52             :     using Pzz_t = typename Eigen::Matrix<double, p, p>;  /*!< \brief Pzz helper matrix. */
+      53             :     using K_t = typename Eigen::Matrix<double, n, p>;    /*!< \brief Kalman gain matrix. */
+      54             :     //}
+      55             : 
+      56             :   public:
+      57             :     /* public UKF definitions (typedefs, constants etc) //{ */
+      58             :     //! state vector n*1 typedef
+      59             :     using x_t = typename Base_class::x_t;
+      60             :     //! input vector m*1 typedef
+      61             :     using u_t = typename Base_class::u_t;
+      62             :     //! measurement vector p*1 typedef
+      63             :     using z_t = typename Base_class::z_t;
+      64             :     //! state covariance n*n typedef
+      65             :     using P_t = typename Base_class::P_t;
+      66             :     //! measurement covariance p*p typedef
+      67             :     using R_t = typename Base_class::R_t;
+      68             :     //! process covariance n*n typedef
+      69             :     using Q_t = typename Base_class::Q_t;
+      70             :     //! weights vector (2n+1)*1 typedef
+      71             :     using W_t = typename Eigen::Matrix<double, w, 1>;
+      72             :     //! typedef of a helper struct for state and covariance
+      73             :     using statecov_t = typename Base_class::statecov_t;
+      74             :     //! function of the state transition model typedef
+      75             :     using transition_model_t = typename std::function<x_t(const x_t&, const u_t&, double)>;
+      76             :     //! function of the observation model typedef
+      77             :     using observation_model_t = typename std::function<z_t(const x_t&)>;
+      78             : 
+      79             :     //! is thrown when taking the square root of a matrix fails during sigma generation
+      80             :     struct square_root_exception : public std::exception
+      81             :     {
+      82           0 :       const char* what() const throw()
+      83             :       {
+      84           0 :         return "UKF: taking the square root of covariance update produced NANs!!!";
+      85             :       }
+      86             :     };
+      87             : 
+      88             :     //! is thrown when taking the inverse of a matrix fails during kalman gain calculation
+      89             :     struct inverse_exception : public std::exception
+      90             :     {
+      91           0 :       const char* what() const throw()
+      92             :       {
+      93           0 :         return "UKF: inverting of Pzz in correction update produced NANs!!!";
+      94             :       }
+      95             :     };
+      96             :     //}
+      97             : 
+      98             :   public:
+      99             :     /* UKF constructor //{ */
+     100             :   /*!
+     101             :     * \brief Convenience default constructor.
+     102             :     *
+     103             :     * This constructor should not be used if applicable. If used, the main constructor has to be called afterwards,
+     104             :     * otherwise the UKF object is invalid (not initialized).
+     105             :     */
+     106             :     UKF();
+     107             : 
+     108             :   /*!
+     109             :     * \brief The main constructor.
+     110             :     *
+     111             :     * \param alpha             Scaling parameter of the sigma generation (a small positive value, e.g. 1e-3).
+     112             :     * \param kappa             Secondary scaling parameter of the sigma generation (usually set to 0 or 1).
+     113             :     * \param beta              Incorporates prior knowledge about the distribution (for Gaussian distribution, 2 is optimal).
+     114             :     * \param transition_model  State transition model function.
+     115             :     * \param observation_model Observation model function.
+     116             :     */
+     117             :     UKF(const transition_model_t& transition_model, const observation_model_t& observation_model, const double alpha = 1e-3, const double kappa = 1, const double beta = 2);
+     118             :     //}
+     119             : 
+     120             :     /* correct() method //{ */
+     121             :   /*!
+     122             :     * \brief Implements the state correction step (measurement update).
+     123             :     *
+     124             :     * \param sc     Previous estimate of the state and covariance.
+     125             :     * \param z      Measurement vector.
+     126             :     * \param R      Measurement covariance matrix.
+     127             :     * \returns      The state and covariance after applying the correction step.
+     128             :     */
+     129             :     virtual statecov_t correct(const statecov_t& sc, const z_t& z, const R_t& R) const override;
+     130             :     //}
+     131             : 
+     132             :     /* predict() method //{ */
+     133             :   /*!
+     134             :     * \brief Implements the state prediction step (time update).
+     135             :     *
+     136             :     * \param sc     Previous estimate of the state and covariance.
+     137             :     * \param u      Input vector.
+     138             :     * \param Q      Process noise covariance matrix.
+     139             :     * \param dt     Duration since the previous estimate.
+     140             :     * \returns      The state and covariance after applying the correction step.
+     141             :     */
+     142             :     virtual statecov_t predict(const statecov_t& sc, const u_t& u, const Q_t& Q, double dt) const override;
+     143             :     //}
+     144             : 
+     145             :     /* setConstants() method //{ */
+     146             :   /*!
+     147             :     * \brief Changes the Unscented Transform parameters.
+     148             :     *
+     149             :     * \param alpha  Scaling parameter of the sigma generation (a small positive value - e.g. 1e-3).
+     150             :     * \param kappa  Secondary scaling parameter of the sigma generation (usually set to 0 or 1).
+     151             :     * \param beta   Incorporates prior knowledge about the distribution (for Gaussian distribution, 2 is optimal).
+     152             :     */
+     153             :     void setConstants(const double alpha, const double kappa, const double beta);
+     154             :     //}
+     155             : 
+     156             :     /* setTransitionModel() method //{ */
+     157             :   /*!
+     158             :     * \brief Changes the transition model function.
+     159             :     *
+     160             :     * \param transition_model   the new transition model
+     161             :     */
+     162             :     void setTransitionModel(const transition_model_t& transition_model);
+     163             :     //}
+     164             : 
+     165             :     /* setObservationModel() method //{ */
+     166             :   /*!
+     167             :     * \brief Changes the observation model function.
+     168             :     *
+     169             :     * \param observation_model   the new observation model
+     170             :     */
+     171             :     void setObservationModel(const observation_model_t& observation_model);
+     172             :     //}
+     173             : 
+     174             :   protected:
+     175             :     /* protected methods and member variables //{ */
+     176             : 
+     177             :     void computeWeights();
+     178             : 
+     179             :     X_t computeSigmas(const x_t& x, const P_t& P) const;
+     180             : 
+     181             :     P_t computePaSqrt(const P_t& P) const;
+     182             : 
+     183             :     Pzz_t computeInverse(const Pzz_t& Pzz) const;
+     184             : 
+     185             :     virtual K_t computeKalmanGain([[maybe_unused]] const x_t& x, [[maybe_unused]] const z_t& inn, const K_t& Pxz, const Pzz_t& Pzz) const;
+     186             : 
+     187             :     double m_alpha, m_kappa, m_beta, m_lambda;
+     188             :     W_t m_Wm;
+     189             :     W_t m_Wc;
+     190             : 
+     191             :     transition_model_t m_transition_model;
+     192             :     observation_model_t m_observation_model;
+     193             : 
+     194             :     //}
+     195             :   };
+     196             : 
+     197             : }  // namespace mrs_lib
+     198             : 
+     199             : #include <mrs_lib/impl/ukf.hpp>
+     200             : 
+     201             : #endif
+
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std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > mrs_lib::containerToString<boost::array<int, 3ul> >(boost::array<int, 3ul> const&, char const*)1
std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > mrs_lib::containerToString<__gnu_cxx::__normal_iterator<int*, std::vector<int, std::allocator<int> > > >(__gnu_cxx::__normal_iterator<int*, std::vector<int, std::allocator<int> > >, __gnu_cxx::__normal_iterator<int*, std::vector<int, std::allocator<int> > >, char const*)1
std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > mrs_lib::containerToString<__gnu_cxx::__normal_iterator<int*, std::vector<int, std::allocator<int> > > >(__gnu_cxx::__normal_iterator<int*, std::vector<int, std::allocator<int> > >, __gnu_cxx::__normal_iterator<int*, std::vector<int, std::allocator<int> > >, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1
std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > mrs_lib::containerToString<int const*>(int const*, int const*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1
int mrs_lib::signum<double>(double)38350
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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)38350
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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       38350 :   int signum(T val)
+     139             :   {
+     140       38350 :     return (T(0) < val) - (val < T(0));
+     141             :   }
+     142             : 
+     143             : }  // namespace mrs_lib
+     144             : 
+     145             : #endif
+
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+ + + diff --git a/mrs_lib/include/mrs_lib/utils.h.gcov.overview.html b/mrs_lib/include/mrs_lib/utils.h.gcov.overview.html new file mode 100644 index 0000000000..d983ecb00f --- /dev/null +++ b/mrs_lib/include/mrs_lib/utils.h.gcov.overview.html @@ -0,0 +1,57 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/utils.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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Date:2024-01-20 21:44:18Functions:11100.0 %
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mrs_lib::VisualObject::operator<(mrs_lib::VisualObject const&) const589
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mrs_lib::VisualObject::operator<(mrs_lib::VisualObject const&) const589
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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/TrajectoryReference.h>
+      15             : 
+      16             : #define DEFAULT_ELLIPSE_POINTS 64
+      17             : 
+      18             : namespace mrs_lib
+      19             : {
+      20             : 
+      21             : enum MarkerType
+      22             : {
+      23             :   POINT    = 0,
+      24             :   LINE     = 1,
+      25             :   TRIANGLE = 2
+      26             : };
+      27             : 
+      28             : class VisualObject {
+      29             : 
+      30             : 
+      31             : public:
+      32             :   VisualObject(const Eigen::Vector3d& point, const double r, const double g, const double b, const double a, const ros::Duration& timeout,
+      33             :                const unsigned long& id);
+      34             : 
+      35             :   VisualObject(const mrs_lib::geometry::Ray& ray, const double r, const double g, const double b, const double a, const ros::Duration& timeout,
+      36             :                const unsigned long& id);
+      37             : 
+      38             :   VisualObject(const mrs_lib::geometry::Triangle& triangle, const double r, const double g, const double b, const double a, const ros::Duration& timeout,
+      39             :                const bool filled, const unsigned long& id);
+      40             : 
+      41             :   VisualObject(const mrs_lib::geometry::Rectangle& rectangle, const double r, const double g, const double b, const double a, const ros::Duration& timeout,
+      42             :                const bool filled, const unsigned long& id);
+      43             : 
+      44             :   VisualObject(const mrs_lib::geometry::Cuboid& cuboid, const double r, const double g, const double b, const double a, const ros::Duration& timeout,
+      45             :                const bool filled, const unsigned long& id);
+      46             : 
+      47             :   VisualObject(const mrs_lib::geometry::Ellipse& ellipse, const double r, const double g, const double b, const double a, const ros::Duration& timeout,
+      48             :                const bool filled, const unsigned long& id, const int num_points = DEFAULT_ELLIPSE_POINTS);
+      49             : 
+      50             :   VisualObject(const mrs_lib::geometry::Cylinder& cylinder, const double r, const double g, const double b, const double a, const ros::Duration& timeout,
+      51             :                const bool filled, const bool capped, const unsigned long& id, const int num_sides = DEFAULT_ELLIPSE_POINTS);
+      52             : 
+      53             :   VisualObject(const mrs_lib::geometry::Cone& cone, const double r, const double g, const double b, const double a, const ros::Duration& timeout,
+      54             :                const bool filled, const bool capped, const unsigned long& id, const int num_sides = DEFAULT_ELLIPSE_POINTS);
+      55             : 
+      56             :   VisualObject(const mrs_msgs::TrajectoryReference& traj, const double r, const double g, const double b, const double a, const ros::Duration& timeout,
+      57             :                const bool filled, const unsigned long& id);
+      58             : 
+      59             : 
+      60             : public:
+      61             :   unsigned long getID() const;
+      62             :   int           getType() const;
+      63             :   bool          isTimedOut() const;
+      64             : 
+      65             :   const std::vector<geometry_msgs::Point> getPoints() const;
+      66             :   const std::vector<std_msgs::ColorRGBA>  getColors() const;
+      67             : 
+      68         589 :   bool operator<(const VisualObject& other) const {
+      69         589 :     return id_ < other.id_;
+      70             :   }
+      71             : 
+      72             :   bool operator>(const VisualObject& other) const {
+      73             :     return id_ > other.id_;
+      74             :   }
+      75             : 
+      76             :   bool operator==(const VisualObject& other) const {
+      77             :     return id_ == other.id_;
+      78             :   }
+      79             : 
+      80             : private:
+      81             :   const unsigned long               id_;
+      82             :   MarkerType                        type_;
+      83             :   std::vector<geometry_msgs::Point> points_;
+      84             :   std::vector<std_msgs::ColorRGBA>  colors_;
+      85             :   ros::Time                         timeout_time_;
+      86             : 
+      87             :   void addRay(const mrs_lib::geometry::Ray& ray, const double r, const double g, const double b, const double a);
+      88             : 
+      89             :   void addTriangle(const mrs_lib::geometry::Triangle& triangle, const double r, const double g, const double b, const double a, const bool filled);
+      90             : 
+      91             :   void 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             : };  // namespace batch_visualizer
+      95             : 
+      96             : }  // namespace mrs_lib
+      97             : 
+      98             : #endif
+
+
+
+ + + + +
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+ + + diff --git a/mrs_lib/include/mrs_lib/visual_object.h.gcov.overview.html b/mrs_lib/include/mrs_lib/visual_object.h.gcov.overview.html new file mode 100644 index 0000000000..a2ea444b1d --- /dev/null +++ b/mrs_lib/include/mrs_lib/visual_object.h.gcov.overview.html @@ -0,0 +1,45 @@ + + + + + + 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 + + +
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Test:MRS UAV System - Test coverage reportLines:21222494.6 %
Date:2024-01-20 21:44:18Functions:394195.1 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::AttitudeConverter::setYaw(double const&)0
mrs_lib::Vector3Converter::operator tf2::Vector3() const0
mrs_lib::EulerAttitude::EulerAttitude(double const&, double const&, double const&)1
mrs_lib::Vector3Converter::Vector3Converter(double const&, double const&, double const&)1
mrs_lib::AttitudeConverter::getExtrinsicRPY()1
mrs_lib::AttitudeConverter::getIntrinsicRPY()1
mrs_lib::AttitudeConverter::getRoll()1
mrs_lib::AttitudeConverter::getPitch()1
mrs_lib::AttitudeConverter::AttitudeConverter(tf::Quaternion)1
mrs_lib::AttitudeConverter::AttitudeConverter(tf2::Matrix3x3)1
mrs_lib::AttitudeConverter::AttitudeConverter(mrs_lib::EulerAttitude const&)1
mrs_lib::EulerAttitude::yaw() const1
mrs_lib::EulerAttitude::roll() const1
mrs_lib::EulerAttitude::pitch() const1
mrs_lib::Vector3Converter::operator geometry_msgs::Vector3_<std::allocator<void> >() const1
mrs_lib::AttitudeConverter::operator tf::Quaternion() const1
mrs_lib::AttitudeConverter::operator mrs_lib::EulerAttitude() const1
mrs_lib::AttitudeConverter::getVectorX()3
mrs_lib::AttitudeConverter::getVectorY()3
mrs_lib::Vector3Converter::Vector3Converter(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)16584
mrs_lib::AttitudeConverter::getYawRateIntrinsic(double const&)72342
mrs_lib::AttitudeConverter::operator std::tuple<double&, double&, double&>()87829
mrs_lib::AttitudeConverter::getYaw()127238
mrs_lib::AttitudeConverter::calculateRPY()127243
mrs_lib::Vector3Converter::Vector3Converter(geometry_msgs::Vector3_<std::allocator<void> > const&)182660
mrs_lib::AttitudeConverter::getHeadingRate(mrs_lib::Vector3Converter const&)199242
mrs_lib::AttitudeConverter::setHeading(double const&)219225
mrs_lib::AttitudeConverter::getVectorZ()221223
mrs_lib::AttitudeConverter::operator tf2::Transform() const273992
mrs_lib::AttitudeConverter::operator tf2::Matrix3x3() const275451
mrs_lib::AttitudeConverter::AttitudeConverter(Eigen::Quaternion<double, 0>)312332
mrs_lib::Vector3Converter::operator Eigen::Matrix<double, 3, 1, 0, 3, 1>() const420472
mrs_lib::AttitudeConverter::operator tf2::Quaternion() const624924
mrs_lib::AttitudeConverter::AttitudeConverter(tf2::Quaternion)655237
mrs_lib::AttitudeConverter::AttitudeConverter(Eigen::Matrix<double, 3, 3, 0, 3, 3>)847776
mrs_lib::AttitudeConverter::operator Eigen::Matrix<double, 3, 3, 0, 3, 3>() const1024393
mrs_lib::AttitudeConverter::getHeading()1096923
mrs_lib::AttitudeConverter::AttitudeConverter(geometry_msgs::Quaternion_<std::allocator<void> >)2440596
mrs_lib::AttitudeConverter::AttitudeConverter(double const&, double const&, double const&, mrs_lib::RPY_convention_t const&)5060174
mrs_lib::AttitudeConverter::operator geometry_msgs::Quaternion_<std::allocator<void> >() const5878568
mrs_lib::AttitudeConverter::validateOrientation()9315299
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Test:MRS UAV System - Test coverage reportLines:21222494.6 %
Date:2024-01-20 21:44:18Functions:394195.1 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::EulerAttitude::EulerAttitude(double const&, double const&, double const&)1
mrs_lib::Vector3Converter::Vector3Converter(geometry_msgs::Vector3_<std::allocator<void> > const&)182660
mrs_lib::Vector3Converter::Vector3Converter(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)16584
mrs_lib::Vector3Converter::Vector3Converter(double const&, double const&, double const&)1
mrs_lib::AttitudeConverter::getHeading()1096923
mrs_lib::AttitudeConverter::getVectorX()3
mrs_lib::AttitudeConverter::getVectorY()3
mrs_lib::AttitudeConverter::getVectorZ()221223
mrs_lib::AttitudeConverter::setHeading(double const&)219225
mrs_lib::AttitudeConverter::calculateRPY()127243
mrs_lib::AttitudeConverter::getHeadingRate(mrs_lib::Vector3Converter const&)199242
mrs_lib::AttitudeConverter::getExtrinsicRPY()1
mrs_lib::AttitudeConverter::getIntrinsicRPY()1
mrs_lib::AttitudeConverter::getYawRateIntrinsic(double const&)72342
mrs_lib::AttitudeConverter::validateOrientation()9315299
mrs_lib::AttitudeConverter::getYaw()127238
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> >)2440596
mrs_lib::AttitudeConverter::AttitudeConverter(tf::Quaternion)1
mrs_lib::AttitudeConverter::AttitudeConverter(tf2::Quaternion)655237
mrs_lib::AttitudeConverter::AttitudeConverter(tf2::Matrix3x3)1
mrs_lib::AttitudeConverter::AttitudeConverter(Eigen::Quaternion<double, 0>)312332
mrs_lib::AttitudeConverter::AttitudeConverter(Eigen::Matrix<double, 3, 3, 0, 3, 3>)847776
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&)5060174
mrs_lib::AttitudeConverter::operator std::tuple<double&, double&, double&>()87829
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>() const420472
mrs_lib::AttitudeConverter::operator geometry_msgs::Quaternion_<std::allocator<void> >() const5878568
mrs_lib::AttitudeConverter::operator tf::Quaternion() const1
mrs_lib::AttitudeConverter::operator tf2::Quaternion() const624924
mrs_lib::AttitudeConverter::operator tf2::Matrix3x3() const275451
mrs_lib::AttitudeConverter::operator tf2::Transform() const273992
mrs_lib::AttitudeConverter::operator Eigen::Matrix<double, 3, 3, 0, 3, 3>() const1024393
mrs_lib::AttitudeConverter::operator mrs_lib::EulerAttitude() const1
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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:2024-01-20 21:44:18Functions:394195.1 %
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+
          Line data    Source code
+
+       1             : // clang: TomasFormat
+       2             : 
+       3             : #include <mrs_lib/attitude_converter.h>
+       4             : #include <mrs_lib/utils.h>
+       5             : 
+       6             : using quat_t = Eigen::Quaterniond;
+       7             : 
+       8             : namespace mrs_lib
+       9             : {
+      10             : 
+      11             : /* class EulerAttitude //{ */
+      12             : 
+      13           1 : EulerAttitude::EulerAttitude(const double& roll, const double& pitch, const double& yaw) : roll_(roll), pitch_(pitch), yaw_(yaw) {
+      14           1 : }
+      15             : 
+      16           1 : double EulerAttitude::roll(void) const {
+      17           1 :   return roll_;
+      18             : }
+      19             : 
+      20           1 : double EulerAttitude::pitch(void) const {
+      21           1 :   return pitch_;
+      22             : }
+      23             : 
+      24           1 : double EulerAttitude::yaw(void) const {
+      25           1 :   return yaw_;
+      26             : }
+      27             : 
+      28             : //}
+      29             : 
+      30             : /* class Vector3Converter //{ */
+      31             : 
+      32       16584 : Vector3Converter::Vector3Converter(const Eigen::Vector3d& vector3) {
+      33             : 
+      34       16584 :   vector3_[0] = vector3[0];
+      35       16584 :   vector3_[1] = vector3[1];
+      36       16584 :   vector3_[2] = vector3[2];
+      37       16584 : }
+      38             : 
+      39      182660 : Vector3Converter::Vector3Converter(const geometry_msgs::Vector3& vector3) {
+      40             : 
+      41      182632 :   vector3_[0] = vector3.x;
+      42      182649 :   vector3_[1] = vector3.y;
+      43      182588 :   vector3_[2] = vector3.z;
+      44      182605 : }
+      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      420472 : Vector3Converter::operator Eigen::Vector3d() const {
+      59             : 
+      60      420472 :   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     5060174 : AttitudeConverter::AttitudeConverter(const double& roll, const double& pitch, const double& yaw, const RPY_convention_t& format) {
+      79             : 
+      80     5058667 :   switch (format) {
+      81             : 
+      82     5058790 :     case RPY_EXTRINSIC: {
+      83     5058790 :       tf2_quaternion_.setRPY(roll, pitch, yaw);
+      84     5058850 :       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     5058727 :   validateOrientation();
+     104     5059298 : }
+     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     2440596 : AttitudeConverter::AttitudeConverter(const geometry_msgs::Quaternion quaternion) {
+     117     2440109 :   tf2_quaternion_.setX(quaternion.x);
+     118     2439605 :   tf2_quaternion_.setY(quaternion.y);
+     119     2440316 :   tf2_quaternion_.setZ(quaternion.z);
+     120     2440586 :   tf2_quaternion_.setW(quaternion.w);
+     121             : 
+     122     2440620 :   validateOrientation();
+     123     2440008 : }
+     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      312332 : AttitudeConverter::AttitudeConverter(const Eigen::Quaterniond quaternion) {
+     132      312332 :   tf2_quaternion_.setX(quaternion.x());
+     133      312332 :   tf2_quaternion_.setY(quaternion.y());
+     134      312332 :   tf2_quaternion_.setZ(quaternion.z());
+     135      312332 :   tf2_quaternion_.setW(quaternion.w());
+     136             : 
+     137      312332 :   validateOrientation();
+     138      312332 : }
+     139             : 
+     140      847776 : AttitudeConverter::AttitudeConverter(const Eigen::Matrix3d matrix) {
+     141      845939 :   Eigen::Quaterniond quaternion = Eigen::Quaterniond(matrix);
+     142             : 
+     143      846780 :   tf2_quaternion_.setX(quaternion.x());
+     144      845851 :   tf2_quaternion_.setY(quaternion.y());
+     145      846550 :   tf2_quaternion_.setZ(quaternion.z());
+     146      846433 :   tf2_quaternion_.setW(quaternion.w());
+     147             : 
+     148      846557 :   validateOrientation();
+     149      844745 : }
+     150             : 
+     151      655237 : AttitudeConverter::AttitudeConverter(const tf2::Quaternion quaternion) {
+     152             : 
+     153      654390 :   tf2_quaternion_ = quaternion;
+     154             : 
+     155      654390 :   validateOrientation();
+     156      654388 : }
+     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      624924 : AttitudeConverter::operator tf2::Quaternion() const {
+     170      624924 :   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     5878568 : AttitudeConverter::operator geometry_msgs::Quaternion() const {
+     186             : 
+     187     5878568 :   geometry_msgs::Quaternion geom_quaternion;
+     188             : 
+     189     5877541 :   geom_quaternion.x = tf2_quaternion_.x();
+     190     5874289 :   geom_quaternion.y = tf2_quaternion_.y();
+     191     5874358 :   geom_quaternion.z = tf2_quaternion_.z();
+     192     5875183 :   geom_quaternion.w = tf2_quaternion_.w();
+     193             : 
+     194     5875022 :   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     1024393 : AttitudeConverter::operator Eigen::Matrix3d() const {
+     206             : 
+     207     1024393 :   Eigen::Quaterniond quaternion(tf2_quaternion_.w(), tf2_quaternion_.x(), tf2_quaternion_.y(), tf2_quaternion_.z());
+     208             : 
+     209     2048203 :   return quaternion.toRotationMatrix();
+     210             : }
+     211             : 
+     212       87829 : AttitudeConverter::operator std::tuple<double&, double&, double&>() {
+     213             : 
+     214       87829 :   tf2::Matrix3x3(tf2_quaternion_).getRPY(roll_, pitch_, yaw_);
+     215             : 
+     216       87829 :   return std::tuple<double&, double&, double&>{roll_, pitch_, yaw_};
+     217             : }
+     218             : 
+     219      275451 : AttitudeConverter::operator tf2::Matrix3x3() const {
+     220             : 
+     221      275451 :   return tf2::Matrix3x3(tf2_quaternion_);
+     222             : }
+     223             : 
+     224      273992 : AttitudeConverter::operator tf2::Transform() const {
+     225             : 
+     226      273992 :   return tf2::Transform(tf2_quaternion_);
+     227             : }
+     228             : 
+     229             : //}
+     230             : 
+     231             : /* getters //{ */
+     232             : 
+     233      127238 : double AttitudeConverter::getYaw(void) {
+     234             : 
+     235      127238 :   calculateRPY();
+     236             : 
+     237      127238 :   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     1096923 : double AttitudeConverter::getHeading(void) {
+     255             : 
+     256     1096923 :   tf2::Vector3 b1 = tf2::Vector3(1, 0, 0);
+     257             : 
+     258     1096650 :   tf2::Vector3 x_new = tf2::Transform(tf2_quaternion_) * b1;
+     259             : 
+     260     1096098 :   if (fabs(x_new[0]) <= 1e-3 && fabs(x_new[1]) <= 1e-3) {
+     261           4 :     throw GetHeadingException();
+     262             :   }
+     263             : 
+     264     2191163 :   return atan2(x_new[1], x_new[0]);
+     265             : }
+     266             : 
+     267       72342 : 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       72342 :   if (fabs(heading_rate) < 1e-3) {
+     272       46083 :     return 0;
+     273             :   }
+     274             : 
+     275             :   // prep
+     276       26259 :   Eigen::Matrix3d R = *this;
+     277             : 
+     278             :   // construct the heading orbital velocity vector
+     279       26259 :   Eigen::Vector3d heading_vector   = Eigen::Vector3d(R(0, 0), R(1, 0), 0);
+     280       26259 :   Eigen::Vector3d orbital_velocity = Eigen::Vector3d(0, 0, heading_rate).cross(heading_vector);
+     281             : 
+     282             :   // projector to the heading orbital velocity vector subspace
+     283       26259 :   Eigen::Vector3d b_orb = Eigen::Vector3d(0, 0, 1).cross(heading_vector);
+     284       26259 :   b_orb.normalize();
+     285       26259 :   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       26259 :   Eigen::Vector3d projected = P * R.col(1);
+     289             : 
+     290             : 
+     291       26259 :   double orbital_velocity_norm = orbital_velocity.norm();
+     292       26259 :   double projected_norm        = projected.norm();
+     293             : 
+     294       26259 :   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       26259 :   double direction = mrs_lib::signum(orbital_velocity.dot(projected));
+     300             : 
+     301       26259 :   double output_yaw_rate = direction * (orbital_velocity_norm / projected_norm);
+     302             : 
+     303       26259 :   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       26259 :   return output_yaw_rate;
+     310             : }
+     311             : 
+     312      199242 : double AttitudeConverter::getHeadingRate(const Vector3Converter& attitude_rate) {
+     313             : 
+     314             :   // prep
+     315      199242 :   Eigen::Matrix3d R = *this;
+     316      199223 :   Eigen::Vector3d w = attitude_rate;
+     317             : 
+     318             :   // create the angular velocity tensor
+     319      199145 :   Eigen::Matrix3d W;
+     320      199152 :   W << 0, -w[2], w[1], w[2], 0, -w[0], -w[1], w[0], 0;
+     321             : 
+     322             :   // R derivative
+     323      199151 :   Eigen::Matrix3d R_d = R * W;
+     324             : 
+     325             :   // atan2 derivative
+     326      199195 :   double rx = R(0, 0);  // x-component of body X
+     327      199092 :   double ry = R(1, 0);  // y-component of body Y
+     328             : 
+     329      199136 :   double denom = rx * rx + ry * ry;
+     330             : 
+     331      199136 :   if (fabs(denom) <= 1e-5) {
+     332           0 :     ROS_ERROR("[AttitudeConverter]: getHeadingRate(): denominator near zero!!!");
+     333           0 :     throw MathErrorException();
+     334             :   }
+     335             : 
+     336      199136 :   double atan2_d_x = -ry / denom;
+     337      199136 :   double atan2_d_y = rx / denom;
+     338             : 
+     339             :   // atan2 total differential
+     340      199136 :   double heading_rate = atan2_d_x * R_d(0, 0) + atan2_d_y * R_d(1, 0);
+     341             : 
+     342      199152 :   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      221223 : Vector3Converter AttitudeConverter::getVectorZ(void) {
+     364             : 
+     365      221223 :   tf2::Vector3 b3 = tf2::Vector3(0, 0, 1);
+     366             : 
+     367      221223 :   tf2::Vector3 new_b3 = tf2::Transform(tf2_quaternion_) * b3;
+     368             : 
+     369      442444 :   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      219225 : AttitudeConverter AttitudeConverter::setHeading(const double& heading) {
+     404             : 
+     405             :   // get the Z unit vector after the original rotation
+     406      219225 :   Eigen::Vector3d b3 = getVectorZ();
+     407             : 
+     408             :   // check for singularity: z component of the thrust vector is 0
+     409      219222 :   if (fabs(b3[2]) < 1e-3) {
+     410           1 :     throw SetHeadingException();
+     411             :   }
+     412             : 
+     413             :   // get the desired heading as a vector in 3D
+     414      219221 :   Eigen::Vector3d h(cos(heading), sin(heading), 0);
+     415             : 
+     416      219223 :   Eigen::Matrix3d new_R;
+     417             : 
+     418      219222 :   new_R.col(2) = b3;
+     419             : 
+     420             :   // construct the oblique projection
+     421      219222 :   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      437525 :   Eigen::MatrixXd A = Eigen::MatrixXd(3, 2);
+     425      219071 :   A.col(0)          = projector_body_z_compl.col(0);
+     426      219020 :   A.col(1)          = projector_body_z_compl.col(1);
+     427             : 
+     428             :   // create the basis of the projection null-space complement
+     429      437274 :   Eigen::MatrixXd B = Eigen::MatrixXd(3, 2);
+     430      219068 :   B.col(0)          = Eigen::Vector3d(1, 0, 0);
+     431      218969 :   B.col(1)          = Eigen::Vector3d(0, 1, 0);
+     432             : 
+     433             :   // oblique projector to <range_basis>
+     434      436935 :   Eigen::MatrixXd Bt_A               = B.transpose() * A;
+     435      437291 :   Eigen::MatrixXd Bt_A_pseudoinverse = ((Bt_A.transpose() * Bt_A).inverse()) * Bt_A.transpose();
+     436      218481 :   Eigen::MatrixXd oblique_projector  = A * Bt_A_pseudoinverse * B.transpose();
+     437             : 
+     438      218414 :   new_R.col(0) = oblique_projector * h;
+     439      218035 :   new_R.col(0).normalize();
+     440             : 
+     441             :   // | ------------------------- body y ------------------------- |
+     442             : 
+     443      218331 :   new_R.col(1) = new_R.col(2).cross(new_R.col(0));
+     444      217013 :   new_R.col(1).normalize();
+     445             : 
+     446      436577 :   return AttitudeConverter(new_R);
+     447             : }
+     448             : 
+     449             : //}
+     450             : 
+     451             : // | ------------------------ internal ------------------------ |
+     452             : 
+     453             : /* calculateRPY() //{ */
+     454             : 
+     455      127243 : void AttitudeConverter::calculateRPY(void) {
+     456             : 
+     457      127243 :   if (!got_rpy_) {
+     458             : 
+     459      127243 :     tf2::Matrix3x3(tf2_quaternion_).getRPY(roll_, pitch_, yaw_);
+     460             :   }
+     461      127243 : }
+     462             : 
+     463             : //}
+     464             : 
+     465             : /* validateOrientation() //{ */
+     466             : 
+     467     9315299 : void AttitudeConverter::validateOrientation(void) {
+     468             : 
+     469    18624344 :   if (!std::isfinite(tf2_quaternion_.x()) || !std::isfinite(tf2_quaternion_.y()) || !std::isfinite(tf2_quaternion_.z()) ||
+     470     9306484 :       !std::isfinite(tf2_quaternion_.w())) {
+     471           2 :     throw InvalidAttitudeException();
+     472             :   }
+     473     9308110 : }
+     474             : 
+     475             : //}
+     476             : 
+     477             : }  // namespace mrs_lib
+
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Current view:top level - mrs_lib/src/batch_visualizer - batch_visualizer.cpp (source / functions)HitTotalCoverage
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::BatchVisualizer::addEllipse(mrs_lib::geometry::Ellipse const&, double, double, double, double, bool, int, ros::Duration const&)0
mrs_lib::BatchVisualizer::addCylinder(mrs_lib::geometry::Cylinder const&, double, double, double, double, bool, bool, int, ros::Duration const&)0
mrs_lib::BatchVisualizer::addTriangle(mrs_lib::geometry::Triangle const&, double, double, double, double, bool, ros::Duration const&)0
mrs_lib::BatchVisualizer::addRectangle(mrs_lib::geometry::Rectangle const&, double, double, double, double, bool, ros::Duration const&)0
mrs_lib::BatchVisualizer::addTrajectory(mrs_msgs::TrajectoryReference_<std::allocator<void> > const&, double, double, double, double, bool, ros::Duration const&)0
mrs_lib::BatchVisualizer::setLinesScale(double)0
mrs_lib::BatchVisualizer::addRay(mrs_lib::geometry::Ray const&, double, double, double, double, ros::Duration const&)0
mrs_lib::BatchVisualizer::addCone(mrs_lib::geometry::Cone const&, double, double, double, double, bool, bool, int, ros::Duration const&)0
mrs_lib::BatchVisualizer::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> >)18
mrs_lib::BatchVisualizer::setPointsScale(double)18
mrs_lib::BatchVisualizer::addPoint(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double, double, double, double, ros::Duration const&)118
mrs_lib::BatchVisualizer::initialize()130
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> >)130
mrs_lib::BatchVisualizer::BatchVisualizer()130
mrs_lib::BatchVisualizer::clearBuffers()148
mrs_lib::BatchVisualizer::clearVisuals()148
mrs_lib::BatchVisualizer::~BatchVisualizer()260
mrs_lib::BatchVisualizer::addNullPoint()278
mrs_lib::BatchVisualizer::addNullLine()290
mrs_lib::BatchVisualizer::addNullTriangle()290
mrs_lib::BatchVisualizer::publish()290
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Date:2024-01-20 21:44:18Functions:132259.1 %
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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()130
mrs_lib::BatchVisualizer::addCylinder(mrs_lib::geometry::Cylinder const&, double, double, double, double, bool, bool, int, ros::Duration const&)0
mrs_lib::BatchVisualizer::addNullLine()290
mrs_lib::BatchVisualizer::addTriangle(mrs_lib::geometry::Triangle const&, double, double, double, double, bool, ros::Duration const&)0
mrs_lib::BatchVisualizer::addNullPoint()278
mrs_lib::BatchVisualizer::addRectangle(mrs_lib::geometry::Rectangle const&, double, double, double, double, bool, ros::Duration const&)0
mrs_lib::BatchVisualizer::clearBuffers()148
mrs_lib::BatchVisualizer::clearVisuals()148
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> >)18
mrs_lib::BatchVisualizer::setPointsScale(double)18
mrs_lib::BatchVisualizer::addNullTriangle()290
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::publish()290
mrs_lib::BatchVisualizer::addPoint(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double, double, double, double, ros::Duration const&)118
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> >)130
mrs_lib::BatchVisualizer::BatchVisualizer()130
mrs_lib::BatchVisualizer::~BatchVisualizer()260
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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:16221376.1 %
Date:2024-01-20 21:44:18Functions:132259.1 %
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         130 : BatchVisualizer::BatchVisualizer() {
+      10         130 : }
+      11             : 
+      12         260 : BatchVisualizer::~BatchVisualizer() {
+      13         260 : }
+      14             : 
+      15         130 : BatchVisualizer::BatchVisualizer(ros::NodeHandle &nh, const std::string marker_topic_name, const std::string parent_frame) {
+      16         130 :   this->parent_frame      = parent_frame;
+      17         130 :   this->marker_topic_name = marker_topic_name;
+      18         130 :   initialize();
+      19             : 
+      20         130 :   this->visual_pub = nh.advertise<visualization_msgs::MarkerArray>(marker_topic_name.c_str(), 1);
+      21         130 :   publish();
+      22         130 : }
+      23             : //}
+      24             : 
+      25             : /* setParentFrame //{ */
+      26             : 
+      27          18 : void BatchVisualizer::setParentFrame(const std::string parent_frame) {
+      28          18 :   this->parent_frame               = parent_frame;
+      29          18 :   points_marker.header.frame_id    = parent_frame;
+      30          18 :   triangles_marker.header.frame_id = parent_frame;
+      31          18 :   lines_marker.header.frame_id     = parent_frame;
+      32          18 : }
+      33             : 
+      34             : //}
+      35             : 
+      36             : /* initialize //{ */
+      37         130 : void BatchVisualizer::initialize() {
+      38         130 :   if (initialized) {
+      39           0 :     return;
+      40             :   }
+      41             : 
+      42             :   // setup points marker
+      43         130 :   std::stringstream ss;
+      44         130 :   ss << marker_topic_name << "_points";
+      45         130 :   points_marker.header.frame_id    = parent_frame;
+      46         130 :   points_marker.header.stamp       = ros::Time::now();
+      47         130 :   points_marker.ns                 = ss.str().c_str();
+      48         130 :   points_marker.action             = visualization_msgs::Marker::ADD;
+      49         130 :   points_marker.pose.orientation.w = 1.0;
+      50         130 :   points_marker.id                 = 8;
+      51         130 :   points_marker.type               = visualization_msgs::Marker::POINTS;
+      52             : 
+      53         130 :   points_marker.scale.x = points_scale;
+      54         130 :   points_marker.scale.y = points_scale;
+      55         130 :   points_marker.color.a = 1.0;
+      56             : 
+      57             :   // setup lines marker
+      58         130 :   ss.str(std::string());
+      59         130 :   ss << marker_topic_name << "_lines";
+      60         130 :   lines_marker.header.frame_id    = parent_frame;
+      61         130 :   lines_marker.header.stamp       = ros::Time::now();
+      62         130 :   lines_marker.ns                 = ss.str().c_str();
+      63         130 :   lines_marker.action             = visualization_msgs::Marker::ADD;
+      64         130 :   lines_marker.pose.orientation.w = 1.0;
+      65         130 :   lines_marker.id                 = 5;
+      66         130 :   lines_marker.type               = visualization_msgs::Marker::LINE_LIST;
+      67             : 
+      68         130 :   lines_marker.scale.x = lines_scale;
+      69         130 :   lines_marker.color.a = 1.0;
+      70             : 
+      71             :   // setup triangles marker
+      72         130 :   ss.str(std::string());
+      73         130 :   ss << marker_topic_name << "_triangles";
+      74         130 :   triangles_marker.header.frame_id    = parent_frame;
+      75         130 :   triangles_marker.header.stamp       = ros::Time::now();
+      76         130 :   triangles_marker.ns                 = ss.str().c_str();
+      77         130 :   triangles_marker.action             = visualization_msgs::Marker::ADD;
+      78         130 :   triangles_marker.pose.orientation.w = 1.0;
+      79         130 :   triangles_marker.id                 = 11;
+      80         130 :   triangles_marker.type               = visualization_msgs::Marker::TRIANGLE_LIST;
+      81             : 
+      82         130 :   triangles_marker.scale.x = 1;
+      83         130 :   triangles_marker.scale.y = 1;
+      84         130 :   triangles_marker.scale.z = 1;
+      85         130 :   triangles_marker.color.a = 1.0;
+      86             : 
+      87         130 :   ROS_INFO("[%s]: Batch visualizer loaded with default values", ros::this_node::getName().c_str());
+      88         130 :   initialized = true;
+      89             : }
+      90             : //}
+      91             : 
+      92             : /* addPoint //{ */
+      93         118 : 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         236 :   VisualObject obj = VisualObject(p, r, g, b, a, timeout, uuid++);
+      96         118 :   visual_objects.insert(obj);
+      97         118 : }
+      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             : /* addTrajectory //{ */
+     161           0 : void BatchVisualizer::addTrajectory(const mrs_msgs::TrajectoryReference &traj, const double r, const double g, const double b, const double a,
+     162             :                                     const bool filled, const ros::Duration &timeout) {
+     163           0 :   VisualObject obj = VisualObject(traj, r, g, b, a, timeout, filled, uuid++);
+     164           0 :   visual_objects.insert(obj);
+     165           0 : }
+     166             : //}
+     167             : 
+     168             : /* addNullPoint //{ */
+     169         278 : void BatchVisualizer::addNullPoint() {
+     170         278 :   geometry_msgs::Point p;
+     171         278 :   p.x = 10000.0;
+     172         278 :   p.y = 0.0;
+     173         278 :   p.z = 0.0;
+     174             : 
+     175         278 :   std_msgs::ColorRGBA c;
+     176         278 :   c.r = 1.0;
+     177         278 :   c.g = 1.0;
+     178         278 :   c.b = 1.0;
+     179         278 :   c.a = 1.0;
+     180             : 
+     181         278 :   points_marker.points.push_back(p);
+     182         278 :   points_marker.colors.push_back(c);
+     183         278 : }
+     184             : //}
+     185             : 
+     186             : /* addNullLine //{ */
+     187         290 : void BatchVisualizer::addNullLine() {
+     188         290 :   geometry_msgs::Point p1, p2;
+     189         290 :   p1.x = 10000.0;
+     190         290 :   p1.y = 0.0;
+     191         290 :   p1.z = 0.0;
+     192             : 
+     193         290 :   p2.x = 10001.0;
+     194         290 :   p2.y = 0.0;
+     195         290 :   p2.z = 0.0;
+     196             : 
+     197         290 :   std_msgs::ColorRGBA c;
+     198         290 :   c.r = 1.0;
+     199         290 :   c.g = 1.0;
+     200         290 :   c.b = 1.0;
+     201             : 
+     202         290 :   lines_marker.colors.push_back(c);
+     203         290 :   lines_marker.colors.push_back(c);
+     204             : 
+     205         290 :   lines_marker.points.push_back(p1);
+     206         290 :   lines_marker.points.push_back(p2);
+     207         290 : }
+     208             : //}
+     209             : 
+     210             : /* addNullTriangle //{ */
+     211         290 : void BatchVisualizer::addNullTriangle() {
+     212         290 :   geometry_msgs::Point p1, p2, p3;
+     213         290 :   p1.x = 10000.0;
+     214         290 :   p1.y = 0.0;
+     215         290 :   p1.z = 0.0;
+     216             : 
+     217         290 :   p2.x = 10001.0;
+     218         290 :   p2.y = 0.0;
+     219         290 :   p2.z = 0.0;
+     220             : 
+     221         290 :   std_msgs::ColorRGBA c;
+     222         290 :   c.r = 1.0;
+     223         290 :   c.g = 1.0;
+     224         290 :   c.b = 1.0;
+     225             : 
+     226         290 :   p3.x = 10001.0;
+     227         290 :   p3.y = 0.01;
+     228         290 :   p3.z = 0.0;
+     229         290 :   triangles_marker.colors.push_back(c);
+     230         290 :   triangles_marker.colors.push_back(c);
+     231         290 :   triangles_marker.colors.push_back(c);
+     232             : 
+     233         290 :   triangles_marker.points.push_back(p1);
+     234         290 :   triangles_marker.points.push_back(p2);
+     235         290 :   triangles_marker.points.push_back(p3);
+     236         290 : }
+     237             : //}
+     238             : 
+     239             : /* setPointsScale //{ */
+     240          18 : void BatchVisualizer::setPointsScale(const double scale) {
+     241          18 :   points_scale = scale;
+     242          18 : }
+     243             : //}
+     244             : 
+     245             : /* setLinesScale //{ */
+     246           0 : void BatchVisualizer::setLinesScale(const double scale) {
+     247           0 :   lines_scale = scale;
+     248           0 : }
+     249             : //}
+     250             : 
+     251             : /* clearBuffers //{ */
+     252         148 : void BatchVisualizer::clearBuffers() {
+     253         148 :   visual_objects.clear();
+     254         148 : }
+     255             : //}
+     256             : 
+     257             : /* clearVisuals //{ */
+     258         148 : void BatchVisualizer::clearVisuals() {
+     259         296 :   std::set<VisualObject> visual_objects_tmp;
+     260         148 :   visual_objects_tmp.insert(visual_objects.begin(), visual_objects.end());
+     261             : 
+     262         148 :   visual_objects.clear();
+     263         148 :   publish();
+     264             : 
+     265         148 :   visual_objects.insert(visual_objects_tmp.begin(), visual_objects_tmp.end());
+     266         148 : }
+     267             : //}
+     268             : 
+     269             : /* publish //{ */
+     270         290 : void BatchVisualizer::publish() {
+     271             : 
+     272         290 :   msg.markers.clear();
+     273         290 :   points_marker.points.clear();
+     274         290 :   points_marker.colors.clear();
+     275             : 
+     276         290 :   lines_marker.points.clear();
+     277         290 :   lines_marker.colors.clear();
+     278             : 
+     279         290 :   triangles_marker.points.clear();
+     280         290 :   triangles_marker.colors.clear();
+     281             : 
+     282             :   // fill marker messages and remove objects that have timed out
+     283         395 :   for (auto it = visual_objects.begin(); it != visual_objects.end();) {
+     284         105 :     if (it->isTimedOut()) {
+     285           0 :       it = visual_objects.erase(it);
+     286             :     } else {
+     287         210 :       auto points = it->getPoints();
+     288         210 :       auto colors = it->getColors();
+     289         105 :       switch (it->getType()) {
+     290         105 :         case MarkerType::POINT: {
+     291         105 :           points_marker.points.insert(points_marker.points.end(), points.begin(), points.end());
+     292         105 :           points_marker.colors.insert(points_marker.colors.end(), colors.begin(), colors.end());
+     293         105 :           break;
+     294             :         }
+     295           0 :         case MarkerType::LINE: {
+     296           0 :           lines_marker.points.insert(lines_marker.points.end(), points.begin(), points.end());
+     297           0 :           lines_marker.colors.insert(lines_marker.colors.end(), colors.begin(), colors.end());
+     298           0 :           break;
+     299             :         }
+     300           0 :         case MarkerType::TRIANGLE: {
+     301           0 :           triangles_marker.points.insert(triangles_marker.points.end(), points.begin(), points.end());
+     302           0 :           triangles_marker.colors.insert(triangles_marker.colors.end(), colors.begin(), colors.end());
+     303           0 :           break;
+     304             :         }
+     305             :       }
+     306         105 :       it++;
+     307             :     }
+     308             :   }
+     309             : 
+     310         290 :   auto now = ros::Time::now();
+     311             : 
+     312         290 :   if (!points_marker.points.empty()) {
+     313          12 :     points_marker.scale.x = points_scale;
+     314          12 :     points_marker.scale.y = points_scale;
+     315             :   } else {
+     316         278 :     addNullPoint();
+     317             :   }
+     318         290 :   points_marker.header.stamp = now;
+     319         290 :   msg.markers.push_back(points_marker);
+     320             : 
+     321         290 :   if (!lines_marker.points.empty()) {
+     322           0 :     lines_marker.scale.x = lines_scale;
+     323             :   } else {
+     324         290 :     addNullLine();
+     325             :   }
+     326         290 :   lines_marker.header.stamp = now;
+     327         290 :   msg.markers.push_back(lines_marker);
+     328             : 
+     329         290 :   if (!triangles_marker.points.empty()) {
+     330           0 :     triangles_marker.header.stamp = now;
+     331             :   } else {
+     332         290 :     addNullTriangle();
+     333             :   }
+     334         290 :   triangles_marker.header.stamp = now;
+     335         290 :   msg.markers.push_back(triangles_marker);
+     336             : 
+     337         290 :   if (msg.markers.empty()) {
+     338           0 :     addNullPoint();
+     339           0 :     points_marker.scale.x = 0.1;
+     340           0 :     points_marker.scale.y = 0.1;
+     341           0 :     msg.markers.push_back(points_marker);
+     342             :   }
+     343             : 
+     344         290 :   visual_pub.publish(msg);
+     345         290 : }
+     346             : //}
+     347             : 
+     348             : }  // namespace mrs_lib
+
+
+
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Date:2024-01-20 21:44:18Functions:204346.5 %
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Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
visual_object.cpp +
15.4%15.4%
+ 		15.4 %30 / 19533.3 %7 / 21
batch_visualizer.cpp +
76.1%76.1%
+ 		76.1 %162 / 21359.1 %13 / 22
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Current view:top level - mrs_lib/src/batch_visualizerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:19240847.1 %
Date:2024-01-20 21:44:18Functions:204346.5 %
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visual_object.cpp +
15.4%15.4%
+ 		15.4 %30 / 19533.3 %7 / 21
batch_visualizer.cpp +
76.1%76.1%
+ 		76.1 %162 / 21359.1 %13 / 22
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Generated by: LCOV version 1.14
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Current view:top level - mrs_lib/src/batch_visualizerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:19240847.1 %
Date:2024-01-20 21:44:18Functions:204346.5 %
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batch_visualizer.cpp +
76.1%76.1%
+ 		76.1 %162 / 21359.1 %13 / 22
visual_object.cpp +
15.4%15.4%
+ 		15.4 %30 / 19533.3 %7 / 21
+
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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-sort-c.html b/mrs_lib/src/batch_visualizer/visual_object.cpp.func-sort-c.html new file mode 100644 index 0000000000..496e66ac8e --- /dev/null +++ b/mrs_lib/src/batch_visualizer/visual_object.cpp.func-sort-c.html @@ -0,0 +1,164 @@ + + + + + + + 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:3019515.4 %
Date:2024-01-20 21:44:18Functions:72133.3 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::msgToEigen(geometry_msgs::Point_<std::allocator<void> > const&)0
mrs_lib::VisualObject::addEllipse(mrs_lib::geometry::Ellipse const&, double, double, double, double, bool, int)0
mrs_lib::VisualObject::addTriangle(mrs_lib::geometry::Triangle const&, double, double, double, double, bool)0
mrs_lib::VisualObject::addRay(mrs_lib::geometry::Ray const&, double, double, double, double)0
mrs_lib::VisualObject::VisualObject(mrs_msgs::TrajectoryReference_<std::allocator<void> > const&, double, double, double, double, ros::Duration const&, bool, unsigned long const&)0
mrs_lib::VisualObject::VisualObject(mrs_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() const105
mrs_lib::VisualObject::getType() const105
mrs_lib::VisualObject::getColors() const105
mrs_lib::VisualObject::getPoints() const105
mrs_lib::eigenToMsg(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)118
mrs_lib::VisualObject::VisualObject(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double, double, double, double, ros::Duration const&, unsigned long const&)118
mrs_lib::generateColor(double, double, double, double)118
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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:3019515.4 %
Date:2024-01-20 21:44:18Functions:72133.3 %
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&)118
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&)118
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_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)118
mrs_lib::VisualObject::isTimedOut() const105
mrs_lib::VisualObject::getID() const0
mrs_lib::VisualObject::getType() const105
mrs_lib::VisualObject::getColors() const105
mrs_lib::VisualObject::getPoints() const105
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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:3019515.4 %
Date:2024-01-20 21:44:18Functions:72133.3 %
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         118 : geometry_msgs::Point eigenToMsg(const Eigen::Vector3d& v) {
+      10         118 :   geometry_msgs::Point p;
+      11         118 :   p.x = v.x();
+      12         118 :   p.y = v.y();
+      13         118 :   p.z = v.z();
+      14         118 :   return p;
+      15             : }
+      16             : 
+      17         118 : std_msgs::ColorRGBA generateColor(const double r, const double g, const double b, const double a) {
+      18         118 :   std_msgs::ColorRGBA c;
+      19         118 :   c.r = r;
+      20         118 :   c.g = g;
+      21         118 :   c.b = b;
+      22         118 :   c.a = a;
+      23         118 :   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         118 : VisualObject::VisualObject(const Eigen::Vector3d& point, const double r, const double g, const double b, const double a, const ros::Duration& timeout,
+     116         118 :                            const unsigned long& id)
+     117         118 :     : id_(id) {
+     118         118 :   type_ = MarkerType::POINT;
+     119         118 :   points_.push_back(eigenToMsg(point));
+     120         118 :   colors_.push_back(generateColor(r, g, b, a));
+     121         118 :   if (timeout.toSec() <= 0) {
+     122         118 :     timeout_time_ = ros::Time(0);
+     123             :   } else {
+     124           0 :     timeout_time_ = ros::Time::now() + timeout;
+     125             :   }
+     126         118 : }
+     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::TrajectoryReference //{ */
+     254           0 : VisualObject::VisualObject(const mrs_msgs::TrajectoryReference& traj, const double r, const double g, const double b, const double a,
+     255           0 :                            const ros::Duration& timeout, const bool filled, const unsigned long& id)
+     256           0 :     : id_(id) {
+     257           0 :   if (traj.points.size() < 2) {
+     258           0 :     return;
+     259             :   }
+     260           0 :   if (filled) {
+     261           0 :     for (size_t i = 0; i < traj.points.size() - 1; i++) {
+     262           0 :       Eigen::Vector3d p1, p2;
+     263           0 :       p1.x()   = traj.points[i].position.x;
+     264           0 :       p1.y()   = traj.points[i].position.y;
+     265           0 :       p1.z()   = traj.points[i].position.z;
+     266           0 :       p2.x()   = traj.points[i + 1].position.x;
+     267           0 :       p2.y()   = traj.points[i + 1].position.y;
+     268           0 :       p2.z()   = traj.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 < traj.points.size(); i++) {
+     275           0 :       points_.push_back(traj.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             : /* getID //{ */
+     288           0 : unsigned long VisualObject::getID() const {
+     289           0 :   return id_;
+     290             : }
+     291             : //}
+     292             : 
+     293             : /* getType //{ */
+     294         105 : int VisualObject::getType() const {
+     295         105 :   return type_;
+     296             : }
+     297             : //}
+     298             : 
+     299             : /* isTimedOut //{ */
+     300         105 : bool VisualObject::isTimedOut() const {
+     301         105 :   return !timeout_time_.isZero() && (timeout_time_ - ros::Time::now()).toSec() <= 0;
+     302             : }
+     303             : //}
+     304             : 
+     305             : /* getPoints //{ */
+     306         105 : const std::vector<geometry_msgs::Point> VisualObject::getPoints() const {
+     307         105 :   return points_;
+     308             : }
+     309             : //}
+     310             : 
+     311             : /* getColors //{ */
+     312         105 : const std::vector<std_msgs::ColorRGBA> VisualObject::getColors() const {
+     313         105 :   return colors_;
+     314             : }
+     315             : //}
+     316             : 
+     317             : }  // 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:2024-01-20 21:44:18Functions: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&)69398
mrs_lib::geometry::fromEigen(Eigen::Quaternion<double, 0> const&)69398
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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&)69398
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&)69398
mrs_lib::geometry::fromEigen(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)0
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Date:2024-01-20 21:44:18Functions: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       69398 :     geometry_msgs::Quaternion fromEigen(const Eigen::Quaterniond& what)
+      48             :     {
+      49       69398 :       geometry_msgs::Quaternion q;
+      50       69398 :       q.x = what.x();
+      51       69398 :       q.y = what.y();
+      52       69398 :       q.z = what.z();
+      53       69398 :       q.w = what.w();
+      54       69398 :       return q;
+      55             :     }
+      56             :     
+      57       69398 :     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       69398 :       Eigen::Quaterniond q;
+      61       69398 :       q.x() = what.x;
+      62       69398 :       q.y() = what.y;
+      63       69398 :       q.z() = what.z;
+      64       69398 :       q.w() = what.w;
+      65       69398 :       return q;
+      66             :     }
+      67             :     
+      68             :     //}
+      69             : 
+      70             :     /* conversions from/to OpenCV //{ */
+      71             :     
+      72           1 :     geometry_msgs::Point fromCV(const cv::Point3d& what)
+      73             :     {
+      74           1 :       geometry_msgs::Point pt;
+      75           1 :       pt.x = what.x;
+      76           1 :       pt.y = what.y;
+      77           1 :       pt.z = what.z;
+      78           1 :       return pt;
+      79             :     }
+      80             :     
+      81           1 :     cv::Point3d toCV(const geometry_msgs::Point& what)
+      82             :     {
+      83           1 :       return {what.x, what.y, what.z};
+      84             :     }
+      85             :     
+      86           0 :     cv::Point3d toCV(const geometry_msgs::Vector3& what)
+      87             :     {
+      88           0 :       return {what.x, what.y, what.z};
+      89             :     }
+      90             :     
+      91             :     //}
+      92             : 
+      93             :   }
+      94             : }
+
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+ + + diff --git a/mrs_lib/src/geometry/conversions.cpp.gcov.overview.html b/mrs_lib/src/geometry/conversions.cpp.gcov.overview.html new file mode 100644 index 0000000000..7d113fc895 --- /dev/null +++ b/mrs_lib/src/geometry/conversions.cpp.gcov.overview.html @@ -0,0 +1,44 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/geometry/conversions.cpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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Test:MRS UAV System - Test coverage reportLines:6544514.6 %
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shapes.cpp +
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misc.cpp +
51.6%51.6%
+ 		51.6 %33 / 6443.8 %7 / 16
<unnamed>51.6 %33 / 6443.8 %7 / 16
conversions.cpp +
69.6%69.6%
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<unnamed>69.6 %32 / 4670.0 %7 / 10
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shapes.cpp +
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51.6%51.6%
+ 		51.6 %33 / 6443.8 %7 / 16
<unnamed>51.6 %33 / 6443.8 %7 / 16
conversions.cpp +
69.6%69.6%
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<unnamed>69.6 %32 / 4670.0 %7 / 10
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misc.cpp +
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misc.cpp +
51.6%51.6%
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conversions.cpp +
69.6%69.6%
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misc.cpp +
51.6%51.6%
+ 		51.6 %33 / 6443.8 %7 / 16
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Current view:top level - mrs_lib/src/geometry - misc.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:336451.6 %
Date:2024-01-20 21:44:18Functions:71643.8 %
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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::dist(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&)0
mrs_lib::geometry::haversin(double)0
mrs_lib::geometry::angleBetween(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&)3
mrs_lib::geometry::rotationBetween(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double)3
mrs_lib::geometry::angleaxisBetween(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double)3
mrs_lib::geometry::cross(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 1, 0, 2, 1>)3
mrs_lib::geometry::quaternionFromHeading(double)69404
mrs_lib::geometry::angleBetween(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)105262
mrs_lib::geometry::dist(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)147040
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Current view:top level - mrs_lib/src/geometry - misc.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:336451.6 %
Date:2024-01-20 21:44:18Functions:71643.8 %
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&)105262
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)69404
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&)0
mrs_lib::geometry::dist(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)147040
mrs_lib::geometry::cross(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 1, 0, 2, 1>)3
mrs_lib::geometry::haversin(double)0
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Date:2024-01-20 21:44:18Functions:71643.8 %
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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      105262 :     double angleBetween(const vec3_t& vec1, const vec3_t& vec2)
+      29             :     {
+      30      105262 :       const double sin_12 = vec1.cross(vec2).norm();
+      31      105256 :       const double cos_12 = vec1.dot(vec2);
+      32      105262 :       const double angle = std::atan2(sin_12, cos_12);
+      33      105262 :       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       69404 :     quat_t quaternionFromHeading(const double heading)
+      93             :     {
+      94      138808 :       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           0 :     double dist(const vec2_t& a, const vec2_t& b)
+     171             :     {
+     172             : 
+     173           0 :       return (a - b).norm();
+     174             :     }
+     175             : 
+     176      147040 :     double dist(const vec3_t& a, const vec3_t& b)
+     177             :     {
+     178             : 
+     179      147040 :       return (a - b).norm();
+     180             :     }
+     181             : 
+     182             :     //}
+     183             : 
+     184             :   }  // namespace geometry
+     185             : }  // namespace mrs_lib
+
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+ + diff --git a/mrs_lib/src/geometry/misc.cpp.gcov.png b/mrs_lib/src/geometry/misc.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..8118e0b3b14707468e51b536c53b3fd75d30c55a GIT binary patch literal 760 zcmVi;~Z+NCa7s z+`}tGDv?9e60itJR2Ge^S6M%{VTVw|6uq!RendT&)SOb2s(}qQI&B19>_ghFI?_X) z6RT7W(WGTv8Dkq`=DgWs7srZ30E7Q8MF6eJeOGGzZKuW-dWJ7u>q092M(9I?Gexta z+TV2&zH6pi)<~akQ_0g~vT1@dEf>9%shPsHh2jZ5U)YUFpY7 z^avxVt{SSy>q;-nle{OUR(Thy0Z@2d`nn5PT0NQk`4CvO9!qR0ps60)^}rgq;;8bH zvvKqMxDbmq9zsrlQwcwjz=1^q&+{ltV52wkipM&7-W9H6It$5n;1PQd_Ru1LP236ElC+?{%CJiJQh6EIX7SMfH_^e+m$DxOXz zoe-MTN8@>djMqoYtfxldT^Po-klA)U&Ed@rdt6?_($td8CeSmH@G<)-MPtNYu2X66 zNH8t33c;>l!>xMo<)ZoL-}i(xTE~RfF3)fdLN3xt;zEf=r!xY+ zC=^QhCv7xQP-q`C_PB;e@Cx!@oCB=4Q3WQPfG$ZcmB6ZL>-{zE(jmX0s@GU8hh5 + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/geometry/shapes.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_lib/src/geometry - shapes.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:03350.0 %
Date:2024-01-20 21:44:18Functions: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
+
+
+ + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/src/geometry/shapes.cpp.func.html b/mrs_lib/src/geometry/shapes.cpp.func.html new file mode 100644 index 0000000000..567bf19083 --- /dev/null +++ b/mrs_lib/src/geometry/shapes.cpp.func.html @@ -0,0 +1,352 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/geometry/shapes.cpp - functions + + + + + + + + + + + + + + +
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:2024-01-20 21:44:18Functions:0680.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_lib::geometry::Ray::twopointCast(Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>)0
mrs_lib::geometry::Ray::directionCast(Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>)0
mrs_lib::geometry::Ray::Ray(Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>)0
mrs_lib::geometry::Ray::Ray()0
mrs_lib::geometry::Ray::~Ray()0
mrs_lib::geometry::Cone::Cone(Eigen::Matrix<double, 3, 1, 0, 3, 1>, double, double, Eigen::Matrix<double, 3, 1, 0, 3, 1>)0
mrs_lib::geometry::Cone::Cone()0
mrs_lib::geometry::Cone::~Cone()0
mrs_lib::geometry::Cuboid::Cuboid(Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Quaternion<double, 0>)0
mrs_lib::geometry::Cuboid::Cuboid(Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>)0
mrs_lib::geometry::Cuboid::Cuboid(std::vector<Eigen::Matrix<double, 3, 1, 0, 3, 1>, std::allocator<Eigen::Matrix<double, 3, 1, 0, 3, 1> > >)0
mrs_lib::geometry::Cuboid::Cuboid()0
mrs_lib::geometry::Cuboid::~Cuboid()0
mrs_lib::geometry::Ellipse::Ellipse(Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Quaternion<double, 0>, double, double)0
mrs_lib::geometry::Ellipse::Ellipse()0
mrs_lib::geometry::Ellipse::~Ellipse()0
mrs_lib::geometry::Cylinder::Cylinder(Eigen::Matrix<double, 3, 1, 0, 3, 1>, double, double, Eigen::Quaternion<double, 0>)0
mrs_lib::geometry::Cylinder::Cylinder()0
mrs_lib::geometry::Cylinder::~Cylinder()0
mrs_lib::geometry::Triangle::Triangle(Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>)0
mrs_lib::geometry::Triangle::Triangle()0
mrs_lib::geometry::Triangle::~Triangle()0
mrs_lib::geometry::Rectangle::Rectangle(Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>)0
mrs_lib::geometry::Rectangle::Rectangle(std::vector<Eigen::Matrix<double, 3, 1, 0, 3, 1>, std::allocator<Eigen::Matrix<double, 3, 1, 0, 3, 1> > >)0
mrs_lib::geometry::Rectangle::Rectangle()0
mrs_lib::geometry::Rectangle::~Rectangle()0
mrs_lib::geometry::Ray::p1() const0
mrs_lib::geometry::Ray::p2() const0
mrs_lib::geometry::Ray::direction() const0
mrs_lib::geometry::Cone::projectPoint(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&) const0
mrs_lib::geometry::Cone::h() const0
mrs_lib::geometry::Cone::theta() const0
mrs_lib::geometry::Cone::center() const0
mrs_lib::geometry::Cone::getCap() const0
mrs_lib::geometry::Cone::origin() const0
mrs_lib::geometry::Cone::direction() const0
mrs_lib::geometry::Cuboid::getRectangle(int) const0
mrs_lib::geometry::Cuboid::lookupPoints(int) const0
mrs_lib::geometry::Cuboid::intersectionRay(mrs_lib::geometry::Ray, double) const0
mrs_lib::geometry::Cuboid::center() const0
mrs_lib::geometry::Cuboid::vertices() const0
mrs_lib::geometry::Ellipse::orientation() const0
mrs_lib::geometry::Ellipse::a() const0
mrs_lib::geometry::Ellipse::b() const0
mrs_lib::geometry::Ellipse::center() const0
mrs_lib::geometry::Cylinder::orientation() const0
mrs_lib::geometry::Cylinder::h() const0
mrs_lib::geometry::Cylinder::r() const0
mrs_lib::geometry::Cylinder::center() const0
mrs_lib::geometry::Cylinder::getCap(int) const0
mrs_lib::geometry::Triangle::intersectionRay(mrs_lib::geometry::Ray, double) const0
mrs_lib::geometry::Triangle::a() const0
mrs_lib::geometry::Triangle::b() const0
mrs_lib::geometry::Triangle::c() const0
mrs_lib::geometry::Triangle::center() const0
mrs_lib::geometry::Triangle::normal() const0
mrs_lib::geometry::Triangle::vertices() const0
mrs_lib::geometry::Rectangle::intersectionRay(mrs_lib::geometry::Ray, double) const0
mrs_lib::geometry::Rectangle::a() const0
mrs_lib::geometry::Rectangle::b() const0
mrs_lib::geometry::Rectangle::c() const0
mrs_lib::geometry::Rectangle::d() const0
mrs_lib::geometry::Rectangle::solidAngleRelativeTo(Eigen::Matrix<double, 3, 1, 0, 3, 1>) const0
mrs_lib::geometry::Rectangle::center() const0
mrs_lib::geometry::Rectangle::normal() const0
mrs_lib::geometry::Rectangle::isFacing(Eigen::Matrix<double, 3, 1, 0, 3, 1>) const0
mrs_lib::geometry::Rectangle::vertices() const0
mrs_lib::geometry::Rectangle::triangles() const0
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/src/geometry/shapes.cpp.gcov.frameset.html b/mrs_lib/src/geometry/shapes.cpp.gcov.frameset.html new file mode 100644 index 0000000000..d1dafd1fc9 --- /dev/null +++ b/mrs_lib/src/geometry/shapes.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/geometry/shapes.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_lib/src/geometry/shapes.cpp.gcov.html b/mrs_lib/src/geometry/shapes.cpp.gcov.html new file mode 100644 index 0000000000..2fa109926f --- /dev/null +++ b/mrs_lib/src/geometry/shapes.cpp.gcov.html @@ -0,0 +1,730 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/geometry/shapes.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_lib/src/geometry - shapes.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:03350.0 %
Date:2024-01-20 21:44:18Functions: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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+
          Line data    Source code
+
+       1             : #include <mrs_lib/math.h>
+       2             : 
+       3             : namespace mrs_lib
+       4             : {
+       5             :   /* probit() function //{ */
+       6         202 :   double probit(const double quantile)
+       7             :   {
+       8             :     // polynomial coefficients of the numerator for rational polynomial approximation in the range (0.08; 0.92)
+       9             :     constexpr double a[4] =
+      10             :     {
+      11             :       2.50662823884,
+      12             :     -18.61500062529,
+      13             :      41.39119773534,
+      14             :     -25.44106049637
+      15             :     };
+      16             : 
+      17             :     // polynomial coefficients of the denominator for the rational polynomial approximation in the range (0.08; 0.92)
+      18             :     constexpr double b[4] =
+      19             :     {
+      20             :       -8.47351093090,
+      21             :       23.08336743743,
+      22             :      -21.06224101826,
+      23             :        3.13082909833
+      24             :     };
+      25             : 
+      26             :     // polynomial coefficients of the logarithmical approximation in the range (0; 0.08) U (0.92; 1)
+      27             :     constexpr double c[9] =
+      28             :     {
+      29             :       0.3374754822726147,
+      30             :       0.9761690190917186,
+      31             :       0.1607979714918209,
+      32             :       0.0276438810333863,
+      33             :       0.0038405729373609,
+      34             :       0.0003951896511919,
+      35             :       0.0000321767881768,
+      36             :       0.0000002888167364,
+      37             :       0.0000003960315187
+      38             :     };
+      39             : 
+      40             :     // correctly handle special values
+      41         202 :     if (quantile == 1.0)
+      42           1 :       return std::numeric_limits<double>::infinity();
+      43         201 :     if (quantile == 0.0)
+      44           1 :       return -std::numeric_limits<double>::infinity();
+      45         200 :     if (quantile < 0.0 || quantile > 1.0)
+      46           2 :       return std::numeric_limits<double>::quiet_NaN();
+      47             : 
+      48         198 :     const double y = quantile - 0.5;
+      49         198 :     if (std::abs(y) < 0.42)
+      50             :     {
+      51         168 :       const double r = y*y;
+      52         168 :       const double num = y*((( a[3]*r + a[2] )*r + a[1])*r + a[0]);
+      53         168 :       const double denom = (((( b[3]*r + b[2] )*r + b[1])*r + b[0])*r + 1);
+      54         168 :       return num/denom;
+      55             :     }
+      56             :     else
+      57             :     {
+      58          30 :       const double v = y > 0 ? 1.0 - quantile : quantile;
+      59          30 :       const double r = std::log(-std::log(v));
+      60          30 :       const double x = c[0] + r*( c[1] + r*( c[2] + r*( c[3] + r*( c[4] + r*( c[5] + r*( c[6] + r*( c[7] + r*c[8] )))))));
+      61          30 :       return y < 0 ? -x : x;
+      62             :     }
+      63             :   }
+      64             :   //}
+      65             : }
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::MedianFilter::operator=(mrs_lib::MedianFilter&&)0
mrs_lib::MedianFilter::MedianFilter(mrs_lib::MedianFilter const&)1
mrs_lib::MedianFilter::MedianFilter()1
mrs_lib::MedianFilter::initialized() const1
mrs_lib::MedianFilter::setMaxValue(double)2
mrs_lib::MedianFilter::setMinValue(double)2
mrs_lib::MedianFilter::setBufferLength(unsigned long)2
mrs_lib::MedianFilter::setMaxDifference(double)2
mrs_lib::MedianFilter::clear()2
mrs_lib::MedianFilter::addCheck(double)26
mrs_lib::MedianFilter::MedianFilter(mrs_lib::MedianFilter&&)61
mrs_lib::MedianFilter::operator=(mrs_lib::MedianFilter const&)62
mrs_lib::MedianFilter::MedianFilter(unsigned long, double, double, double)64
mrs_lib::MedianFilter::check(double)99317
mrs_lib::MedianFilter::median() const99323
mrs_lib::MedianFilter::full() const105244
mrs_lib::MedianFilter::add(double)105288
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::MedianFilter::setMaxValue(double)2
mrs_lib::MedianFilter::setMinValue(double)2
mrs_lib::MedianFilter::setBufferLength(unsigned long)2
mrs_lib::MedianFilter::setMaxDifference(double)2
mrs_lib::MedianFilter::add(double)105288
mrs_lib::MedianFilter::check(double)99317
mrs_lib::MedianFilter::clear()2
mrs_lib::MedianFilter::addCheck(double)26
mrs_lib::MedianFilter::MedianFilter(mrs_lib::MedianFilter&&)61
mrs_lib::MedianFilter::MedianFilter(mrs_lib::MedianFilter const&)1
mrs_lib::MedianFilter::MedianFilter(unsigned long, double, double, double)64
mrs_lib::MedianFilter::MedianFilter()1
mrs_lib::MedianFilter::operator=(mrs_lib::MedianFilter&&)0
mrs_lib::MedianFilter::operator=(mrs_lib::MedianFilter const&)62
mrs_lib::MedianFilter::initialized() const1
mrs_lib::MedianFilter::full() const105244
mrs_lib::MedianFilter::median() const99323
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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          64 :   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          64 :       m_max_diff(max_diff)
+      12             :   {
+      13          64 :     m_buffer.set_capacity(buffer_length);
+      14          64 :     m_buffer_sorted.reserve(buffer_length);
+      15          64 :   }
+      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          61 :   MedianFilter::MedianFilter(MedianFilter&& other)
+      32             :   {
+      33          61 :     *this = other;
+      34          61 :   }
+      35             : 
+      36             :   //}
+      37             : 
+      38             :   /* operator=() method and overloads //{ */
+      39          62 :   MedianFilter& MedianFilter::operator=(const MedianFilter& other)
+      40             :   {
+      41          62 :     std::scoped_lock lck(other.m_mtx, m_mtx);
+      42             :   
+      43          62 :     m_buffer = other.m_buffer;
+      44          62 :     m_buffer_sorted = other.m_buffer_sorted;
+      45          62 :     m_median = other.m_median;
+      46             :   
+      47             :     // parameters specified by the user
+      48          62 :     m_min_valid = other.m_min_valid;
+      49          62 :     m_max_valid = other.m_max_valid;
+      50          62 :     m_max_diff = other.m_max_diff;
+      51             :   
+      52         124 :     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      105288 :   void MedianFilter::add(const double value)
+      74             :   {
+      75      210534 :     std::scoped_lock lck(m_mtx);
+      76             :     // add the value to the buffer
+      77      105279 :     m_buffer.push_back(value);
+      78             :     // reset the cached median value
+      79      105246 :     m_median = std::nullopt;
+      80      105266 :   }
+      81             :   //}
+      82             : 
+      83             :   /* check() method //{ */
+      84       99317 :   bool MedianFilter::check(const double value)
+      85             :   {
+      86       99317 :     std::scoped_lock lck(m_mtx);
+      87             :     // check if all constraints are met
+      88       99329 :     const double diff = m_buffer.empty() ? 0.0 : std::abs(median() - value);
+      89      198635 :     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      105244 :   bool MedianFilter::full() const
+     113             :   {
+     114      210504 :     std::scoped_lock lck(m_mtx);
+     115      210516 :     return m_buffer.full();
+     116             :   }
+     117             :   //}
+     118             : 
+     119             :   /* median() method //{ */
+     120       99323 :   double MedianFilter::median() const
+     121             :   {
+     122      198639 :     std::scoped_lock lck(m_mtx);
+     123             :     // if the value was already calculated, just return it
+     124       99338 :     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       99338 :     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       99339 :     m_buffer_sorted.clear();
+     136             :     // copy all elements from the input buffer to buffer_sorted
+     137       99337 :     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       99324 :     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       99278 :     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       99285 :     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       99331 :     if (even_set)
+     148       99315 :       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       99321 :     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)2874
mrs_lib::ParamProvider::addYamlFile(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)9317
mrs_lib::ParamProvider::findYamlNode(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) const62648
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mrs_lib::ParamProvider::addYamlFile(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)9317
mrs_lib::ParamProvider::ParamProvider(ros::NodeHandle const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool)2874
mrs_lib::ParamProvider::findYamlNode(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) const62648
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        2874 :   ParamProvider::ParamProvider(const ros::NodeHandle& nh, std::string node_name, const bool use_rosparam)
+      14        2874 :   : m_nh(nh), m_node_name(std::move(node_name)), m_use_rosparam(use_rosparam)
+      15             :   {
+      16        2874 :   }
+      17             : 
+      18        9317 :   bool ParamProvider::addYamlFile(const std::string& filepath)
+      19             :   {
+      20             :     try
+      21             :     {
+      22       18610 :       const auto loaded_yaml = YAML::LoadFile(filepath);
+      23        9293 :       YAML::Node root;
+      24        9293 :       root["root"] = loaded_yaml;
+      25        9293 :       m_yamls.emplace_back(root);
+      26        9293 :       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          24 :     catch (const YAML::BadFile& e)
+      34             :     {
+      35          24 :       ROS_ERROR_STREAM("[" << m_node_name << "]: File \"" << filepath << "\" does not exist! Parameters will not be loaded: " << e.what());
+      36          24 :       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       62648 :   std::optional<YAML::Node> ParamProvider::findYamlNode(const std::string& param_name) const
+      65             :   {
+      66      323091 :     for (const auto& yaml : m_yamls)
+      67             :     {
+      68             :       // Try to load the parameter sequentially as a map.
+      69      311954 :       auto cur_node_it = std::cbegin(yaml);
+      70             :       // The root should always be a pam
+      71      311955 :       if (!cur_node_it->second.IsMap())
+      72       10167 :         continue;
+      73             : 
+      74      301785 :       bool loaded = true;
+      75             :       {
+      76      301785 :         constexpr char delimiter = '/';
+      77      301785 :         auto substr_start = std::cbegin(param_name);
+      78      301786 :         auto substr_end = substr_start;
+      79      412897 :         do
+      80             :         {
+      81      714683 :           substr_end = std::find(substr_start, std::cend(param_name), delimiter);
+      82             :           // why can't substr or string_view take iterators? :'(
+      83      714678 :           const auto start_pos = std::distance(std::cbegin(param_name), substr_start);
+      84      714674 :           const auto count = std::distance(substr_start, substr_end);
+      85      714678 :           const std::string param_substr = param_name.substr(start_pos, count);
+      86      714680 :           substr_start = substr_end+1;
+      87             : 
+      88      714680 :           bool found = false;
+      89     2923998 :           for (auto node_it = std::cbegin(cur_node_it->second); node_it != std::cend(cur_node_it->second); ++node_it)
+      90             :           {
+      91     1494644 :             if (node_it->first.as<std::string>() == param_substr)
+      92             :             {
+      93      464405 :               cur_node_it = node_it;
+      94      464404 :               found = true;
+      95      464404 :               break;
+      96             :             }
+      97             :           }
+      98             : 
+      99      714683 :           if (!found)
+     100             :           {
+     101      250273 :             loaded = false;
+     102      250273 :             break;
+     103             :           }
+     104             :         }
+     105      464405 :         while (substr_end != std::end(param_name) && cur_node_it->second.IsMap());
+     106             :       }
+     107             : 
+     108      301788 :       if (loaded)
+     109             :       {
+     110      103026 :         return cur_node_it->second;
+     111             :       }
+     112             :     }
+     113             : 
+     114       11135 :     return std::nullopt;
+     115             :   }
+     116             : }
+
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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)911
mrs_lib::Profiler::Profiler()911
mrs_lib::Profiler::operator=(mrs_lib::Profiler const&)911
mrs_lib::Profiler::createRoutine(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, double, double, ros::TimerEvent)445450
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)445560
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)1242893
mrs_lib::Profiler::createRoutine(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)1242902
mrs_lib::Routine::end()1688354
mrs_lib::Routine::~Routine()1688485
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_lib/src/profiler/profiler.cpp.func.html b/mrs_lib/src/profiler/profiler.cpp.func.html new file mode 100644 index 0000000000..4307a051a8 --- /dev/null +++ b/mrs_lib/src/profiler/profiler.cpp.func.html @@ -0,0 +1,120 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/profiler/profiler.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/src/profiler - profiler.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:3910138.6 %
Date:2024-01-20 21:44:18Functions:91090.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_lib::Routine::end()1688354
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)1242893
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)445560
mrs_lib::Routine::~Routine()1688485
mrs_lib::Profiler::createRoutine(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)1242902
mrs_lib::Profiler::createRoutine(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, double, double, ros::TimerEvent)445450
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)911
mrs_lib::Profiler::Profiler()911
mrs_lib::Profiler::operator=(mrs_lib::Profiler const&)911
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_lib/src/profiler/profiler.cpp.gcov.frameset.html b/mrs_lib/src/profiler/profiler.cpp.gcov.frameset.html new file mode 100644 index 0000000000..c91c4fd036 --- /dev/null +++ b/mrs_lib/src/profiler/profiler.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/profiler/profiler.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_lib/src/profiler/profiler.cpp.gcov.html b/mrs_lib/src/profiler/profiler.cpp.gcov.html new file mode 100644 index 0000000000..ac9d3c4ebf --- /dev/null +++ b/mrs_lib/src/profiler/profiler.cpp.gcov.html @@ -0,0 +1,301 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/profiler/profiler.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/src/profiler - profiler.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:3910138.6 %
Date:2024-01-20 21:44:18Functions: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         911 : Profiler::Profiler() {
+      11         911 : }
+      12             : 
+      13         911 : Profiler::Profiler(ros::NodeHandle& nh, std::string _node_name_, bool profiler_enabled) {
+      14             : 
+      15         911 :   this->nh_                = std::make_shared<ros::NodeHandle>(nh);
+      16         911 :   this->_node_name_        = _node_name_;
+      17         911 :   this->_profiler_enabled_ = profiler_enabled;
+      18             : 
+      19         911 :   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         911 :   ROS_INFO("[%s]: profiler initialized", _node_name_.c_str());
+      25             : 
+      26         911 :   this->is_initialized_ = true;
+      27         911 : }
+      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         911 : Profiler& Profiler::operator=(const Profiler& other) {
+      43             : 
+      44         911 :   if (this == &other) {
+      45           0 :     return *this;
+      46             :   }
+      47             : 
+      48         911 :   this->is_initialized_    = other.is_initialized_;
+      49         911 :   this->nh_                = other.nh_;
+      50         911 :   this->_node_name_        = other._node_name_;
+      51         911 :   this->_profiler_enabled_ = other._profiler_enabled_;
+      52             : 
+      53         911 :   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         911 :   return *this;
+      59             : }
+      60             : 
+      61             : //}
+      62             : 
+      63             : /* Profiler::registerRoutine() for periodic //{ */
+      64             : 
+      65      445450 : Routine Profiler::createRoutine(std::string name, double expected_rate, double threshold, ros::TimerEvent event) {
+      66             : 
+      67      445450 :   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     1242902 : Routine Profiler::createRoutine(std::string name) {
+      75             : 
+      76     1242902 :   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      445560 : Routine::Routine(std::string name, std::string node_name, double expected_rate, double threshold, std::shared_ptr<ros::Publisher> publisher,
+      86      445560 :                  std::shared_ptr<std::mutex> mutex_publisher, bool profiler_enabled, ros::TimerEvent event) {
+      87             : 
+      88      444866 :   if (!profiler_enabled) {
+      89      444925 :     return;
+      90             :   }
+      91             : 
+      92           1 :   _threshold_ = threshold;
+      93             : 
+      94           1 :   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     1242893 : Routine::Routine(std::string name, std::string node_name, std::shared_ptr<ros::Publisher> publisher, std::shared_ptr<std::mutex> mutex_publisher,
+     141     1242893 :                  bool profiler_enabled) {
+     142             : 
+     143     1242276 :   if (!profiler_enabled) {
+     144     1242287 :     return;
+     145             :   }
+     146             : 
+     147           0 :   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     1688354 : void Routine::end(void) {
+     186             : 
+     187     1688354 :   if (!_profiler_enabled_) {
+     188     1688139 :     return;
+     189             :   }
+     190             : 
+     191         215 :   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     1688261 : Routine::~Routine() {
+     213             : 
+     214     1688485 :   this->end();
+     215     1687406 : }
+     216             : 
+     217             : }  // namespace mrs_lib
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/src/profiler/profiler.cpp.gcov.overview.html b/mrs_lib/src/profiler/profiler.cpp.gcov.overview.html new file mode 100644 index 0000000000..f66727ff8b --- /dev/null +++ b/mrs_lib/src/profiler/profiler.cpp.gcov.overview.html @@ -0,0 +1,75 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/profiler/profiler.cpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
+ Top

+ Overview +
+ + diff --git a/mrs_lib/src/profiler/profiler.cpp.gcov.png b/mrs_lib/src/profiler/profiler.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..ee7178374126c2cf561db47acab37502e0a548ac GIT binary patch literal 841 zcmV-P1GfB$P)#D`p{NA#Z`qPgMIV2pE;X_TZh;%%g;)Eg0W6tn(>_b{M%ptm^s zPsg)q+5y15pa>VDBIjUM^aDy3Z+Jb<$%>I;+AYgBinU)V3l>mZ4|j@0y2ULj(a#mgsjs=aZ}6&9Z8Pk6yah}WOJ1*I+E_4GKMZE z&}CCi@w`n$xYd|Kg= zHMueQ!@7o4b~b>R@`?G)fZwK(hXLPJiu(aK55p zgu2R#)zD5LxD@(Ku^O88_BIwh2T(x+GUw1WXB;Nsg=wU?UUf%mSD-QPk;k~^TB1O^ zTpyWaq1!kkO^AAn7Nvw{=bA+e!{b(>*djvO)(l_&vVP5G*FzglA7G^FjWa~AkFr-8 zo~>i6&=(S)ouu)sin{oCXWU6vz?ofULRo{~T4;5^AK1}+hLIvVbAMa&jLv`{I+KYd zzX_;s?EgQVNwaYgcbfRl^^%Vp&?Jy8$%n$34f(jdTwws2QSfvo-*t!Vh>j6)6n2_1 z&|EMv@4<@99%-%D?Wn@rG*1-YrYTwMeYb3Ach-I@rE5p!uB*@t|9ok0!0i+OZj4Ik zT%^SEi0dOL(shkXib_cq%k@!-{}w43`YlpzWL6cF3;Sm0itWD}9{NG`k0k#9NVwS- T>2taX00000NkvXXu0mjfhUbsa literal 0 HcmV?d00001 diff --git a/mrs_lib/src/safety_zone/index-detail-sort-f.html b/mrs_lib/src/safety_zone/index-detail-sort-f.html new file mode 100644 index 0000000000..02a4e35719 --- /dev/null +++ b/mrs_lib/src/safety_zone/index-detail-sort-f.html @@ -0,0 +1,128 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/safety_zone + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/src/safety_zoneHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:314963.3 %
Date:2024-01-20 21:44:18Functions:8988.9 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
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Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
safety_zone.cpp +
60.0%60.0%
+ 		60.0 %15 / 2583.3 %5 / 6
<unnamed>60.0 %15 / 2583.3 %5 / 6
line_operations.cpp +
66.7%66.7%
+ 		66.7 %16 / 24100.0 %3 / 3
<unnamed>66.7 %16 / 24100.0 %3 / 3
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/src/safety_zone/index-detail-sort-l.html b/mrs_lib/src/safety_zone/index-detail-sort-l.html new file mode 100644 index 0000000000..b69788bd69 --- /dev/null +++ b/mrs_lib/src/safety_zone/index-detail-sort-l.html @@ -0,0 +1,128 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/safety_zone + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_lib/src/safety_zoneHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:314963.3 %
Date:2024-01-20 21:44:18Functions:8988.9 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
safety_zone.cpp +
60.0%60.0%
+ 		60.0 %15 / 2583.3 %5 / 6
<unnamed>60.0 %15 / 2583.3 %5 / 6
line_operations.cpp +
66.7%66.7%
+ 		66.7 %16 / 24100.0 %3 / 3
<unnamed>66.7 %16 / 24100.0 %3 / 3
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/src/safety_zone/index-detail.html b/mrs_lib/src/safety_zone/index-detail.html new file mode 100644 index 0000000000..2d740fbe99 --- /dev/null +++ b/mrs_lib/src/safety_zone/index-detail.html @@ -0,0 +1,128 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/safety_zone + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_lib/src/safety_zoneHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:314963.3 %
Date:2024-01-20 21:44:18Functions:8988.9 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
line_operations.cpp +
66.7%66.7%
+ 		66.7 %16 / 24100.0 %3 / 3
<unnamed>66.7 %16 / 24100.0 %3 / 3
safety_zone.cpp +
60.0%60.0%
+ 		60.0 %15 / 2583.3 %5 / 6
<unnamed>60.0 %15 / 2583.3 %5 / 6
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_lib/src/safety_zone/index-sort-f.html b/mrs_lib/src/safety_zone/index-sort-f.html new file mode 100644 index 0000000000..487ac56cdc --- /dev/null +++ b/mrs_lib/src/safety_zone/index-sort-f.html @@ -0,0 +1,112 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/safety_zone + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/src/safety_zoneHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:314963.3 %
Date:2024-01-20 21:44:18Functions:8988.9 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
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Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
safety_zone.cpp +
60.0%60.0%
+ 		60.0 %15 / 2583.3 %5 / 6
line_operations.cpp +
66.7%66.7%
+ 		66.7 %16 / 24100.0 %3 / 3
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_lib/src/safety_zone/index-sort-l.html b/mrs_lib/src/safety_zone/index-sort-l.html new file mode 100644 index 0000000000..77468cecc7 --- /dev/null +++ b/mrs_lib/src/safety_zone/index-sort-l.html @@ -0,0 +1,112 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/safety_zone + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_lib/src/safety_zoneHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:314963.3 %
Date:2024-01-20 21:44:18Functions:8988.9 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
safety_zone.cpp +
60.0%60.0%
+ 		60.0 %15 / 2583.3 %5 / 6
line_operations.cpp +
66.7%66.7%
+ 		66.7 %16 / 24100.0 %3 / 3
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_lib/src/safety_zone/index.html b/mrs_lib/src/safety_zone/index.html new file mode 100644 index 0000000000..a7ace87f70 --- /dev/null +++ b/mrs_lib/src/safety_zone/index.html @@ -0,0 +1,112 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/safety_zone + + + + + + + + + + + + + + +
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Current view:top level - mrs_lib/src/safety_zoneHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:314963.3 %
Date:2024-01-20 21:44:18Functions:8988.9 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
line_operations.cpp +
66.7%66.7%
+ 		66.7 %16 / 24100.0 %3 / 3
safety_zone.cpp +
60.0%60.0%
+ 		60.0 %15 / 2583.3 %5 / 6
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_lib/src/safety_zone/line_operations.cpp.func-sort-c.html b/mrs_lib/src/safety_zone/line_operations.cpp.func-sort-c.html new file mode 100644 index 0000000000..c497252cd1 --- /dev/null +++ b/mrs_lib/src/safety_zone/line_operations.cpp.func-sort-c.html @@ -0,0 +1,92 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/safety_zone/line_operations.cpp - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_lib/src/safety_zone - line_operations.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:162466.7 %
Date:2024-01-20 21:44:18Functions:33100.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + +

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>)218
mrs_lib::Intersection::Intersection(bool, bool, Eigen::Matrix<double, 1, 2, 1, 1, 2>)248
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>)248
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_lib/src/safety_zone/line_operations.cpp.func.html b/mrs_lib/src/safety_zone/line_operations.cpp.func.html new file mode 100644 index 0000000000..f2963c40b8 --- /dev/null +++ b/mrs_lib/src/safety_zone/line_operations.cpp.func.html @@ -0,0 +1,92 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/safety_zone/line_operations.cpp - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_lib/src/safety_zone - line_operations.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:162466.7 %
Date:2024-01-20 21:44:18Functions: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>)218
mrs_lib::Intersection::Intersection(bool, bool, Eigen::Matrix<double, 1, 2, 1, 1, 2>)248
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>)248
+
+
+ + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/src/safety_zone/line_operations.cpp.gcov.frameset.html b/mrs_lib/src/safety_zone/line_operations.cpp.gcov.frameset.html new file mode 100644 index 0000000000..e4725be416 --- /dev/null +++ b/mrs_lib/src/safety_zone/line_operations.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/safety_zone/line_operations.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_lib/src/safety_zone/line_operations.cpp.gcov.html b/mrs_lib/src/safety_zone/line_operations.cpp.gcov.html new file mode 100644 index 0000000000..4c175cf45e --- /dev/null +++ b/mrs_lib/src/safety_zone/line_operations.cpp.gcov.html @@ -0,0 +1,143 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/safety_zone/line_operations.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
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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:2024-01-20 21:44:18Functions: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         218 : 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         218 :   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         248 : Intersection::Intersection(bool intersect, bool parallel, Eigen::RowVector2d point) : point(std::move(point)), parallel(parallel), intersect(intersect){}
+      16             : 
+      17             : /* sectionIntersect() //{ */
+      18             : 
+      19         248 : Intersection sectionIntersect(Eigen::RowVector2d start1, Eigen::RowVector2d end1, Eigen::RowVector2d start2, Eigen::RowVector2d end2) {
+      20         248 :   Eigen::RowVector2d vector1 = end1 - start1;
+      21         248 :   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         248 :   double cross            = vector1(0) * vector2(1) - vector1(1) * vector2(0);
+      29         248 :   double difference_cross = (start2(0) - start1(0)) * vector2(1) - (start2(1) - start1(1)) * vector2(0);
+      30             : 
+      31         248 :   if (cross == 0) {
+      32             :     // are parallel
+      33          30 :     if (difference_cross != 0)
+      34          30 :       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         218 :   double             scale1 = difference_cross / cross;
+      48         218 :   Eigen::RowVector2d point  = start1 + scale1 * vector1;
+      49         218 :   double             scale2 = getScale(start2, vector2, point);
+      50             : 
+      51         218 :   if (0 <= scale1 && scale1 <= 1 && 0 <= scale2 && scale2 <= 1) {
+      52           0 :     return Intersection{true, false, point};
+      53             :   }
+      54         218 :   return Intersection{false, false};
+      55             : }
+      56             : 
+      57             : //}
+      58             : 
+      59             : }  // namespace mrs_lib
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/src/safety_zone/line_operations.cpp.gcov.overview.html b/mrs_lib/src/safety_zone/line_operations.cpp.gcov.overview.html new file mode 100644 index 0000000000..0299c5c2d4 --- /dev/null +++ b/mrs_lib/src/safety_zone/line_operations.cpp.gcov.overview.html @@ -0,0 +1,35 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/safety_zone/line_operations.cpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
+ Top

+ Overview +
+ + diff --git a/mrs_lib/src/safety_zone/line_operations.cpp.gcov.png b/mrs_lib/src/safety_zone/line_operations.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..f17bea8867e5900f80693d9429a08dd5c1c6f437 GIT binary patch literal 465 zcmV;?0WSWDP)x`S;$& zh!6sV;6o2ji*1r0-bIVAif(bpzgG0Gm;f;b+KCy$k6* zs4m;HHi$ik5mX|ecdHlV%1G1G#Q0wdsxjOFHw9s>yDgx~&V~I2Q7j6pwWdbYR+}PA z)a9H3)GF?29@(tQ}DV%D5I>#>bITI#a<(uasiqwRl`8#4}cAWZu~^8nKxqW5`|+ zD{t}~@5JhwJTDz@U9X8EsL|jQT1Q;3&qOhbB&eEjshWj7h-17`uxa4>$3$FNY>9oBsNWudC5U^nv{V0@Ny(PO3(N00000NkvXX Hu0mjfFxJW; literal 0 HcmV?d00001 diff --git a/mrs_lib/src/safety_zone/polygon/index-detail-sort-f.html b/mrs_lib/src/safety_zone/polygon/index-detail-sort-f.html new file mode 100644 index 0000000000..8e11a0c444 --- /dev/null +++ b/mrs_lib/src/safety_zone/polygon/index-detail-sort-f.html @@ -0,0 +1,110 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/safety_zone/polygon + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_lib/src/safety_zone/polygonHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:4210340.8 %
Date:2024-01-20 21:44:18Functions:4850.0 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
polygon.cpp +
40.8%40.8%
+ 		40.8 %42 / 10350.0 %4 / 8
<unnamed>40.8 %42 / 10350.0 %4 / 8
+
+
+ + + + +
Generated by: LCOV version 1.14
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Current view:top level - mrs_lib/src/safety_zone/polygonHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:4210340.8 %
Date:2024-01-20 21:44:18Functions:4850.0 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
polygon.cpp +
40.8%40.8%
+ 		40.8 %42 / 10350.0 %4 / 8
<unnamed>40.8 %42 / 10350.0 %4 / 8
+
+
+ + + + +
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/safety_zone/polygonHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:4210340.8 %
Date:2024-01-20 21:44:18Functions:4850.0 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
polygon.cpp +
40.8%40.8%
+ 		40.8 %42 / 10350.0 %4 / 8
<unnamed>40.8 %42 / 10350.0 %4 / 8
+
+
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Generated by: LCOV version 1.14
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Current view:top level - mrs_lib/src/safety_zone/polygonHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:4210340.8 %
Date:2024-01-20 21:44:18Functions:4850.0 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
polygon.cpp +
40.8%40.8%
+ 		40.8 %42 / 10350.0 %4 / 8
+
+
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Generated by: LCOV version 1.14
+
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Current view:top level - mrs_lib/src/safety_zone/polygonHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:4210340.8 %
Date:2024-01-20 21:44:18Functions:4850.0 %
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Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
polygon.cpp +
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+
+
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Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_lib/src/safety_zone/polygon/index.html b/mrs_lib/src/safety_zone/polygon/index.html new file mode 100644 index 0000000000..31f781c38e --- /dev/null +++ b/mrs_lib/src/safety_zone/polygon/index.html @@ -0,0 +1,102 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/safety_zone/polygon + + + + + + + + + + + + + + +
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Current view:top level - mrs_lib/src/safety_zone/polygonHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:4210340.8 %
Date:2024-01-20 21:44:18Functions:4850.0 %
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Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
polygon.cpp +
40.8%40.8%
+ 		40.8 %42 / 10350.0 %4 / 8
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_lib/src/safety_zone/polygon/polygon.cpp.func-sort-c.html b/mrs_lib/src/safety_zone/polygon/polygon.cpp.func-sort-c.html new file mode 100644 index 0000000000..8ba3e60952 --- /dev/null +++ b/mrs_lib/src/safety_zone/polygon/polygon.cpp.func-sort-c.html @@ -0,0 +1,112 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/safety_zone/polygon/polygon.cpp - functions + + + + + + + + + + + + + + +
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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:2024-01-20 21:44:18Functions:4850.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::Polygon::inflateSelf(double)0
mrs_lib::Polygon::isClockwise()0
mrs_lib::lineIntersectGivenVector(Eigen::Matrix<double, 1, 2, 1, 1, 2>, Eigen::Matrix<double, 1, 2, 1, 1, 2>, Eigen::Matrix<double, 1, 2, 1, 1, 2>, Eigen::Matrix<double, 1, 2, 1, 1, 2>)0
mrs_lib::movePoint(Eigen::Matrix<double, 1, 2, 1, 1, 2>, double, Eigen::Matrix<double, 1, 2, 1, 1, 2>)0
mrs_lib::Polygon::Polygon(Eigen::Matrix<double, -1, -1, 0, -1, -1>)57
mrs_lib::Polygon::doesSectionIntersect(double, double, double, double)62
mrs_lib::Polygon::isPointInside(double, double)4319
mrs_lib::Polygon::getPointMessageVector(double)14786
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+
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Generated by: LCOV version 1.14
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Current view:top level - mrs_lib/src/safety_zone/polygon - polygon.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:4210340.8 %
Date:2024-01-20 21:44:18Functions:4850.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

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)4319
mrs_lib::Polygon::doesSectionIntersect(double, double, double, double)62
mrs_lib::Polygon::getPointMessageVector(double)14786
mrs_lib::Polygon::Polygon(Eigen::Matrix<double, -1, -1, 0, -1, -1>)57
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:2024-01-20 21:44:18Functions:4850.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          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          57 : Polygon::Polygon(const Eigen::MatrixXd vertices) : vertices(vertices) {
+      10             : 
+      11          57 :   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          57 :   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          57 :   Eigen::RowVector2d edge1;
+      21          57 :   Eigen::RowVector2d edge2 = vertices.row(1) - vertices.row(0);
+      22         285 :   for (int i = 0; i < vertices.rows(); ++i) {
+      23         228 :     edge1 = edge2;
+      24         228 :     edge2 = vertices.row((i + 2) % vertices.rows()) - vertices.row((i + 1) % vertices.rows());
+      25             : 
+      26         228 :     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         228 :     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          57 : }
+      36             : 
+      37             : //}
+      38             : 
+      39             : /* isPointInside() //{ */
+      40             : 
+      41        4319 : bool Polygon::isPointInside(const double px, const double py) {
+      42             : 
+      43        4319 :   int count = 0;
+      44             : 
+      45             :   // Cast a horizontal ray and see how many times it intersects all the edges
+      46       21595 :   for (int i = 0; i < vertices.rows(); ++i) {
+      47       17276 :     double v1x = vertices(i, 0);
+      48       17276 :     double v1y = vertices(i, 1);
+      49       17276 :     double v2x = vertices((i + 1) % vertices.rows(), 0);
+      50       17276 :     double v2y = vertices((i + 1) % vertices.rows(), 1);
+      51             : 
+      52       17276 :     if (v1y > py && v2y > py)
+      53        4245 :       continue;
+      54       13031 :     if (v1y <= py && v2y <= py)
+      55        4541 :       continue;
+      56        8490 :     double intersect_x    = (v1y == v2y) ? v1x : (py - v1y) * (v2x - v1x) / (v2y - v1y) + v1x;
+      57        8490 :     bool   does_intersect = intersect_x > px;
+      58        8490 :     if (does_intersect)
+      59        4245 :       ++count;
+      60             :   }
+      61             : 
+      62        4319 :   return count % 2;
+      63             : }
+      64             : 
+      65             : //}
+      66             : 
+      67             : /* doesSectionIntersect() //{ */
+      68             : 
+      69          62 : bool Polygon::doesSectionIntersect(const double startX, const double startY, const double endX, const double endY) {
+      70             : 
+      71          62 :   Eigen::RowVector2d start{startX, startY};
+      72          62 :   Eigen::RowVector2d end{endX, endY};
+      73             : 
+      74         310 :   for (int i = 0; i < vertices.rows(); ++i) {
+      75             : 
+      76         248 :     Eigen::RowVector2d edgeStart = vertices.row(i);
+      77         248 :     Eigen::RowVector2d edgeEnd   = vertices.row((i + 1) % vertices.rows());
+      78             : 
+      79         248 :     if (sectionIntersect(start, end, edgeStart, edgeEnd).intersect) {
+      80           0 :       return true;
+      81             :     }
+      82             :   }
+      83             : 
+      84          62 :   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       14786 : std::vector<geometry_msgs::Point> Polygon::getPointMessageVector(const double z) {
+     194       14786 :   std::vector<geometry_msgs::Point> points(vertices.rows());
+     195       73930 :   for (int i = 0; i < vertices.rows(); ++i) {
+     196       59144 :     points[i].x = vertices(i, 0);
+     197       59144 :     points[i].y = vertices(i, 1);
+     198       59144 :     points[i].z = z;
+     199             :   }
+     200             : 
+     201       14786 :   return points;
+     202             : }
+     203             : 
+     204             : //}
+     205             : 
+     206             : }  // namespace mrs_lib
+
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Current view:top level - mrs_lib/src/safety_zone - safety_zone.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:152560.0 %
Date:2024-01-20 21:44:18Functions: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&)57
mrs_lib::SafetyZone::~SafetyZone()57
mrs_lib::SafetyZone::isPathValid(double, double, double, double)62
mrs_lib::SafetyZone::isPointValid(double, double)4319
mrs_lib::SafetyZone::getBorder()7393
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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:2024-01-20 21:44:18Functions: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::isPathValid(double, double, double, double)62
mrs_lib::SafetyZone::isPointValid(double, double)4319
mrs_lib::SafetyZone::getBorder()7393
mrs_lib::SafetyZone::SafetyZone(mrs_lib::Polygon)0
mrs_lib::SafetyZone::SafetyZone(Eigen::Matrix<double, -1, -1, 0, -1, -1> const&)57
mrs_lib::SafetyZone::~SafetyZone()57
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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         114 : SafetyZone::~SafetyZone() {
+      17          57 :   delete outerBorder;
+      18          57 : }
+      19             : 
+      20             : //}
+      21             : 
+      22             : /* SafetyZone() //{ */
+      23             : 
+      24          57 : SafetyZone::SafetyZone(const Eigen::MatrixXd& outerBorderMatrix) {
+      25             : 
+      26             :   try {
+      27          57 :     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          57 : }
+      39             : 
+      40             : //}
+      41             : 
+      42             : /* isPointValid() //{ */
+      43             : 
+      44        4319 : bool SafetyZone::isPointValid(const double px, const double py) {
+      45             : 
+      46        4319 :   if (!outerBorder->isPointInside(px, py)) {
+      47          74 :     return false;
+      48             :   }
+      49             : 
+      50        4245 :   return true;
+      51             : }
+      52             : 
+      53             : //}
+      54             : 
+      55             : /* isPathValid() //{ */
+      56             : 
+      57          62 : bool SafetyZone::isPathValid(const double p1x, const double p1y, const double p2x, const double p2y) {
+      58             : 
+      59          62 :   if (outerBorder->doesSectionIntersect(p1x, p1y, p2x, p2y)) {
+      60           0 :     return false;
+      61             :   }
+      62             : 
+      63          62 :   return true;
+      64             : }
+      65             : 
+      66             : //}
+      67             : 
+      68             : /* getBorder() //{ */
+      69             : 
+      70        7393 : Polygon SafetyZone::getBorder() {
+      71        7393 :   return *outerBorder;
+      72             : }
+      73             : 
+      74             : //}
+      75             : 
+      76             : }  // namespace mrs_lib
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Current view:top level - mrs_lib/src/scope_timer - scope_timer.cpp (source / functions)HitTotalCoverage
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::ScopeTimer::getLifetime()0
mrs_lib::ScopeTimer::ScopeTimer(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Duration const&, bool, std::shared_ptr<mrs_lib::ScopeTimerLogger>)0
mrs_lib::ScopeTimer::ScopeTimer(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, mrs_lib::ScopeTimer::time_point const&, ros::Duration const&, bool, std::shared_ptr<mrs_lib::ScopeTimerLogger>)0
mrs_lib::ScopeTimerLogger::log(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::chrono::time_point<std::chrono::_V2::steady_clock, std::chrono::duration<long, std::ratio<1l, 1000000000l> > > const&, std::chrono::time_point<std::chrono::_V2::steady_clock, std::chrono::duration<long, std::ratio<1l, 1000000000l> > > const&)0
mrs_lib::ScopeTimerLogger::log(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::chrono::time_point<std::chrono::_V2::steady_clock, std::chrono::duration<long, std::ratio<1l, 1000000000l> > > const&, std::chrono::time_point<std::chrono::_V2::steady_clock, std::chrono::duration<long, std::ratio<1l, 1000000000l> > > const&)0
mrs_lib::ScopeTimerLogger::ScopeTimerLogger(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool, int)455
mrs_lib::ScopeTimerLogger::~ScopeTimerLogger()455
mrs_lib::ScopeTimer::checkpoint(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2886194
mrs_lib::ScopeTimer::ScopeTimer(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::shared_ptr<mrs_lib::ScopeTimerLogger>, bool)3607707
mrs_lib::ScopeTimer::~ScopeTimer()3609303
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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:2024-01-20 21:44:18Functions:51050.0 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::ScopeTimer::checkpoint(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2886194
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)3607707
mrs_lib::ScopeTimer::~ScopeTimer()3609303
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)455
mrs_lib::ScopeTimerLogger::~ScopeTimerLogger()455
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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:2024-01-20 21:44:18Functions:51050.0 %
Legend: Lines: + hit + not hit +
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+
          Line data    Source code
+
+       1             : #include <mrs_lib/scope_timer.h>
+       2             : 
+       3             : namespace mrs_lib
+       4             : {
+       5             : 
+       6             : // | --------------------- ScopeTimerLogger --------------------- |
+       7             : 
+       8             : /*//{ ScopeTimerLogger constructor */
+       9         455 : ScopeTimerLogger::ScopeTimerLogger(const std::string& logfile, const bool enable_logging, const int log_precision)
+      10         455 :     : _logging_enabled_(enable_logging), _log_filepath_(logfile) {
+      11             : 
+      12         455 :   if (!_logging_enabled_) {
+      13         455 :     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         455 : ScopeTimerLogger::~ScopeTimerLogger() {
+      47         455 :   if (_logging_enabled_) {
+      48           0 :     ROS_DEBUG("[%s]: ScopeTimerLogger: closing logstream.", ros::this_node::getName().c_str());
+      49           0 :     _logstream_.close();
+      50             :   }
+      51         455 : }
+      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     3607707 : ScopeTimer::ScopeTimer(const std::string& label, const std::shared_ptr<ScopeTimerLogger> scope_timer_logger, const bool enable)
+     104     3607707 :     : _timer_label_(label), _enable_print_or_log(enable), _throttle_period_(ros::Duration(0.0)), _logger_(scope_timer_logger) {
+     105             : 
+     106     3600324 :   checkpoints.push_back(time_point("timer start"));
+     107             : 
+     108     3598247 :   ROS_DEBUG("[%s] Scope timer started with file logger (label: %s).", ros::this_node::getName().c_str(), label.c_str());
+     109     3598247 : }
+     110             : 
+     111             : //}
+     112             : 
+     113             : /* ScopeTimer::checkpoint() //{ */
+     114             : 
+     115     2886194 : void ScopeTimer::checkpoint(const std::string& label) {
+     116             : 
+     117     2886194 :   if (_enable_print_or_log) {
+     118           0 :     checkpoints.push_back(time_point(label));
+     119             :   }
+     120     2886194 : }
+     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    10823671 : ScopeTimer::~ScopeTimer() {
+     136             : 
+     137     3609303 :   if (!_enable_print_or_log) {
+     138     3609378 :     return;
+     139             :   }
+     140             : 
+     141          11 :   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     3607547 : }
+     258             : 
+     259             : //}
+     260             : 
+     261             : }  // namespace mrs_lib
+
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::TimeoutManager::change(unsigned long, ros::Duration const&, std::function<void (ros::Time const&)> const&, ros::Time const&, bool, bool)0
mrs_lib::TimeoutManager::lastReset(unsigned long)0
mrs_lib::TimeoutManager::pauseAll()2
mrs_lib::TimeoutManager::startAll(ros::Time const&)4
mrs_lib::TimeoutManager::pause(unsigned long)9
mrs_lib::TimeoutManager::TimeoutManager(ros::NodeHandle const&, ros::Rate const&)65
mrs_lib::TimeoutManager::registerNew(ros::Duration const&, std::function<void (ros::Time const&)> const&, ros::Time const&, bool, bool)68
mrs_lib::TimeoutManager::start(unsigned long, ros::Time const&)68
mrs_lib::TimeoutManager::started(unsigned long)1569
mrs_lib::TimeoutManager::main_timer_callback(ros::TimerEvent const&)7602
mrs_lib::TimeoutManager::reset(unsigned long, ros::Time const&)113610
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mrs_lib::TimeoutManager::registerNew(ros::Duration const&, std::function<void (ros::Time const&)> const&, ros::Time const&, bool, bool)68
mrs_lib::TimeoutManager::main_timer_callback(ros::TimerEvent const&)7602
mrs_lib::TimeoutManager::pause(unsigned long)9
mrs_lib::TimeoutManager::reset(unsigned long, ros::Time const&)113610
mrs_lib::TimeoutManager::start(unsigned long, ros::Time const&)68
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)1569
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&)65
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Current view:top level - mrs_lib/src/timeout_manager - timeout_manager.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:496279.0 %
Date:2024-01-20 21:44:18Functions:91181.8 %
Legend: Lines: + hit + not hit +
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+
          Line data    Source code
+
+       1             : #include <mrs_lib/timeout_manager.h>
+       2             : 
+       3             : namespace mrs_lib
+       4             : {
+       5             : 
+       6          65 :   TimeoutManager::TimeoutManager(const ros::NodeHandle& nh, const ros::Rate& update_rate)
+       7          65 :     : m_last_id(0)
+       8             :   {
+       9          65 :     m_main_timer = nh.createTimer(update_rate, &TimeoutManager::main_timer_callback, this);
+      10          65 :   }
+      11             : 
+      12             : 
+      13          68 :   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         136 :     std::scoped_lock lck(m_mtx);
+      16          68 :     const auto new_id = m_timeouts.size();
+      17          68 :     const timeout_info_t new_info = {oneshot, autostart, callback, timeout, last_reset, last_reset};
+      18          68 :     m_timeouts.push_back(new_info);
+      19         136 :     return new_id;
+      20             :   }
+      21             : 
+      22      113610 :   void TimeoutManager::reset(const timeout_id_t id, const ros::Time& time)
+      23             :   {
+      24      113610 :     std::scoped_lock lck(m_mtx);
+      25      113609 :     m_timeouts.at(id).last_reset = time;
+      26      113610 :   }
+      27             : 
+      28           9 :   void TimeoutManager::pause(const timeout_id_t id)
+      29             :   {
+      30           9 :     std::scoped_lock lck(m_mtx);
+      31           9 :     m_timeouts.at(id).started = false;
+      32           9 :   }
+      33             : 
+      34          68 :   void TimeoutManager::start(const timeout_id_t id, const ros::Time& time)
+      35             :   {
+      36          68 :     std::scoped_lock lck(m_mtx);
+      37          68 :     m_timeouts.at(id).started = true;
+      38          68 :     m_timeouts.at(id).last_reset = time;
+      39          68 :   }
+      40             : 
+      41           2 :   void TimeoutManager::pauseAll()
+      42             :   {
+      43           4 :     std::scoped_lock lck(m_mtx);
+      44          10 :     for (auto& timeout_info : m_timeouts)
+      45           8 :       timeout_info.started = false;
+      46           2 :   }
+      47             : 
+      48           4 :   void TimeoutManager::startAll(const ros::Time& time)
+      49             :   {
+      50           8 :     std::scoped_lock lck(m_mtx);
+      51          20 :     for (auto& timeout_info : m_timeouts)
+      52             :     {
+      53          16 :       timeout_info.started = true;
+      54          16 :       timeout_info.last_reset = time;
+      55             :     }
+      56           4 :   }
+      57             : 
+      58           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)
+      59             :   {
+      60           0 :     std::scoped_lock lck(m_mtx);
+      61           0 :     auto& timeout_info = m_timeouts.at(id);
+      62           0 :     timeout_info.oneshot = oneshot;
+      63           0 :     timeout_info.started = autostart;
+      64           0 :     timeout_info.timeout = timeout;
+      65           0 :     timeout_info.callback = callback;
+      66           0 :     timeout_info.last_reset = last_reset;
+      67           0 :   }
+      68             : 
+      69           0 :   ros::Time TimeoutManager::lastReset(const timeout_id_t id)
+      70             :   {
+      71           0 :     std::scoped_lock lck(m_mtx);
+      72           0 :     return m_timeouts.at(id).last_reset;
+      73             :   }
+      74             : 
+      75        1569 :   bool TimeoutManager::started(const timeout_id_t id)
+      76             :   {
+      77        1569 :     std::scoped_lock lck(m_mtx);
+      78        3138 :     return m_timeouts.at(id).started;
+      79             :   }
+      80             : 
+      81        7602 :   void TimeoutManager::main_timer_callback([[maybe_unused]] const ros::TimerEvent &evt)
+      82             :   {
+      83        7602 :     const auto now = ros::Time::now();
+      84             : 
+      85       15204 :     std::scoped_lock lck(m_mtx);
+      86       21486 :     for (auto& timeout_info : m_timeouts)
+      87             :     {
+      88             :       // don't worry, this'll get optimized out by the compiler
+      89       13884 :       const bool started = timeout_info.started;
+      90       13884 :       const bool last_reset_timeout = now - timeout_info.last_reset >= timeout_info.timeout;
+      91       13884 :       const bool last_callback_timeout = now - timeout_info.last_callback >= timeout_info.timeout;
+      92       13884 :       if (started && last_reset_timeout && last_callback_timeout)
+      93             :       {
+      94        1685 :         timeout_info.callback(timeout_info.last_reset);
+      95        1685 :         timeout_info.last_callback = now;
+      96             :         // if the timeout is oneshot, pause it
+      97        1685 :         if (timeout_info.oneshot)
+      98           0 :           timeout_info.started = false;
+      99             :       }
+     100             :     }
+     101        7602 :   }
+     102             : }
+
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Current view:top level - mrs_lib/src/timer - timer.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:10511492.1 %
Date:2024-01-20 21:44:18Functions:1515100.0 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::ThreadTimer::Impl::setPeriod(ros::Duration const&, bool)8
mrs_lib::ThreadTimer::Impl::threadFcn()8
mrs_lib::ThreadTimer::Impl::Impl(std::function<void (ros::TimerEvent const&)> const&, ros::Duration const&, bool)8
mrs_lib::ThreadTimer::Impl::~Impl()8
mrs_lib::ThreadTimer::setPeriod(ros::Duration const&, bool)8
mrs_lib::ROSTimer::setPeriod(ros::Duration const&, bool)8
mrs_lib::ThreadTimer::Impl::stop()24
mrs_lib::ThreadTimer::Impl::start()24
mrs_lib::ThreadTimer::stop()24
mrs_lib::ThreadTimer::start()24
mrs_lib::ROSTimer::stop()24
mrs_lib::ROSTimer::start()24
mrs_lib::ThreadTimer::Impl::breakableSleep(ros::Time const&)208
mrs_lib::ThreadTimer::running()208
mrs_lib::ROSTimer::running()216
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Current view:top level - mrs_lib/src/timer - timer.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:10511492.1 %
Date:2024-01-20 21:44:18Functions:1515100.0 %
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Function Name Sort by function nameHit count Sort by hit count
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::stop()24
mrs_lib::ROSTimer::start()24
mrs_lib::ROSTimer::running()216
mrs_lib::ROSTimer::setPeriod(ros::Duration const&, bool)8
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Test:MRS UAV System - Test coverage reportLines:10511492.1 %
Date:2024-01-20 21:44:18Functions:1515100.0 %
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             : /* running() //{ */
+      48             : 
+      49         216 : bool ROSTimer::running()
+      50             : {
+      51         432 :   std::scoped_lock lock(mutex_timer_);
+      52             : 
+      53         216 :   if (timer_)
+      54         216 :     return timer_->hasStarted();
+      55             :   else
+      56           0 :     return false;
+      57             : }
+      58             : 
+      59             : //}
+      60             : 
+      61             : // | ----------------------- ThreadTimer ---------------------- |
+      62             : 
+      63             : /* TheadTimer::start() //{ */
+      64             : 
+      65          24 : void ThreadTimer::start() {
+      66             : 
+      67          24 :   if (impl_) {
+      68          24 :     impl_->start();
+      69             :   }
+      70          24 : }
+      71             : 
+      72             : //}
+      73             : 
+      74             : /* ThreadTimer::stop() //{ */
+      75             : 
+      76          24 : void ThreadTimer::stop() {
+      77             : 
+      78          24 :   if (impl_) {
+      79          24 :     impl_->stop();
+      80             :   }
+      81          24 : }
+      82             : 
+      83             : //}
+      84             : 
+      85             : /* ThreadTimer::setPeriod() //{ */
+      86             : 
+      87           8 : void ThreadTimer::setPeriod(const ros::Duration& duration, [[maybe_unused]] const bool reset) {
+      88             : 
+      89           8 :   if (impl_) {
+      90           8 :     impl_->setPeriod(duration, reset);
+      91             :   }
+      92           8 : }
+      93             : 
+      94             : //}
+      95             : 
+      96             : /* ThreadTimer::running() //{ */
+      97             : 
+      98         208 : bool ThreadTimer::running()
+      99             : {
+     100         208 :   if (impl_)
+     101         208 :     return impl_->running_;
+     102             :   else
+     103           0 :     return false;
+     104             : }
+     105             : 
+     106             : //}
+     107             : 
+     108             : /* ThreadTimer::Impl //{ */
+     109             : 
+     110           8 : ThreadTimer::Impl::Impl(const std::function<void(const ros::TimerEvent&)>& callback, const ros::Duration& delay_dur, const bool oneshot)
+     111           8 :   : callback_(callback), oneshot_(oneshot), delay_dur_(delay_dur)
+     112             : {
+     113           8 :   ending_  = false;
+     114           8 :   running_ = false;
+     115             : 
+     116           8 :   last_real_     = ros::Time(0);
+     117           8 :   last_expected_ = ros::Time(0);
+     118           8 :   next_expected_ = ros::Time(0);
+     119             : 
+     120           8 :   thread_ = std::thread(&ThreadTimer::Impl::threadFcn, this);
+     121           8 : }
+     122             : 
+     123           8 : ThreadTimer::Impl::~Impl()
+     124             : {
+     125             :   {
+     126             :     // signal the thread to end
+     127          16 :     std::scoped_lock lck(mutex_wakeup_, mutex_state_);
+     128           8 :     ending_ = true;
+     129           8 :     wakeup_cond_.notify_all();
+     130             :   }
+     131             :   // wait for it to die
+     132           8 :   thread_.join();
+     133           8 : }
+     134             : 
+     135          24 : void ThreadTimer::Impl::start()
+     136             : {
+     137          48 :   std::scoped_lock lck(mutex_wakeup_, mutex_state_);
+     138          24 :   if (!running_)
+     139             :   {
+     140          24 :     next_expected_ = ros::Time::now() + delay_dur_;
+     141          24 :     running_ = true;
+     142          24 :     wakeup_cond_.notify_all();
+     143             :   }
+     144          24 : }
+     145             : 
+     146          24 : void ThreadTimer::Impl::stop()
+     147             : {
+     148          48 :   std::scoped_lock lck(mutex_wakeup_, mutex_state_);
+     149          24 :   running_ = false;
+     150          24 :   wakeup_cond_.notify_all();
+     151          24 : }
+     152             : 
+     153           8 : void ThreadTimer::Impl::setPeriod(const ros::Duration& duration, [[maybe_unused]] const bool reset)
+     154             : {
+     155          16 :   std::scoped_lock lock(mutex_wakeup_, mutex_state_);
+     156           8 :   delay_dur_ = duration;
+     157             :   // gracefully handle the special case
+     158           8 :   if (duration == ros::Duration(0))
+     159           0 :     this->oneshot_  = true;
+     160           8 : }
+     161             : 
+     162             : //}
+     163             : 
+     164             : /* ThreadTimer::breakableSleep() method //{ */
+     165         408 : bool ThreadTimer::Impl::breakableSleep(const ros::Time& until)
+     166             : {
+     167         408 :   while (ros::ok() && ros::Time::now() < until)
+     168             :   {
+     169         208 :     const std::chrono::nanoseconds dur {(until - ros::Time::now()).toNSec()};
+     170         208 :     const std::chrono::time_point<std::chrono::steady_clock> until_stl = std::chrono::steady_clock::now() + dur;
+     171         208 :     std::unique_lock lck(mutex_wakeup_);
+     172         208 :     if (!ending_ && running_)
+     173         208 :       wakeup_cond_.wait_until(lck, until_stl);
+     174             :     // check the flags while mutex_state_ is locked
+     175         208 :     if (ending_ || !running_)
+     176           8 :       return false;
+     177             :   }
+     178         200 :   return true;
+     179             : }
+     180             : //}
+     181             : 
+     182             : /* ThreadTimer::Impl::threadFcn() //{ */
+     183             : 
+     184         216 : void ThreadTimer::Impl::threadFcn()
+     185             : {
+     186         216 :   while (ros::ok() && !ending_)
+     187             :   {
+     188             :     {
+     189         216 :       std::unique_lock lck(mutex_wakeup_);
+     190             :       // if the timer is not yet started, wait for condition variable notification
+     191         216 :       if (!running_ && !ending_)
+     192          16 :         wakeup_cond_.wait(lck);
+     193             :       // The thread either got cv-notified, or running_ was already true, or it got woken up for some other reason.
+     194             :       // Check if the reason is that we should end (and end if it is).
+     195         216 :       if (ending_)
+     196           8 :         break;
+     197             :       // Check if the timer is still paused - probably was a spurious wake up (and restart the wait if it is).
+     198         208 :       if (!running_)
+     199           0 :         continue;
+     200             :     }
+     201             : 
+     202             :     // If the flow got here, the thread should attempt to wait for the specified duration.
+     203             :     // first, copy the delay we should wait for in a thread-safe manner
+     204         208 :     ros::Time next_expected;
+     205             :     {
+     206         208 :       std::scoped_lock lck(mutex_state_);
+     207         208 :       next_expected = next_expected_;
+     208             :     }
+     209         208 :     const bool interrupted = !breakableSleep(next_expected);
+     210         208 :     if (interrupted)
+     211           8 :       continue;
+     212             : 
+     213             :     {
+     214             :       // make sure the state doesn't change here
+     215         200 :       std::scoped_lock lck(mutex_state_);
+     216             :       // Again, check if everything is OK (the state may have changed while the thread was a sleeping beauty).
+     217             :       // Check if we should end (and end if it is so).
+     218         200 :       if (ending_)
+     219           0 :         break;
+     220             :       // Check if the timer is paused (and skip if it is so).
+     221         200 :       if (!running_)
+     222           0 :         continue;
+     223             : 
+     224             :       // If all is fine and dandy, actually run the callback function!
+     225             :       // if the timer is a oneshot-type, automatically pause it
+     226             :       // and do not fill out the expected fields in timer_event (we had no expectations...)
+     227         200 :       const ros::Time now = ros::Time::now();
+     228             :       // prepare the timer event
+     229         200 :       ros::TimerEvent timer_event;
+     230         200 :       if (oneshot_)
+     231             :       {
+     232           0 :         running_ = false;
+     233           0 :         timer_event.last_real        = last_real_;
+     234           0 :         timer_event.current_real     = now;
+     235             :       }
+     236             :       else
+     237             :       {
+     238         200 :         timer_event.last_expected    = last_expected_;
+     239         200 :         timer_event.last_real        = last_real_;
+     240         200 :         timer_event.current_expected = next_expected_;
+     241         200 :         timer_event.current_real     = now;
+     242             : 
+     243         200 :         last_expected_ = next_expected_;
+     244         200 :         next_expected_ = now + delay_dur_;
+     245             :       }
+     246         200 :       last_real_ = now;
+     247             :       // call the callback
+     248         200 :       callback_(timer_event);
+     249             :     }
+     250             :   }
+     251           8 : }
+     252             : 
+     253             : //}
+     254             : 
+     255             : }  // 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()127
mrs_lib::TransformBroadcaster::sendTransform(geometry_msgs::TransformStamped_<std::allocator<void> > const&)1456488
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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()127
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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         127 : TransformBroadcaster::TransformBroadcaster() {
+       8         127 :   broadcaster_ = tf2_ros::TransformBroadcaster();
+       9         127 : }
+      10             : //}
+      11             : 
+      12             : /* sendTransform (const geometry_msgs::TransformStamped &transform) //{ */
+      13     1456488 : void TransformBroadcaster::sendTransform(const geometry_msgs::TransformStamped &transform) {
+      14     2911711 :   std::string frames_from_to = transform.header.frame_id + transform.child_frame_id;
+      15     1454240 :   if (last_messages_.count(frames_from_to) > 0) {
+      16     1455197 :     if (transform.header.stamp > last_messages_[frames_from_to]) {
+      17     1199245 :       broadcaster_.sendTransform(transform);
+      18     1201351 :       last_messages_[frames_from_to] = transform.header.stamp;
+      19             :     } else {
+      20      253270 :       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        1434 :     std::pair<std::string, ros::Time> new_pair;
+      25         710 :     new_pair.first  = frames_from_to;
+      26         710 :     new_pair.second = transform.header.stamp;
+      27         710 :     broadcaster_.sendTransform(transform);
+      28         710 :     last_messages_.insert(new_pair);
+      29             :   }
+      30     1456636 : }
+      31             : //}
+      32             : 
+      33             : /* sendTransform(const std::vector<geometry_msgs::TransformStamped> &transforms) //{ */
+      34           0 : void TransformBroadcaster::sendTransform(const std::vector<geometry_msgs::TransformStamped> &transforms) {
+      35           0 :   for (auto transform : transforms) {
+      36           0 :     std::string frames_from_to = transform.header.frame_id + transform.child_frame_id;
+      37           0 :     if (last_messages_.count(frames_from_to) > 0) {
+      38           0 :       if (transform.header.stamp > last_messages_[frames_from_to]) {
+      39           0 :         broadcaster_.sendTransform(transform);
+      40           0 :         last_messages_[frames_from_to] = transform.header.stamp;
+      41             :       } else {
+      42           0 :         ROS_WARN_ONCE("[%s]: TF_REPEATED_DATA ignoring data with redundant timestamp. Transform from frame '%s' to frame '%s'",
+      43             :                       ros::this_node::getName().c_str(), transform.header.frame_id.c_str(), transform.child_frame_id.c_str());
+      44             :       }
+      45             :     } else {
+      46           0 :       std::pair<std::string, ros::Time> new_pair;
+      47           0 :       new_pair.first  = frames_from_to;
+      48           0 :       new_pair.second = transform.header.stamp;
+      49           0 :       broadcaster_.sendTransform(transform);
+      50           0 :       last_messages_.insert(new_pair);
+      51             :     }
+      52             :   }
+      53           0 : }
+      54             : //}
+      55             : 
+      56             : }  // namespace mrs_lib
+
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::Transformer::LLtoUTM(geometry_msgs::PoseStamped_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
mrs_lib::Transformer::LLtoUTM(geometry_msgs::PointStamped_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
mrs_lib::Transformer::LLtoUTM(geometry_msgs::Pose_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
mrs_lib::Transformer::UTMtoLL(geometry_msgs::PointStamped_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
mrs_lib::Transformer::Transformer()0
mrs_lib::Transformer::operator=(mrs_lib::Transformer&&)0
void tf2::doTransform<cv::Point3_<double> >(cv::Point3_<double> const&, cv::Point3_<double>&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)1
mrs_lib::Transformer::getTransform(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1
mrs_lib::Transformer::getTransformImpl(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1
mrs_lib::Transformer::LLtoUTM(geometry_msgs::Point_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2
mrs_lib::Transformer::transformImpl(geometry_msgs::TransformStamped_<std::allocator<void> > const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)6
mrs_lib::Transformer::transformAsPoint(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)6
mrs_lib::Transformer::transformAsPoint(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)6
mrs_lib::Transformer::transformAsVector(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)6
mrs_lib::Transformer::transformAsVector(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)6
mrs_lib::Transformer::Transformer(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Duration const&)12
mrs_lib::Transformer::Transformer(ros::NodeHandle const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Duration const&)454
mrs_lib::Transformer::UTMtoLL(geometry_msgs::PoseStamped_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1258
mrs_lib::Transformer::UTMtoLL(geometry_msgs::Pose_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1258
mrs_lib::Transformer::UTMtoLL(geometry_msgs::Point_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1260
mrs_lib::Transformer::getFramePrefix(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2526
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&)18766
mrs_lib::Transformer::transformImpl(geometry_msgs::TransformStamped_<std::allocator<void> > const&, mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)69398
mrs_lib::Transformer::setLatLon(double, double)124340
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&)1300269
mrs_lib::Transformer::resolveFrameImpl(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)5389335
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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:2024-01-20 21:44:18Functions: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&)18766
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&)69398
mrs_lib::Transformer::getFramePrefix(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2526
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&)1300269
mrs_lib::Transformer::resolveFrameImpl(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)5389335
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&)1258
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&)1258
mrs_lib::Transformer::UTMtoLL(geometry_msgs::Point_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1260
mrs_lib::Transformer::setLatLon(double, double)124340
mrs_lib::Transformer::Transformer(ros::NodeHandle const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Duration const&)454
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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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:2024-01-20 21:44:18Functions: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         454 :   Transformer::Transformer(const ros::NodeHandle& nh, const std::string& node_name, const ros::Duration& cache_time)
+      49         454 :     : 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         454 :   }
+      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       18766 :   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       37556 :     std::scoped_lock lck(mutex_);
+      81             : 
+      82       18790 :     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       37580 :     const std::string from_frame = resolveFrameImpl(from_frame_raw);
+      90       37580 :     const std::string to_frame = resolveFrameImpl(to_frame_raw);
+      91       37580 :     const std::string latlon_frame = resolveFrameImpl(LATLON_ORIGIN);
+      92             : 
+      93       18790 :     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      124340 :   void Transformer::setLatLon(const double lat, const double lon)
+     118             :   {
+     119      124340 :     std::scoped_lock lck(mutex_);
+     120             : 
+     121             :     double utm_x, utm_y;
+     122      124032 :     mrs_lib::LLtoUTM(lat, lon, utm_y, utm_x, utm_zone_.data());
+     123      123897 :     got_utm_zone_ = true;
+     124      123542 :   }
+     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       69398 :   std::optional<mrs_msgs::ReferenceStamped> Transformer::transformImpl(const geometry_msgs::TransformStamped& tf, const mrs_msgs::ReferenceStamped& what)
+     253             :   {
+     254             :     // create a pose message
+     255      138795 :     geometry_msgs::PoseStamped pose;
+     256       69398 :     pose.header = what.header;
+     257             :   
+     258       69398 :     pose.pose.position.x = what.reference.position.x;
+     259       69398 :     pose.pose.position.y = what.reference.position.y;
+     260       69398 :     pose.pose.position.z = what.reference.position.z;
+     261       69398 :     pose.pose.orientation = geometry::fromEigen(geometry::quaternionFromHeading(what.reference.heading));
+     262             :   
+     263             :     // try to transform the pose message
+     264      138796 :     const auto pose_opt = transformImpl(tf, pose);
+     265       69398 :     if (!pose_opt.has_value())
+     266           0 :       return std::nullopt;
+     267             :     // overwrite the pose with it's transformed value
+     268       69398 :     pose = pose_opt.value();
+     269             :   
+     270      138796 :     mrs_msgs::ReferenceStamped ret;
+     271       69398 :     ret.header = pose.header;
+     272             :   
+     273             :     // copy the new transformed data back
+     274       69398 :     ret.reference.position.x = pose.pose.position.x;
+     275       69398 :     ret.reference.position.y = pose.pose.position.y;
+     276       69398 :     ret.reference.position.z = pose.pose.position.z;
+     277       69398 :     ret.reference.heading = geometry::headingFromRot(geometry::toEigen(pose.pose.orientation));
+     278       69397 :     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     1300269 :   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     1300269 :     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     1300269 :     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     1300256 :     if (from_frame == to_frame)
+     319      246568 :       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     1176978 :     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     1176972 :     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        2522 :       const std::string utm_frame = getFramePrefix(to_frame) + "utm_origin";
+     337        2522 :       auto tf_opt = getTransformImpl(from_frame, utm_frame, time_stamp, latlon_frame);
+     338        1261 :       if (!tf_opt.has_value())
+     339           0 :         return std::nullopt;
+     340             :       // change the transformation frames to point to latlon
+     341        1261 :       frame_to(*tf_opt) = to_frame;
+     342        1261 :       return tf_opt;
+     343             :     }
+     344             : 
+     345     3526974 :     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     1729508 :       return tf_buffer_->lookupTransform(to_frame, from_frame, time_stamp, lookup_timeout_);
+     351             :     }
+     352     1243353 :     catch (tf2::TransformException& e)
+     353             :     {
+     354      621681 :       ex = e;
+     355             :     }
+     356             : 
+     357             :     // if that failed, try to get the newest one if requested
+     358      621675 :     if (retry_lookup_newest_)
+     359             :     {
+     360             :       try
+     361             :       {
+     362     1233745 :         return tf_buffer_->lookupTransform(to_frame, from_frame, ros::Time(0), lookup_timeout_);
+     363             :       }
+     364       19026 :       catch (tf2::TransformException& e)
+     365             :       {
+     366        9513 :         ex = e;
+     367             :       }
+     368             :     }
+     369             : 
+     370             :     // if the flow got here, we've failed to look the transform up
+     371        9543 :     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        9543 :       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        9543 :     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     5389335 :   std::string Transformer::resolveFrameImpl(const std::string& frame_id)
+     464             :   {
+     465             :     // if the frame is empty, return the default frame id
+     466     5389335 :     if (frame_id.empty())
+     467       49887 :       return default_frame_id_;
+     468             : 
+     469             :     // if there is no prefix set, just return the raw frame id
+     470     5339396 :     if (prefix_.empty())
+     471     3447480 :       return frame_id;
+     472             : 
+     473             :     // if there is a default prefix set and the frame does not start with it, prefix it
+     474     1891803 :     if (frame_id.substr(0, prefix_.length()) != prefix_)
+     475     1251879 :       return prefix_ + frame_id;
+     476             : 
+     477      640144 :     return frame_id;
+     478             :   }
+     479             : 
+     480             :   //}
+     481             : 
+     482             :   /* LLtoUTM() method //{ */
+     483           2 :   geometry_msgs::Point Transformer::LLtoUTM(const geometry_msgs::Point& what, [[maybe_unused]] const std::string& prefix)
+     484             :   {
+     485             :     // convert LAT-LON to UTM
+     486           2 :     geometry_msgs::Point utm;
+     487           2 :     mrs_lib::UTM(what.x, what.y, &utm.x, &utm.y);
+     488             :     // copy the height from the input
+     489           2 :     utm.z = what.z;
+     490           2 :     return utm;
+     491             :   }
+     492             : 
+     493           0 :   geometry_msgs::PointStamped Transformer::LLtoUTM(const geometry_msgs::PointStamped& what, [[maybe_unused]] const std::string& prefix)
+     494             :   {
+     495           0 :     geometry_msgs::PointStamped ret;
+     496           0 :     ret.header.frame_id = prefix + "utm_origin";
+     497           0 :     ret.header.stamp = what.header.stamp;
+     498           0 :     ret.point = LLtoUTM(what.point, prefix);
+     499           0 :     return ret;
+     500             :   }
+     501             : 
+     502           0 :   geometry_msgs::Pose Transformer::LLtoUTM(const geometry_msgs::Pose& what, const std::string& prefix)
+     503             :   {
+     504           0 :     geometry_msgs::Pose ret;
+     505           0 :     ret.position = LLtoUTM(what.position, prefix);
+     506           0 :     ret.orientation = what.orientation;
+     507           0 :     return ret;
+     508             :   }
+     509             : 
+     510           0 :   geometry_msgs::PoseStamped Transformer::LLtoUTM(const geometry_msgs::PoseStamped& what, const std::string& prefix)
+     511             :   {
+     512           0 :     geometry_msgs::PoseStamped ret;
+     513           0 :     ret.header.frame_id = prefix + "utm_origin";
+     514           0 :     ret.header.stamp = what.header.stamp;
+     515           0 :     ret.pose = LLtoUTM(what.pose, prefix);
+     516           0 :     return ret;
+     517             :   }
+     518             :   //}
+     519             : 
+     520             :   /* UTMtoLL() method //{ */
+     521        1260 :   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        1260 :     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        1259 :     geometry_msgs::Point latlon;
+     532        1259 :     mrs_lib::UTMtoLL(what.y, what.x, utm_zone_.data(), latlon.x, latlon.y);
+     533        1259 :     latlon.z = what.z;
+     534        1259 :     return latlon;
+     535             :   }
+     536             : 
+     537           0 :   std::optional<geometry_msgs::PointStamped> Transformer::UTMtoLL(const geometry_msgs::PointStamped& what, [[maybe_unused]] const std::string& prefix)
+     538             :   {
+     539           0 :     const auto opt = UTMtoLL(what.point, prefix);
+     540           0 :     if (!opt.has_value())
+     541           0 :       return std::nullopt;
+     542             : 
+     543           0 :     geometry_msgs::PointStamped ret;
+     544           0 :     ret.header.frame_id = prefix + "utm_origin";
+     545           0 :     ret.header.stamp = what.header.stamp;
+     546           0 :     ret.point = opt.value();
+     547           0 :     return ret;
+     548             :   }
+     549             : 
+     550        1258 :   std::optional<geometry_msgs::Pose> Transformer::UTMtoLL(const geometry_msgs::Pose& what, const std::string& prefix)
+     551             :   {
+     552        1258 :     const auto opt = UTMtoLL(what.position, prefix);
+     553        1258 :     if (!opt.has_value())
+     554           0 :       return std::nullopt;
+     555             : 
+     556        1258 :     geometry_msgs::Pose ret;
+     557        1258 :     ret.position = opt.value();
+     558        1258 :     ret.orientation = what.orientation;
+     559        1258 :     return ret;
+     560             :   }
+     561             : 
+     562        1258 :   std::optional<geometry_msgs::PoseStamped> Transformer::UTMtoLL(const geometry_msgs::PoseStamped& what, const std::string& prefix)
+     563             :   {
+     564        1258 :     const auto opt = UTMtoLL(what.pose, prefix);
+     565        1258 :     if (!opt.has_value())
+     566           0 :       return std::nullopt;
+     567             : 
+     568        2516 :     geometry_msgs::PoseStamped ret;
+     569        1258 :     ret.header.frame_id = prefix + "utm_origin";
+     570        1258 :     ret.header.stamp = what.header.stamp;
+     571        1258 :     ret.pose = opt.value();
+     572        1258 :     return ret;
+     573             :   }
+     574             :   //}
+     575             : 
+     576             :   /* getFramePrefix() method //{ */
+     577        2526 :   std::string Transformer::getFramePrefix(const std::string& frame_id)
+     578             :   {
+     579        2526 :     const auto firstof = frame_id.find_first_of('/');
+     580        2526 :     if (firstof == std::string::npos)
+     581           0 :       return "";
+     582             :     else
+     583        2526 :       return frame_id.substr(0, firstof+1);
+     584             :   }
+     585             :   //}
+     586             : 
+     587             : }  // namespace mrs_lib
+
+
+
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+       1             : #include <mrs_lib/utils.h>
+       2             : 
+       3             : namespace mrs_lib
+       4             : {
+       5             : 
+       6      345512 : AtomicScopeFlag::AtomicScopeFlag(std::atomic<bool>& in)
+       7      345512 :   : variable(in)
+       8             : {
+       9      345512 :   variable = true;
+      10      345519 : }
+      11             : 
+      12      691037 : AtomicScopeFlag::~AtomicScopeFlag()
+      13             : {
+      14      345518 :   variable = false;
+      15      345519 : }
+      16             : 
+      17             : }  // namespace mrs_lib
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/src/utils/utils.cpp.gcov.overview.html b/mrs_lib/src/utils/utils.cpp.gcov.overview.html new file mode 100644 index 0000000000..f3b2e0a717 --- /dev/null +++ b/mrs_lib/src/utils/utils.cpp.gcov.overview.html @@ -0,0 +1,25 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/utils/utils.cpp + + + + + + + overview + overview + overview + overview + overview + + +
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+ + diff --git a/mrs_lib/src/utils/utils.cpp.gcov.png b/mrs_lib/src/utils/utils.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..3b82aa0d55e194f12f9515f4d5ef4f00538985ef GIT binary patch literal 194 zcmeAS@N?(olHy`uVBq!ia0vp^0YEIs!VDyLSeu0dDTx4|5ZC|z|E~gqdj0}#k_Vn~lnZVFINzf&xlOe%CX$e!F(g};y)F!t{2}&Ee3~RkNUNtx`aKVxJ gJcj|7z|;l?m3NMIqUuuIK(iS + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_autostart/src/automatic_start.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_autostart/src - automatic_start.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:28232187.9 %
Date:2024-01-20 21:44:18Functions:2121100.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_autostart::automatic_start::AutomaticStart::disarm()3
mrs_uav_autostart::automatic_start::AutomaticStart::takeoff()12
mrs_uav_autostart::automatic_start::AutomaticStart::toggleControlOutput(bool const&)16
(anonymous namespace)::ProxyExec0::ProxyExec0()19
mrs_uav_autostart::automatic_start::AutomaticStart::onInit()19
mrs_uav_autostart::automatic_start::AutomaticStart::changeState(mrs_uav_autostart::automatic_start::LandingStates_t)28
mrs_uav_autostart::automatic_start::Topic::Topic(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)39
mrs_uav_autostart::automatic_start::Topic::getTopicName[abi:cxx11]()76
mrs_uav_autostart::automatic_start::AutomaticStart::callbackGazeboSpawnerDiagnostics(boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const>)713
mrs_uav_autostart::automatic_start::AutomaticStart::topicCheck()4047
mrs_uav_autostart::automatic_start::AutomaticStart::validateReference()4047
mrs_uav_autostart::automatic_start::AutomaticStart::isGazeboSimulation()4047
mrs_uav_autostart::automatic_start::AutomaticStart::preflighCheckGyro()4078
mrs_uav_autostart::automatic_start::AutomaticStart::preflighCheckHeight()4078
mrs_uav_autostart::automatic_start::AutomaticStart::preflightCheckSpeed()4078
mrs_uav_autostart::automatic_start::AutomaticStart::timerMain(ros::TimerEvent const&)9006
mrs_uav_autostart::automatic_start::Topic::getTime()16264
mrs_uav_autostart::automatic_start::Topic::updateTime()22513
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)22520
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&) const22521
mrs_uav_autostart::automatic_start::AutomaticStart::callbackHwApiStatus(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const>)59015
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_autostart/src/automatic_start.cpp.func.html b/mrs_uav_autostart/src/automatic_start.cpp.func.html new file mode 100644 index 0000000000..cefec17d20 --- /dev/null +++ b/mrs_uav_autostart/src/automatic_start.cpp.func.html @@ -0,0 +1,164 @@ + + + + + + + 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:28232187.9 %
Date:2024-01-20 21:44:18Functions:2121100.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()19
mrs_uav_autostart::automatic_start::AutomaticStart::topicCheck()4047
mrs_uav_autostart::automatic_start::AutomaticStart::changeState(mrs_uav_autostart::automatic_start::LandingStates_t)28
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)22520
mrs_uav_autostart::automatic_start::AutomaticStart::preflighCheckGyro()4078
mrs_uav_autostart::automatic_start::AutomaticStart::validateReference()4047
mrs_uav_autostart::automatic_start::AutomaticStart::isGazeboSimulation()4047
mrs_uav_autostart::automatic_start::AutomaticStart::callbackHwApiStatus(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const>)59015
mrs_uav_autostart::automatic_start::AutomaticStart::preflighCheckHeight()4078
mrs_uav_autostart::automatic_start::AutomaticStart::preflightCheckSpeed()4078
mrs_uav_autostart::automatic_start::AutomaticStart::toggleControlOutput(bool const&)16
mrs_uav_autostart::automatic_start::AutomaticStart::callbackGazeboSpawnerDiagnostics(boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const>)713
mrs_uav_autostart::automatic_start::AutomaticStart::disarm()3
mrs_uav_autostart::automatic_start::AutomaticStart::onInit()19
mrs_uav_autostart::automatic_start::AutomaticStart::takeoff()12
mrs_uav_autostart::automatic_start::AutomaticStart::timerMain(ros::TimerEvent const&)9006
mrs_uav_autostart::automatic_start::Topic::updateTime()22513
mrs_uav_autostart::automatic_start::Topic::getTopicName[abi:cxx11]()76
mrs_uav_autostart::automatic_start::Topic::getTime()16264
mrs_uav_autostart::automatic_start::Topic::Topic(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)39
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&) const22521
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+ + + diff --git a/mrs_uav_autostart/src/automatic_start.cpp.gcov.frameset.html b/mrs_uav_autostart/src/automatic_start.cpp.gcov.frameset.html new file mode 100644 index 0000000000..dc21d0ec86 --- /dev/null +++ b/mrs_uav_autostart/src/automatic_start.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_autostart/src/automatic_start.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_autostart/src/automatic_start.cpp.gcov.html b/mrs_uav_autostart/src/automatic_start.cpp.gcov.html new file mode 100644 index 0000000000..673f059c7c --- /dev/null +++ b/mrs_uav_autostart/src/automatic_start.cpp.gcov.html @@ -0,0 +1,1034 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_autostart/src/automatic_start.cpp + + + + + + + + + + + + + + +
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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:28232187.9 %
Date:2024-01-20 21:44:18Functions:2121100.0 %
Legend: Lines: + hit + not hit +
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+
          Line data    Source code
+
+       1             : /* includes //{ */
+       2             : 
+       3             : #include <ros/ros.h>
+       4             : #include <nodelet/nodelet.h>
+       5             : 
+       6             : #include <mrs_lib/param_loader.h>
+       7             : #include <mrs_lib/mutex.h>
+       8             : #include <mrs_lib/subscribe_handler.h>
+       9             : #include <mrs_lib/publisher_handler.h>
+      10             : 
+      11             : #include <std_msgs/Bool.h>
+      12             : 
+      13             : #include <std_srvs/Trigger.h>
+      14             : #include <std_srvs/SetBool.h>
+      15             : 
+      16             : #include <mrs_msgs/ControlManagerDiagnostics.h>
+      17             : #include <mrs_msgs/UavManagerDiagnostics.h>
+      18             : #include <mrs_msgs/ValidateReference.h>
+      19             : #include <mrs_msgs/GazeboSpawnerDiagnostics.h>
+      20             : #include <mrs_msgs/HwApiStatus.h>
+      21             : #include <mrs_msgs/HwApiCapabilities.h>
+      22             : #include <mrs_msgs/EstimationDiagnostics.h>
+      23             : 
+      24             : #include <sensor_msgs/Range.h>
+      25             : #include <sensor_msgs/Imu.h>
+      26             : 
+      27             : #include <topic_tools/shape_shifter.h>
+      28             : 
+      29             : //}
+      30             : 
+      31             : namespace mrs_uav_autostart
+      32             : {
+      33             : 
+      34             : namespace automatic_start
+      35             : {
+      36             : 
+      37             : /* class Topic //{ */
+      38             : 
+      39             : class Topic {
+      40             : private:
+      41             :   std::string topic_name_;
+      42             :   ros::Time   last_time_;
+      43             : 
+      44             : public:
+      45          39 :   Topic(std::string topic_name) : topic_name_(topic_name) {
+      46          39 :     last_time_ = ros::Time::UNINITIALIZED;
+      47          39 :   }
+      48             : 
+      49       22513 :   void updateTime(void) {
+      50       22513 :     last_time_ = ros::Time::now();
+      51       22518 :   }
+      52             : 
+      53       16264 :   ros::Time getTime(void) {
+      54       16264 :     return last_time_;
+      55             :   }
+      56             : 
+      57          76 :   std::string getTopicName(void) {
+      58          76 :     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 diagnostics ------------------- |
+     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             :   // | --------------- Gazebo spawner diagnostics --------------- |
+     123             : 
+     124             :   void                               callbackGazeboSpawnerDiagnostics(const mrs_msgs::GazeboSpawnerDiagnostics::ConstPtr msg);
+     125             :   std::atomic<bool>                  got_gazebo_spawner_diagnostics = false;
+     126             :   mrs_msgs::GazeboSpawnerDiagnostics gazebo_spawner_diagnostics_;
+     127             :   std::mutex                         mutex_gazebo_spawner_diagnostics_;
+     128             : 
+     129             :   // | ----------------- arm and offboard check ----------------- |
+     130             : 
+     131             :   ros::Time armed_time_;
+     132             :   bool      armed_ = false;
+     133             : 
+     134             :   ros::Time offboard_time_;
+     135             :   bool      offboard_ = false;
+     136             : 
+     137             :   // | ------------------------ routines ------------------------ |
+     138             : 
+     139             :   bool takeoff();
+     140             : 
+     141             :   bool validateReference();
+     142             : 
+     143             :   bool toggleControlOutput(const bool& value);
+     144             :   bool disarm();
+     145             : 
+     146             :   bool isGazeboSimulation(void);
+     147             :   bool topicCheck(void);
+     148             :   bool preflightCheckSpeed(void);
+     149             :   bool preflighCheckHeight(void);
+     150             :   bool preflighCheckGyro(void);
+     151             : 
+     152             :   bool is_gazebo_simulation_ = false;
+     153             : 
+     154             :   // | ---------------------- other params ---------------------- |
+     155             : 
+     156             :   std::string _body_frame_name_;
+     157             :   double      _pre_takeoff_sleep_;
+     158             :   bool        _handle_takeoff_ = false;
+     159             :   double      _safety_timeout_;
+     160             :   double      _control_output_timeout_;
+     161             : 
+     162             :   // | ---------------------- state machine --------------------- |
+     163             : 
+     164             :   uint current_state = STATE_IDLE;
+     165             :   void changeState(LandingStates_t new_state);
+     166             : 
+     167             :   // | --------------------- preflight check -------------------- |
+     168             : 
+     169             :   double _preflight_check_time_window_;
+     170             : 
+     171             :   // | ------------------ preflight speed check ----------------- |
+     172             : 
+     173             :   bool      _speed_check_enabled_ = false;
+     174             :   double    _speed_check_max_speed_;
+     175             :   ros::Time speed_check_violated_time_;
+     176             : 
+     177             :   // | ----------------- preflight height check ----------------- |
+     178             : 
+     179             :   bool      _height_check_enabled_ = false;
+     180             :   double    _height_check_max_height_;
+     181             :   ros::Time height_check_violated_time_;
+     182             : 
+     183             :   // | ----------------- preflight gyro check ----------------- |
+     184             : 
+     185             :   bool      _gyro_check_enabled_ = false;
+     186             :   double    _gyro_check_max_rate_;
+     187             :   ros::Time gyro_check_violated_time_;
+     188             : 
+     189             :   // | ---------------- generic topic subscribers --------------- |
+     190             : 
+     191             :   bool                     _topic_check_enabled_ = false;
+     192             :   double                   _topic_check_timeout_;
+     193             :   std::vector<std::string> _topic_check_topic_names_;
+     194             : 
+     195             :   std::vector<Topic>           topic_check_topics_;
+     196             :   std::vector<ros::Subscriber> generic_subscriber_vec_;
+     197             : 
+     198             :   // generic callback, for any topic, to monitor its rate
+     199             :   void genericCallback(const topic_tools::ShapeShifter::ConstPtr& msg, const std::string& topic_name, const int id);
+     200             : };
+     201             : 
+     202             : //}
+     203             : 
+     204             : /* onInit() //{ */
+     205             : 
+     206          19 : void AutomaticStart::onInit() {
+     207             : 
+     208          38 :   ros::NodeHandle nh_ = nodelet::Nodelet::getMTPrivateNodeHandle();
+     209             : 
+     210          19 :   ros::Time::waitForValid();
+     211             : 
+     212          19 :   armed_      = false;
+     213          19 :   armed_time_ = ros::Time(0);
+     214             : 
+     215          19 :   offboard_      = false;
+     216          19 :   offboard_time_ = ros::Time(0);
+     217             : 
+     218          38 :   mrs_lib::ParamLoader param_loader(nh_, "AutomaticStart");
+     219             : 
+     220          38 :   std::string custom_config_path;
+     221             : 
+     222          19 :   param_loader.loadParam("custom_config", custom_config_path);
+     223             : 
+     224          19 :   if (custom_config_path != "") {
+     225           4 :     param_loader.addYamlFile(custom_config_path);
+     226             :   }
+     227             : 
+     228          19 :   param_loader.addYamlFileFromParam("config_private");
+     229          19 :   param_loader.addYamlFileFromParam("config_public");
+     230             : 
+     231          19 :   param_loader.loadParam("uav_name", _uav_name_);
+     232          19 :   param_loader.loadParam("simulation", _simulation_);
+     233             : 
+     234          19 :   param_loader.loadParam("main_timer_rate", _main_timer_rate_);
+     235          19 :   param_loader.loadParam("body_frame_name", _body_frame_name_);
+     236          19 :   param_loader.loadParam("control_output_timeout", _control_output_timeout_);
+     237             : 
+     238          19 :   param_loader.loadParam("safety_timeout", _safety_timeout_);
+     239          19 :   param_loader.loadParam("pre_takeoff_sleep", _pre_takeoff_sleep_);
+     240             : 
+     241          19 :   param_loader.loadParam("handle_takeoff", _handle_takeoff_);
+     242             : 
+     243          19 :   param_loader.loadParam("preflight_check/time_window", _preflight_check_time_window_);
+     244             : 
+     245          19 :   param_loader.loadParam("preflight_check/speed_check/enabled", _speed_check_enabled_);
+     246          19 :   param_loader.loadParam("preflight_check/speed_check/max_speed", _speed_check_max_speed_);
+     247             : 
+     248          19 :   param_loader.loadParam("preflight_check/height_check/enabled", _height_check_enabled_);
+     249          19 :   param_loader.loadParam("preflight_check/height_check/max_height", _height_check_max_height_);
+     250             : 
+     251          19 :   param_loader.loadParam("preflight_check/gyro_check/enabled", _gyro_check_enabled_);
+     252          19 :   param_loader.loadParam("preflight_check/gyro_check/max_rate", _gyro_check_max_rate_);
+     253             : 
+     254          19 :   param_loader.loadParam("preflight_check/topic_check/enabled", _topic_check_enabled_);
+     255          19 :   param_loader.loadParam("preflight_check/topic_check/timeout", _topic_check_timeout_);
+     256          19 :   param_loader.loadParam("preflight_check/topic_check/topics", _topic_check_topic_names_);
+     257             : 
+     258          19 :   if (!param_loader.loadedSuccessfully()) {
+     259           0 :     ROS_ERROR("[AutomaticStart]: Could not load all parameters!");
+     260           0 :     ros::shutdown();
+     261             :   }
+     262             : 
+     263             :   // | ----------------------- subscribers ---------------------- |
+     264             : 
+     265          38 :   mrs_lib::SubscribeHandlerOptions shopts;
+     266          19 :   shopts.nh                 = nh_;
+     267          19 :   shopts.node_name          = "AutomaticStart";
+     268          19 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     269          19 :   shopts.threadsafe         = true;
+     270          19 :   shopts.autostart          = true;
+     271          19 :   shopts.queue_size         = 10;
+     272          19 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     273             : 
+     274          19 :   sh_estimation_diag_      = mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics>(shopts, "estimation_diag_in");
+     275          19 :   sh_hw_api_status_        = mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus>(shopts, "hw_api_status_in", &AutomaticStart::callbackHwApiStatus, this);
+     276          19 :   sh_hw_api_capabilities_  = mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities>(shopts, "hw_api_capabilities_in");
+     277          19 :   sh_distance_sensor_      = mrs_lib::SubscribeHandler<sensor_msgs::Range>(shopts, "distance_sensor_in");
+     278          19 :   sh_imu_                  = mrs_lib::SubscribeHandler<sensor_msgs::Imu>(shopts, "imu_in");
+     279          19 :   sh_control_manager_diag_ = mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics>(shopts, "control_manager_diagnostics_in");
+     280          19 :   sh_uav_manager_diag_     = mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics>(shopts, "uav_manager_diagnostics_in");
+     281          38 :   sh_gazebo_spawner_diag_  = mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics>(shopts, "gazebo_spawner_diagnostics_in",
+     282          19 :                                                                                           &AutomaticStart::callbackGazeboSpawnerDiagnostics, this);
+     283             : 
+     284             :   // | ----------------------- publishers ----------------------- |
+     285             : 
+     286          19 :   ph_can_takeoff_ = mrs_lib::PublisherHandler<std_msgs::Bool>(nh_, "can_takeoff_out");
+     287             : 
+     288             :   // | --------------------- service clients -------------------- |
+     289             : 
+     290          19 :   service_client_takeoff_               = nh_.serviceClient<std_srvs::Trigger>("takeoff_out");
+     291          19 :   service_client_toggle_control_output_ = nh_.serviceClient<std_srvs::SetBool>("toggle_control_output_out");
+     292          19 :   service_client_arm_                   = nh_.serviceClient<std_srvs::SetBool>("arm_out");
+     293             : 
+     294          19 :   service_client_validate_reference_ = nh_.serviceClient<mrs_msgs::ValidateReference>("validate_reference_out");
+     295             : 
+     296             :   // | ------------------ setup generic topics ------------------ |
+     297             : 
+     298          19 :   if (_topic_check_enabled_) {
+     299             : 
+     300          38 :     boost::function<void(const topic_tools::ShapeShifter::ConstPtr&)> callback;
+     301             : 
+     302          58 :     for (int i = 0; i < int(_topic_check_topic_names_.size()); i++) {
+     303             : 
+     304          78 :       std::string topic_name = _topic_check_topic_names_[i];
+     305             : 
+     306          39 :       if (topic_name.at(0) != '/') {
+     307          39 :         topic_name = "/" + _uav_name_ + "/" + topic_name;
+     308             :       }
+     309             : 
+     310          78 :       Topic tmp_topic(topic_name);
+     311          39 :       topic_check_topics_.push_back(tmp_topic);
+     312             : 
+     313          39 :       int id = i;  // id to identify which topic called the generic callback
+     314             : 
+     315       22560 :       callback                       = [this, topic_name, id](const topic_tools::ShapeShifter::ConstPtr& msg) -> void { genericCallback(msg, topic_name, id); };
+     316         117 :       ros::Subscriber tmp_subscriber = nh_.subscribe(topic_name, 1, callback);
+     317             : 
+     318          39 :       generic_subscriber_vec_.push_back(tmp_subscriber);
+     319             :     }
+     320             :   }
+     321             : 
+     322             :   // | ------------------------- timers ------------------------- |
+     323             : 
+     324          19 :   timer_main_ = nh_.createTimer(ros::Rate(_main_timer_rate_), &AutomaticStart::timerMain, this);
+     325             : 
+     326             :   // | --------------------- finish the init -------------------- |
+     327             : 
+     328          19 :   is_initialized_ = true;
+     329             : 
+     330          19 :   ROS_INFO_THROTTLE(1.0, "[AutomaticStart]: initialized");
+     331          19 : }
+     332             : 
+     333             : //}
+     334             : 
+     335             : // --------------------------------------------------------------
+     336             : // |                          callbacks                         |
+     337             : // --------------------------------------------------------------
+     338             : 
+     339             : /* genericCallback() //{ */
+     340             : 
+     341       22520 : void AutomaticStart::genericCallback([[maybe_unused]] const topic_tools::ShapeShifter::ConstPtr& msg, [[maybe_unused]] const std::string& topic_name,
+     342             :                                      const int id) {
+     343       22520 :   topic_check_topics_[id].updateTime();
+     344       22518 : }
+     345             : 
+     346             : //}
+     347             : 
+     348             : /* callbackHwApiDiag() //{ */
+     349             : 
+     350       59015 : void AutomaticStart::callbackHwApiStatus(const mrs_msgs::HwApiStatus::ConstPtr msg) {
+     351             : 
+     352       59015 :   if (!is_initialized_) {
+     353           0 :     return;
+     354             :   }
+     355             : 
+     356       59015 :   ROS_INFO_ONCE("[AutomaticStart]: getting HW API diagnostics");
+     357             : 
+     358      118030 :   std::scoped_lock lock(mutex_hw_api_status_);
+     359             : 
+     360             :   // check armed_ state
+     361       59015 :   if (armed_ == false) {
+     362             : 
+     363             :     // if armed_ state changed to true, please "start the clock"
+     364       25116 :     if (msg->armed) {
+     365             : 
+     366          18 :       armed_      = true;
+     367          18 :       armed_time_ = ros::Time::now();
+     368             :     }
+     369             : 
+     370             :     // if we were armed_ previously
+     371       33899 :   } else if (armed_ == true) {
+     372             : 
+     373             :     // and we are not really now
+     374       33899 :     if (!msg->armed) {
+     375             : 
+     376           4 :       armed_ = false;
+     377             :     }
+     378             :   }
+     379             : 
+     380             :   // check offboard_ state
+     381       59015 :   if (offboard_ == false) {
+     382             : 
+     383             :     // if offboard_ state changed to true, please "start the clock"
+     384       31737 :     if (msg->offboard) {
+     385             : 
+     386          15 :       offboard_      = true;
+     387          15 :       offboard_time_ = ros::Time::now();
+     388             :     }
+     389             : 
+     390             :     // if we were in offboard_ previously
+     391       27278 :   } else if (offboard_ == true) {
+     392             : 
+     393             :     // and we are not really now
+     394       27278 :     if (!msg->offboard) {
+     395             : 
+     396           0 :       offboard_ = false;
+     397             :     }
+     398             :   }
+     399             : 
+     400       59015 :   if (msg->connected) {
+     401       58596 :     hw_api_connected_ = true;
+     402             :   }
+     403             : }
+     404             : 
+     405             : //}
+     406             : 
+     407             : /* callbackGazeboSpawnerDiagnostics() //{ */
+     408             : 
+     409         713 : void AutomaticStart::callbackGazeboSpawnerDiagnostics(const mrs_msgs::GazeboSpawnerDiagnostics::ConstPtr msg) {
+     410             : 
+     411         713 :   if (!is_initialized_) {
+     412           0 :     return;
+     413             :   }
+     414             : 
+     415         713 :   ROS_INFO_ONCE("[AutomaticStart]: getting spawner diagnostics");
+     416             : 
+     417             :   {
+     418        1426 :     std::scoped_lock lock(mutex_gazebo_spawner_diagnostics_);
+     419             : 
+     420         713 :     gazebo_spawner_diagnostics_ = *msg;
+     421             : 
+     422         713 :     got_gazebo_spawner_diagnostics = true;
+     423             :   }
+     424             : }
+     425             : 
+     426             : //}
+     427             : 
+     428             : // --------------------------------------------------------------
+     429             : // |                           timers                           |
+     430             : // --------------------------------------------------------------
+     431             : 
+     432             : /* timerMain() //{ */
+     433             : 
+     434        9006 : void AutomaticStart::timerMain([[maybe_unused]] const ros::TimerEvent& event) {
+     435             : 
+     436        9006 :   if (!is_initialized_) {
+     437        3178 :     return;
+     438             :   }
+     439             : 
+     440        9006 :   bool got_uav_manager_diag     = sh_uav_manager_diag_.hasMsg();
+     441        9006 :   bool got_control_manager_diag = sh_control_manager_diag_.hasMsg();
+     442        9006 :   bool got_estimation_diag      = sh_estimation_diag_.hasMsg();
+     443        9006 :   bool got_hw_api               = sh_hw_api_status_.hasMsg() && sh_hw_api_capabilities_.hasMsg() && hw_api_connected_;
+     444             : 
+     445        9006 :   if (!got_control_manager_diag || !got_hw_api || !got_uav_manager_diag || !got_estimation_diag) {
+     446        3147 :     ROS_WARN_THROTTLE(5.0, "[AutomaticStart]: waiting for data: ControlManager=%s, UavManager=%s, HW Api=%s, EstimationManager=%s",
+     447             :                       got_control_manager_diag ? "true" : "FALSE", got_uav_manager_diag ? "true" : "FALSE", got_hw_api ? "true" : "FALSE",
+     448             :                       got_estimation_diag ? "true" : "FALSE");
+     449        3147 :     return;
+     450             :   }
+     451             : 
+     452        5859 :   auto [armed, offboard, armed_time, offboard_time] = mrs_lib::get_mutexed(mutex_hw_api_status_, armed_, offboard_, armed_time_, offboard_time_);
+     453        5859 :   auto control_manager_diagnostics                  = sh_control_manager_diag_.getMsg();
+     454             : 
+     455        5859 :   switch (current_state) {
+     456             : 
+     457        4078 :     case STATE_IDLE: {
+     458             : 
+     459             :       // | --------------------- preflight check -------------------- |
+     460             : 
+     461        4078 :       bool speed_valid  = preflightCheckSpeed();
+     462        4078 :       bool height_valid = preflighCheckHeight();
+     463        4078 :       bool gyros_valid  = preflighCheckGyro();
+     464             : 
+     465        4078 :       bool possibly_in_the_air = !speed_valid || !height_valid || !gyros_valid;
+     466             : 
+     467        4078 :       if (possibly_in_the_air) {
+     468             : 
+     469          31 :         ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: preflight check failed, the UAV is possibly in the air");
+     470             : 
+     471          31 :         if (armed) {
+     472           1 :           ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: -- the UAV is also armed!! shutting down to prevent unwanted system activation");
+     473           1 :           ros::requestShutdown();
+     474             :         }
+     475             : 
+     476          31 :         return;
+     477             :       }
+     478             : 
+     479             :       // | -------------------- ready to takeoff -------------------- |
+     480             : 
+     481        4047 :       bool control_output_enabled = sh_control_manager_diag_.getMsg()->output_enabled;
+     482             : 
+     483        4047 :       std_msgs::Bool can_takeoff_msg;
+     484        4047 :       can_takeoff_msg.data = false;
+     485             : 
+     486             :       // | -------------------- preflight checks -------------------- |
+     487             : 
+     488        4047 :       bool position_valid = validateReference();
+     489        4047 :       bool got_topics     = topicCheck();
+     490             : 
+     491        4047 :       bool can_takeoff = got_topics && position_valid;
+     492             : 
+     493             :       // | ---------------------------------------------------------- |
+     494             : 
+     495        4047 :       can_takeoff_msg.data = can_takeoff;
+     496        4047 :       ph_can_takeoff_.publish(can_takeoff_msg);
+     497             : 
+     498        4047 :       if (armed && !control_output_enabled) {
+     499             : 
+     500         109 :         if (can_takeoff) {
+     501             : 
+     502          16 :           bool res = toggleControlOutput(true);
+     503             : 
+     504          16 :           if (!res) {
+     505           0 :             ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: could not set control output ON");
+     506             :           }
+     507             :         }
+     508             : 
+     509         109 :         double time_from_arming = (ros::Time::now() - armed_time).toSec();
+     510             : 
+     511         109 :         if (armed_time != ros::Time::UNINITIALIZED && time_from_arming > _control_output_timeout_) {
+     512             : 
+     513           3 :           ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: could not set control output ON for %.2f secs, disarming", _control_output_timeout_);
+     514           3 :           disarm();
+     515           3 :           changeState(STATE_FINISHED);
+     516             :         }
+     517             :       }
+     518             : 
+     519        4047 :       if (_simulation_ && isGazeboSimulation()) {
+     520             : 
+     521         957 :         std::scoped_lock lock(mutex_gazebo_spawner_diagnostics_);
+     522             : 
+     523         957 :         if (got_gazebo_spawner_diagnostics) {
+     524             : 
+     525         957 :           if (!gazebo_spawner_diagnostics_.spawn_called || gazebo_spawner_diagnostics_.processing) {
+     526           0 :             ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: (simulation) waiting for spawner to finish spawning UAVs");
+     527           0 :             return;
+     528             :           }
+     529             : 
+     530             :         } else {
+     531             : 
+     532           0 :           ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: (simulation) missing spawner diagnostics");
+     533           0 :           return;
+     534             :         }
+     535             :       }
+     536             : 
+     537             :       // when armed and in offboard, takeoff
+     538        4047 :       if (armed && offboard && control_output_enabled) {
+     539             : 
+     540        2206 :         ros::Duration armed_time_diff    = ros::Time::now() - armed_time;
+     541        2206 :         ros::Duration offboard_time_diff = ros::Time::now() - offboard_time;
+     542             : 
+     543        2206 :         if (armed_time_diff > ros::Duration(_safety_timeout_) && offboard_time_diff > ros::Duration(_safety_timeout_)) {
+     544             : 
+     545          13 :           if (_handle_takeoff_) {
+     546          12 :             changeState(STATE_TAKEOFF);
+     547             :           } else {
+     548           1 :             changeState(STATE_FINISHED);
+     549             :           }
+     550             : 
+     551             :         } else {
+     552             : 
+     553        2193 :           double min = (armed_time_diff < offboard_time_diff) ? armed_time_diff.toSec() : offboard_time_diff.toSec();
+     554             : 
+     555        2193 :           ROS_WARN_THROTTLE(1.0, "taking off in %.0f", (_safety_timeout_ - min));
+     556             :         }
+     557             :       }
+     558             : 
+     559        4047 :       break;
+     560             :     }
+     561             : 
+     562        1765 :     case STATE_TAKEOFF: {
+     563             : 
+     564             :       // if takeoff finished
+     565        1765 :       if (control_manager_diagnostics->flying_normally) {
+     566             : 
+     567          12 :         ROS_INFO_THROTTLE(1.0, "[AutomaticStart]: takeoff finished");
+     568             : 
+     569          12 :         changeState(STATE_FINISHED);
+     570             : 
+     571             :       } else {
+     572             : 
+     573        1753 :         ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: waiting for the takeoff to finish");
+     574             :       }
+     575             : 
+     576        1765 :       break;
+     577             :     }
+     578             : 
+     579          16 :     case STATE_FINISHED: {
+     580             : 
+     581          16 :       ROS_INFO_THROTTLE(1.0, "[AutomaticStart]: finished");
+     582          16 :       ros::requestShutdown();
+     583          16 :       break;
+     584             :     }
+     585             :   }
+     586             : }
+     587             : 
+     588             : //}
+     589             : 
+     590             : // --------------------------------------------------------------
+     591             : // |                          routines                          |
+     592             : // --------------------------------------------------------------
+     593             : 
+     594             : /* changeState() //{ */
+     595             : 
+     596          28 : void AutomaticStart::changeState(LandingStates_t new_state) {
+     597             : 
+     598          28 :   ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: switching states %s -> %s", state_names[current_state], state_names[new_state]);
+     599             : 
+     600          28 :   switch (new_state) {
+     601             : 
+     602           0 :     case STATE_IDLE: {
+     603             : 
+     604           0 :       break;
+     605             :     }
+     606             : 
+     607          12 :     case STATE_TAKEOFF: {
+     608             : 
+     609          12 :       if (_pre_takeoff_sleep_ > 1.0) {
+     610           0 :         ROS_INFO("[AutomaticStart]: sleeping for %.2f secs before takeoff", _pre_takeoff_sleep_);
+     611           0 :         ros::Duration(_pre_takeoff_sleep_).sleep();
+     612             :       }
+     613             : 
+     614          12 :       bool res = takeoff();
+     615             : 
+     616          12 :       if (!res) {
+     617             : 
+     618           0 :         current_state = STATE_FINISHED;
+     619             : 
+     620           0 :         return;
+     621             :       }
+     622             : 
+     623          12 :       break;
+     624             :     }
+     625             : 
+     626          16 :     case STATE_FINISHED: {
+     627             : 
+     628          16 :       break;
+     629             :     }
+     630             : 
+     631             :     break;
+     632             :   }
+     633             : 
+     634          28 :   current_state = new_state;
+     635             : }
+     636             : 
+     637             : //}
+     638             : 
+     639             : /* takeoff() //{ */
+     640             : 
+     641          12 : bool AutomaticStart::takeoff() {
+     642             : 
+     643          12 :   ROS_INFO_THROTTLE(1.0, "[AutomaticStart]: taking off");
+     644             : 
+     645          24 :   std_srvs::Trigger srv;
+     646             : 
+     647          12 :   bool res = service_client_takeoff_.call(srv);
+     648             : 
+     649          12 :   if (res) {
+     650             : 
+     651          12 :     if (srv.response.success) {
+     652             : 
+     653          12 :       return true;
+     654             : 
+     655             :     } else {
+     656             : 
+     657           0 :       ROS_ERROR_THROTTLE(1.0, "[AutomaticStart]: taking off failed: %s", srv.response.message.c_str());
+     658             :     }
+     659             : 
+     660             :   } else {
+     661             : 
+     662           0 :     ROS_ERROR_THROTTLE(1.0, "[AutomaticStart]: service call for taking off failed");
+     663             :   }
+     664             : 
+     665           0 :   return false;
+     666             : }
+     667             : 
+     668             : //}
+     669             : 
+     670             : /* validateReference() //{ */
+     671             : 
+     672        4047 : bool AutomaticStart::validateReference() {
+     673             : 
+     674        8094 :   mrs_msgs::ValidateReference srv_out;
+     675             : 
+     676        4047 :   srv_out.request.reference.header.frame_id = _body_frame_name_;
+     677             : 
+     678        4047 :   bool res = service_client_validate_reference_.call(srv_out);
+     679             : 
+     680        4047 :   if (res) {
+     681             : 
+     682        4045 :     if (srv_out.response.success) {
+     683             : 
+     684        3972 :       ROS_INFO_THROTTLE(1.0, "[AutomaticStart]: current position is valid");
+     685        3972 :       return true;
+     686             : 
+     687             :     } else {
+     688             : 
+     689          73 :       ROS_ERROR_THROTTLE(1.0, "[AutomaticStart]: current position is not valid (safety area, bumper)!");
+     690          73 :       return false;
+     691             :     }
+     692             : 
+     693             :   } else {
+     694             : 
+     695           2 :     ROS_ERROR_THROTTLE(1.0, "[AutomaticStart]: current position could not be validated");
+     696           2 :     return false;
+     697             :   }
+     698             : }
+     699             : 
+     700             : //}
+     701             : 
+     702             : /* toggleControlOutput() //{ */
+     703             : 
+     704          16 : bool AutomaticStart::toggleControlOutput(const bool& value) {
+     705             : 
+     706          16 :   ROS_INFO_THROTTLE(1.0, "[AutomaticStart]: setting control output %s", value ? "ON" : "OFF");
+     707             : 
+     708          32 :   std_srvs::SetBool srv;
+     709          16 :   srv.request.data = value;
+     710             : 
+     711          16 :   bool res = service_client_toggle_control_output_.call(srv);
+     712             : 
+     713          16 :   if (res) {
+     714             : 
+     715          16 :     if (srv.response.success) {
+     716             : 
+     717          16 :       return true;
+     718             : 
+     719             :     } else {
+     720             : 
+     721           0 :       ROS_ERROR_THROTTLE(1.0, "[AutomaticStart]: setting of control output failed: %s", srv.response.message.c_str());
+     722             :     }
+     723             : 
+     724             :   } else {
+     725             : 
+     726           0 :     ROS_ERROR_THROTTLE(1.0, "[AutomaticStart]: service call for toggling control output failed");
+     727             :   }
+     728             : 
+     729           0 :   return false;
+     730             : }
+     731             : 
+     732             : //}
+     733             : 
+     734             : /* disarm() //{ */
+     735             : 
+     736           3 : bool AutomaticStart::disarm() {
+     737             : 
+     738           3 :   if (!hw_api_connected_) {
+     739             : 
+     740           0 :     ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: cannot disarm, missing HW API status!");
+     741             : 
+     742           0 :     return false;
+     743             :   }
+     744             : 
+     745           3 :   auto [armed, offboard, armed_time, offboard_time] = mrs_lib::get_mutexed(mutex_hw_api_status_, armed_, offboard_, armed_time_, offboard_time_);
+     746             : 
+     747           3 :   if (offboard) {
+     748             : 
+     749           1 :     ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: cannot disarm, already in offboard mode!");
+     750             : 
+     751           1 :     return false;
+     752             :   }
+     753             : 
+     754           2 :   ROS_INFO_THROTTLE(1.0, "[AutomaticStart]: disarming");
+     755             : 
+     756           4 :   std_srvs::SetBool srv;
+     757           2 :   srv.request.data = false;
+     758             : 
+     759           2 :   bool res = service_client_arm_.call(srv);
+     760             : 
+     761           2 :   if (res) {
+     762             : 
+     763           2 :     if (srv.response.success) {
+     764             : 
+     765           2 :       return true;
+     766             : 
+     767             :     } else {
+     768             : 
+     769           0 :       ROS_ERROR_THROTTLE(1.0, "[AutomaticStart]: disarming failed");
+     770             :     }
+     771             : 
+     772             :   } else {
+     773             : 
+     774           0 :     ROS_ERROR_THROTTLE(1.0, "[AutomaticStart]: service call for disarming failed");
+     775             :   }
+     776             : 
+     777           0 :   return false;
+     778             : }
+     779             : 
+     780             : //}
+     781             : 
+     782             : /* isGazeboSimulation() //{ */
+     783             : 
+     784        4047 : bool AutomaticStart::isGazeboSimulation(void) {
+     785             : 
+     786        4047 :   if (is_gazebo_simulation_) {
+     787         954 :     return true;
+     788             :   }
+     789             : 
+     790        6186 :   ros::V_string node_list;
+     791        3093 :   ros::master::getNodes(node_list);
+     792             : 
+     793       43251 :   for (auto& node : node_list) {
+     794       40161 :     if (node.find("mrs_drone_spawner") != std::string::npos) {
+     795           3 :       ROS_INFO("[AutomaticStart]: MRS Gazebo Simulation detected");
+     796           3 :       is_gazebo_simulation_ = true;
+     797           3 :       return true;
+     798             :     }
+     799             :   }
+     800             : 
+     801        3090 :   return false;
+     802             : }
+     803             : 
+     804             : //}
+     805             : 
+     806             : /* topicCheck() //{ */
+     807             : 
+     808        4047 : bool AutomaticStart::topicCheck(void) {
+     809             : 
+     810        4047 :   bool got_topics = true;
+     811             : 
+     812        4047 :   std::stringstream missing_topics;
+     813             : 
+     814        4047 :   if (_topic_check_enabled_) {
+     815             : 
+     816       12217 :     for (int i = 0; i < int(topic_check_topics_.size()); i++) {
+     817             : 
+     818       16264 :       if (topic_check_topics_[i].getTime() == ros::Time::UNINITIALIZED ||
+     819       16264 :           (ros::Time::now() - topic_check_topics_[i].getTime()) > ros::Duration(_topic_check_timeout_)) {
+     820             : 
+     821          76 :         missing_topics << std::endl << "\t" << topic_check_topics_[i].getTopicName();
+     822          76 :         got_topics = false;
+     823             :       }
+     824             :     }
+     825             :   }
+     826             : 
+     827        4047 :   if (!got_topics) {
+     828          76 :     ROS_WARN_STREAM_THROTTLE(1.0, "[AutomaticStart]: missing data on topics: " << missing_topics.str());
+     829             :   }
+     830             : 
+     831        8094 :   return got_topics;
+     832             : }
+     833             : 
+     834             : //}
+     835             : 
+     836             : // | -------- preflight cheks for detecting flyign UAV -------- |
+     837             : 
+     838             : /* preflightCheckSpeed() //{ */
+     839             : 
+     840        4078 : bool AutomaticStart::preflightCheckSpeed(void) {
+     841             : 
+     842        4078 :   if (!_speed_check_enabled_) {
+     843           0 :     return true;
+     844             :   }
+     845             : 
+     846        8156 :   auto estimation_diag = sh_estimation_diag_.getMsg();
+     847             : 
+     848        4078 :   double speed = std::hypot(estimation_diag->velocity.linear.x, estimation_diag->velocity.linear.y, estimation_diag->velocity.linear.z);
+     849             : 
+     850        4078 :   if (speed > _speed_check_max_speed_) {
+     851          31 :     speed_check_violated_time_ = ros::Time::now();
+     852          31 :     ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: the estimated speed (%.2f ms^-2) is over the limit (%.2f ms^-2)", speed, _speed_check_max_speed_);
+     853             :   }
+     854             : 
+     855        4109 :   if (speed_check_violated_time_ != ros::Time::UNINITIALIZED &&
+     856        4109 :       (ros::Time::now() - speed_check_violated_time_) < ros::Duration(_preflight_check_time_window_)) {
+     857          31 :     return false;
+     858             :   } else {
+     859        4047 :     return true;
+     860             :   }
+     861             : }
+     862             : 
+     863             : //}
+     864             : 
+     865             : /* preflighCheckHeight() //{ */
+     866             : 
+     867        4078 : bool AutomaticStart::preflighCheckHeight(void) {
+     868             : 
+     869        4078 :   if (!_height_check_enabled_) {
+     870           0 :     return true;
+     871             :   }
+     872             : 
+     873             :   // | ----------------- is the check possible? ----------------- |
+     874             : 
+     875        8156 :   auto capabilities = sh_hw_api_capabilities_.getMsg();
+     876             : 
+     877        4078 :   if (!capabilities->produces_distance_sensor) {
+     878           0 :     return true;
+     879             :   }
+     880             : 
+     881             :   // | -------------------- do we have data? -------------------- |
+     882             : 
+     883        4078 :   if (!sh_distance_sensor_.hasMsg()) {
+     884           0 :     ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: missing distance sensor data for preflight height check");
+     885           0 :     return false;
+     886             :   }
+     887             : 
+     888        4078 :   double height = sh_distance_sensor_.getMsg()->range;
+     889             : 
+     890        4078 :   if (height > _height_check_max_height_) {
+     891          31 :     height_check_violated_time_ = ros::Time::now();
+     892          31 :     ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: the height (%.2f m) is over the limit (%.2f m)", height, _height_check_max_height_);
+     893             :   }
+     894             : 
+     895        4109 :   if (height_check_violated_time_ != ros::Time::UNINITIALIZED &&
+     896        4109 :       (ros::Time::now() - height_check_violated_time_) < ros::Duration(_preflight_check_time_window_)) {
+     897          31 :     return false;
+     898             :   } else {
+     899        4047 :     return true;
+     900             :   }
+     901             : }
+     902             : 
+     903             : //}
+     904             : 
+     905             : /* preflighCheckGyro() //{ */
+     906             : 
+     907        4078 : bool AutomaticStart::preflighCheckGyro(void) {
+     908             : 
+     909        4078 :   if (!_gyro_check_enabled_) {
+     910           0 :     return true;
+     911             :   }
+     912             : 
+     913             :   // | ----------------- is the check possible? ----------------- |
+     914             : 
+     915        8156 :   auto capabilities = sh_hw_api_capabilities_.getMsg();
+     916             : 
+     917        4078 :   if (!capabilities->produces_imu) {
+     918           0 :     return true;
+     919             :   }
+     920             : 
+     921             :   // | -------------------- do we have data? -------------------- |
+     922             : 
+     923        4078 :   if (!sh_imu_.hasMsg()) {
+     924           0 :     ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: missing imu data for preflight gyro check");
+     925           0 :     return false;
+     926             :   }
+     927             : 
+     928        4078 :   auto gyros = sh_imu_.getMsg()->angular_velocity;
+     929             : 
+     930        4078 :   if (abs(gyros.x) > _gyro_check_max_rate_ || abs(gyros.y) > _gyro_check_max_rate_ || abs(gyros.z) > _gyro_check_max_rate_) {
+     931           0 :     gyro_check_violated_time_ = ros::Time::now();
+     932           0 :     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,
+     933             :                       _gyro_check_max_rate_);
+     934             :   }
+     935             : 
+     936        4078 :   if (gyro_check_violated_time_ != ros::Time::UNINITIALIZED && (ros::Time::now() - gyro_check_violated_time_) < ros::Duration(_preflight_check_time_window_)) {
+     937           0 :     return false;
+     938             :   } else {
+     939        4078 :     return true;
+     940             :   }
+     941             : }
+     942             : 
+     943             : //}
+     944             : 
+     945             : }  // namespace automatic_start
+     946             : 
+     947             : }  // namespace mrs_uav_autostart
+     948             : 
+     949             : #include <pluginlib/class_list_macros.h>
+     950          19 : 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&)0
mrs_uav_controllers::common::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)2
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&)2
mrs_uav_controllers::common::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)2
mrs_uav_controllers::common::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)3
mrs_uav_controllers::common::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)3
mrs_uav_controllers::common::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)25
mrs_uav_controllers::common::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)27
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Current view:top level - mrs_uav_controllers/include - common.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:222588.0 %
Date:2024-01-20 21:44:18Functions:8988.9 %
Legend: Lines: + hit + not hit +
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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&)25
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&)0
mrs_uav_controllers::common::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)27
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&)2
mrs_uav_controllers::common::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)2
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Test:MRS UAV System - Test coverage reportLines:222588.0 %
Date:2024-01-20 21:44:18Functions:8988.9 %
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+       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          25 :   std::optional<double> operator()(const mrs_msgs::HwApiAttitudeCmd& msg) {
+      77          25 :     return msg.throttle;
+      78             :   }
+      79          27 :   std::optional<double> operator()(const mrs_msgs::HwApiAttitudeRateCmd& msg) {
+      80          27 :     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           2 :   std::optional<double> operator()([[maybe_unused]] const mrs_msgs::HwApiVelocityHdgRateCmd& msg) {
+      89           2 :     return std::nullopt;
+      90             :   }
+      91           0 :   std::optional<double> operator()([[maybe_unused]] const mrs_msgs::HwApiVelocityHdgCmd& msg) {
+      92           0 :     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::setParams(double const&, double const&, double const&, double const&, double const&)780
mrs_uav_controllers::PIDController::PIDController()780
mrs_uav_controllers::PIDController::setSaturation(double)4376
mrs_uav_controllers::PIDController::update(double const&, double const&)4376
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mrs_uav_controllers::PIDController::reset()780
mrs_uav_controllers::PIDController::update(double const&, double const&)4376
mrs_uav_controllers::PIDController::setParams(double const&, double const&, double const&, double const&, double const&)780
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Current view:top level - mrs_uav_controllers/include - pid.hpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:313393.9 %
Date:2024-01-20 21:44:18Functions:55100.0 %
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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         780 : PIDController::PIDController() {
+      43             : 
+      44         780 :   this->reset();
+      45         780 : }
+      46             : 
+      47         780 : void PIDController::setParams(const double &kp, const double &kd, const double &ki, const double &saturation, const double &antiwindup) {
+      48             : 
+      49         780 :   this->_kp_       = kp;
+      50         780 :   this->_kd_       = kd;
+      51         780 :   this->_ki_       = ki;
+      52         780 :   this->saturation = saturation;
+      53         780 :   this->antiwindup = antiwindup;
+      54         780 : }
+      55             : 
+      56        4376 : void PIDController::setSaturation(const double saturation) {
+      57             : 
+      58        4376 :   this->saturation = saturation;
+      59        4376 : }
+      60             : 
+      61         780 : void PIDController::reset(void) {
+      62             : 
+      63         780 :   this->last_error_ = 0;
+      64         780 :   this->integral_   = 0;
+      65         780 : }
+      66             : 
+      67        4376 : double PIDController::update(const double &error, const double &dt) {
+      68             : 
+      69             :   // calculate the control error difference
+      70        4376 :   double difference = (error - last_error_) / dt;
+      71        4376 :   last_error_       = error;
+      72             : 
+      73        4376 :   double p_component = _kp_ * error;       // proportional feedback
+      74        4376 :   double d_component = _kd_ * difference;  // derivative feedback
+      75        4376 :   double i_component = _ki_ * integral_;   // derivative feedback
+      76             : 
+      77        4376 :   double sum = p_component + d_component + i_component;
+      78             : 
+      79        4376 :   if (saturation > 0) {
+      80        4376 :     if (sum >= saturation) {
+      81           0 :       sum = saturation;
+      82        4376 :     } else if (sum <= -saturation) {
+      83           0 :       sum = -saturation;
+      84             :     }
+      85             :   }
+      86             : 
+      87        4376 :   if (antiwindup > 0) {
+      88        4376 :     if (std::abs(sum) < antiwindup) {
+      89             :       // add to the integral
+      90        4142 :       integral_ += error * dt;
+      91             :     }
+      92             :   }
+      93             : 
+      94             :   // return the summ of the components
+      95        4376 :   return sum;
+      96             : }
+      97             : 
+      98             : }  // namespace mrs_uav_controllers
+      99             : 
+     100             : #endif  // PID_H
+
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+ + diff --git a/mrs_uav_controllers/include/pid.hpp.gcov.png b/mrs_uav_controllers/include/pid.hpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..9667ce26842a9ead24557971d5cb3a0df01cd47f GIT binary patch literal 533 zcmV+w0_y#VP)#@dQ9wSy;%iQAIeL4O+=LtvN-1eSVrXn2+bp93 zwUSeXAft77SEfO(qhq;>+mSJm0O~TxRd^JUBjE-K)`1eit@FzQHgN^8jpLgF8FT?J zi@U-d8D+{`dnoiJBcK=o`7u)6)`r;8IG5B(Rp%pPM zol@s!@vAf2+{Z$pi7}lM6_Xb*`4`;BshnnH+h1;aYnW&~xC0~A5QuC>F3`rGr-Lpf z_nj|hld&tUy9vDpbm8i*o_ydx2u?~Dy)@rFzfT5R9v&ov$g4GO1K=B37d6zOhS#RS zNya#(AQ`sx$+VGg#H-+TT_zdjaksHMSmr9Dsn0O7YCIL77%D*fECLf;9k^A2b1~|Z zH2J|C$Y&&$W^)sxpO&|Md;=O|j(tCz?WSYGmrlp4!|FLm?-W*j4X?6FPKndJGaQ<=0 + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_controllers/src/common.cpp - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_controllers/src - common.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:13315983.6 %
Date:2024-01-20 21:44:18Functions:99100.0 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_controllers::common::extractThrottle(mrs_uav_managers::Controller::ControlOutput const&)155
mrs_uav_controllers::common::actuatorMixer(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&, Eigen::Matrix<double, -1, -1, 0, -1, -1> const&)3751
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&)7501
mrs_uav_controllers::common::getHighestOuput(mrs_uav_managers::control_manager::ControlOutputModalities_t const&)9918
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&)57860
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&)57860
mrs_uav_controllers::common::orientationError(Eigen::Matrix<double, 3, 3, 0, 3, 3> const&, Eigen::Matrix<double, 3, 3, 0, 3, 3> const&)59875
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&)59875
mrs_uav_controllers::common::getLowestOuput(mrs_uav_managers::control_manager::ControlOutputModalities_t const&)61330
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Current view:top level - mrs_uav_controllers/src - common.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:13315983.6 %
Date:2024-01-20 21:44:18Functions:99100.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_controllers::common::so3transform(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, bool const&)57860
mrs_uav_controllers::common::actuatorMixer(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&, Eigen::Matrix<double, -1, -1, 0, -1, -1> const&)3751
mrs_uav_controllers::common::getLowestOuput(mrs_uav_managers::control_manager::ControlOutputModalities_t const&)61330
mrs_uav_controllers::common::extractThrottle(mrs_uav_managers::Controller::ControlOutput const&)155
mrs_uav_controllers::common::getHighestOuput(mrs_uav_managers::control_manager::ControlOutputModalities_t const&)9918
mrs_uav_controllers::common::orientationError(Eigen::Matrix<double, 3, 3, 0, 3, 3> const&, Eigen::Matrix<double, 3, 3, 0, 3, 3> const&)59875
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&)59875
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&)57860
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&)7501
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Current view:top level - mrs_uav_controllers/src - common.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:13315983.6 %
Date:2024-01-20 21:44:18Functions:99100.0 %
Legend: Lines: + hit + not hit +
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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       59875 : Eigen::Vector3d orientationError(const Eigen::Matrix3d& R, const Eigen::Matrix3d& Rd) {
+      12             : 
+      13             :   // orientation error
+      14       59875 :   Eigen::Matrix3d R_error = 0.5 * (Rd.transpose() * R - R.transpose() * Rd);
+      15             : 
+      16             :   // vectorize the orientation error
+      17             :   // clang-format off
+      18       59875 :     Eigen::Vector3d R_error_vec;
+      19       59875 :     R_error_vec << (R_error(1, 2) - R_error(2, 1)) / 2.0,
+      20       59875 :                    (R_error(2, 0) - R_error(0, 2)) / 2.0,
+      21       59875 :                    (R_error(0, 1) - R_error(1, 0)) / 2.0;
+      22             :   // clang-format on
+      23             : 
+      24      119750 :   return R_error_vec;
+      25             : }
+      26             : 
+      27             : //}
+      28             : 
+      29             : /* sanitizeDesiredForce() //{ */
+      30             : 
+      31       57860 : 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       57860 :   double theta = acos(input[2]);
+      36       57860 :   double phi   = atan2(input[1], input[0]);
+      37             : 
+      38             :   // check for the failsafe limit
+      39       57860 :   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       57860 :   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       57860 :   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       57860 :   Eigen::Vector3d output(sin(theta) * cos(phi), sin(theta) * sin(phi), cos(theta));
+      63             : 
+      64       57860 :   return {output};
+      65             : }
+      66             : 
+      67             : //}
+      68             : 
+      69             : /* so3transform() //{ */
+      70             : 
+      71       57860 : Eigen::Matrix3d so3transform(const Eigen::Vector3d& body_z, const ::Eigen::Vector3d& heading, const bool& preserve_heading) {
+      72             : 
+      73       57860 :   Eigen::Vector3d body_z_normed = body_z.normalized();
+      74             : 
+      75       57860 :   Eigen::Matrix3d Rd;
+      76             : 
+      77       57860 :   if (preserve_heading) {
+      78             : 
+      79       17687 :     ROS_DEBUG_THROTTLE(1.0, "[SO3Transform]: using Baca's method");
+      80             : 
+      81             :     // | ------------------------- body z ------------------------- |
+      82       17687 :     Rd.col(2) = body_z_normed;
+      83             : 
+      84             :     // | ------------------------- body x ------------------------- |
+      85             : 
+      86             :     // construct the oblique projection
+      87       17687 :     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       35374 :     Eigen::MatrixXd A = Eigen::MatrixXd(3, 2);
+      91       17687 :     A.col(0)          = projector_body_z_compl.col(0);
+      92       17687 :     A.col(1)          = projector_body_z_compl.col(1);
+      93             : 
+      94             :     // create the basis of the projection null-space complement
+      95       35374 :     Eigen::MatrixXd B = Eigen::MatrixXd(3, 2);
+      96       17687 :     B.col(0)          = Eigen::Vector3d(1, 0, 0);
+      97       17687 :     B.col(1)          = Eigen::Vector3d(0, 1, 0);
+      98             : 
+      99             :     // oblique projector to <range_basis>
+     100       35374 :     Eigen::MatrixXd Bt_A               = B.transpose() * A;
+     101       35374 :     Eigen::MatrixXd Bt_A_pseudoinverse = ((Bt_A.transpose() * Bt_A).inverse()) * Bt_A.transpose();
+     102       17687 :     Eigen::MatrixXd oblique_projector  = A * Bt_A_pseudoinverse * B.transpose();
+     103             : 
+     104       17687 :     Rd.col(0) = oblique_projector * heading;
+     105       17687 :     Rd.col(0).normalize();
+     106             : 
+     107             :     // | ------------------------- body y ------------------------- |
+     108             : 
+     109       17687 :     Rd.col(1) = Rd.col(2).cross(Rd.col(0));
+     110       17687 :     Rd.col(1).normalize();
+     111             : 
+     112             :   } else {
+     113             : 
+     114       40173 :     ROS_DEBUG_THROTTLE(1.0, "[SO3Transform]: using Lee's method");
+     115             : 
+     116       40173 :     Rd.col(2) = body_z_normed;
+     117       40173 :     Rd.col(1) = Rd.col(2).cross(heading);
+     118       40173 :     Rd.col(1).normalize();
+     119       40173 :     Rd.col(0) = Rd.col(1).cross(Rd.col(2));
+     120       40173 :     Rd.col(0).normalize();
+     121             :   }
+     122             : 
+     123      115720 :   return Rd;
+     124             : }
+     125             : 
+     126             : //}
+     127             : 
+     128             : /* getLowestOutput() //{ */
+     129             : 
+     130       61330 : std::optional<CONTROL_OUTPUT> getLowestOuput(const mrs_uav_managers::control_manager::ControlOutputModalities_t& outputs) {
+     131             : 
+     132       61330 :   if (outputs.actuators) {
+     133        2358 :     return ACTUATORS_CMD;
+     134             :   }
+     135             : 
+     136       58972 :   if (outputs.control_group) {
+     137        2357 :     return CONTROL_GROUP;
+     138             :   }
+     139             : 
+     140       56615 :   if (outputs.attitude_rate) {
+     141       50981 :     return ATTITUDE_RATE;
+     142             :   }
+     143             : 
+     144        5634 :   if (outputs.attitude) {
+     145        2164 :     return ATTITUDE;
+     146             :   }
+     147             : 
+     148        3470 :   if (outputs.acceleration_hdg_rate) {
+     149        1019 :     return ACCELERATION_HDG_RATE;
+     150             :   }
+     151             : 
+     152        2451 :   if (outputs.acceleration_hdg) {
+     153        1020 :     return ACCELERATION_HDG;
+     154             :   }
+     155             : 
+     156        1431 :   if (outputs.velocity_hdg_rate) {
+     157         501 :     return VELOCITY_HDG_RATE;
+     158             :   }
+     159             : 
+     160         930 :   if (outputs.velocity_hdg) {
+     161         451 :     return VELOCITY_HDG;
+     162             :   }
+     163             : 
+     164         479 :   if (outputs.position) {
+     165         479 :     return POSITION;
+     166             :   }
+     167             : 
+     168           0 :   return {};
+     169             : }
+     170             : 
+     171             : //}
+     172             : 
+     173             : /* getHighestOutput() //{ */
+     174             : 
+     175        9918 : std::optional<CONTROL_OUTPUT> getHighestOuput(const mrs_uav_managers::control_manager::ControlOutputModalities_t& outputs) {
+     176             : 
+     177        9918 :   if (outputs.position) {
+     178           3 :     return POSITION;
+     179             :   }
+     180             : 
+     181        9915 :   if (outputs.velocity_hdg) {
+     182           0 :     return VELOCITY_HDG;
+     183             :   }
+     184             : 
+     185        9915 :   if (outputs.velocity_hdg_rate) {
+     186           3 :     return VELOCITY_HDG_RATE;
+     187             :   }
+     188             : 
+     189        9912 :   if (outputs.acceleration_hdg) {
+     190           5 :     return ACCELERATION_HDG;
+     191             :   }
+     192             : 
+     193        9907 :   if (outputs.acceleration_hdg_rate) {
+     194           4 :     return ACCELERATION_HDG_RATE;
+     195             :   }
+     196             : 
+     197        9903 :   if (outputs.attitude) {
+     198        5674 :     return ATTITUDE;
+     199             :   }
+     200             : 
+     201        4229 :   if (outputs.attitude_rate) {
+     202        1409 :     return ATTITUDE_RATE;
+     203             :   }
+     204             : 
+     205        2820 :   if (outputs.control_group) {
+     206        1410 :     return CONTROL_GROUP;
+     207             :   }
+     208             : 
+     209        1410 :   if (outputs.actuators) {
+     210        1410 :     return ACTUATORS_CMD;
+     211             :   }
+     212             : 
+     213           0 :   return {};
+     214             : }
+     215             : 
+     216             : //}
+     217             : 
+     218             : /* extractThrottle() //{ */
+     219             : 
+     220         155 : std::optional<double> extractThrottle(const mrs_uav_managers::Controller::ControlOutput& control_output) {
+     221             : 
+     222         155 :   if (!control_output.control_output) {
+     223          89 :     return {};
+     224             :   }
+     225             : 
+     226         132 :   return std::visit(HwApiCmdExtractThrottleVisitor(), control_output.control_output.value());
+     227             : }
+     228             : 
+     229             : //}
+     230             : 
+     231             : /* attitudeController() //{ */
+     232             : 
+     233       59875 : 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       59875 :   Eigen::Matrix3d R  = mrs_lib::AttitudeConverter(uav_state.pose.orientation);
+     238       59875 :   Eigen::Matrix3d Rd = mrs_lib::AttitudeConverter(reference.orientation);
+     239             : 
+     240             :   // calculate the orientation error
+     241       59875 :   Eigen::Vector3d E = common::orientationError(R, Rd);
+     242             : 
+     243       59875 :   Eigen::Vector3d rate_feedback = gains.array() * E.array() + ff_rate.array();
+     244             : 
+     245             :   // | ----------- parasitic heading rate compensation ---------- |
+     246             : 
+     247       59875 :   if (parasitic_heading_rate_compensation) {
+     248             : 
+     249       16584 :     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       16584 :     Eigen::Vector3d rp_heading_rate_compensation(0, 0, 0);
+     253             : 
+     254       16584 :     Eigen::Vector3d q_feedback_yawless = rate_feedback;
+     255       16584 :     q_feedback_yawless(2)              = 0;  // nullyfy the effect of the original yaw feedback
+     256             : 
+     257       16584 :     double parasitic_heading_rate = 0;
+     258             : 
+     259             :     try {
+     260       16584 :       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       16584 :       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       16584 :     rate_feedback += rp_heading_rate_compensation;
+     274             :   }
+     275             : 
+     276             :   // | --------------- saturate the attitude rate --------------- |
+     277             : 
+     278       59875 :   if (rate_feedback[0] > rate_saturation[0]) {
+     279           0 :     rate_feedback[0] = rate_saturation[0];
+     280       59875 :   } else if (rate_feedback[0] < -rate_saturation[0]) {
+     281           0 :     rate_feedback[0] = -rate_saturation[0];
+     282             :   }
+     283             : 
+     284       59875 :   if (rate_feedback[1] > rate_saturation[1]) {
+     285           0 :     rate_feedback[1] = rate_saturation[1];
+     286       59875 :   } else if (rate_feedback[1] < -rate_saturation[1]) {
+     287           0 :     rate_feedback[1] = -rate_saturation[1];
+     288             :   }
+     289             : 
+     290       59875 :   if (rate_feedback[2] > rate_saturation[2]) {
+     291           0 :     rate_feedback[2] = rate_saturation[2];
+     292       59875 :   } 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       59875 :   mrs_msgs::HwApiAttitudeRateCmd cmd;
+     299             : 
+     300       59875 :   cmd.stamp = ros::Time::now();
+     301             : 
+     302       59875 :   cmd.body_rate.x = rate_feedback[0];
+     303       59875 :   cmd.body_rate.y = rate_feedback[1];
+     304       59875 :   cmd.body_rate.z = rate_feedback[2];
+     305             : 
+     306       59875 :   cmd.throttle = reference.throttle;
+     307             : 
+     308      119750 :   return cmd;
+     309             : }
+     310             : 
+     311             : //}
+     312             : 
+     313             : /* attitudeRateController() //{ */
+     314             : 
+     315        7501 : std::optional<mrs_msgs::HwApiControlGroupCmd> attitudeRateController(const mrs_msgs::UavState& uav_state, const mrs_msgs::HwApiAttitudeRateCmd& reference,
+     316             :                                                                      const Eigen::Vector3d& gains) {
+     317             : 
+     318        7501 :   Eigen::Vector3d des_rate(reference.body_rate.x, reference.body_rate.y, reference.body_rate.z);
+     319        7501 :   Eigen::Vector3d cur_rate(uav_state.velocity.angular.x, uav_state.velocity.angular.y, uav_state.velocity.angular.z);
+     320             : 
+     321        7501 :   Eigen::Vector3d ctrl_group_action = (des_rate - cur_rate).array() * gains.array();
+     322             : 
+     323        7501 :   mrs_msgs::HwApiControlGroupCmd cmd;
+     324             : 
+     325        7501 :   cmd.stamp = ros::Time::now();
+     326             : 
+     327        7501 :   cmd.throttle = reference.throttle;
+     328             : 
+     329        7501 :   cmd.roll  = ctrl_group_action[0];
+     330        7501 :   cmd.pitch = ctrl_group_action[1];
+     331        7501 :   cmd.yaw   = ctrl_group_action[2];
+     332             : 
+     333       15002 :   return {cmd};
+     334             : }
+     335             : 
+     336             : //}
+     337             : 
+     338             : /* actuatorMixer() //{ */
+     339             : 
+     340        3751 : mrs_msgs::HwApiActuatorCmd actuatorMixer(const mrs_msgs::HwApiControlGroupCmd& ctrl_group_cmd, const Eigen::MatrixXd& mixer) {
+     341             : 
+     342        3751 :   Eigen::Vector4d ctrl_group(ctrl_group_cmd.roll, ctrl_group_cmd.pitch, ctrl_group_cmd.yaw, ctrl_group_cmd.throttle);
+     343             : 
+     344        7502 :   Eigen::VectorXd motors = mixer * ctrl_group;
+     345             : 
+     346        3751 :   double min = motors.minCoeff();
+     347             : 
+     348        3751 :   if (min < 0.0) {
+     349           0 :     motors.array() += abs(min);
+     350             :   }
+     351             : 
+     352        3751 :   double max = motors.maxCoeff();
+     353             : 
+     354        3751 :   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        3751 :   mrs_msgs::HwApiActuatorCmd actuator_msg;
+     373             : 
+     374        3751 :   actuator_msg.stamp = ros::Time::now();
+     375             : 
+     376       18755 :   for (int i = 0; i < motors.size(); i++) {
+     377       15004 :     actuator_msg.motors.push_back(motors[i]);
+     378             :   }
+     379             : 
+     380        7502 :   return actuator_msg;
+     381             : }
+     382             : 
+     383             : //}
+     384             : 
+     385             : }  // namespace common
+     386             : 
+     387             : }  // namespace mrs_uav_controllers
+
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_controllers::failsafe_controller::FailsafeController::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_controllers::failsafe_controller::FailsafeController::resetDisturbanceEstimators()0
mrs_uav_controllers::failsafe_controller::FailsafeController::getHeadingSafely(geometry_msgs::Quaternion_<std::allocator<void> > const&)7
mrs_uav_controllers::failsafe_controller::FailsafeController::activate(mrs_uav_managers::Controller::ControlOutput const&)7
mrs_uav_controllers::failsafe_controller::FailsafeController::deactivate()31
(anonymous namespace)::ProxyExec0::ProxyExec0()65
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>)65
mrs_uav_controllers::failsafe_controller::FailsafeController::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)253
mrs_uav_controllers::failsafe_controller::FailsafeController::getStatus()970
mrs_uav_controllers::failsafe_controller::FailsafeController::updateActive(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)9714
mrs_uav_controllers::failsafe_controller::FailsafeController::updateInactive(mrs_msgs::UavState_<std::allocator<void> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)77962
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Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()65
mrs_uav_controllers::failsafe_controller::FailsafeController::deactivate()31
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>)65
mrs_uav_controllers::failsafe_controller::FailsafeController::updateActive(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)9714
mrs_uav_controllers::failsafe_controller::FailsafeController::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)253
mrs_uav_controllers::failsafe_controller::FailsafeController::updateInactive(mrs_msgs::UavState_<std::allocator<void> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)77962
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()970
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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          65 : 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          65 :   nh_ = nh;
+     117             : 
+     118          65 :   common_handlers_  = common_handlers;
+     119          65 :   private_handlers_ = private_handlers;
+     120             : 
+     121          65 :   _uav_mass_ = common_handlers->getMass();
+     122             : 
+     123          65 :   ros::Time::waitForValid();
+     124             : 
+     125             :   // | ---------- loading params using the parent's nh ---------- |
+     126             : 
+     127         130 :   mrs_lib::ParamLoader param_loader_parent(common_handlers->parent_nh, "ControlManager");
+     128             : 
+     129          65 :   param_loader_parent.loadParam("enable_profiler", _profiler_enabled_);
+     130             : 
+     131          65 :   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          65 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/private/failsafe_controller.yaml");
+     139          65 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/public/failsafe_controller.yaml");
+     140             : 
+     141         130 :   const std::string yaml_namespace = "mrs_uav_controllers/failsafe_controller/";
+     142             : 
+     143          65 :   private_handlers->param_loader->loadParam(yaml_namespace + "throttle_output/throttle_decrease_rate", _throttle_decrease_rate_);
+     144          65 :   private_handlers->param_loader->loadParam(yaml_namespace + "throttle_output/initial_throttle_percentage", _initial_throttle_percentage_);
+     145             : 
+     146          65 :   private_handlers->param_loader->loadParam(yaml_namespace + "attitude_controller/gains/kp", _kq_);
+     147             : 
+     148          65 :   private_handlers->param_loader->loadParam(yaml_namespace + "rate_controller/gains/kp", _kw_);
+     149             : 
+     150          65 :   private_handlers->param_loader->loadParam(yaml_namespace + "velocity_output/descend_speed", _descend_speed_);
+     151          65 :   private_handlers->param_loader->loadParam(yaml_namespace + "acceleration_output/descend_acceleration", _descend_acceleration_);
+     152             : 
+     153          65 :   if (!private_handlers->param_loader->loadedSuccessfully()) {
+     154           0 :     ROS_ERROR("[FailsafeController]: Could not load all parameters!");
+     155           0 :     return false;
+     156             :   }
+     157             : 
+     158          65 :   _descend_speed_        = std::abs(_descend_speed_);
+     159          65 :   _descend_acceleration_ = std::abs(_descend_acceleration_);
+     160             : 
+     161          65 :   uav_mass_difference_ = 0;
+     162             : 
+     163             :   // | ----------------------- subscribers ---------------------- |
+     164             : 
+     165          65 :   mrs_lib::SubscribeHandlerOptions shopts;
+     166          65 :   shopts.nh                 = nh_;
+     167          65 :   shopts.node_name          = "FailsafeController";
+     168          65 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     169          65 :   shopts.threadsafe         = true;
+     170          65 :   shopts.autostart          = true;
+     171          65 :   shopts.queue_size         = 10;
+     172          65 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     173             : 
+     174          65 :   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          65 :   hover_throttle_ = mrs_lib::quadratic_throttle_model::forceToThrottle(common_handlers_->throttle_model, _uav_mass_ * common_handlers_->g);
+     179             : 
+     180             :   // | ------------------------ profiler ------------------------ |
+     181             : 
+     182          65 :   profiler_ = mrs_lib::Profiler(common_handlers->parent_nh, "FailsafeController", _profiler_enabled_);
+     183             : 
+     184             :   // | ----------------------- finish init ---------------------- |
+     185             : 
+     186          65 :   ROS_INFO("[FailsafeController]: initialized");
+     187             : 
+     188          65 :   is_initialized_ = true;
+     189             : 
+     190          65 :   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           7 :       uav_mass_difference_ = last_control_output.diagnostics.mass_difference;
+     230             :     } else {
+     231           0 :       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          31 : void FailsafeController::deactivate(void) {
+     254             : 
+     255          31 :   is_active_           = false;
+     256          31 :   first_iteration_     = false;
+     257          31 :   uav_mass_difference_ = 0;
+     258             : 
+     259          31 :   ROS_INFO("[FailsafeController]: deactivated");
+     260          31 : }
+     261             : 
+     262             : //}
+     263             : 
+     264             : /* updateInactive() //{ */
+     265             : 
+     266       77962 : void FailsafeController::updateInactive(const mrs_msgs::UavState &uav_state, [[maybe_unused]] const std::optional<mrs_msgs::TrackerCommand> &tracker_command) {
+     267             : 
+     268       77962 :   mrs_lib::set_mutexed(mutex_uav_state_, uav_state, uav_state_);
+     269             : 
+     270       77962 :   last_update_time_ = ros::Time::now();
+     271             : 
+     272       77962 :   first_iteration_ = false;
+     273       77962 : }
+     274             : 
+     275             : //}
+     276             : 
+     277             : /* //{ updateWhenAcctive() */
+     278             : 
+     279        9714 : FailsafeController::ControlOutput FailsafeController::updateActive(const mrs_msgs::UavState &                       uav_state,
+     280             :                                                                    [[maybe_unused]] const mrs_msgs::TrackerCommand &tracker_command) {
+     281             : 
+     282       29142 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("update");
+     283       29142 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("FailsafeController::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     284             : 
+     285             :   {
+     286       19428 :     std::scoped_lock lock(mutex_uav_state_);
+     287             : 
+     288        9714 :     uav_state_ = uav_state;
+     289             :   }
+     290             : 
+     291        9714 :   if (!is_active_) {
+     292           0 :     return ControlOutput();
+     293             :   }
+     294             : 
+     295        9714 :   auto constraints = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+     296             : 
+     297             :   // | -------------------- calculate the dt -------------------- |
+     298             : 
+     299             :   double dt;
+     300             : 
+     301        9714 :   if (first_iteration_) {
+     302           7 :     dt               = 0.01;
+     303           7 :     first_iteration_ = false;
+     304             :   } else {
+     305        9707 :     dt = (ros::Time::now() - last_update_time_).toSec();
+     306             :   }
+     307             : 
+     308        9714 :   last_update_time_ = ros::Time::now();
+     309             : 
+     310        9714 :   hover_throttle_ -= _throttle_decrease_rate_ * dt;
+     311             : 
+     312        9714 :   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        9714 :   } else if (hover_throttle_ > 1.0) {
+     316           0 :     hover_throttle_ = 1.0;
+     317        9714 :   } else if (hover_throttle_ < 0.0) {
+     318           0 :     hover_throttle_ = 0.0;
+     319             :   }
+     320             : 
+     321             :   // | --------------- prepare the control output --------------- |
+     322             : 
+     323       19428 :   FailsafeController::ControlOutput control_output;
+     324             : 
+     325        9714 :   control_output.diagnostics.controller = "FailsafeController";
+     326             : 
+     327        9714 :   auto highest_modality = common::getHighestOuput(common_handlers_->control_output_modalities);
+     328             : 
+     329        9714 :   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        9714 :   control_output.diagnostics.controller = "FailsafeController";
+     335             : 
+     336             :   // --------------------------------------------------------------
+     337             :   // |                       position output                      |
+     338             :   // --------------------------------------------------------------
+     339             : 
+     340        9714 :   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        9714 :   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        9714 :   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        9714 :   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        9714 :   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        9714 :   mrs_msgs::HwApiAttitudeCmd attitude_cmd;
+     422             : 
+     423        9714 :   attitude_cmd.stamp       = ros::Time::now();
+     424        9714 :   attitude_cmd.orientation = mrs_lib::AttitudeConverter(0, 0, heading_setpoint_);
+     425        9714 :   attitude_cmd.throttle    = hover_throttle_;
+     426             : 
+     427        9714 :   if (highest_modality.value() == common::ATTITUDE) {
+     428        5535 :     ROS_DEBUG_THROTTLE(1.0, "[FailsafeController]: returning attitude output");
+     429        5535 :     control_output.control_output = attitude_cmd;
+     430        5535 :     return control_output;
+     431             :   }
+     432             : 
+     433             :   // --------------------------------------------------------------
+     434             :   // |                      attitude control                      |
+     435             :   // --------------------------------------------------------------
+     436             : 
+     437        4179 :   Eigen::Vector3d attitude_rate_saturation(constraints.roll_rate, constraints.pitch_rate, constraints.yaw_rate);
+     438        4179 :   Eigen::Vector3d rate_ff(0, 0, 0);
+     439        4179 :   Eigen::Vector3d Kq(_kq_, _kq_, _kq_);
+     440             : 
+     441        4179 :   auto attitude_rate_command = common::attitudeController(uav_state, attitude_cmd, rate_ff, attitude_rate_saturation, Kq, false);
+     442             : 
+     443        4179 :   if (highest_modality.value() == common::ATTITUDE_RATE) {
+     444        1393 :     ROS_DEBUG_THROTTLE(1.0, "[FailsafeController]: returning attitude rate output");
+     445        1393 :     control_output.control_output = attitude_rate_command;
+     446        1393 :     return control_output;
+     447             :   }
+     448             : 
+     449             :   // --------------------------------------------------------------
+     450             :   // |                    attitude rate control                   |
+     451             :   // --------------------------------------------------------------
+     452             : 
+     453        2786 :   Eigen::Vector3d Kw = common_handlers_->detailed_model_params->inertia.diagonal() * _kw_;
+     454             : 
+     455        2786 :   auto control_group_command = common::attitudeRateController(uav_state, attitude_rate_command.value(), Kw);
+     456             : 
+     457        2786 :   if (highest_modality.value() == common::CONTROL_GROUP) {
+     458        1393 :     ROS_DEBUG_THROTTLE(1.0, "[FailsafeController]: returning control group output");
+     459        1393 :     control_output.control_output = control_group_command;
+     460        1393 :     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         970 : const mrs_msgs::ControllerStatus FailsafeController::getStatus() {
+     479             : 
+     480         970 :   mrs_msgs::ControllerStatus controller_status;
+     481             : 
+     482         970 :   controller_status.active = is_active_;
+     483             : 
+     484         970 :   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         253 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr FailsafeController::setConstraints([
+     506             :     [maybe_unused]] const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &constraints) {
+     507             : 
+     508         253 :   if (!is_initialized_) {
+     509           0 :     return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse());
+     510             :   }
+     511             : 
+     512         253 :   mrs_lib::set_mutexed(mutex_constraints_, constraints->constraints, constraints_);
+     513             : 
+     514         253 :   ROS_INFO("[FailsafeController]: updating constraints");
+     515             : 
+     516         506 :   mrs_msgs::DynamicsConstraintsSrvResponse res;
+     517         253 :   res.success = true;
+     518         253 :   res.message = "constraints updated";
+     519             : 
+     520         253 :   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          65 : PLUGINLIB_EXPORT_CLASS(mrs_uav_controllers::failsafe_controller::FailsafeController, mrs_uav_managers::Controller)
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_controllers/src/failsafe_controller.cpp.gcov.overview.html b/mrs_uav_controllers/src/failsafe_controller.cpp.gcov.overview.html new file mode 100644 index 0000000000..ba53a24ec7 --- /dev/null +++ b/mrs_uav_controllers/src/failsafe_controller.cpp.gcov.overview.html @@ -0,0 +1,158 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_controllers/src/failsafe_controller.cpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + 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_controllers/srcHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1734217279.8 %
Date:2024-01-20 21:44:18Functions:586687.9 %
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failsafe_controller.cpp +
67.5%67.5%
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midair_activation_controller.cpp +
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<unnamed>82.1 %124 / 15181.8 %9 / 11
se3_controller.cpp +
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<unnamed>78.7 %609 / 77488.2 %15 / 17
mpc_controller.cpp +
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+ 		82.4 %737 / 89488.9 %16 / 18
<unnamed>82.4 %737 / 89488.9 %16 / 18
common.cpp +
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<unnamed>83.6 %133 / 159100.0 %9 / 9
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Test:MRS UAV System - Test coverage reportLines:1734217279.8 %
Date:2024-01-20 21:44:18Functions:586687.9 %
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se3_controller.cpp +
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+ 		78.7 %609 / 77488.2 %15 / 17
<unnamed>78.7 %609 / 77488.2 %15 / 17
midair_activation_controller.cpp +
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+ 		82.1 %124 / 15181.8 %9 / 11
<unnamed>82.1 %124 / 15181.8 %9 / 11
mpc_controller.cpp +
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+ 		82.4 %737 / 89488.9 %16 / 18
<unnamed>82.4 %737 / 89488.9 %16 / 18
common.cpp +
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<unnamed>83.6 %133 / 159100.0 %9 / 9
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Test:MRS UAV System - Test coverage reportLines:1734217279.8 %
Date:2024-01-20 21:44:18Functions:586687.9 %
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common.cpp +
83.6%83.6%
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<unnamed>83.6 %133 / 159100.0 %9 / 9
failsafe_controller.cpp +
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midair_activation_controller.cpp +
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mpc_controller.cpp +
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se3_controller.cpp +
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Test:MRS UAV System - Test coverage reportLines:1734217279.8 %
Date:2024-01-20 21:44:18Functions:586687.9 %
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failsafe_controller.cpp +
67.5%67.5%
+ 		67.5 %131 / 19481.8 %9 / 11
midair_activation_controller.cpp +
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+ 		82.1 %124 / 15181.8 %9 / 11
se3_controller.cpp +
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+ 		78.7 %609 / 77488.2 %15 / 17
mpc_controller.cpp +
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common.cpp +
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Current view:top level - mrs_uav_controllers/srcHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1734217279.8 %
Date:2024-01-20 21:44:18Functions:586687.9 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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failsafe_controller.cpp +
67.5%67.5%
+ 		67.5 %131 / 19481.8 %9 / 11
se3_controller.cpp +
78.7%78.7%
+ 		78.7 %609 / 77488.2 %15 / 17
midair_activation_controller.cpp +
82.1%82.1%
+ 		82.1 %124 / 15181.8 %9 / 11
mpc_controller.cpp +
82.4%82.4%
+ 		82.4 %737 / 89488.9 %16 / 18
common.cpp +
83.6%83.6%
+ 		83.6 %133 / 159100.0 %9 / 9
+
+
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Generated by: LCOV version 1.14
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Current view:top level - mrs_uav_controllers/srcHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1734217279.8 %
Date:2024-01-20 21:44:18Functions:586687.9 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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common.cpp +
83.6%83.6%
+ 		83.6 %133 / 159100.0 %9 / 9
failsafe_controller.cpp +
67.5%67.5%
+ 		67.5 %131 / 19481.8 %9 / 11
midair_activation_controller.cpp +
82.1%82.1%
+ 		82.1 %124 / 15181.8 %9 / 11
mpc_controller.cpp +
82.4%82.4%
+ 		82.4 %737 / 89488.9 %16 / 18
se3_controller.cpp +
78.7%78.7%
+ 		78.7 %609 / 77488.2 %15 / 17
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Generated by: LCOV version 1.14
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Current view:top level - mrs_uav_controllers/src - midair_activation_controller.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:12415182.1 %
Date:2024-01-20 21:44:18Functions: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&)8
mrs_uav_controllers::midair_activation_controller::MidairActivationController::deactivate()64
(anonymous namespace)::ProxyExec0::ProxyExec0()65
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>)65
mrs_uav_controllers::midair_activation_controller::MidairActivationController::getStatus()69
mrs_uav_controllers::midair_activation_controller::MidairActivationController::activate(mrs_uav_managers::Controller::ControlOutput const&)91
mrs_uav_controllers::midair_activation_controller::MidairActivationController::updateActive(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)204
mrs_uav_controllers::midair_activation_controller::MidairActivationController::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)253
mrs_uav_controllers::midair_activation_controller::MidairActivationController::updateInactive(mrs_msgs::UavState_<std::allocator<void> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)87472
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Generated by: LCOV version 1.14
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Current view:top level - mrs_uav_controllers/src - midair_activation_controller.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:12415182.1 %
Date:2024-01-20 21:44:18Functions: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()65
mrs_uav_controllers::midair_activation_controller::MidairActivationController::deactivate()64
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>)65
mrs_uav_controllers::midair_activation_controller::MidairActivationController::updateActive(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)204
mrs_uav_controllers::midair_activation_controller::MidairActivationController::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)253
mrs_uav_controllers::midair_activation_controller::MidairActivationController::updateInactive(mrs_msgs::UavState_<std::allocator<void> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)87472
mrs_uav_controllers::midair_activation_controller::MidairActivationController::getHeadingSafely(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)8
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&)91
mrs_uav_controllers::midair_activation_controller::MidairActivationController::getStatus()69
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LCOV - code coverage report
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Current view:top level - mrs_uav_controllers/src - midair_activation_controller.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:12415182.1 %
Date:2024-01-20 21:44:18Functions: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          65 : 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          65 :   nh_ = nh;
+      90             : 
+      91          65 :   common_handlers_  = common_handlers;
+      92          65 :   private_handlers_ = private_handlers;
+      93             : 
+      94          65 :   _uav_mass_ = common_handlers->getMass();
+      95             : 
+      96          65 :   ros::Time::waitForValid();
+      97             : 
+      98             :   // | ---------- loading params using the parent's nh ---------- |
+      99             : 
+     100         130 :   mrs_lib::ParamLoader param_loader_parent(common_handlers->parent_nh, "ControlManager");
+     101             : 
+     102          65 :   param_loader_parent.loadParam("enable_profiler", _profiler_enabled_);
+     103             : 
+     104          65 :   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          65 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/private/midair_activation_controller.yaml");
+     112          65 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/public/midair_activation_controller.yaml");
+     113             : 
+     114          65 :   if (!private_handlers->param_loader->loadedSuccessfully()) {
+     115           0 :     ROS_ERROR("[MidairActivationController]: Could not load all parameters!");
+     116           0 :     return false;
+     117             :   }
+     118             : 
+     119          65 :   uav_mass_difference_ = 0;
+     120             : 
+     121             :   // | ------------------------ profiler ------------------------ |
+     122             : 
+     123          65 :   profiler_ = mrs_lib::Profiler(common_handlers->parent_nh, "MidairActivationController", _profiler_enabled_);
+     124             : 
+     125             :   // | ----------------------- finish init ---------------------- |
+     126             : 
+     127          65 :   ROS_INFO("[MidairActivationController]: initialized");
+     128             : 
+     129          65 :   is_initialized_ = true;
+     130             : 
+     131          65 :   return true;
+     132             : }
+     133             : 
+     134             : //}
+     135             : 
+     136             : /* activate() //{ */
+     137             : 
+     138          91 : bool MidairActivationController::activate([[maybe_unused]] const ControlOutput &last_control_output) {
+     139             : 
+     140          91 :   ROS_INFO("[MidairActivationController]: activating");
+     141             : 
+     142          91 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     143             : 
+     144          91 :   hover_throttle_ = mrs_lib::quadratic_throttle_model::forceToThrottle(common_handlers_->throttle_model, _uav_mass_ * common_handlers_->g);
+     145             : 
+     146          91 :   is_active_ = true;
+     147             : 
+     148          91 :   ROS_INFO("[MidairActivationController]: activated, hover throttle %.2f", hover_throttle_);
+     149             : 
+     150         182 :   return true;
+     151             : }
+     152             : 
+     153             : //}
+     154             : 
+     155             : /* deactivate() //{ */
+     156             : 
+     157          64 : void MidairActivationController::deactivate(void) {
+     158             : 
+     159          64 :   is_active_           = false;
+     160          64 :   uav_mass_difference_ = 0;
+     161             : 
+     162          64 :   ROS_INFO("[MidairActivationController]: deactivated");
+     163          64 : }
+     164             : 
+     165             : //}
+     166             : 
+     167             : /* updateInactive() //{ */
+     168             : 
+     169       87472 : void MidairActivationController::updateInactive(const mrs_msgs::UavState &                                      uav_state,
+     170             :                                                 [[maybe_unused]] const std::optional<mrs_msgs::TrackerCommand> &tracker_command) {
+     171             : 
+     172       87472 :   mrs_lib::set_mutexed(mutex_uav_state_, uav_state, uav_state_);
+     173       87472 : }
+     174             : 
+     175             : //}
+     176             : 
+     177             : /* //{ updateWhenAcctive() */
+     178             : 
+     179         204 : MidairActivationController::ControlOutput MidairActivationController::updateActive(const mrs_msgs::UavState &      uav_state,
+     180             :                                                                                    const mrs_msgs::TrackerCommand &tracker_command) {
+     181             : 
+     182         612 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("update");
+     183             :   mrs_lib::ScopeTimer timer =
+     184         612 :       mrs_lib::ScopeTimer("MidairActivationController::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     185             : 
+     186         204 :   mrs_lib::set_mutexed(mutex_uav_state_, uav_state, uav_state_);
+     187             : 
+     188         204 :   if (!is_active_) {
+     189           0 :     return Controller::ControlOutput();
+     190             :   }
+     191             : 
+     192             :   // | --------------- prepare the control output --------------- |
+     193             : 
+     194         408 :   ControlOutput control_output;
+     195             : 
+     196         204 :   control_output.diagnostics.controller = "MidairActivationController";
+     197             : 
+     198         204 :   auto highest_modality = common::getHighestOuput(common_handlers_->control_output_modalities);
+     199             : 
+     200         204 :   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         204 :   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           0 :     case common::VELOCITY_HDG: {
+     228             : 
+     229           0 :       mrs_msgs::HwApiVelocityHdgCmd cmd;
+     230             : 
+     231           0 :       cmd.header.stamp    = ros::Time::now();
+     232           0 :       cmd.header.frame_id = uav_state.header.frame_id;
+     233             : 
+     234           0 :       cmd.velocity.x = uav_state.velocity.linear.x;
+     235           0 :       cmd.velocity.y = uav_state.velocity.linear.y;
+     236           0 :       cmd.velocity.z = uav_state.velocity.linear.z;
+     237             : 
+     238           0 :       cmd.heading = getHeadingSafely(uav_state, tracker_command);
+     239             : 
+     240           0 :       control_output.control_output = cmd;
+     241             : 
+     242           0 :       break;
+     243             :     }
+     244             : 
+     245           3 :     case common::VELOCITY_HDG_RATE: {
+     246             : 
+     247           6 :       mrs_msgs::HwApiVelocityHdgRateCmd cmd;
+     248             : 
+     249           3 :       cmd.header.stamp    = ros::Time::now();
+     250           3 :       cmd.header.frame_id = uav_state.header.frame_id;
+     251             : 
+     252           3 :       cmd.velocity.x = uav_state.velocity.linear.x;
+     253           3 :       cmd.velocity.y = uav_state.velocity.linear.y;
+     254           3 :       cmd.velocity.z = uav_state.velocity.linear.z;
+     255             : 
+     256           3 :       cmd.heading_rate = 0;
+     257             : 
+     258           3 :       control_output.control_output = cmd;
+     259             : 
+     260           3 :       break;
+     261             :     }
+     262             : 
+     263           5 :     case common::ACCELERATION_HDG: {
+     264             : 
+     265          10 :       mrs_msgs::HwApiAccelerationHdgCmd cmd;
+     266             : 
+     267           5 :       cmd.header.stamp    = ros::Time::now();
+     268           5 :       cmd.header.frame_id = uav_state.header.frame_id;
+     269             : 
+     270           5 :       cmd.acceleration.x = uav_state.acceleration.linear.x;
+     271           5 :       cmd.acceleration.y = uav_state.acceleration.linear.y;
+     272           5 :       cmd.acceleration.z = uav_state.acceleration.linear.z;
+     273             : 
+     274           5 :       cmd.heading = getHeadingSafely(uav_state, tracker_command);
+     275             : 
+     276           5 :       control_output.control_output = cmd;
+     277             : 
+     278           5 :       break;
+     279             :     }
+     280             : 
+     281           4 :     case common::ACCELERATION_HDG_RATE: {
+     282             : 
+     283           8 :       mrs_msgs::HwApiAccelerationHdgRateCmd cmd;
+     284             : 
+     285           4 :       cmd.header.stamp    = ros::Time::now();
+     286           4 :       cmd.header.frame_id = uav_state.header.frame_id;
+     287             : 
+     288           4 :       cmd.acceleration.x = uav_state.acceleration.linear.x;
+     289           4 :       cmd.acceleration.y = uav_state.acceleration.linear.y;
+     290           4 :       cmd.acceleration.z = uav_state.acceleration.linear.z;
+     291             : 
+     292           4 :       cmd.heading_rate = 0;
+     293             : 
+     294           4 :       control_output.control_output = cmd;
+     295             : 
+     296           4 :       break;
+     297             :     }
+     298             : 
+     299         139 :     case common::ATTITUDE: {
+     300             : 
+     301         139 :       mrs_msgs::HwApiAttitudeCmd cmd;
+     302             : 
+     303         139 :       cmd.stamp = ros::Time::now();
+     304             : 
+     305         139 :       cmd.orientation = uav_state.pose.orientation;
+     306         139 :       cmd.throttle    = hover_throttle_;
+     307             : 
+     308         139 :       control_output.control_output = cmd;
+     309             : 
+     310         139 :       break;
+     311             :     }
+     312             : 
+     313          16 :     case common::ATTITUDE_RATE: {
+     314             : 
+     315          16 :       mrs_msgs::HwApiAttitudeRateCmd cmd;
+     316             : 
+     317          16 :       cmd.stamp = ros::Time::now();
+     318             : 
+     319          16 :       cmd.body_rate.x = 0;
+     320          16 :       cmd.body_rate.y = 0;
+     321          16 :       cmd.body_rate.z = 0;
+     322             : 
+     323          16 :       cmd.throttle = hover_throttle_;
+     324             : 
+     325          16 :       control_output.control_output = cmd;
+     326             : 
+     327          16 :       break;
+     328             :     }
+     329             : 
+     330          17 :     case common::CONTROL_GROUP: {
+     331             : 
+     332          17 :       mrs_msgs::HwApiControlGroupCmd cmd;
+     333             : 
+     334          17 :       cmd.stamp = ros::Time::now();
+     335             : 
+     336          17 :       cmd.roll     = 0;
+     337          17 :       cmd.pitch    = 0;
+     338          17 :       cmd.yaw      = 0;
+     339          17 :       cmd.throttle = hover_throttle_;
+     340             : 
+     341          17 :       control_output.control_output = cmd;
+     342             : 
+     343          17 :       break;
+     344             :     }
+     345             : 
+     346          17 :     case common::ACTUATORS_CMD: {
+     347             : 
+     348          34 :       mrs_msgs::HwApiActuatorCmd cmd;
+     349             : 
+     350          17 :       cmd.stamp = ros::Time::now();
+     351             : 
+     352          85 :       for (int i = 0; i < common_handlers_->throttle_model.n_motors; i++) {
+     353          68 :         cmd.motors.push_back(hover_throttle_);
+     354             :       }
+     355             : 
+     356          17 :       control_output.control_output = cmd;
+     357             : 
+     358          17 :       break;
+     359             :     }
+     360             :   }
+     361             : 
+     362         204 :   return control_output;
+     363             : }  // namespace midair_activation_controller
+     364             : 
+     365             : //}
+     366             : 
+     367             : /* getStatus() //{ */
+     368             : 
+     369          69 : const mrs_msgs::ControllerStatus MidairActivationController::getStatus() {
+     370             : 
+     371          69 :   mrs_msgs::ControllerStatus controller_status;
+     372             : 
+     373          69 :   controller_status.active = is_active_;
+     374             : 
+     375          69 :   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         253 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr MidairActivationController::setConstraints([
+     397             :     [maybe_unused]] const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &constraints) {
+     398             : 
+     399         253 :   return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse());
+     400             : }
+     401             : 
+     402             : //}
+     403             : 
+     404             : /* getHeadingSafely() //{ */
+     405             : 
+     406           8 : double MidairActivationController::getHeadingSafely(const mrs_msgs::UavState &uav_state, const mrs_msgs::TrackerCommand &tracker_command) {
+     407             : 
+     408             :   try {
+     409           8 :     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          65 : PLUGINLIB_EXPORT_CLASS(mrs_uav_controllers::midair_activation_controller::MidairActivationController, mrs_uav_managers::Controller)
+
+
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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.png b/mrs_uav_controllers/src/midair_activation_controller.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..5c630f7906de31db5500dac864b87880cc44da1a GIT binary patch literal 1271 zcmV;0000OP)t-s|NsB0 zs;a7|?_FK${{R500003000620&P%hU00009a7bBm000ie000ie0hKEb8vpJLjS&e)5!1MKq{ug|ktMxEJH(xi3=h>U1Jgt{8<;kr z)|W>l48@ovI3q>mR@=wY`~Pqhg~?6c;#7e)-Nz0HVbEZ-T4Xf-eKqXgik66DxtIF$ zLWBtDa{x(0jSvCBp|fIegi{y%I}m$_nC4XCDBmZamO9rlMCVjdd&Ag&YAOKNm0)@36!1AWP)_o~z z_ogq;#j(>Q7y}Rk9=n;Q(_8vG%lga0bomfT?-ku=jE~#<(~A+MJ}Pde9*^mP$?X5{ z3f+iG`a!j=q7`SSh&m!QJ;ljXKqTW3BH9LEd;C5=kIlKM zYXE_dIE`rb6r+YXzEToI+_ecRF3Ss%=l1)2t?!>hmP7IV`nu54EhP=B$d|B(_qKGw zZuUwENf9VstqiQsEh-ZZg^B2D^5LpCU++HpmKRI#a7G?L2PfM)6sXv0Sur0IFu3kRx)`N)-K=Kze(ljcoez}Tq(@*F@~ zYaA~jKqcbYb#X-rV&1br@kR%M6wimir`(9_=UF@E14zMb?&e>WP{>dzJ?oj4d! + + + + + + 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:73789482.4 %
Date:2024-01-20 21:44:18Functions:161888.9 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_controllers::mpc_controller::MpcController::callbackSetIntegralTerms(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)0
mrs_uav_controllers::mpc_controller::MpcController::resetDisturbanceEstimators()0
mrs_uav_controllers::mpc_controller::MpcController::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)4
(anonymous namespace)::ProxyExec0::ProxyExec0()65
mrs_uav_controllers::mpc_controller::MpcController::deactivate()118
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>)130
mrs_uav_controllers::mpc_controller::MpcController::callbackDrs(mrs_uav_controllers::mpc_controllerConfig&, unsigned int)130
mrs_uav_controllers::mpc_controller::MpcController::activate(mrs_uav_managers::Controller::ControlOutput const&)139
mrs_uav_controllers::mpc_controller::MpcController::positionPassthrough(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)231
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&)499
mrs_uav_controllers::mpc_controller::MpcController::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)506
mrs_uav_controllers::mpc_controller::MpcController::getStatus()8061
mrs_uav_controllers::mpc_controller::MpcController::timerGains(ros::TimerEvent const&)9032
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&)41156
mrs_uav_controllers::mpc_controller::MpcController::getHeadingSafely(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)41655
mrs_uav_controllers::mpc_controller::MpcController::updateActive(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)41886
mrs_uav_controllers::mpc_controller::MpcController::calculateGainChange(double, double, double, bool, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool&)72256
mrs_uav_controllers::mpc_controller::MpcController::updateInactive(mrs_msgs::UavState_<std::allocator<void> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)133466
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Generated by: LCOV version 1.14
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LCOV - code coverage report
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Current view:top level - mrs_uav_controllers/src - mpc_controller.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:73789482.4 %
Date:2024-01-20 21:44:18Functions:161888.9 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()65
mrs_uav_controllers::mpc_controller::MpcController::deactivate()118
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>)130
mrs_uav_controllers::mpc_controller::MpcController::timerGains(ros::TimerEvent const&)9032
mrs_uav_controllers::mpc_controller::MpcController::callbackDrs(mrs_uav_controllers::mpc_controllerConfig&, unsigned int)130
mrs_uav_controllers::mpc_controller::MpcController::updateActive(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)41886
mrs_uav_controllers::mpc_controller::MpcController::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)506
mrs_uav_controllers::mpc_controller::MpcController::updateInactive(mrs_msgs::UavState_<std::allocator<void> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)133466
mrs_uav_controllers::mpc_controller::MpcController::getHeadingSafely(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)41655
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&)499
mrs_uav_controllers::mpc_controller::MpcController::calculateGainChange(double, double, double, bool, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool&)72256
mrs_uav_controllers::mpc_controller::MpcController::positionPassthrough(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)231
mrs_uav_controllers::mpc_controller::MpcController::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)4
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&)41156
mrs_uav_controllers::mpc_controller::MpcController::activate(mrs_uav_managers::Controller::ControlOutput const&)139
mrs_uav_controllers::mpc_controller::MpcController::getStatus()8061
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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:73789482.4 %
Date:2024-01-20 21:44:18Functions:161888.9 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + +

+
          Line data    Source code
+
+       1             : /* includes //{ */
+       2             : 
+       3             : #include <ros/ros.h>
+       4             : #include <ros/package.h>
+       5             : 
+       6             : #include <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         130 : 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         130 :   nh_ = nh;
+     260             : 
+     261         130 :   common_handlers_  = common_handlers;
+     262         130 :   private_handlers_ = private_handlers;
+     263             : 
+     264         130 :   _uav_mass_ = common_handlers_->getMass();
+     265         130 :   name_      = private_handlers_->runtime_name;
+     266             : 
+     267         130 :   ros::Time::waitForValid();
+     268             : 
+     269             :   // | ---------- loading params using the parent's nh ---------- |
+     270             : 
+     271         260 :   mrs_lib::ParamLoader param_loader_parent(common_handlers->parent_nh, "ControlManager");
+     272             : 
+     273         130 :   param_loader_parent.loadParam("enable_profiler", _profiler_enabled_);
+     274             : 
+     275         130 :   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         130 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/private/mpc_controller.yaml");
+     283         130 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/public/mpc_controller.yaml");
+     284         130 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/private/" + private_handlers->name_space + ".yaml");
+     285         130 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/public/" + private_handlers->name_space + ".yaml");
+     286             : 
+     287         260 :   const std::string yaml_namespace = "mrs_uav_controllers/" + private_handlers_->name_space + "/";
+     288             : 
+     289             :   // load the dynamicall model parameters
+     290         130 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_model/number_of_states", _n_states_);
+     291         130 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_model/dt1", _dt1_);
+     292         130 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_model/dt2", _dt2_);
+     293             : 
+     294         130 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/horizon_length", _horizon_length_);
+     295             : 
+     296         130 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/horizontal/max_speed", _max_speed_horizontal_);
+     297         130 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/horizontal/max_acceleration", _max_acceleration_horizontal_);
+     298         130 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/horizontal/max_jerk", _max_jerk_);
+     299             : 
+     300         130 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/horizontal/Q", _mat_Q_);
+     301         130 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/horizontal/S", _mat_S_);
+     302             : 
+     303         130 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/vertical/max_speed", _max_speed_vertical_);
+     304         130 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/vertical/max_acceleration", _max_acceleration_vertical_);
+     305         130 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/vertical/max_u", _max_u_vertical_);
+     306             : 
+     307         130 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/vertical/Q", _mat_Q_z_);
+     308         130 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/vertical/S", _mat_S_z_);
+     309             : 
+     310         130 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/solver/verbose", _mpc_solver_verbose_);
+     311         130 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/solver/max_iterations", _mpc_solver_max_iterations_);
+     312             : 
+     313             :   // | ------------------------- rampup ------------------------- |
+     314             : 
+     315         130 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/rampup/enabled", _rampup_enabled_);
+     316         130 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/rampup/speed", _rampup_speed_);
+     317             : 
+     318             :   // | --------------------- integral gains --------------------- |
+     319             : 
+     320         130 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gains/integral_gains/kiw", gains_.kiwxy);
+     321         130 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gains/integral_gains/kib", gains_.kibxy);
+     322             : 
+     323             :   // integrator limits
+     324         130 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gains/integral_gains/kiw_lim", gains_.kiwxy_lim);
+     325         130 :   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         130 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gains/attitude/roll_pitch", gains_.kq_roll_pitch);
+     331         130 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gains/attitude/yaw", gains_.kq_yaw);
+     332             : 
+     333             :   // attitude rate gains
+     334         130 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gains/attitude_rate/roll_pitch", gains_.kw_rp);
+     335         130 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gains/attitude_rate/yaw", gains_.kw_y);
+     336             : 
+     337             :   // mass estimator
+     338         130 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/mass_estimator/km", gains_.km);
+     339         130 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/mass_estimator/km_lim", gains_.km_lim);
+     340             : 
+     341             :   // constraints
+     342         130 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/constraints/tilt_angle_failsafe/enabled", _tilt_angle_failsafe_enabled_);
+     343         130 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/constraints/tilt_angle_failsafe/limit", _tilt_angle_failsafe_);
+     344             : 
+     345         130 :   _tilt_angle_failsafe_ = M_PI * (_tilt_angle_failsafe_ / 180.0);
+     346             : 
+     347         130 :   if (_tilt_angle_failsafe_enabled_ && fabs(_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         130 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/constraints/throttle_saturation", _throttle_saturation_);
+     353             : 
+     354             :   // gain filtering
+     355         130 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gain_filtering/perc_change_rate", _gains_filter_change_rate_);
+     356         130 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gain_filtering/min_change_rate", _gains_filter_min_change_rate_);
+     357         130 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gain_filtering/rate", _gain_filtering_rate_);
+     358         130 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gain_filtering/gain_mute_coefficient", _gain_mute_coefficient_);
+     359             : 
+     360             :   // angular rate feed forward
+     361         130 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/angular_rate_feedforward/jerk", drs_params_.jerk_feedforward);
+     362             : 
+     363             :   // output mode
+     364         130 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/preferred_output", drs_params_.preferred_output_mode);
+     365             : 
+     366             :   // | ------------------- position pid params ------------------ |
+     367             : 
+     368         130 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/translation_gains/p", _pos_pid_p_);
+     369         130 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/translation_gains/i", _pos_pid_i_);
+     370         130 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/translation_gains/d", _pos_pid_d_);
+     371             : 
+     372         130 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/heading_gains/p", _hdg_pid_p_);
+     373         130 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/heading_gains/i", _hdg_pid_i_);
+     374         130 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/heading_gains/d", _hdg_pid_d_);
+     375             : 
+     376         130 :   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         130 :   if (!(drs_params_.preferred_output_mode == OUTPUT_ACTUATORS || drs_params_.preferred_output_mode == OUTPUT_CONTROL_GROUP ||
+     384         130 :         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         130 :   uav_mass_difference_ = 0;
+     390         130 :   Iw_w_                = Eigen::Vector2d::Zero(2);
+     391         130 :   Ib_b_                = Eigen::Vector2d::Zero(2);
+     392             : 
+     393             :   // | ----------------- prepare the MPC solver ----------------- |
+     394             : 
+     395         130 :   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         130 :                                                                             _dt2_, 0, 1.0);
+     397         130 :   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         130 :                                                                             _dt2_, 0, 1.0);
+     399         130 :   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         130 :                                                                             _dt1_, _dt2_, 0.5, 0.5);
+     401             : 
+     402             :   // | --------------- dynamic reconfigure server --------------- |
+     403             : 
+     404         130 :   drs_params_.kiwxy         = gains_.kiwxy;
+     405         130 :   drs_params_.kibxy         = gains_.kibxy;
+     406         130 :   drs_params_.kq_roll_pitch = gains_.kq_roll_pitch;
+     407         130 :   drs_params_.kq_yaw        = gains_.kq_yaw;
+     408         130 :   drs_params_.km            = gains_.km;
+     409         130 :   drs_params_.km_lim        = gains_.km_lim;
+     410         130 :   drs_params_.kiwxy_lim     = gains_.kiwxy_lim;
+     411         130 :   drs_params_.kibxy_lim     = gains_.kibxy_lim;
+     412             : 
+     413         130 :   drs_.reset(new Drs_t(mutex_drs_, nh_));
+     414         130 :   drs_->updateConfig(drs_params_);
+     415         130 :   Drs_t::CallbackType f = boost::bind(&MpcController::callbackDrs, this, _1, _2);
+     416         130 :   drs_->setCallback(f);
+     417             : 
+     418             :   // | --------------------- service servers -------------------- |
+     419             : 
+     420         130 :   service_set_integral_terms_ = nh_.advertiseService("set_integral_terms_in", &MpcController::callbackSetIntegralTerms, this);
+     421             : 
+     422             :   // | ------------------------- timers ------------------------- |
+     423             : 
+     424         130 :   timer_gains_ = nh_.createTimer(ros::Rate(_gain_filtering_rate_), &MpcController::timerGains, this, false, false);
+     425             : 
+     426             :   // | ---------------------- position pid ---------------------- |
+     427             : 
+     428         130 :   position_pid_x_.setParams(_pos_pid_p_, _pos_pid_d_, _pos_pid_i_, -1, 1.0);
+     429         130 :   position_pid_y_.setParams(_pos_pid_p_, _pos_pid_d_, _pos_pid_i_, -1, 1.0);
+     430         130 :   position_pid_z_.setParams(_pos_pid_p_, _pos_pid_d_, _pos_pid_i_, -1, 1.0);
+     431         130 :   position_pid_heading_.setParams(_hdg_pid_p_, _hdg_pid_d_, _hdg_pid_i_, -1, 0.1);
+     432             : 
+     433             :   // | ------------------------ profiler ------------------------ |
+     434             : 
+     435         130 :   profiler_ = mrs_lib::Profiler(common_handlers->parent_nh, "MpcController", _profiler_enabled_);
+     436             : 
+     437             :   // | ----------------------- finish init ---------------------- |
+     438             : 
+     439         130 :   ROS_INFO("[%s]: initialized", this->name_.c_str());
+     440             : 
+     441         130 :   is_initialized_ = true;
+     442             : 
+     443         130 :   return true;
+     444             : }
+     445             : 
+     446             : //}
+     447             : 
+     448             : /* //{ activate() */
+     449             : 
+     450         139 : bool MpcController::activate(const ControlOutput &last_control_output) {
+     451             : 
+     452         139 :   activation_control_output_ = last_control_output;
+     453             : 
+     454         139 :   double activation_mass = _uav_mass_;
+     455             : 
+     456         139 :   if (activation_control_output_.diagnostics.mass_estimator) {
+     457           5 :     uav_mass_difference_ = activation_control_output_.diagnostics.mass_difference;
+     458           5 :     activation_mass += uav_mass_difference_;
+     459           5 :     ROS_INFO("[%s]: setting mass difference from the last control output: %.2f kg", this->name_.c_str(), uav_mass_difference_);
+     460             :   }
+     461             : 
+     462         139 :   last_control_output_.diagnostics.controller_enforcing_constraints = false;
+     463             : 
+     464         139 :   if (activation_control_output_.diagnostics.disturbance_estimator) {
+     465           5 :     Ib_b_[0] = -activation_control_output_.diagnostics.disturbance_bx_b;
+     466           5 :     Ib_b_[1] = -activation_control_output_.diagnostics.disturbance_by_b;
+     467             : 
+     468           5 :     Iw_w_[0] = -activation_control_output_.diagnostics.disturbance_wx_w;
+     469           5 :     Iw_w_[1] = -activation_control_output_.diagnostics.disturbance_wy_w;
+     470             : 
+     471           5 :     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         139 :   auto throttle_last_controller = common::extractThrottle(activation_control_output_);
+     479             : 
+     480             :   // rampup check
+     481         139 :   if (_rampup_enabled_ && throttle_last_controller) {
+     482             : 
+     483          47 :     double hover_throttle = mrs_lib::quadratic_throttle_model::forceToThrottle(common_handlers_->throttle_model, activation_mass * common_handlers_->g);
+     484             : 
+     485          47 :     double throttle_difference = hover_throttle - throttle_last_controller.value();
+     486             : 
+     487          47 :     if (throttle_difference > 0) {
+     488          26 :       rampup_direction_ = 1;
+     489          21 :     } else if (throttle_difference < 0) {
+     490           2 :       rampup_direction_ = -1;
+     491             :     } else {
+     492          19 :       rampup_direction_ = 0;
+     493             :     }
+     494             : 
+     495          47 :     ROS_INFO("[%s]: activating rampup with initial throttle: %.4f, target: %.4f", name_.c_str(), throttle_last_controller.value(), hover_throttle);
+     496             : 
+     497          47 :     rampup_active_     = true;
+     498          47 :     rampup_start_time_ = ros::Time::now();
+     499          47 :     rampup_last_time_  = ros::Time::now();
+     500          47 :     rampup_throttle_   = throttle_last_controller.value();
+     501             : 
+     502          47 :     rampup_duration_ = fabs(throttle_difference) / _rampup_speed_;
+     503             :   }
+     504             : 
+     505         139 :   first_iteration_ = true;
+     506         139 :   mute_gains_      = true;
+     507             : 
+     508         139 :   timer_gains_.start();
+     509             : 
+     510         139 :   ROS_INFO("[%s]: activated", this->name_.c_str());
+     511             : 
+     512         139 :   is_active_ = true;
+     513             : 
+     514         139 :   return true;
+     515             : }
+     516             : 
+     517             : //}
+     518             : 
+     519             : /* //{ deactivate() */
+     520             : 
+     521         118 : void MpcController::deactivate(void) {
+     522             : 
+     523         118 :   is_active_           = false;
+     524         118 :   first_iteration_     = false;
+     525         118 :   uav_mass_difference_ = 0;
+     526             : 
+     527         118 :   timer_gains_.stop();
+     528             : 
+     529         118 :   ROS_INFO("[%s]: deactivated", this->name_.c_str());
+     530         118 : }
+     531             : 
+     532             : //}
+     533             : 
+     534             : /* updateInactive() //{ */
+     535             : 
+     536      133466 : void MpcController::updateInactive(const mrs_msgs::UavState &uav_state, [[maybe_unused]] const std::optional<mrs_msgs::TrackerCommand> &tracker_command) {
+     537             : 
+     538      133466 :   mrs_lib::set_mutexed(mutex_uav_state_, uav_state, uav_state_);
+     539             : 
+     540      133466 :   last_update_time_ = uav_state.header.stamp;
+     541             : 
+     542      133466 :   first_iteration_ = false;
+     543      133466 : }
+     544             : 
+     545             : //}
+     546             : 
+     547             : /* //{ updateWhenAcctive() */
+     548             : 
+     549       41886 : MpcController::ControlOutput MpcController::updateActive(const mrs_msgs::UavState &uav_state, const mrs_msgs::TrackerCommand &tracker_command) {
+     550             : 
+     551      125658 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("update");
+     552      125658 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MpcController::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     553             : 
+     554       83772 :   auto drs_params = mrs_lib::get_mutexed(mutex_drs_params_, drs_params_);
+     555             : 
+     556       41886 :   mrs_lib::set_mutexed(mutex_uav_state_, uav_state, uav_state_);
+     557             : 
+     558       41886 :   last_control_output_.desired_heading_rate          = {};
+     559       41886 :   last_control_output_.desired_orientation           = {};
+     560       41886 :   last_control_output_.desired_unbiased_acceleration = {};
+     561       41886 :   last_control_output_.control_output                = {};
+     562             : 
+     563       41886 :   if (!is_active_) {
+     564           0 :     return last_control_output_;
+     565             :   }
+     566             : 
+     567             :   // | -------------------- calculate the dt -------------------- |
+     568             : 
+     569             :   double dt;
+     570             : 
+     571       41886 :   if (first_iteration_) {
+     572          46 :     dt               = 0.01;
+     573          46 :     first_iteration_ = false;
+     574             :   } else {
+     575       41840 :     dt = (uav_state.header.stamp - last_update_time_).toSec();
+     576             :   }
+     577             : 
+     578       41886 :   last_update_time_ = uav_state.header.stamp;
+     579             : 
+     580       41886 :   if (fabs(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       41886 :   auto lowest_modality = common::getLowestOuput(common_handlers_->control_output_modalities);
+     590             : 
+     591       41886 :   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       41886 :   if (drs_params.preferred_output_mode == OUTPUT_ATTITUDE_RATE && common_handlers_->control_output_modalities.attitude_rate) {
+     601       36794 :     ROS_DEBUG_THROTTLE(1.0, "[%s]: prioritizing attitude rate output", name_.c_str());
+     602       36794 :     lowest_modality = common::ATTITUDE_RATE;
+     603        5092 :   } 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        5092 :   } 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        5092 :   } 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       41886 :   switch (lowest_modality.value()) {
+     615             : 
+     616         231 :     case common::POSITION: {
+     617         231 :       positionPassthrough(uav_state, tracker_command);
+     618         231 :       break;
+     619             :     }
+     620             : 
+     621         235 :     case common::VELOCITY_HDG: {
+     622         235 :       PIDVelocityOutput(uav_state, tracker_command, common::VELOCITY_HDG, dt);
+     623         235 :       break;
+     624             :     }
+     625             : 
+     626         264 :     case common::VELOCITY_HDG_RATE: {
+     627         264 :       PIDVelocityOutput(uav_state, tracker_command, common::VELOCITY_HDG_RATE, dt);
+     628         264 :       break;
+     629             :     }
+     630             : 
+     631         469 :     case common::ACCELERATION_HDG: {
+     632         469 :       MPC(uav_state, tracker_command, dt, common::ACCELERATION_HDG);
+     633         469 :       break;
+     634             :     }
+     635             : 
+     636         514 :     case common::ACCELERATION_HDG_RATE: {
+     637         514 :       MPC(uav_state, tracker_command, dt, common::ACCELERATION_HDG_RATE);
+     638         514 :       break;
+     639             :     }
+     640             : 
+     641        1061 :     case common::ATTITUDE: {
+     642        1061 :       MPC(uav_state, tracker_command, dt, common::ATTITUDE);
+     643        1061 :       break;
+     644             :     }
+     645             : 
+     646       36794 :     case common::ATTITUDE_RATE: {
+     647       36794 :       MPC(uav_state, tracker_command, dt, common::ATTITUDE_RATE);
+     648       36794 :       break;
+     649             :     }
+     650             : 
+     651        1160 :     case common::CONTROL_GROUP: {
+     652        1160 :       MPC(uav_state, tracker_command, dt, common::CONTROL_GROUP);
+     653        1160 :       break;
+     654             :     }
+     655             : 
+     656        1158 :     case common::ACTUATORS_CMD: {
+     657        1158 :       MPC(uav_state, tracker_command, dt, common::ACTUATORS_CMD);
+     658        1158 :       break;
+     659             :     }
+     660             : 
+     661           0 :     default: {
+     662           0 :       break;
+     663             :     }
+     664             :   }
+     665             : 
+     666       41886 :   return last_control_output_;
+     667             : }
+     668             : 
+     669             : //}
+     670             : 
+     671             : /* //{ getStatus() */
+     672             : 
+     673        8061 : const mrs_msgs::ControllerStatus MpcController::getStatus() {
+     674             : 
+     675        8061 :   mrs_msgs::ControllerStatus controller_status;
+     676             : 
+     677        8061 :   controller_status.active = is_active_;
+     678             : 
+     679        8061 :   return controller_status;
+     680             : }
+     681             : 
+     682             : //}
+     683             : 
+     684             : /* switchOdometrySource() //{ */
+     685             : 
+     686           4 : void MpcController::switchOdometrySource(const mrs_msgs::UavState &new_uav_state) {
+     687             : 
+     688           4 :   ROS_INFO("[%s]: switching the odometry source", this->name_.c_str());
+     689             : 
+     690           8 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     691             : 
+     692             :   // | ----- transform world disturabances to the new frame ----- |
+     693             : 
+     694           8 :   geometry_msgs::Vector3Stamped world_integrals;
+     695             : 
+     696           4 :   world_integrals.header.stamp    = ros::Time::now();
+     697           4 :   world_integrals.header.frame_id = uav_state.header.frame_id;
+     698             : 
+     699           4 :   world_integrals.vector.x = Iw_w_[0];
+     700           4 :   world_integrals.vector.y = Iw_w_[1];
+     701           4 :   world_integrals.vector.z = 0;
+     702             : 
+     703           8 :   auto res = common_handlers_->transformer->transformSingle(world_integrals, new_uav_state.header.frame_id);
+     704             : 
+     705           4 :   if (res) {
+     706             : 
+     707           4 :     std::scoped_lock lock(mutex_integrals_);
+     708             : 
+     709           4 :     Iw_w_[0] = res.value().vector.x;
+     710           4 :     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           4 : }
+     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         506 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr MpcController::setConstraints([
+     740             :     [maybe_unused]] const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &constraints) {
+     741             : 
+     742         506 :   if (!is_initialized_) {
+     743           0 :     return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse());
+     744             :   }
+     745             : 
+     746         506 :   mrs_lib::set_mutexed(mutex_constraints_, constraints->constraints, constraints_);
+     747             : 
+     748         506 :   ROS_INFO("[%s]: updating constraints", this->name_.c_str());
+     749             : 
+     750        1012 :   mrs_msgs::DynamicsConstraintsSrvResponse res;
+     751         506 :   res.success = true;
+     752         506 :   res.message = "constraints updated";
+     753             : 
+     754         506 :   return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse(res));
+     755             : }
+     756             : 
+     757             : //}
+     758             : 
+     759             : // --------------------------------------------------------------
+     760             : // |                         controllers                        |
+     761             : // --------------------------------------------------------------
+     762             : 
+     763             : /* Mpc() //{ */
+     764             : 
+     765       41156 : 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       82312 :   auto drs_params  = mrs_lib::get_mutexed(mutex_drs_params_, drs_params_);
+     769       41156 :   auto constraints = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+     770       41156 :   auto gains       = mrs_lib::get_mutexed(mutex_gains_, gains_);
+     771             : 
+     772             :   // | ----------------- get the current heading ---------------- |
+     773             : 
+     774       41156 :   double uav_heading = getHeadingSafely(uav_state, tracker_command);
+     775             : 
+     776             :   // | ------------------- prepare constraints ------------------ |
+     777             : 
+     778       41156 :   double max_speed_horizontal        = _max_speed_horizontal_;
+     779       41156 :   double max_speed_vertical          = _max_speed_vertical_;
+     780       41156 :   double max_acceleration_horizontal = _max_acceleration_horizontal_;
+     781       41156 :   double max_acceleration_vertical   = _max_acceleration_vertical_;
+     782       41156 :   double max_jerk                    = _max_jerk_;
+     783       41156 :   double max_u_vertical              = _max_u_vertical_;
+     784             : 
+     785       41156 :   if (tracker_command.use_full_state_prediction) {
+     786             : 
+     787       27335 :     max_speed_horizontal = 1.5 * (constraints.horizontal_speed);
+     788       27335 :     max_speed_vertical   = 1.5 * (constraints.vertical_ascending_speed < constraints.vertical_descending_speed ? constraints.vertical_ascending_speed
+     789             :                                                                                                              : constraints.vertical_descending_speed);
+     790             : 
+     791       27335 :     max_acceleration_horizontal = 1.5 * (constraints.horizontal_acceleration);
+     792       27335 :     max_acceleration_vertical =
+     793       27335 :         1.5 * (constraints.vertical_ascending_acceleration < constraints.vertical_descending_acceleration ? constraints.vertical_ascending_acceleration
+     794             :                                                                                                           : constraints.vertical_descending_acceleration);
+     795             : 
+     796       27335 :     max_jerk       = 1.5 * constraints.horizontal_jerk;
+     797       27335 :     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       41156 :   Eigen::Vector3d Rp = Eigen::Vector3d::Zero(3);
+     810       41156 :   Eigen::Vector3d Rv = Eigen::Vector3d::Zero(3);
+     811       41156 :   Eigen::Vector3d Ra = Eigen::Vector3d::Zero(3);
+     812             : 
+     813       41156 :   Rp << tracker_command.position.x, tracker_command.position.y, tracker_command.position.z;  // fill the desired position
+     814       41156 :   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       41156 :   Eigen::Vector3d Op(uav_state.pose.position.x, uav_state.pose.position.y, uav_state.pose.position.z);
+     821       41156 :   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       41156 :   Eigen::Matrix3d R = mrs_lib::AttitudeConverter(uav_state.pose.orientation);
+     825             : 
+     826             :   // Ow - UAV angular rate
+     827       41156 :   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       41156 :   Eigen::Vector3d Ep = Rp - Op;
+     836       41156 :   Eigen::Vector3d Ev = Rv - Ov;
+     837             : 
+     838             :   // | ------------------- initial conditions ------------------- |
+     839             : 
+     840       82312 :   Eigen::MatrixXd initial_x = Eigen::MatrixXd::Zero(3, 1);
+     841       82312 :   Eigen::MatrixXd initial_y = Eigen::MatrixXd::Zero(3, 1);
+     842       82312 :   Eigen::MatrixXd initial_z = Eigen::MatrixXd::Zero(3, 1);
+     843             : 
+     844             :   /* initial x //{ */
+     845             : 
+     846             :   {
+     847             :     double acceleration;
+     848             :     double velocity;
+     849       41156 :     double coef = 1.5;
+     850             : 
+     851       41156 :     if (fabs(uav_state.acceleration.linear.x) < coef * max_acceleration_horizontal) {
+     852       41156 :       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             :                          fabs(uav_state.acceleration.linear.x), coef, max_acceleration_horizontal);
+     858             :     }
+     859             : 
+     860       41156 :     if (fabs(uav_state.velocity.linear.x) < coef * max_speed_horizontal) {
+     861       41156 :       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             :                          fabs(uav_state.velocity.linear.x), coef, max_speed_horizontal);
+     867             :     }
+     868             : 
+     869       41156 :     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       41156 :     double coef = 1.5;
+     880             : 
+     881       41156 :     if (fabs(uav_state.acceleration.linear.y) < coef * max_acceleration_horizontal) {
+     882       41156 :       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             :                          fabs(uav_state.acceleration.linear.y), coef, max_acceleration_horizontal);
+     888             :     }
+     889             : 
+     890       41156 :     if (fabs(uav_state.velocity.linear.y) < coef * max_speed_horizontal) {
+     891       41156 :       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             :                          fabs(uav_state.velocity.linear.y), coef, max_speed_horizontal);
+     897             :     }
+     898             : 
+     899       41156 :     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       41156 :     double coef = 1.5;
+     910             : 
+     911       41156 :     if (fabs(uav_state.acceleration.linear.z) < coef * max_acceleration_horizontal) {
+     912       41156 :       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             :                          fabs(uav_state.acceleration.linear.z), coef, max_acceleration_horizontal);
+     918             :     }
+     919             : 
+     920       41156 :     if (fabs(uav_state.velocity.linear.z) < coef * max_speed_vertical) {
+     921       41156 :       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             :                          fabs(uav_state.velocity.linear.z), coef, max_speed_vertical);
+     927             :     }
+     928             : 
+     929       41156 :     initial_z << uav_state.pose.position.z, velocity, acceleration;
+     930             :   }
+     931             : 
+     932             :   //}
+     933             : 
+     934             :   // | ---------------------- set reference --------------------- |
+     935             : 
+     936       82312 :   Eigen::MatrixXd mpc_reference_x = Eigen::MatrixXd::Zero(_horizon_length_ * _n_states_, 1);
+     937       82312 :   Eigen::MatrixXd mpc_reference_y = Eigen::MatrixXd::Zero(_horizon_length_ * _n_states_, 1);
+     938       82312 :   Eigen::MatrixXd mpc_reference_z = Eigen::MatrixXd::Zero(_horizon_length_ * _n_states_, 1);
+     939             : 
+     940             :   // prepare the full reference vector
+     941       41156 :   if (tracker_command.use_full_state_prediction) {
+     942             : 
+     943       27335 :     mpc_reference_x(0, 0) = tracker_command.position.x;
+     944       27335 :     mpc_reference_y(0, 0) = tracker_command.position.y;
+     945       27335 :     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      710710 :     for (int i = 1; i < _horizon_length_; i++) {
+     951      683375 :       mpc_reference_x((i * _n_states_) + 0, 0) = tracker_command.full_state_prediction.position[i].x;
+     952      683375 :       mpc_reference_y((i * _n_states_) + 0, 0) = tracker_command.full_state_prediction.position[i].y;
+     953      683375 :       mpc_reference_z((i * _n_states_) + 0, 0) = tracker_command.full_state_prediction.position[i].z;
+     954             :     }
+     955             : 
+     956      710710 :     for (int i = 1; i < _horizon_length_; i++) {
+     957      683375 :       mpc_reference_x((i * _n_states_) + 1, 0) = tracker_command.full_state_prediction.velocity[i].x;
+     958      683375 :       mpc_reference_y((i * _n_states_) + 1, 0) = tracker_command.full_state_prediction.velocity[i].y;
+     959      683375 :       mpc_reference_z((i * _n_states_) + 1, 0) = tracker_command.full_state_prediction.velocity[i].z;
+     960             :     }
+     961             : 
+     962      710710 :     for (int i = 1; i < _horizon_length_; i++) {
+     963      683375 :       mpc_reference_x((i * _n_states_) + 2, 0) = tracker_command.full_state_prediction.acceleration[i].x;
+     964      683375 :       mpc_reference_y((i * _n_states_) + 2, 0) = tracker_command.full_state_prediction.acceleration[i].y;
+     965      683375 :       mpc_reference_z((i * _n_states_) + 2, 0) = tracker_command.full_state_prediction.acceleration[i].z;
+     966             :     }
+     967             : 
+     968             :   } else {
+     969             : 
+     970      373167 :     for (int i = 0; i < _horizon_length_; i++) {
+     971      359346 :       mpc_reference_x((i * _n_states_) + 0, 0) = tracker_command.position.x;
+     972      359346 :       mpc_reference_y((i * _n_states_) + 0, 0) = tracker_command.position.y;
+     973      359346 :       mpc_reference_z((i * _n_states_) + 0, 0) = tracker_command.position.z;
+     974             :     }
+     975             :   }
+     976             : 
+     977             :   // | ------------------ set the penalizations ----------------- |
+     978             : 
+     979       82312 :   std::vector<double> temp_Q_horizontal = _mat_Q_;
+     980       82312 :   std::vector<double> temp_Q_vertical   = _mat_Q_z_;
+     981             : 
+     982       82312 :   std::vector<double> temp_S_horizontal = _mat_S_;
+     983       82312 :   std::vector<double> temp_S_vertical   = _mat_S_z_;
+     984             : 
+     985       41156 :   if (!tracker_command.use_position_horizontal) {
+     986           0 :     temp_Q_horizontal[0] = 0;
+     987           0 :     temp_S_horizontal[0] = 0;
+     988             :   }
+     989             : 
+     990       41156 :   if (!tracker_command.use_velocity_horizontal) {
+     991           0 :     temp_Q_horizontal[1] = 0;
+     992           0 :     temp_S_horizontal[1] = 0;
+     993             :   }
+     994             : 
+     995       41156 :   if (!tracker_command.use_position_vertical) {
+     996           0 :     temp_Q_vertical[0] = 0;
+     997           0 :     temp_S_vertical[0] = 0;
+     998             :   }
+     999             : 
+    1000       41156 :   if (!tracker_command.use_velocity_vertical) {
+    1001           0 :     temp_Q_vertical[1] = 0;
+    1002           0 :     temp_S_vertical[1] = 0;
+    1003             :   }
+    1004             : 
+    1005             :   // | ------------------------ optimize ------------------------ |
+    1006             : 
+    1007       41156 :   mpc_solver_x_->setQ(temp_Q_horizontal);
+    1008       41156 :   mpc_solver_x_->setS(temp_S_horizontal);
+    1009       41156 :   mpc_solver_x_->setParams();
+    1010       41156 :   mpc_solver_x_->setLastInput(mpc_solver_x_u_);
+    1011       41156 :   mpc_solver_x_->loadReference(mpc_reference_x);
+    1012       41156 :   mpc_solver_x_->setLimits(max_speed_horizontal, 999, max_acceleration_horizontal, max_jerk, _dt1_, _dt2_);
+    1013       41156 :   mpc_solver_x_->setInitialState(initial_x);
+    1014       41156 :   [[maybe_unused]] int iters_x = mpc_solver_x_->solveMPC();
+    1015       41156 :   mpc_solver_x_u_              = mpc_solver_x_->getFirstControlInput();
+    1016             : 
+    1017       41156 :   mpc_solver_y_->setQ(temp_Q_horizontal);
+    1018       41156 :   mpc_solver_y_->setS(temp_S_horizontal);
+    1019       41156 :   mpc_solver_y_->setParams();
+    1020       41156 :   mpc_solver_y_->setLastInput(mpc_solver_y_u_);
+    1021       41156 :   mpc_solver_y_->loadReference(mpc_reference_y);
+    1022       41156 :   mpc_solver_y_->setLimits(max_speed_horizontal, 999, max_acceleration_horizontal, max_jerk, _dt1_, _dt2_);
+    1023       41156 :   mpc_solver_y_->setInitialState(initial_y);
+    1024       41156 :   [[maybe_unused]] int iters_y = mpc_solver_y_->solveMPC();
+    1025       41156 :   mpc_solver_y_u_              = mpc_solver_y_->getFirstControlInput();
+    1026             : 
+    1027       41156 :   mpc_solver_z_->setQ(temp_Q_vertical);
+    1028       41156 :   mpc_solver_z_->setS(temp_S_vertical);
+    1029       41156 :   mpc_solver_z_->setParams();
+    1030       41156 :   mpc_solver_z_->setLastInput(mpc_solver_z_u_);
+    1031       41156 :   mpc_solver_z_->loadReference(mpc_reference_z);
+    1032       41156 :   mpc_solver_z_->setLimits(max_speed_vertical, max_acceleration_vertical, max_u_vertical, 999.0, _dt1_, _dt2_);
+    1033       41156 :   mpc_solver_z_->setInitialState(initial_z);
+    1034       41156 :   [[maybe_unused]] int iters_z = mpc_solver_z_->solveMPC();
+    1035       41156 :   mpc_solver_z_u_              = mpc_solver_z_->getFirstControlInput();
+    1036             : 
+    1037             :   // | ----------- disable lateral feedback if needed ----------- |
+    1038             : 
+    1039       41156 :   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       41156 :   mute_gains_by_tracker_ = tracker_command.disable_position_gains;
+    1047             : 
+    1048       41156 :   Eigen::Array3d Kw(0, 0, 0);
+    1049       41156 :   Eigen::Array3d Kq;
+    1050             : 
+    1051             :   {
+    1052       41156 :     std::scoped_lock lock(mutex_gains_);
+    1053             : 
+    1054       41156 :     Kq << gains.kq_roll_pitch, gains.kq_roll_pitch, gains.kq_yaw;
+    1055             : 
+    1056       41156 :     Kw[0] = gains.kw_rp;
+    1057       41156 :     Kw[1] = gains.kw_rp;
+    1058       41156 :     Kw[2] = gains.kw_y;
+    1059             :   }
+    1060             : 
+    1061             :   // | ---------- desired orientation matrix and force ---------- |
+    1062             : 
+    1063             :   // get body integral in the world frame
+    1064             : 
+    1065       41156 :   Eigen::Vector2d Ib_w = Eigen::Vector2d(0, 0);
+    1066             : 
+    1067             :   {
+    1068             : 
+    1069       82312 :     geometry_msgs::Vector3Stamped Ib_b_stamped;
+    1070             : 
+    1071       41156 :     Ib_b_stamped.header.stamp    = ros::Time::now();
+    1072       41156 :     Ib_b_stamped.header.frame_id = "fcu_untilted";
+    1073       41156 :     Ib_b_stamped.vector.x        = Ib_b_(0);
+    1074       41156 :     Ib_b_stamped.vector.y        = Ib_b_(1);
+    1075       41156 :     Ib_b_stamped.vector.z        = 0;
+    1076             : 
+    1077       82312 :     auto res = common_handlers_->transformer->transformSingle(Ib_b_stamped, uav_state_.header.frame_id);
+    1078             : 
+    1079       41156 :     if (res) {
+    1080       41156 :       Ib_w[0] = res.value().vector.x;
+    1081       41156 :       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       41156 :   if (tracker_command.use_acceleration && !tracker_command.use_full_state_prediction) {
+    1090        1642 :     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       39514 :     Ra << mpc_solver_x_u_, mpc_solver_y_u_, mpc_solver_z_u_;
+    1093             :   }
+    1094             : 
+    1095       41156 :   double total_mass = _uav_mass_ + uav_mass_difference_;
+    1096             : 
+    1097       41156 :   Eigen::Vector3d feed_forward = total_mass * (Eigen::Vector3d(0, 0, common_handlers_->g) + Ra);
+    1098             : 
+    1099       41156 :   Eigen::Vector3d integral_feedback;
+    1100             :   {
+    1101       41156 :     std::scoped_lock lock(mutex_integrals_);
+    1102             : 
+    1103       41156 :     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       82312 :     std::scoped_lock lock(mutex_gains_, mutex_integrals_);
+    1118             : 
+    1119       41156 :     Eigen::Vector3d integration_switch(1, 1, 0);
+    1120             : 
+    1121             :     // integrate the world error
+    1122             : 
+    1123             :     // antiwindup
+    1124       41156 :     double temp_gain = gains.kiwxy;
+    1125       41156 :     if (!tracker_command.disable_antiwindups) {
+    1126       35695 :       if (rampup_active_ || sqrt(pow(uav_state.velocity.linear.x, 2) + pow(uav_state.velocity.linear.y, 2)) > 0.3) {
+    1127       16552 :         temp_gain = 0;
+    1128       16552 :         ROS_DEBUG_THROTTLE(1.0, "[%s]: anti-windup for world integral kicks in", this->name_.c_str());
+    1129             :       }
+    1130             :     }
+    1131             : 
+    1132       41156 :     if (integral_terms_enabled_) {
+    1133       41156 :       if (tracker_command.use_position_horizontal) {
+    1134       41156 :         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       41156 :     bool world_integral_saturated = false;
+    1142       41156 :     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       41156 :     } else if (Iw_w_[0] > gains.kiwxy_lim) {
+    1146           0 :       Iw_w_[0]                 = gains.kiwxy_lim;
+    1147           0 :       world_integral_saturated = true;
+    1148       41156 :     } 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       41156 :     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       41156 :     world_integral_saturated = false;
+    1159       41156 :     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       41156 :     } else if (Iw_w_[1] > gains.kiwxy_lim) {
+    1163           0 :       Iw_w_[1]                 = gains.kiwxy_lim;
+    1164           0 :       world_integral_saturated = true;
+    1165       41156 :     } 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       41156 :     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       82312 :     std::scoped_lock lock(mutex_gains_);
+    1181             : 
+    1182       41156 :     Eigen::Vector2d Ep_fcu_untilted = Eigen::Vector2d(0, 0);  // position error in the untilted frame of the UAV
+    1183       41156 :     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       82312 :       geometry_msgs::Vector3Stamped Ep_stamped;
+    1189             : 
+    1190       41156 :       Ep_stamped.header.stamp    = ros::Time::now();
+    1191       41156 :       Ep_stamped.header.frame_id = uav_state_.header.frame_id;
+    1192       41156 :       Ep_stamped.vector.x        = Ep(0);
+    1193       41156 :       Ep_stamped.vector.y        = Ep(1);
+    1194       41156 :       Ep_stamped.vector.z        = Ep(2);
+    1195             : 
+    1196      123468 :       auto res = common_handlers_->transformer->transformSingle(Ep_stamped, "fcu_untilted");
+    1197             : 
+    1198       41156 :       if (res) {
+    1199       41156 :         Ep_fcu_untilted[0] = res.value().vector.x;
+    1200       41156 :         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       82312 :       geometry_msgs::Vector3Stamped Ev_stamped;
+    1209             : 
+    1210       41156 :       Ev_stamped.header.stamp    = ros::Time::now();
+    1211       41156 :       Ev_stamped.header.frame_id = uav_state_.header.frame_id;
+    1212       41156 :       Ev_stamped.vector.x        = Ev(0);
+    1213       41156 :       Ev_stamped.vector.y        = Ev(1);
+    1214       41156 :       Ev_stamped.vector.z        = Ev(2);
+    1215             : 
+    1216      123468 :       auto res = common_handlers_->transformer->transformSingle(Ev_stamped, "fcu_untilted");
+    1217             : 
+    1218       41156 :       if (res) {
+    1219       41156 :         Ev_fcu_untilted[0] = res.value().vector.x;
+    1220       41156 :         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       41156 :     double temp_gain = gains.kibxy;
+    1230       41156 :     if (!tracker_command.disable_antiwindups) {
+    1231       35695 :       if (rampup_active_ || sqrt(pow(uav_state.velocity.linear.x, 2) + pow(uav_state.velocity.linear.y, 2)) > 0.3) {
+    1232       16552 :         temp_gain = 0;
+    1233       16552 :         ROS_DEBUG_THROTTLE(1.0, "[%s]: anti-windup for body integral kicks in", this->name_.c_str());
+    1234             :       }
+    1235             :     }
+    1236             : 
+    1237       41156 :     if (integral_terms_enabled_) {
+    1238       41156 :       if (tracker_command.use_position_horizontal) {
+    1239       41156 :         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       41156 :     bool body_integral_saturated = false;
+    1247       41156 :     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       41156 :     } else if (Ib_b_[0] > gains.kibxy_lim) {
+    1251           0 :       Ib_b_[0]                = gains.kibxy_lim;
+    1252           0 :       body_integral_saturated = true;
+    1253       41156 :     } 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       41156 :     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       41156 :     body_integral_saturated = false;
+    1264       41156 :     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       41156 :     } else if (Ib_b_[1] > gains.kibxy_lim) {
+    1268           0 :       Ib_b_[1]                = gains.kibxy_lim;
+    1269           0 :       body_integral_saturated = true;
+    1270       41156 :     } 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       41156 :     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       41156 :   Eigen::Vector3d des_acc = integral_feedback / total_mass + Ra;
+    1283             : 
+    1284       41156 :   if (output_modality == common::ACCELERATION_HDG || output_modality == common::ACCELERATION_HDG_RATE) {
+    1285             : 
+    1286         983 :     if (output_modality == common::ACCELERATION_HDG) {
+    1287             : 
+    1288         938 :       mrs_msgs::HwApiAccelerationHdgCmd cmd;
+    1289             : 
+    1290         469 :       cmd.acceleration.x = des_acc[0];
+    1291         469 :       cmd.acceleration.y = des_acc[1];
+    1292         469 :       cmd.acceleration.z = des_acc[2];
+    1293             : 
+    1294         469 :       cmd.heading = tracker_command.heading;
+    1295             : 
+    1296         469 :       last_control_output_.control_output = cmd;
+    1297             : 
+    1298             :     } else {
+    1299             : 
+    1300         514 :       double des_hdg_ff = 0;
+    1301             : 
+    1302         514 :       if (tracker_command.use_heading_rate) {
+    1303         514 :         des_hdg_ff = tracker_command.heading_rate;
+    1304             :       }
+    1305             : 
+    1306        1028 :       mrs_msgs::HwApiAccelerationHdgRateCmd cmd;
+    1307             : 
+    1308         514 :       cmd.acceleration.x = des_acc[0];
+    1309         514 :       cmd.acceleration.y = des_acc[1];
+    1310         514 :       cmd.acceleration.z = des_acc[2];
+    1311             : 
+    1312         514 :       position_pid_heading_.setSaturation(constraints.heading_speed);
+    1313             : 
+    1314         514 :       double hdg_err = mrs_lib::geometry::sradians::diff(tracker_command.heading, uav_heading);
+    1315             : 
+    1316         514 :       double des_hdg_rate = position_pid_heading_.update(hdg_err, dt) + des_hdg_ff;
+    1317             : 
+    1318         514 :       cmd.heading_rate = des_hdg_rate;
+    1319             : 
+    1320         514 :       last_control_output_.desired_heading_rate = des_hdg_rate;
+    1321             : 
+    1322         514 :       last_control_output_.control_output = cmd;
+    1323             :     }
+    1324             : 
+    1325             :     // | -------------- unbiased desired acceleration ------------- |
+    1326             : 
+    1327         983 :     Eigen::Vector3d unbiased_des_acc(0, 0, 0);
+    1328             : 
+    1329             :     {
+    1330             : 
+    1331        1966 :       geometry_msgs::Vector3Stamped world_accel;
+    1332             : 
+    1333         983 :       world_accel.header.stamp    = ros::Time::now();
+    1334         983 :       world_accel.header.frame_id = uav_state.header.frame_id;
+    1335         983 :       world_accel.vector.x        = Ra[0];
+    1336         983 :       world_accel.vector.y        = Ra[1];
+    1337         983 :       world_accel.vector.z        = Ra[2];
+    1338             : 
+    1339        2949 :       auto res = common_handlers_->transformer->transformSingle(world_accel, "fcu");
+    1340             : 
+    1341         983 :       if (res) {
+    1342         983 :         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         983 :     last_control_output_.desired_unbiased_acceleration = unbiased_des_acc;
+    1348             : 
+    1349             :     // | ----------------- fill in the diagnostics ---------------- |
+    1350             : 
+    1351         983 :     last_control_output_.diagnostics.ramping_up = false;
+    1352             : 
+    1353         983 :     last_control_output_.diagnostics.mass_estimator  = false;
+    1354         983 :     last_control_output_.diagnostics.mass_difference = 0;
+    1355         983 :     last_control_output_.diagnostics.total_mass      = total_mass;
+    1356             : 
+    1357         983 :     last_control_output_.diagnostics.disturbance_estimator = true;
+    1358             : 
+    1359         983 :     last_control_output_.diagnostics.disturbance_bx_b = -Ib_b_[0];
+    1360         983 :     last_control_output_.diagnostics.disturbance_by_b = -Ib_b_[1];
+    1361             : 
+    1362         983 :     last_control_output_.diagnostics.disturbance_bx_w = -Ib_w[0];
+    1363         983 :     last_control_output_.diagnostics.disturbance_by_w = -Ib_w[1];
+    1364             : 
+    1365         983 :     last_control_output_.diagnostics.disturbance_wx_w = -Iw_w_[0];
+    1366         983 :     last_control_output_.diagnostics.disturbance_wy_w = -Iw_w_[1];
+    1367             : 
+    1368         983 :     last_control_output_.diagnostics.controller_enforcing_constraints = !tracker_command.use_full_state_prediction;
+    1369             : 
+    1370         983 :     last_control_output_.diagnostics.horizontal_speed_constraint = 0.5 * max_speed_horizontal;
+    1371         983 :     last_control_output_.diagnostics.horizontal_acc_constraint   = 0.5 * max_acceleration_horizontal;
+    1372             : 
+    1373         983 :     last_control_output_.diagnostics.vertical_asc_speed_constraint = 0.5 * max_speed_vertical;
+    1374         983 :     last_control_output_.diagnostics.vertical_asc_acc_constraint   = 0.5 * max_acceleration_vertical;
+    1375             : 
+    1376         983 :     last_control_output_.diagnostics.vertical_desc_speed_constraint = 0.5 * max_speed_vertical;
+    1377         983 :     last_control_output_.diagnostics.vertical_desc_acc_constraint   = 0.5 * max_acceleration_vertical;
+    1378             : 
+    1379         983 :     last_control_output_.diagnostics.controller = name_;
+    1380             : 
+    1381         983 :     return;
+    1382             :   }
+    1383             : 
+    1384             :   /* mass estimatior //{ */
+    1385             : 
+    1386             :   // --------------------------------------------------------------
+    1387             :   // |                integrate the mass difference               |
+    1388             :   // --------------------------------------------------------------
+    1389             : 
+    1390             :   {
+    1391       80346 :     std::scoped_lock lock(mutex_gains_);
+    1392             : 
+    1393             :     // antiwindup
+    1394       40173 :     double temp_gain = gains.km;
+    1395       79730 :     if (rampup_active_ ||
+    1396       39557 :         (fabs(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       11853 :       temp_gain = 0;
+    1398       11853 :       ROS_DEBUG_THROTTLE(1.0, "[%s]: anti-windup for the mass kicks in", this->name_.c_str());
+    1399             :     }
+    1400             : 
+    1401       40173 :     if (tracker_command.use_position_vertical) {
+    1402       40173 :       uav_mass_difference_ += temp_gain * Ep[2] * dt;
+    1403             :     }
+    1404             : 
+    1405             :     // saturate the mass estimator
+    1406       40173 :     bool uav_mass_saturated = false;
+    1407       40173 :     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       40173 :     } else if (uav_mass_difference_ > gains.km_lim) {
+    1411           0 :       uav_mass_difference_ = gains.km_lim;
+    1412           0 :       uav_mass_saturated   = true;
+    1413       40173 :     } 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       40173 :     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       40173 :   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       40173 :   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       40173 :   double tilt_safety_limit = _tilt_angle_failsafe_enabled_ ? _tilt_angle_failsafe_ : std::numeric_limits<double>::max();
+    1441             : 
+    1442       40173 :   auto f_normed_sanitized = common::sanitizeDesiredForce(f.normalized(), tilt_safety_limit, constraints.tilt, "MpcController");
+    1443             : 
+    1444       40173 :   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       40173 :   Eigen::Vector3d f_normed = f_normed_sanitized.value();
+    1458             : 
+    1459             :   // --------------------------------------------------------------
+    1460             :   // |               desired orientation + throttle               |
+    1461             :   // --------------------------------------------------------------
+    1462             : 
+    1463             :   // | ------------------- desired orientation ------------------ |
+    1464             : 
+    1465       40173 :   Eigen::Matrix3d Rd;
+    1466             : 
+    1467       40173 :   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       40173 :     Eigen::Vector3d bxd;  // desired heading vector
+    1484             : 
+    1485       40173 :     if (tracker_command.use_heading) {
+    1486       40173 :       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       40173 :     Rd = common::so3transform(f_normed, bxd, false);
+    1493             :   }
+    1494             : 
+    1495             :   // | -------------------- desired throttle -------------------- |
+    1496             : 
+    1497       40173 :   double desired_thrust_force = f.dot(R.col(2));
+    1498       40173 :   double throttle             = 0;
+    1499             : 
+    1500       40173 :   if (rampup_active_) {
+    1501             : 
+    1502             :     // deactivate the rampup when the times up
+    1503         616 :     if (fabs((ros::Time::now() - rampup_start_time_).toSec()) >= rampup_duration_) {
+    1504             : 
+    1505          41 :       rampup_active_ = false;
+    1506             : 
+    1507          41 :       ROS_INFO("[%s]: rampup finished", name_.c_str());
+    1508             : 
+    1509             :     } else {
+    1510             : 
+    1511         575 :       double rampup_dt = (ros::Time::now() - rampup_last_time_).toSec();
+    1512             : 
+    1513         575 :       rampup_throttle_ += double(rampup_direction_) * _rampup_speed_ * rampup_dt;
+    1514             : 
+    1515         575 :       rampup_last_time_ = ros::Time::now();
+    1516             : 
+    1517         575 :       throttle = rampup_throttle_;
+    1518             : 
+    1519         575 :       ROS_INFO_THROTTLE(0.1, "[%s]: ramping up throttle, %.4f", name_.c_str(), throttle);
+    1520             :     }
+    1521             : 
+    1522             :   } else {
+    1523             : 
+    1524       39557 :     if (desired_thrust_force >= 0) {
+    1525       39557 :       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       40173 :   bool throttle_saturated = false;
+    1534             : 
+    1535       40173 :   if (!std::isfinite(throttle)) {
+    1536             : 
+    1537           0 :     ROS_ERROR("[%s]: NaN detected in variable 'throttle'!!!", name_.c_str());
+    1538           0 :     return;
+    1539             : 
+    1540       40173 :   } else if (throttle > _throttle_saturation_) {
+    1541           0 :     throttle = _throttle_saturation_;
+    1542           0 :     ROS_WARN_THROTTLE(0.1, "[%s]: saturating throttle to %.2f", name_.c_str(), _throttle_saturation_);
+    1543       40173 :   } 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       40173 :   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       40173 :   double desired_x_accel = 0;
+    1569       40173 :   double desired_y_accel = 0;
+    1570       40173 :   double desired_z_accel = 0;
+    1571             : 
+    1572             :   {
+    1573       40173 :     Eigen::Vector3d thrust_vector = desired_thrust_force * Rd.col(2);
+    1574             : 
+    1575       40173 :     double world_accel_x = (thrust_vector[0] / total_mass) - (Iw_w_[0] / total_mass) - (Ib_w[0] / total_mass);
+    1576       40173 :     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       40173 :     double world_accel_z = tracker_command.acceleration.z;
+    1580             : 
+    1581       80346 :     geometry_msgs::Vector3Stamped world_accel;
+    1582             : 
+    1583       40173 :     world_accel.header.stamp    = ros::Time::now();
+    1584       40173 :     world_accel.header.frame_id = uav_state.header.frame_id;
+    1585       40173 :     world_accel.vector.x        = world_accel_x;
+    1586       40173 :     world_accel.vector.y        = world_accel_y;
+    1587       40173 :     world_accel.vector.z        = world_accel_z;
+    1588             : 
+    1589      120519 :     auto res = common_handlers_->transformer->transformSingle(world_accel, "fcu");
+    1590             : 
+    1591       40173 :     if (res) {
+    1592             : 
+    1593       40173 :       desired_x_accel = res.value().vector.x;
+    1594       40173 :       desired_y_accel = res.value().vector.y;
+    1595       40173 :       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       40173 :   last_control_output_.desired_orientation = mrs_lib::AttitudeConverter(Rd);
+    1603             : 
+    1604             :   // fill the unbiased desired accelerations
+    1605       40173 :   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       40173 :   last_control_output_.diagnostics.ramping_up = rampup_active_;
+    1610             : 
+    1611       40173 :   last_control_output_.diagnostics.mass_estimator  = true;
+    1612       40173 :   last_control_output_.diagnostics.mass_difference = uav_mass_difference_;
+    1613       40173 :   last_control_output_.diagnostics.total_mass      = total_mass;
+    1614             : 
+    1615       40173 :   last_control_output_.diagnostics.disturbance_estimator = true;
+    1616             : 
+    1617       40173 :   last_control_output_.diagnostics.disturbance_bx_b = -Ib_b_[0];
+    1618       40173 :   last_control_output_.diagnostics.disturbance_by_b = -Ib_b_[1];
+    1619             : 
+    1620       40173 :   last_control_output_.diagnostics.disturbance_bx_w = -Ib_w[0];
+    1621       40173 :   last_control_output_.diagnostics.disturbance_by_w = -Ib_w[1];
+    1622             : 
+    1623       40173 :   last_control_output_.diagnostics.disturbance_wx_w = -Iw_w_[0];
+    1624       40173 :   last_control_output_.diagnostics.disturbance_wy_w = -Iw_w_[1];
+    1625             : 
+    1626       40173 :   last_control_output_.diagnostics.controller_enforcing_constraints = !tracker_command.use_full_state_prediction;
+    1627             : 
+    1628       40173 :   last_control_output_.diagnostics.horizontal_speed_constraint = 0.5 * _max_speed_horizontal_;
+    1629       40173 :   last_control_output_.diagnostics.horizontal_acc_constraint   = 0.5 * _max_acceleration_horizontal_;
+    1630             : 
+    1631       40173 :   last_control_output_.diagnostics.vertical_asc_speed_constraint = 0.5 * _max_speed_vertical_;
+    1632       40173 :   last_control_output_.diagnostics.vertical_asc_acc_constraint   = 0.5 * _max_acceleration_vertical_;
+    1633             : 
+    1634       40173 :   last_control_output_.diagnostics.vertical_desc_speed_constraint = 0.5 * _max_speed_vertical_;
+    1635       40173 :   last_control_output_.diagnostics.vertical_desc_acc_constraint   = 0.5 * _max_acceleration_vertical_;
+    1636             : 
+    1637       40173 :   last_control_output_.diagnostics.controller = name_;
+    1638             : 
+    1639             :   // | ------------ construct the attitude reference ------------ |
+    1640             : 
+    1641       40173 :   mrs_msgs::HwApiAttitudeCmd attitude_cmd;
+    1642             : 
+    1643       40173 :   attitude_cmd.stamp       = ros::Time::now();
+    1644       40173 :   attitude_cmd.orientation = mrs_lib::AttitudeConverter(Rd);
+    1645       40173 :   attitude_cmd.throttle    = throttle;
+    1646             : 
+    1647       40173 :   if (output_modality == common::ATTITUDE) {
+    1648             : 
+    1649        1061 :     last_control_output_.control_output = attitude_cmd;
+    1650             : 
+    1651        1061 :     return;
+    1652             :   }
+    1653             : 
+    1654             :   // --------------------------------------------------------------
+    1655             :   // |                      attitude control                      |
+    1656             :   // --------------------------------------------------------------
+    1657             : 
+    1658       39112 :   Eigen::Vector3d rate_feedforward = Eigen::Vector3d::Zero(3);
+    1659             : 
+    1660       39112 :   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       39112 :   } else if (tracker_command.use_heading_rate) {
+    1665             : 
+    1666             :     // to fill in the feed forward yaw rate
+    1667       39111 :     double desired_yaw_rate = 0;
+    1668             : 
+    1669             :     try {
+    1670       39111 :       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       39111 :     rate_feedforward << 0, 0, desired_yaw_rate;
+    1677             :   }
+    1678             : 
+    1679             :   // | ------------ jerk feedforward -> angular rate ------------ |
+    1680             : 
+    1681       39112 :   Eigen::Vector3d jerk_feedforward = Eigen::Vector3d(0, 0, 0);
+    1682             : 
+    1683       39112 :   if (tracker_command.use_jerk && drs_params.jerk_feedforward) {
+    1684             : 
+    1685       25292 :     ROS_DEBUG_THROTTLE(1.0, "[%s]: using jerk feedforward", name_.c_str());
+    1686             : 
+    1687       25292 :     Eigen::Matrix3d I;
+    1688       25292 :     I << 0, 1, 0, -1, 0, 0, 0, 0, 0;
+    1689       25292 :     Eigen::Vector3d desired_jerk = Eigen::Vector3d(tracker_command.jerk.x, tracker_command.jerk.y, tracker_command.jerk.z);
+    1690       25292 :     jerk_feedforward             = (I.transpose() * Rd.transpose() * desired_jerk) / (desired_thrust_force / total_mass);
+    1691             :   }
+    1692             : 
+    1693             :   // | --------------- run the attitude controller -------------- |
+    1694             : 
+    1695       39112 :   Eigen::Vector3d attitude_rate_saturation(constraints.roll_rate, constraints.pitch_rate, constraints.yaw_rate);
+    1696             : 
+    1697       39112 :   auto attitude_rate_command = common::attitudeController(uav_state, attitude_cmd, jerk_feedforward + rate_feedforward, attitude_rate_saturation, Kq, false);
+    1698             : 
+    1699       39112 :   if (!attitude_rate_command) {
+    1700           0 :     return;
+    1701             :   }
+    1702             : 
+    1703             :   // | --------- fill in the already known attitude rate -------- |
+    1704             : 
+    1705             :   {
+    1706             :     try {
+    1707       39112 :       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       39112 :   if (output_modality == common::ATTITUDE_RATE) {
+    1716             : 
+    1717       36794 :     last_control_output_.control_output = attitude_rate_command;
+    1718             : 
+    1719       36794 :     return;
+    1720             :   }
+    1721             : 
+    1722             :   // --------------------------------------------------------------
+    1723             :   // |                    Attitude rate control                   |
+    1724             :   // --------------------------------------------------------------
+    1725             : 
+    1726        2318 :   Kw = common_handlers_->detailed_model_params->inertia.diagonal().array() * Kw;
+    1727             : 
+    1728        2318 :   auto control_group_command = common::attitudeRateController(uav_state, attitude_rate_command.value(), Kw);
+    1729             : 
+    1730        2318 :   if (!control_group_command) {
+    1731           0 :     return;
+    1732             :   }
+    1733             : 
+    1734        2318 :   if (output_modality == common::CONTROL_GROUP) {
+    1735             : 
+    1736        1160 :     last_control_output_.control_output = control_group_command;
+    1737             : 
+    1738        1160 :     return;
+    1739             :   }
+    1740             : 
+    1741             :   // --------------------------------------------------------------
+    1742             :   // |                        output mixer                        |
+    1743             :   // --------------------------------------------------------------
+    1744             : 
+    1745        2316 :   mrs_msgs::HwApiActuatorCmd actuator_cmd = common::actuatorMixer(control_group_command.value(), common_handlers_->detailed_model_params->control_group_mixer);
+    1746             : 
+    1747        1158 :   last_control_output_.control_output = actuator_cmd;
+    1748             : 
+    1749        1158 :   return;
+    1750             : }
+    1751             : 
+    1752             : //}
+    1753             : 
+    1754             : /* positionPassthrough() //{ */
+    1755             : 
+    1756         231 : void MpcController::positionPassthrough(const mrs_msgs::UavState &uav_state, const mrs_msgs::TrackerCommand &tracker_command) {
+    1757             : 
+    1758         231 :   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         462 :   mrs_msgs::HwApiPositionCmd cmd;
+    1764             : 
+    1765         231 :   cmd.header.frame_id = uav_state.header.frame_id;
+    1766         231 :   cmd.header.stamp    = ros::Time::now();
+    1767             : 
+    1768         231 :   cmd.position = tracker_command.position;
+    1769         231 :   cmd.heading  = tracker_command.heading;
+    1770             : 
+    1771         231 :   last_control_output_.control_output = cmd;
+    1772             : 
+    1773             :   // fill the unbiased desired accelerations
+    1774         231 :   last_control_output_.desired_unbiased_acceleration = {};
+    1775         231 :   last_control_output_.desired_orientation           = {};
+    1776         231 :   last_control_output_.desired_heading_rate          = {};
+    1777             : 
+    1778             :   // | ----------------- fill in the diagnostics ---------------- |
+    1779             : 
+    1780         231 :   last_control_output_.diagnostics.ramping_up = false;
+    1781             : 
+    1782         231 :   last_control_output_.diagnostics.mass_estimator  = false;
+    1783         231 :   last_control_output_.diagnostics.mass_difference = 0;
+    1784             : 
+    1785         231 :   last_control_output_.diagnostics.disturbance_estimator = false;
+    1786             : 
+    1787         231 :   last_control_output_.diagnostics.disturbance_bx_b = 0;
+    1788         231 :   last_control_output_.diagnostics.disturbance_by_b = 0;
+    1789             : 
+    1790         231 :   last_control_output_.diagnostics.disturbance_bx_w = 0;
+    1791         231 :   last_control_output_.diagnostics.disturbance_by_w = 0;
+    1792             : 
+    1793         231 :   last_control_output_.diagnostics.disturbance_wx_w = 0;
+    1794         231 :   last_control_output_.diagnostics.disturbance_wy_w = 0;
+    1795             : 
+    1796         231 :   last_control_output_.diagnostics.controller_enforcing_constraints = !tracker_command.use_full_state_prediction;
+    1797             : 
+    1798         231 :   last_control_output_.diagnostics.horizontal_speed_constraint = 0.5 * _max_speed_horizontal_;
+    1799         231 :   last_control_output_.diagnostics.horizontal_acc_constraint   = 0.5 * _max_acceleration_horizontal_;
+    1800             : 
+    1801         231 :   last_control_output_.diagnostics.vertical_asc_speed_constraint = 0.5 * _max_speed_vertical_;
+    1802         231 :   last_control_output_.diagnostics.vertical_asc_acc_constraint   = 0.5 * _max_acceleration_vertical_;
+    1803             : 
+    1804         231 :   last_control_output_.diagnostics.vertical_desc_speed_constraint = 0.5 * _max_speed_vertical_;
+    1805         231 :   last_control_output_.diagnostics.vertical_desc_acc_constraint   = 0.5 * _max_acceleration_vertical_;
+    1806             : 
+    1807         231 :   last_control_output_.diagnostics.controller = name_;
+    1808             : }
+    1809             : 
+    1810             : //}
+    1811             : 
+    1812             : /* PIDVelocityOutput() //{ */
+    1813             : 
+    1814         499 : 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         499 :   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         499 :   auto constraints = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+    1823             : 
+    1824         499 :   Eigen::Vector3d pos_ref = Eigen::Vector3d(tracker_command.position.x, tracker_command.position.y, tracker_command.position.z);
+    1825         499 :   Eigen::Vector3d pos     = Eigen::Vector3d(uav_state.pose.position.x, uav_state.pose.position.y, uav_state.pose.position.z);
+    1826             : 
+    1827         499 :   double hdg_ref = tracker_command.heading;
+    1828         499 :   double hdg     = getHeadingSafely(uav_state, tracker_command);
+    1829             : 
+    1830             :   // | ------------------ velocity feedforward ------------------ |
+    1831             : 
+    1832         499 :   Eigen::Vector3d vel_ff(0, 0, 0);
+    1833             : 
+    1834         499 :   if (tracker_command.use_velocity_horizontal && tracker_command.use_velocity_vertical) {
+    1835         499 :     vel_ff = Eigen::Vector3d(tracker_command.velocity.x, tracker_command.velocity.y, tracker_command.velocity.z);
+    1836             :   }
+    1837             : 
+    1838             :   // | --------------------- control errors --------------------- |
+    1839             : 
+    1840         499 :   Eigen::Vector3d Ep = pos_ref - pos;
+    1841             : 
+    1842             :   // | --------------------------- pid -------------------------- |
+    1843             : 
+    1844         499 :   position_pid_x_.setSaturation(constraints.horizontal_speed);
+    1845         499 :   position_pid_y_.setSaturation(constraints.horizontal_speed);
+    1846         499 :   position_pid_z_.setSaturation(std::min(constraints.vertical_ascending_speed, constraints.vertical_descending_speed));
+    1847             : 
+    1848         499 :   double des_vel_x = position_pid_x_.update(Ep[0], dt);
+    1849         499 :   double des_vel_y = position_pid_y_.update(Ep[1], dt);
+    1850         499 :   double des_vel_z = position_pid_z_.update(Ep[2], dt);
+    1851             : 
+    1852             :   // | -------------------- position feedback ------------------- |
+    1853             : 
+    1854         499 :   Eigen::Vector3d des_vel = Eigen::Vector3d(des_vel_x, des_vel_y, des_vel_z) + vel_ff;
+    1855             : 
+    1856         499 :   if (control_output == common::VELOCITY_HDG) {
+    1857             : 
+    1858             :     // | --------------------- fill the output -------------------- |
+    1859             : 
+    1860         470 :     mrs_msgs::HwApiVelocityHdgCmd cmd;
+    1861             : 
+    1862         235 :     cmd.header.frame_id = uav_state.header.frame_id;
+    1863         235 :     cmd.header.stamp    = ros::Time::now();
+    1864             : 
+    1865         235 :     cmd.velocity.x = des_vel[0];
+    1866         235 :     cmd.velocity.y = des_vel[1];
+    1867         235 :     cmd.velocity.z = des_vel[2];
+    1868             : 
+    1869         235 :     cmd.heading = tracker_command.heading;
+    1870             : 
+    1871         235 :     last_control_output_.control_output = cmd;
+    1872             : 
+    1873         264 :   } else if (control_output == common::VELOCITY_HDG_RATE) {
+    1874             : 
+    1875         264 :     position_pid_heading_.setSaturation(constraints.heading_speed);
+    1876             : 
+    1877         264 :     double hdg_err = mrs_lib::geometry::sradians::diff(hdg_ref, hdg);
+    1878             : 
+    1879         264 :     double des_hdg_rate = position_pid_heading_.update(hdg_err, dt);
+    1880             : 
+    1881             :     // | --------------------------- ff --------------------------- |
+    1882             : 
+    1883         264 :     double des_hdg_ff = 0;
+    1884             : 
+    1885         264 :     if (tracker_command.use_heading_rate) {
+    1886         264 :       des_hdg_ff = tracker_command.heading_rate;
+    1887             :     }
+    1888             : 
+    1889             :     // | --------------------- fill the output -------------------- |
+    1890             : 
+    1891         528 :     mrs_msgs::HwApiVelocityHdgRateCmd cmd;
+    1892             : 
+    1893         264 :     cmd.header.frame_id = uav_state.header.frame_id;
+    1894         264 :     cmd.header.stamp    = ros::Time::now();
+    1895             : 
+    1896         264 :     cmd.velocity.x = des_vel[0];
+    1897         264 :     cmd.velocity.y = des_vel[1];
+    1898         264 :     cmd.velocity.z = des_vel[2];
+    1899             : 
+    1900         264 :     cmd.heading_rate = des_hdg_rate + des_hdg_ff;
+    1901             : 
+    1902         264 :     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         499 :   last_control_output_.desired_unbiased_acceleration = {};
+    1911         499 :   last_control_output_.desired_orientation           = {};
+    1912         499 :   last_control_output_.desired_heading_rate          = {};
+    1913             : 
+    1914             :   // | ----------------- fill in the diagnostics ---------------- |
+    1915             : 
+    1916         499 :   last_control_output_.diagnostics.ramping_up = false;
+    1917             : 
+    1918         499 :   last_control_output_.diagnostics.mass_estimator  = false;
+    1919         499 :   last_control_output_.diagnostics.mass_difference = 0;
+    1920             : 
+    1921         499 :   last_control_output_.diagnostics.disturbance_estimator = false;
+    1922             : 
+    1923         499 :   last_control_output_.diagnostics.disturbance_bx_b = 0;
+    1924         499 :   last_control_output_.diagnostics.disturbance_by_b = 0;
+    1925             : 
+    1926         499 :   last_control_output_.diagnostics.disturbance_bx_w = 0;
+    1927         499 :   last_control_output_.diagnostics.disturbance_by_w = 0;
+    1928             : 
+    1929         499 :   last_control_output_.diagnostics.disturbance_wx_w = 0;
+    1930         499 :   last_control_output_.diagnostics.disturbance_wy_w = 0;
+    1931             : 
+    1932         499 :   last_control_output_.diagnostics.controller_enforcing_constraints = !tracker_command.use_full_state_prediction;
+    1933             : 
+    1934         499 :   last_control_output_.diagnostics.horizontal_speed_constraint = 0.5 * _max_speed_horizontal_;
+    1935         499 :   last_control_output_.diagnostics.horizontal_acc_constraint   = 0.5 * _max_acceleration_horizontal_;
+    1936             : 
+    1937         499 :   last_control_output_.diagnostics.vertical_asc_speed_constraint = 0.5 * _max_speed_vertical_;
+    1938         499 :   last_control_output_.diagnostics.vertical_asc_acc_constraint   = 0.5 * _max_acceleration_vertical_;
+    1939             : 
+    1940         499 :   last_control_output_.diagnostics.vertical_desc_speed_constraint = 0.5 * _max_speed_vertical_;
+    1941         499 :   last_control_output_.diagnostics.vertical_desc_acc_constraint   = 0.5 * _max_acceleration_vertical_;
+    1942             : 
+    1943         499 :   last_control_output_.diagnostics.controller = name_;
+    1944             : }
+    1945             : 
+    1946             : //}
+    1947             : 
+    1948             : // --------------------------------------------------------------
+    1949             : // |                          callbacks                         |
+    1950             : // --------------------------------------------------------------
+    1951             : 
+    1952             : /* //{ callbackDrs() */
+    1953             : 
+    1954         130 : void MpcController::callbackDrs(mrs_uav_controllers::mpc_controllerConfig &config, [[maybe_unused]] uint32_t level) {
+    1955             : 
+    1956         130 :   mrs_lib::set_mutexed(mutex_drs_params_, config, drs_params_);
+    1957             : 
+    1958         130 :   ROS_INFO("[%s]: DRS updated gains", this->name_.c_str());
+    1959         130 : }
+    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        9032 : void MpcController::timerGains(const ros::TimerEvent &event) {
+    1993             : 
+    1994       27096 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerGains", _gain_filtering_rate_, 1.0, event);
+    1995             :   mrs_lib::ScopeTimer timer =
+    1996       27096 :       mrs_lib::ScopeTimer("ControlManager::timerHwApiCapabilities", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    1997             : 
+    1998       18064 :   auto drs_params = mrs_lib::get_mutexed(mutex_drs_params_, drs_params_);
+    1999        9032 :   auto gains      = mrs_lib::get_mutexed(mutex_gains_, gains_);
+    2000             : 
+    2001             :   // When muting the gains, we want to bypass the filter,
+    2002             :   // so it happens immediately.
+    2003        9032 :   bool   bypass_filter = (mute_gains_ || mute_gains_by_tracker_);
+    2004        9032 :   double gain_coeff    = (mute_gains_ || mute_gains_by_tracker_) ? _gain_mute_coefficient_ : 1.0;
+    2005             : 
+    2006        9032 :   mute_gains_ = false;
+    2007             : 
+    2008        9032 :   const double dt = (event.current_real - event.last_real).toSec();
+    2009             : 
+    2010        9032 :   bool updated = false;
+    2011             : 
+    2012        9032 :   gains.kq_roll_pitch = calculateGainChange(dt, gains.kq_roll_pitch, drs_params.kq_roll_pitch * gain_coeff, bypass_filter, "kq_roll_pitch", updated);
+    2013        9032 :   gains.kq_yaw        = calculateGainChange(dt, gains.kq_yaw, drs_params.kq_yaw * gain_coeff, bypass_filter, "kq_yaw", updated);
+    2014        9032 :   gains.km            = calculateGainChange(dt, gains.km, drs_params.km * gain_coeff, bypass_filter, "km", updated);
+    2015        9032 :   gains.kiwxy         = calculateGainChange(dt, gains.kiwxy, drs_params.kiwxy * gain_coeff, bypass_filter, "kiwxy", updated);
+    2016        9032 :   gains.kibxy         = calculateGainChange(dt, gains.kibxy, drs_params.kibxy * gain_coeff, bypass_filter, "kibxy", updated);
+    2017             : 
+    2018             :   // do not apply muting on these gains
+    2019        9032 :   gains.kiwxy_lim = calculateGainChange(dt, gains.kiwxy_lim, drs_params.kiwxy_lim, false, "kiwxy_lim", updated);
+    2020        9032 :   gains.kibxy_lim = calculateGainChange(dt, gains.kibxy_lim, drs_params.kibxy_lim, false, "kibxy_lim", updated);
+    2021        9032 :   gains.km_lim    = calculateGainChange(dt, gains.km_lim, drs_params.km_lim, false, "km_lim", updated);
+    2022             : 
+    2023        9032 :   mrs_lib::set_mutexed(mutex_gains_, gains, gains_);
+    2024             : 
+    2025             :   // set the gains back to dynamic reconfigure
+    2026             :   // and only do it when some filtering occurs
+    2027        9032 :   if (updated) {
+    2028             : 
+    2029         956 :     drs_params.kiwxy         = gains.kiwxy;
+    2030         956 :     drs_params.kibxy         = gains.kibxy;
+    2031         956 :     drs_params.kq_roll_pitch = gains.kq_roll_pitch;
+    2032         956 :     drs_params.kq_yaw        = gains.kq_yaw;
+    2033         956 :     drs_params.km            = gains.km;
+    2034         956 :     drs_params.km_lim        = gains.km_lim;
+    2035         956 :     drs_params.kiwxy_lim     = gains.kiwxy_lim;
+    2036         956 :     drs_params.kibxy_lim     = gains.kibxy_lim;
+    2037             : 
+    2038         956 :     drs_->updateConfig(drs_params);
+    2039             : 
+    2040         956 :     ROS_INFO_THROTTLE(10.0, "[%s]: gains have been updated", name_.c_str());
+    2041             :   }
+    2042        9032 : }
+    2043             : 
+    2044             : //}
+    2045             : 
+    2046             : // --------------------------------------------------------------
+    2047             : // |                       other routines                       |
+    2048             : // --------------------------------------------------------------
+    2049             : 
+    2050             : /* calculateGainChange() //{ */
+    2051             : 
+    2052       72256 : double MpcController::calculateGainChange(const double dt, const double current_value, const double desired_value, const bool bypass_rate, std::string name,
+    2053             :                                           bool &updated) {
+    2054             : 
+    2055       72256 :   double change = desired_value - current_value;
+    2056             : 
+    2057       72256 :   double gains_filter_max_change = _gains_filter_change_rate_ * dt;
+    2058       72256 :   double gains_filter_min_change = _gains_filter_min_change_rate_ * dt;
+    2059             : 
+    2060       72256 :   if (!bypass_rate) {
+    2061             : 
+    2062             :     // if current value is near 0...
+    2063             :     double change_in_perc;
+    2064             :     double saturated_change;
+    2065             : 
+    2066       71721 :     if (fabs(current_value) < 1e-6) {
+    2067           0 :       change *= gains_filter_max_change;
+    2068             :     } else {
+    2069             : 
+    2070       71721 :       saturated_change = change;
+    2071             : 
+    2072       71721 :       change_in_perc = (current_value + saturated_change) / current_value - 1.0;
+    2073             : 
+    2074       71721 :       if (change_in_perc > gains_filter_max_change) {
+    2075        3715 :         saturated_change = current_value * gains_filter_max_change;
+    2076       68006 :       } else if (change_in_perc < -gains_filter_max_change) {
+    2077           0 :         saturated_change = current_value * -gains_filter_max_change;
+    2078             :       }
+    2079             : 
+    2080       71721 :       if (fabs(saturated_change) < fabs(change) * gains_filter_min_change) {
+    2081           0 :         change *= gains_filter_min_change;
+    2082             :       } else {
+    2083       71721 :         change = saturated_change;
+    2084             :       }
+    2085             :     }
+    2086             :   }
+    2087             : 
+    2088       72256 :   if (fabs(change) > 1e-3) {
+    2089        4780 :     ROS_DEBUG("[%s]: changing gain '%s' from %.2f to %.2f", name_.c_str(), name.c_str(), current_value, desired_value);
+    2090        4780 :     updated = true;
+    2091             :   }
+    2092             : 
+    2093       72256 :   return current_value + change;
+    2094             : }
+    2095             : 
+    2096             : //}
+    2097             : 
+    2098             : /* getHeadingSafely() //{ */
+    2099             : 
+    2100       41655 : double MpcController::getHeadingSafely(const mrs_msgs::UavState &uav_state, const mrs_msgs::TrackerCommand &tracker_command) {
+    2101             : 
+    2102             :   try {
+    2103       41655 :     return mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+    2104             :   }
+    2105           0 :   catch (...) {
+    2106             :   }
+    2107             : 
+    2108             :   try {
+    2109           0 :     return mrs_lib::AttitudeConverter(uav_state.pose.orientation).getYaw();
+    2110             :   }
+    2111           0 :   catch (...) {
+    2112             :   }
+    2113             : 
+    2114           0 :   if (tracker_command.use_heading) {
+    2115           0 :     return tracker_command.heading;
+    2116             :   }
+    2117             : 
+    2118           0 :   return 0;
+    2119             : }
+    2120             : 
+    2121             : //}
+    2122             : 
+    2123             : //}
+    2124             : 
+    2125             : }  // namespace mpc_controller
+    2126             : 
+    2127             : }  // namespace mrs_uav_controllers
+    2128             : 
+    2129             : #include <pluginlib/class_list_macros.h>
+    2130          65 : PLUGINLIB_EXPORT_CLASS(mrs_uav_controllers::mpc_controller::MpcController, mrs_uav_managers::Controller)
+
+
+
+ + + + +
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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:60977478.7 %
Date:2024-01-20 21:44:18Functions: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::activate(mrs_uav_managers::Controller::ControlOutput const&)16
mrs_uav_controllers::se3_controller::Se3Controller::deactivate()17
(anonymous namespace)::ProxyExec0::ProxyExec0()65
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>)65
mrs_uav_controllers::se3_controller::Se3Controller::callbackDrs(mrs_uav_controllers::se3_controllerConfig&, unsigned int)130
mrs_uav_controllers::se3_controller::Se3Controller::positionPassthrough(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)248
mrs_uav_controllers::se3_controller::Se3Controller::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)253
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&)453
mrs_uav_controllers::se3_controller::Se3Controller::getStatus()2045
mrs_uav_controllers::se3_controller::Se3Controller::timerGains(ros::TimerEvent const&)2612
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&)18743
mrs_uav_controllers::se3_controller::Se3Controller::getHeadingSafely(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)19196
mrs_uav_controllers::se3_controller::Se3Controller::updateActive(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)19444
mrs_uav_controllers::se3_controller::Se3Controller::calculateGainChange(double, double, double, bool, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool&)36568
mrs_uav_controllers::se3_controller::Se3Controller::updateInactive(mrs_msgs::UavState_<std::allocator<void> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)68232
+
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Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_controllers/src/se3_controller.cpp.func.html b/mrs_uav_controllers/src/se3_controller.cpp.func.html new file mode 100644 index 0000000000..2d1169a6fa --- /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:60977478.7 %
Date:2024-01-20 21:44:18Functions:151788.2 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()65
mrs_uav_controllers::se3_controller::Se3Controller::deactivate()17
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>)65
mrs_uav_controllers::se3_controller::Se3Controller::timerGains(ros::TimerEvent const&)2612
mrs_uav_controllers::se3_controller::Se3Controller::callbackDrs(mrs_uav_controllers::se3_controllerConfig&, unsigned int)130
mrs_uav_controllers::se3_controller::Se3Controller::updateActive(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)19444
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&)18743
mrs_uav_controllers::se3_controller::Se3Controller::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)253
mrs_uav_controllers::se3_controller::Se3Controller::updateInactive(mrs_msgs::UavState_<std::allocator<void> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)68232
mrs_uav_controllers::se3_controller::Se3Controller::getHeadingSafely(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)19196
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&)453
mrs_uav_controllers::se3_controller::Se3Controller::calculateGainChange(double, double, double, bool, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool&)36568
mrs_uav_controllers::se3_controller::Se3Controller::positionPassthrough(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)248
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&)16
mrs_uav_controllers::se3_controller::Se3Controller::getStatus()2045
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Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_controllers/src/se3_controller.cpp.gcov.frameset.html b/mrs_uav_controllers/src/se3_controller.cpp.gcov.frameset.html new file mode 100644 index 0000000000..96cbbf6f55 --- /dev/null +++ b/mrs_uav_controllers/src/se3_controller.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_controllers/src/se3_controller.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_controllers/src/se3_controller.cpp.gcov.html b/mrs_uav_controllers/src/se3_controller.cpp.gcov.html new file mode 100644 index 0000000000..6ff41dcd1e --- /dev/null +++ b/mrs_uav_controllers/src/se3_controller.cpp.gcov.html @@ -0,0 +1,1927 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_controllers/src/se3_controller.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_controllers/src - se3_controller.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:60977478.7 %
Date:2024-01-20 21:44:18Functions: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          65 : 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          65 :   nh_ = nh;
+     217             : 
+     218          65 :   common_handlers_  = common_handlers;
+     219          65 :   private_handlers_ = private_handlers;
+     220             : 
+     221          65 :   _uav_mass_ = common_handlers->getMass();
+     222             : 
+     223          65 :   ros::Time::waitForValid();
+     224             : 
+     225             :   // | ---------- loading params using the parent's nh ---------- |
+     226             : 
+     227         130 :   mrs_lib::ParamLoader param_loader_parent(common_handlers->parent_nh, "ControlManager");
+     228             : 
+     229          65 :   param_loader_parent.loadParam("enable_profiler", _profiler_enabled_);
+     230             : 
+     231          65 :   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          65 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/private/se3_controller.yaml");
+     239          65 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/public/se3_controller.yaml");
+     240             : 
+     241         130 :   const std::string yaml_namespace = "mrs_uav_controllers/se3_controller/";
+     242             : 
+     243             :   // lateral gains
+     244          65 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/horizontal/kp", gains_.kpxy);
+     245          65 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/horizontal/kv", gains_.kvxy);
+     246          65 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/horizontal/ka", gains_.kaxy);
+     247             : 
+     248          65 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/horizontal/kiw", gains_.kiwxy);
+     249          65 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/horizontal/kib", gains_.kibxy);
+     250             : 
+     251             :   // | ------------------------- rampup ------------------------- |
+     252             : 
+     253          65 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/rampup/enabled", _rampup_enabled_);
+     254          65 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/rampup/speed", _rampup_speed_);
+     255             : 
+     256             :   // height gains
+     257          65 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/vertical/kp", gains_.kpz);
+     258          65 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/vertical/kv", gains_.kvz);
+     259          65 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/vertical/ka", gains_.kaz);
+     260             : 
+     261             :   // attitude gains
+     262          65 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/attitude/kq_roll_pitch", gains_.kq_roll_pitch);
+     263          65 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/attitude/kq_yaw", gains_.kq_yaw);
+     264             : 
+     265             :   // attitude rate gains
+     266          65 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/attitude_rate_gains/kw_roll_pitch", gains_.kw_roll_pitch);
+     267          65 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/attitude_rate_gains/kw_yaw", gains_.kw_yaw);
+     268             : 
+     269             :   // mass estimator
+     270          65 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/mass_estimator/km", gains_.km);
+     271          65 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/mass_estimator/km_lim", gains_.km_lim);
+     272             : 
+     273             :   // integrator limits
+     274          65 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/horizontal/kiw_lim", gains_.kiwxy_lim);
+     275          65 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/horizontal/kib_lim", gains_.kibxy_lim);
+     276             : 
+     277             :   // constraints
+     278          65 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/constraints/tilt_angle_failsafe/enabled", _tilt_angle_failsafe_enabled_);
+     279          65 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/constraints/tilt_angle_failsafe/limit", _tilt_angle_failsafe_);
+     280             : 
+     281          65 :   _tilt_angle_failsafe_ = M_PI * (_tilt_angle_failsafe_ / 180.0);
+     282             : 
+     283          65 :   if (_tilt_angle_failsafe_enabled_ && fabs(_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          65 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/constraints/throttle_saturation", _throttle_saturation_);
+     289             : 
+     290             :   // gain filtering
+     291          65 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/gain_filtering/perc_change_rate", _gains_filter_change_rate_);
+     292          65 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/gain_filtering/min_change_rate", _gains_filter_min_change_rate_);
+     293          65 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/gain_filtering/rate", _gain_filtering_rate_);
+     294          65 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/gain_filtering/gain_mute_coefficient", _gain_mute_coefficient_);
+     295             : 
+     296             :   // output mode
+     297          65 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/preferred_output", drs_params_.preferred_output_mode);
+     298             : 
+     299          65 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/rotation_matrix", drs_params_.rotation_type);
+     300             : 
+     301             :   // angular rate feed forward
+     302         130 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/angular_rate_feedforward/parasitic_pitch_roll",
+     303          65 :                                             drs_params_.pitch_roll_heading_rate_compensation);
+     304          65 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/angular_rate_feedforward/jerk", drs_params_.jerk_feedforward);
+     305             : 
+     306             :   // | ------------------- position pid params ------------------ |
+     307             : 
+     308          65 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/translation_gains/p", _pos_pid_p_);
+     309          65 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/translation_gains/i", _pos_pid_i_);
+     310          65 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/translation_gains/d", _pos_pid_d_);
+     311             : 
+     312          65 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/heading_gains/p", _hdg_pid_p_);
+     313          65 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/heading_gains/i", _hdg_pid_i_);
+     314          65 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/heading_gains/d", _hdg_pid_d_);
+     315             : 
+     316             :   // | ------------------ finish loading params ----------------- |
+     317             : 
+     318          65 :   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          65 :   if (!(drs_params_.preferred_output_mode == OUTPUT_ACTUATORS || drs_params_.preferred_output_mode == OUTPUT_CONTROL_GROUP ||
+     326          65 :         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          65 :   uav_mass_difference_ = 0;
+     333          65 :   Iw_w_                = Eigen::Vector2d::Zero(2);
+     334          65 :   Ib_b_                = Eigen::Vector2d::Zero(2);
+     335             : 
+     336             :   // | --------------- dynamic reconfigure server --------------- |
+     337             : 
+     338          65 :   drs_params_.kpxy             = gains_.kpxy;
+     339          65 :   drs_params_.kvxy             = gains_.kvxy;
+     340          65 :   drs_params_.kaxy             = gains_.kaxy;
+     341          65 :   drs_params_.kiwxy            = gains_.kiwxy;
+     342          65 :   drs_params_.kibxy            = gains_.kibxy;
+     343          65 :   drs_params_.kpz              = gains_.kpz;
+     344          65 :   drs_params_.kvz              = gains_.kvz;
+     345          65 :   drs_params_.kaz              = gains_.kaz;
+     346          65 :   drs_params_.kq_roll_pitch    = gains_.kq_roll_pitch;
+     347          65 :   drs_params_.kq_yaw           = gains_.kq_yaw;
+     348          65 :   drs_params_.kiwxy_lim        = gains_.kiwxy_lim;
+     349          65 :   drs_params_.kibxy_lim        = gains_.kibxy_lim;
+     350          65 :   drs_params_.km               = gains_.km;
+     351          65 :   drs_params_.km_lim           = gains_.km_lim;
+     352          65 :   drs_params_.jerk_feedforward = true;
+     353             : 
+     354          65 :   drs_.reset(new Drs_t(mutex_drs_, nh_));
+     355          65 :   drs_->updateConfig(drs_params_);
+     356          65 :   Drs_t::CallbackType f = boost::bind(&Se3Controller::callbackDrs, this, _1, _2);
+     357          65 :   drs_->setCallback(f);
+     358             : 
+     359             :   // | ------------------------- timers ------------------------- |
+     360             : 
+     361          65 :   timer_gains_ = nh_.createTimer(ros::Rate(_gain_filtering_rate_), &Se3Controller::timerGains, this, false, false);
+     362             : 
+     363             :   // | ---------------------- position pid ---------------------- |
+     364             : 
+     365          65 :   position_pid_x_.setParams(_pos_pid_p_, _pos_pid_d_, _pos_pid_i_, -1, 1.0);
+     366          65 :   position_pid_y_.setParams(_pos_pid_p_, _pos_pid_d_, _pos_pid_i_, -1, 1.0);
+     367          65 :   position_pid_z_.setParams(_pos_pid_p_, _pos_pid_d_, _pos_pid_i_, -1, 1.0);
+     368          65 :   position_pid_heading_.setParams(_hdg_pid_p_, _hdg_pid_d_, _hdg_pid_i_, -1, 0.1);
+     369             : 
+     370             :   // | ------------------------ profiler ------------------------ |
+     371             : 
+     372          65 :   profiler_ = mrs_lib::Profiler(common_handlers_->parent_nh, "Se3Controller", _profiler_enabled_);
+     373             : 
+     374             :   // | ----------------------- finish init ---------------------- |
+     375             : 
+     376          65 :   ROS_INFO("[Se3Controller]: initialized");
+     377             : 
+     378          65 :   is_initialized_ = true;
+     379             : 
+     380          65 :   return true;
+     381             : }
+     382             : 
+     383             : //}
+     384             : 
+     385             : /* //{ activate() */
+     386             : 
+     387          16 : bool Se3Controller::activate(const ControlOutput& last_control_output) {
+     388             : 
+     389          16 :   activation_control_output_ = last_control_output;
+     390             : 
+     391          16 :   double activation_mass = _uav_mass_;
+     392             : 
+     393          16 :   if (activation_control_output_.diagnostics.mass_estimator) {
+     394           0 :     uav_mass_difference_ = activation_control_output_.diagnostics.mass_difference;
+     395           0 :     activation_mass += uav_mass_difference_;
+     396           0 :     ROS_INFO("[Se3Controller]: setting mass difference from the last control output: %.2f kg", uav_mass_difference_);
+     397             :   }
+     398             : 
+     399          16 :   last_control_output_.diagnostics.controller_enforcing_constraints = false;
+     400             : 
+     401          16 :   if (activation_control_output_.diagnostics.disturbance_estimator) {
+     402           0 :     Ib_b_[0] = -activation_control_output_.diagnostics.disturbance_bx_b;
+     403           0 :     Ib_b_[1] = -activation_control_output_.diagnostics.disturbance_by_b;
+     404             : 
+     405           0 :     Iw_w_[0] = -activation_control_output_.diagnostics.disturbance_wx_w;
+     406           0 :     Iw_w_[1] = -activation_control_output_.diagnostics.disturbance_wy_w;
+     407             : 
+     408           0 :     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          16 :   auto throttle_last_controller = common::extractThrottle(activation_control_output_);
+     416             : 
+     417             :   // rampup check
+     418          16 :   if (_rampup_enabled_ && throttle_last_controller) {
+     419             : 
+     420          11 :     double hover_throttle = mrs_lib::quadratic_throttle_model::forceToThrottle(common_handlers_->throttle_model, activation_mass * common_handlers_->g);
+     421             : 
+     422          11 :     double throttle_difference = hover_throttle - throttle_last_controller.value();
+     423             : 
+     424          11 :     if (throttle_difference > 0) {
+     425           2 :       rampup_direction_ = 1;
+     426           9 :     } else if (throttle_difference < 0) {
+     427           0 :       rampup_direction_ = -1;
+     428             :     } else {
+     429           9 :       rampup_direction_ = 0;
+     430             :     }
+     431             : 
+     432          11 :     ROS_INFO("[Se3Controller]: activating rampup with initial throttle: %.4f, target: %.4f", throttle_last_controller.value(), hover_throttle);
+     433             : 
+     434          11 :     rampup_active_     = true;
+     435          11 :     rampup_start_time_ = ros::Time::now();
+     436          11 :     rampup_last_time_  = ros::Time::now();
+     437          11 :     rampup_throttle_   = throttle_last_controller.value();
+     438             : 
+     439          11 :     rampup_duration_ = fabs(throttle_difference) / _rampup_speed_;
+     440             :   }
+     441             : 
+     442          16 :   first_iteration_ = true;
+     443          16 :   mute_gains_      = true;
+     444             : 
+     445          16 :   timer_gains_.start();
+     446             : 
+     447             :   // | ------------------ finish the activation ----------------- |
+     448             : 
+     449          16 :   ROS_INFO("[Se3Controller]: activated");
+     450             : 
+     451          16 :   is_active_ = true;
+     452             : 
+     453          16 :   return true;
+     454             : }
+     455             : 
+     456             : //}
+     457             : 
+     458             : /* //{ deactivate() */
+     459             : 
+     460          17 : void Se3Controller::deactivate(void) {
+     461             : 
+     462          17 :   is_active_           = false;
+     463          17 :   first_iteration_     = false;
+     464          17 :   uav_mass_difference_ = 0;
+     465             : 
+     466          17 :   timer_gains_.stop();
+     467             : 
+     468          17 :   ROS_INFO("[Se3Controller]: deactivated");
+     469          17 : }
+     470             : 
+     471             : //}
+     472             : 
+     473             : /* updateInactive() //{ */
+     474             : 
+     475       68232 : void Se3Controller::updateInactive(const mrs_msgs::UavState& uav_state, [[maybe_unused]] const std::optional<mrs_msgs::TrackerCommand>& tracker_command) {
+     476             : 
+     477       68232 :   mrs_lib::set_mutexed(mutex_uav_state_, uav_state, uav_state_);
+     478             : 
+     479       68232 :   last_update_time_ = uav_state.header.stamp;
+     480             : 
+     481       68232 :   first_iteration_ = false;
+     482       68232 : }
+     483             : 
+     484             : //}
+     485             : 
+     486             : /* //{ updateWhenActive() */
+     487             : 
+     488       19444 : Se3Controller::ControlOutput Se3Controller::updateActive(const mrs_msgs::UavState& uav_state, const mrs_msgs::TrackerCommand& tracker_command) {
+     489             : 
+     490       58332 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("update");
+     491       58332 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("Se3Controller::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     492             : 
+     493       38888 :   auto drs_params = mrs_lib::get_mutexed(mutex_drs_params_, drs_params_);
+     494             : 
+     495       19444 :   mrs_lib::set_mutexed(mutex_uav_state_, uav_state, uav_state_);
+     496             : 
+     497       19444 :   last_control_output_.desired_heading_rate          = {};
+     498       19444 :   last_control_output_.desired_orientation           = {};
+     499       19444 :   last_control_output_.desired_unbiased_acceleration = {};
+     500       19444 :   last_control_output_.control_output                = {};
+     501             : 
+     502             :   // | -------------------- calculate the dt -------------------- |
+     503             : 
+     504             :   double dt;
+     505             : 
+     506       19444 :   if (first_iteration_) {
+     507          16 :     dt               = 0.01;
+     508          16 :     first_iteration_ = false;
+     509             :   } else {
+     510       19428 :     dt = (uav_state.header.stamp - last_update_time_).toSec();
+     511             :   }
+     512             : 
+     513       19444 :   last_update_time_ = uav_state.header.stamp;
+     514             : 
+     515       19444 :   if (fabs(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       19444 :   auto lowest_modality = common::getLowestOuput(common_handlers_->control_output_modalities);
+     525             : 
+     526       19444 :   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       19444 :   if (drs_params.preferred_output_mode == OUTPUT_ATTITUDE_RATE && common_handlers_->control_output_modalities.attitude_rate) {
+     536       14187 :     ROS_DEBUG_THROTTLE(1.0, "[Se3Controller]: prioritizing attitude rate output");
+     537       14187 :     lowest_modality = common::ATTITUDE_RATE;
+     538        5257 :   } 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        5257 :   } 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        5257 :   } 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       19444 :   switch (lowest_modality.value()) {
+     550             : 
+     551         248 :     case common::POSITION: {
+     552         248 :       positionPassthrough(uav_state, tracker_command);
+     553         248 :       break;
+     554             :     }
+     555             : 
+     556         216 :     case common::VELOCITY_HDG: {
+     557         216 :       PIDVelocityOutput(uav_state, tracker_command, common::VELOCITY_HDG, dt);
+     558         216 :       break;
+     559             :     }
+     560             : 
+     561         237 :     case common::VELOCITY_HDG_RATE: {
+     562         237 :       PIDVelocityOutput(uav_state, tracker_command, common::VELOCITY_HDG_RATE, dt);
+     563         237 :       break;
+     564             :     }
+     565             : 
+     566         551 :     case common::ACCELERATION_HDG: {
+     567         551 :       SE3Controller(uav_state, tracker_command, dt, common::ACCELERATION_HDG);
+     568         551 :       break;
+     569             :     }
+     570             : 
+     571         505 :     case common::ACCELERATION_HDG_RATE: {
+     572         505 :       SE3Controller(uav_state, tracker_command, dt, common::ACCELERATION_HDG_RATE);
+     573         505 :       break;
+     574             :     }
+     575             : 
+     576        1103 :     case common::ATTITUDE: {
+     577        1103 :       SE3Controller(uav_state, tracker_command, dt, common::ATTITUDE);
+     578        1103 :       break;
+     579             :     }
+     580             : 
+     581       14187 :     case common::ATTITUDE_RATE: {
+     582       14187 :       SE3Controller(uav_state, tracker_command, dt, common::ATTITUDE_RATE);
+     583       14187 :       break;
+     584             :     }
+     585             : 
+     586        1197 :     case common::CONTROL_GROUP: {
+     587        1197 :       SE3Controller(uav_state, tracker_command, dt, common::CONTROL_GROUP);
+     588        1197 :       break;
+     589             :     }
+     590             : 
+     591        1200 :     case common::ACTUATORS_CMD: {
+     592        1200 :       SE3Controller(uav_state, tracker_command, dt, common::ACTUATORS_CMD);
+     593        1200 :       break;
+     594             :     }
+     595             : 
+     596       19444 :     default: {
+     597             :     }
+     598             :   }
+     599             : 
+     600       19444 :   return last_control_output_;
+     601             : }
+     602             : 
+     603             : //}
+     604             : 
+     605             : /* //{ getStatus() */
+     606             : 
+     607        2045 : const mrs_msgs::ControllerStatus Se3Controller::getStatus() {
+     608             : 
+     609        2045 :   mrs_msgs::ControllerStatus controller_status;
+     610             : 
+     611        2045 :   controller_status.active = is_active_;
+     612             : 
+     613        2045 :   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         253 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr Se3Controller::setConstraints([
+     674             :     [maybe_unused]] const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr& constraints) {
+     675             : 
+     676         253 :   if (!is_initialized_) {
+     677           0 :     return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse());
+     678             :   }
+     679             : 
+     680         253 :   mrs_lib::set_mutexed(mutex_constraints_, constraints->constraints, constraints_);
+     681             : 
+     682         253 :   ROS_INFO("[Se3Controller]: updating constraints");
+     683             : 
+     684         506 :   mrs_msgs::DynamicsConstraintsSrvResponse res;
+     685         253 :   res.success = true;
+     686         253 :   res.message = "constraints updated";
+     687             : 
+     688         253 :   return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse(res));
+     689             : }
+     690             : 
+     691             : //}
+     692             : 
+     693             : // --------------------------------------------------------------
+     694             : // |                         controllers                        |
+     695             : // --------------------------------------------------------------
+     696             : 
+     697             : /* SE3Controller() //{ */
+     698             : 
+     699       18743 : 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       37486 :   auto drs_params  = mrs_lib::get_mutexed(mutex_drs_params_, drs_params_);
+     703       18743 :   auto constraints = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+     704       18743 :   auto gains       = mrs_lib::get_mutexed(mutex_gains_, gains_);
+     705             : 
+     706             :   // | ----------------- get the current heading ---------------- |
+     707             : 
+     708       18743 :   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       18743 :   Eigen::Vector3d Rp = Eigen::Vector3d::Zero(3);
+     719       18743 :   Eigen::Vector3d Rv = Eigen::Vector3d::Zero(3);
+     720       18743 :   Eigen::Vector3d Ra = Eigen::Vector3d::Zero(3);
+     721             : 
+     722       18743 :   if (tracker_command.use_position_vertical || tracker_command.use_position_horizontal) {
+     723             : 
+     724       18743 :     if (tracker_command.use_position_horizontal) {
+     725       18743 :       Rp[0] = tracker_command.position.x;
+     726       18743 :       Rp[1] = tracker_command.position.y;
+     727             :     } else {
+     728           0 :       Rv[0] = 0;
+     729           0 :       Rv[1] = 0;
+     730             :     }
+     731             : 
+     732       18743 :     if (tracker_command.use_position_vertical) {
+     733       18743 :       Rp[2] = tracker_command.position.z;
+     734             :     } else {
+     735           0 :       Rv[2] = 0;
+     736             :     }
+     737             :   }
+     738             : 
+     739       18743 :   if (tracker_command.use_velocity_horizontal) {
+     740       18743 :     Rv[0] = tracker_command.velocity.x;
+     741       18743 :     Rv[1] = tracker_command.velocity.y;
+     742             :   } else {
+     743           0 :     Rv[0] = 0;
+     744           0 :     Rv[1] = 0;
+     745             :   }
+     746             : 
+     747       18743 :   if (tracker_command.use_velocity_vertical) {
+     748       18743 :     Rv[2] = tracker_command.velocity.z;
+     749             :   } else {
+     750           0 :     Rv[2] = 0;
+     751             :   }
+     752             : 
+     753       18743 :   if (tracker_command.use_acceleration) {
+     754       18743 :     Ra << tracker_command.acceleration.x, tracker_command.acceleration.y, tracker_command.acceleration.z;
+     755             :   } else {
+     756           0 :     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       18743 :   Eigen::Vector3d Op(uav_state.pose.position.x, uav_state.pose.position.y, uav_state.pose.position.z);
+     764       18743 :   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       18743 :   Eigen::Matrix3d R = mrs_lib::AttitudeConverter(uav_state.pose.orientation);
+     768             : 
+     769             :   // Ow - UAV angular rate
+     770       18743 :   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       18743 :   Eigen::Vector3d Ep(0, 0, 0);
+     776             : 
+     777       18743 :   if (tracker_command.use_position_horizontal || tracker_command.use_position_vertical) {
+     778       18743 :     Ep = Rp - Op;
+     779             :   }
+     780             : 
+     781             :   // velocity control error
+     782       18743 :   Eigen::Vector3d Ev(0, 0, 0);
+     783             : 
+     784       18743 :   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       18743 :     Ev = Rv - Ov;
+     787             :   }
+     788             : 
+     789             :   // | --------------------- load the gains --------------------- |
+     790             : 
+     791       18743 :   mute_gains_by_tracker_ = tracker_command.disable_position_gains;
+     792             : 
+     793       18743 :   Eigen::Vector3d Ka(0, 0, 0);
+     794       18743 :   Eigen::Array3d  Kp(0, 0, 0);
+     795       18743 :   Eigen::Array3d  Kv(0, 0, 0);
+     796       18743 :   Eigen::Array3d  Kq(0, 0, 0);
+     797       18743 :   Eigen::Array3d  Kw(0, 0, 0);
+     798             : 
+     799             :   {
+     800       18743 :     std::scoped_lock lock(mutex_gains_);
+     801             : 
+     802       18743 :     if (tracker_command.use_position_horizontal) {
+     803       18743 :       Kp[0] = gains.kpxy;
+     804       18743 :       Kp[1] = gains.kpxy;
+     805             :     } else {
+     806           0 :       Kp[0] = 0;
+     807           0 :       Kp[1] = 0;
+     808             :     }
+     809             : 
+     810       18743 :     if (tracker_command.use_position_vertical) {
+     811       18743 :       Kp[2] = gains.kpz;
+     812             :     } else {
+     813           0 :       Kp[2] = 0;
+     814             :     }
+     815             : 
+     816       18743 :     if (tracker_command.use_velocity_horizontal) {
+     817       18743 :       Kv[0] = gains.kvxy;
+     818       18743 :       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       18743 :     if (tracker_command.use_velocity_vertical || tracker_command.use_position_vertical) {
+     826       18743 :       Kv[2] = gains.kvz;
+     827             :     } else {
+     828           0 :       Kv[2] = 0;
+     829             :     }
+     830             : 
+     831       18743 :     if (tracker_command.use_acceleration) {
+     832       18743 :       Ka << gains.kaxy, gains.kaxy, gains.kaz;
+     833             :     } else {
+     834           0 :       Ka << 0, 0, 0;
+     835             :     }
+     836             : 
+     837       18743 :     if (!tracker_command.use_attitude_rate) {
+     838       18743 :       Kq << gains.kq_roll_pitch, gains.kq_roll_pitch, gains.kq_yaw;
+     839             :     }
+     840             : 
+     841       18743 :     Kw[0] = gains.kw_roll_pitch;
+     842       18743 :     Kw[1] = gains.kw_roll_pitch;
+     843       18743 :     Kw[2] = gains.kw_yaw;
+     844             :   }
+     845             : 
+     846       18743 :   Kp = Kp * (_uav_mass_ + uav_mass_difference_);
+     847       18743 :   Kv = Kv * (_uav_mass_ + uav_mass_difference_);
+     848             : 
+     849             :   // | --------------- desired orientation matrix --------------- |
+     850             : 
+     851             :   // get body integral in the world frame
+     852             : 
+     853       18743 :   Eigen::Vector2d Ib_w = Eigen::Vector2d(0, 0);
+     854             : 
+     855             :   {
+     856       37486 :     geometry_msgs::Vector3Stamped Ib_b_stamped;
+     857             : 
+     858       18743 :     Ib_b_stamped.header.stamp    = ros::Time::now();
+     859       18743 :     Ib_b_stamped.header.frame_id = "fcu_untilted";
+     860       18743 :     Ib_b_stamped.vector.x        = Ib_b_(0);
+     861       18743 :     Ib_b_stamped.vector.y        = Ib_b_(1);
+     862       18743 :     Ib_b_stamped.vector.z        = 0;
+     863             : 
+     864       37486 :     auto res = common_handlers_->transformer->transformSingle(Ib_b_stamped, uav_state_.header.frame_id);
+     865             : 
+     866       18743 :     if (res) {
+     867       18743 :       Ib_w[0] = res.value().vector.x;
+     868       18743 :       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       18743 :   double total_mass = _uav_mass_ + uav_mass_difference_;
+     877             : 
+     878       18743 :   Eigen::Vector3d feed_forward      = total_mass * (Eigen::Vector3d(0, 0, common_handlers_->g) + Ra);
+     879       18743 :   Eigen::Vector3d position_feedback = Kp * Ep.array();
+     880       18743 :   Eigen::Vector3d velocity_feedback = Kv * Ev.array();
+     881       18743 :   Eigen::Vector3d integral_feedback;
+     882             :   {
+     883       18743 :     std::scoped_lock lock(mutex_integrals_);
+     884             : 
+     885       18743 :     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       37486 :     std::scoped_lock lock(mutex_gains_, mutex_integrals_);
+     900             : 
+     901       18743 :     Eigen::Vector3d integration_switch(1, 1, 0);
+     902             : 
+     903             :     // integrate the world error
+     904       18743 :     if (tracker_command.use_position_horizontal) {
+     905       18743 :       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       18743 :     bool world_integral_saturated = false;
+     912       18743 :     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       18743 :     } else if (Iw_w_[0] > gains.kiwxy_lim) {
+     916           0 :       Iw_w_[0]                 = gains.kiwxy_lim;
+     917           0 :       world_integral_saturated = true;
+     918       18743 :     } 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       18743 :     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       18743 :     world_integral_saturated = false;
+     929       18743 :     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       18743 :     } else if (Iw_w_[1] > gains.kiwxy_lim) {
+     933           0 :       Iw_w_[1]                 = gains.kiwxy_lim;
+     934           0 :       world_integral_saturated = true;
+     935       18743 :     } 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       18743 :     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       37486 :     std::scoped_lock lock(mutex_gains_);
+     955             : 
+     956       18743 :     Eigen::Vector2d Ep_fcu_untilted = Eigen::Vector2d(0, 0);  // position error in the untilted frame of the UAV
+     957       18743 :     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       37486 :       geometry_msgs::Vector3Stamped Ep_stamped;
+     963             : 
+     964       18743 :       Ep_stamped.header.stamp    = ros::Time::now();
+     965       18743 :       Ep_stamped.header.frame_id = uav_state_.header.frame_id;
+     966       18743 :       Ep_stamped.vector.x        = Ep(0);
+     967       18743 :       Ep_stamped.vector.y        = Ep(1);
+     968       18743 :       Ep_stamped.vector.z        = Ep(2);
+     969             : 
+     970       56229 :       auto res = common_handlers_->transformer->transformSingle(Ep_stamped, "fcu_untilted");
+     971             : 
+     972       18743 :       if (res) {
+     973       18743 :         Ep_fcu_untilted[0] = res.value().vector.x;
+     974       18743 :         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       37486 :       geometry_msgs::Vector3Stamped Ev_stamped;
+     983             : 
+     984       18743 :       Ev_stamped.header.stamp    = ros::Time::now();
+     985       18743 :       Ev_stamped.header.frame_id = uav_state_.header.frame_id;
+     986       18743 :       Ev_stamped.vector.x        = Ev(0);
+     987       18743 :       Ev_stamped.vector.y        = Ev(1);
+     988       18743 :       Ev_stamped.vector.z        = Ev(2);
+     989             : 
+     990       56229 :       auto res = common_handlers_->transformer->transformSingle(Ev_stamped, "fcu_untilted");
+     991             : 
+     992       18743 :       if (res) {
+     993       18743 :         Ev_fcu_untilted[0] = res.value().vector.x;
+     994       18743 :         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       18743 :     if (tracker_command.use_position_horizontal) {
+    1002       18743 :       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       18743 :     bool body_integral_saturated = false;
+    1009       18743 :     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       18743 :     } else if (Ib_b_[0] > gains.kibxy_lim) {
+    1013           0 :       Ib_b_[0]                = gains.kibxy_lim;
+    1014           0 :       body_integral_saturated = true;
+    1015       18743 :     } 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       18743 :     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       18743 :     body_integral_saturated = false;
+    1026       18743 :     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       18743 :     } else if (Ib_b_[1] > gains.kibxy_lim) {
+    1030           0 :       Ib_b_[1]                = gains.kibxy_lim;
+    1031           0 :       body_integral_saturated = true;
+    1032       18743 :     } 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       18743 :     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       18743 :   if (output_modality == common::ACCELERATION_HDG || output_modality == common::ACCELERATION_HDG_RATE) {
+    1045             : 
+    1046        1056 :     Eigen::Vector3d des_acc = (position_feedback + velocity_feedback + integral_feedback) / total_mass + Ra;
+    1047             : 
+    1048        1056 :     if (output_modality == common::ACCELERATION_HDG) {
+    1049             : 
+    1050        1102 :       mrs_msgs::HwApiAccelerationHdgCmd cmd;
+    1051             : 
+    1052         551 :       cmd.acceleration.x = des_acc[0];
+    1053         551 :       cmd.acceleration.y = des_acc[1];
+    1054         551 :       cmd.acceleration.z = des_acc[2];
+    1055             : 
+    1056         551 :       cmd.heading = tracker_command.heading;
+    1057             : 
+    1058         551 :       last_control_output_.control_output = cmd;
+    1059             : 
+    1060             :     } else {
+    1061             : 
+    1062         505 :       double des_hdg_ff = 0;
+    1063             : 
+    1064         505 :       if (tracker_command.use_heading_rate) {
+    1065         505 :         des_hdg_ff = tracker_command.heading_rate;
+    1066             :       }
+    1067             : 
+    1068        1010 :       mrs_msgs::HwApiAccelerationHdgRateCmd cmd;
+    1069             : 
+    1070         505 :       cmd.acceleration.x = des_acc[0];
+    1071         505 :       cmd.acceleration.y = des_acc[1];
+    1072         505 :       cmd.acceleration.z = des_acc[2];
+    1073             : 
+    1074         505 :       position_pid_heading_.setSaturation(constraints.heading_speed);
+    1075             : 
+    1076         505 :       double hdg_err = mrs_lib::geometry::sradians::diff(tracker_command.heading, uav_heading);
+    1077             : 
+    1078         505 :       double des_hdg_rate = position_pid_heading_.update(hdg_err, dt) + des_hdg_ff;
+    1079             : 
+    1080         505 :       cmd.heading_rate = des_hdg_rate;
+    1081             : 
+    1082         505 :       last_control_output_.desired_heading_rate = des_hdg_rate;
+    1083             : 
+    1084         505 :       last_control_output_.control_output = cmd;
+    1085             :     }
+    1086             : 
+    1087             :     // | -------------- unbiased desired acceleration ------------- |
+    1088             : 
+    1089        1056 :     Eigen::Vector3d unbiased_des_acc(0, 0, 0);
+    1090             : 
+    1091             :     {
+    1092             : 
+    1093        1056 :       Eigen::Vector3d unbiased_des_acc_world = (position_feedback + velocity_feedback) / total_mass + Ra;
+    1094             : 
+    1095        2112 :       geometry_msgs::Vector3Stamped world_accel;
+    1096             : 
+    1097        1056 :       world_accel.header.stamp    = ros::Time::now();
+    1098        1056 :       world_accel.header.frame_id = uav_state.header.frame_id;
+    1099        1056 :       world_accel.vector.x        = unbiased_des_acc_world[0];
+    1100        1056 :       world_accel.vector.y        = unbiased_des_acc_world[1];
+    1101        1056 :       world_accel.vector.z        = unbiased_des_acc_world[2];
+    1102             : 
+    1103        3168 :       auto res = common_handlers_->transformer->transformSingle(world_accel, "fcu");
+    1104             : 
+    1105        1056 :       if (res) {
+    1106        1056 :         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        1056 :     last_control_output_.desired_unbiased_acceleration = unbiased_des_acc;
+    1112             : 
+    1113             :     // | ----------------- fill in the diagnostics ---------------- |
+    1114             : 
+    1115        1056 :     last_control_output_.diagnostics.ramping_up = false;
+    1116             : 
+    1117        1056 :     last_control_output_.diagnostics.mass_estimator  = false;
+    1118        1056 :     last_control_output_.diagnostics.mass_difference = 0;
+    1119        1056 :     last_control_output_.diagnostics.total_mass      = total_mass;
+    1120             : 
+    1121        1056 :     last_control_output_.diagnostics.disturbance_estimator = true;
+    1122             : 
+    1123        1056 :     last_control_output_.diagnostics.disturbance_bx_b = -Ib_b_[0];
+    1124        1056 :     last_control_output_.diagnostics.disturbance_by_b = -Ib_b_[1];
+    1125             : 
+    1126        1056 :     last_control_output_.diagnostics.disturbance_bx_w = -Ib_w[0];
+    1127        1056 :     last_control_output_.diagnostics.disturbance_by_w = -Ib_w[1];
+    1128             : 
+    1129        1056 :     last_control_output_.diagnostics.disturbance_wx_w = -Iw_w_[0];
+    1130        1056 :     last_control_output_.diagnostics.disturbance_wy_w = -Iw_w_[1];
+    1131             : 
+    1132        1056 :     last_control_output_.diagnostics.controller_enforcing_constraints = false;
+    1133             : 
+    1134        1056 :     last_control_output_.diagnostics.controller = "Se3Controller";
+    1135             : 
+    1136        1056 :     return;
+    1137             :   }
+    1138             : 
+    1139             :   /* mass estimatior //{ */
+    1140             : 
+    1141             :   // --------------------------------------------------------------
+    1142             :   // |                integrate the mass difference               |
+    1143             :   // --------------------------------------------------------------
+    1144             : 
+    1145             :   {
+    1146       35374 :     std::scoped_lock lock(mutex_gains_);
+    1147             : 
+    1148       17687 :     if (tracker_command.use_position_vertical && !rampup_active_) {
+    1149       17676 :       uav_mass_difference_ += gains.km * Ep[2] * dt;
+    1150             :     }
+    1151             : 
+    1152             :     // saturate the mass estimator
+    1153       17687 :     bool uav_mass_saturated = false;
+    1154       17687 :     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       17687 :     } else if (uav_mass_difference_ > gains.km_lim) {
+    1158           0 :       uav_mass_difference_ = gains.km_lim;
+    1159           0 :       uav_mass_saturated   = true;
+    1160       17687 :     } 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       17687 :     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       17687 :   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       17687 :   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       17687 :   double tilt_safety_limit = _tilt_angle_failsafe_enabled_ ? _tilt_angle_failsafe_ : std::numeric_limits<double>::max();
+    1188             : 
+    1189       17687 :   auto f_normed_sanitized = common::sanitizeDesiredForce(f.normalized(), tilt_safety_limit, constraints.tilt, "Se3Controller");
+    1190             : 
+    1191       17687 :   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       17687 :   Eigen::Vector3d f_normed = f_normed_sanitized.value();
+    1205             : 
+    1206             :   // --------------------------------------------------------------
+    1207             :   // |               desired orientation + throttle               |
+    1208             :   // --------------------------------------------------------------
+    1209             : 
+    1210             :   // | ------------------- desired orientation ------------------ |
+    1211             : 
+    1212       17687 :   Eigen::Matrix3d Rd;
+    1213             : 
+    1214       17687 :   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       17687 :     Eigen::Vector3d bxd;  // desired heading vector
+    1231             : 
+    1232       17687 :     if (tracker_command.use_heading) {
+    1233       17687 :       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       17687 :     Rd = common::so3transform(f_normed, bxd, drs_params.rotation_type == 1);
+    1240             :   }
+    1241             : 
+    1242             :   // | -------------------- desired throttle -------------------- |
+    1243             : 
+    1244       17687 :   double desired_thrust_force = f.dot(R.col(2));
+    1245       17687 :   double throttle             = 0;
+    1246             : 
+    1247       17687 :   if (tracker_command.use_throttle) {
+    1248             : 
+    1249             :     // the throttle is overriden from the tracker command
+    1250           0 :     throttle = tracker_command.throttle;
+    1251             : 
+    1252       17687 :   } else if (rampup_active_) {
+    1253             : 
+    1254             :     // deactivate the rampup when the times up
+    1255          11 :     if (fabs((ros::Time::now() - rampup_start_time_).toSec()) >= rampup_duration_) {
+    1256             : 
+    1257          11 :       rampup_active_ = false;
+    1258             : 
+    1259          11 :       ROS_INFO("[Se3Controller]: rampup finished");
+    1260             : 
+    1261             :     } else {
+    1262             : 
+    1263           0 :       double rampup_dt = (ros::Time::now() - rampup_last_time_).toSec();
+    1264             : 
+    1265           0 :       rampup_throttle_ += double(rampup_direction_) * _rampup_speed_ * rampup_dt;
+    1266             : 
+    1267           0 :       rampup_last_time_ = ros::Time::now();
+    1268             : 
+    1269           0 :       throttle = rampup_throttle_;
+    1270             : 
+    1271           0 :       ROS_INFO_THROTTLE(0.1, "[Se3Controller]: ramping up throttle, %.4f", throttle);
+    1272             :     }
+    1273             : 
+    1274             :   } else {
+    1275             : 
+    1276       17676 :     if (desired_thrust_force >= 0) {
+    1277       17676 :       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       17687 :   bool throttle_saturated = false;
+    1286             : 
+    1287       17687 :   if (!std::isfinite(throttle)) {
+    1288             : 
+    1289           0 :     ROS_ERROR("[Se3Controller]: NaN detected in variable 'throttle'!!!");
+    1290           0 :     return;
+    1291             : 
+    1292       17687 :   } 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       17687 :   } 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       17687 :   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       17687 :   Eigen::Vector3d unbiased_des_acc(0, 0, 0);
+    1321             : 
+    1322             :   {
+    1323       17687 :     Eigen::Vector3d unbiased_des_acc_world = (position_feedback + velocity_feedback) / total_mass + Ra;
+    1324             : 
+    1325       35374 :     geometry_msgs::Vector3Stamped world_accel;
+    1326             : 
+    1327       17687 :     world_accel.header.stamp    = ros::Time::now();
+    1328       17687 :     world_accel.header.frame_id = uav_state.header.frame_id;
+    1329       17687 :     world_accel.vector.x        = unbiased_des_acc_world[0];
+    1330       17687 :     world_accel.vector.y        = unbiased_des_acc_world[1];
+    1331       17687 :     world_accel.vector.z        = unbiased_des_acc_world[2];
+    1332             : 
+    1333       53061 :     auto res = common_handlers_->transformer->transformSingle(world_accel, "fcu");
+    1334             : 
+    1335       17687 :     if (res) {
+    1336       17687 :       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       17687 :   last_control_output_.desired_orientation = mrs_lib::AttitudeConverter(Rd);
+    1344             : 
+    1345             :   // fill the unbiased desired accelerations
+    1346       17687 :   last_control_output_.desired_unbiased_acceleration = unbiased_des_acc;
+    1347             : 
+    1348             :   // | ----------------- fill in the diagnostics ---------------- |
+    1349             : 
+    1350       17687 :   last_control_output_.diagnostics.ramping_up = rampup_active_;
+    1351             : 
+    1352       17687 :   last_control_output_.diagnostics.mass_estimator  = true;
+    1353       17687 :   last_control_output_.diagnostics.mass_difference = uav_mass_difference_;
+    1354       17687 :   last_control_output_.diagnostics.total_mass      = total_mass;
+    1355             : 
+    1356       17687 :   last_control_output_.diagnostics.disturbance_estimator = true;
+    1357             : 
+    1358       17687 :   last_control_output_.diagnostics.disturbance_bx_b = -Ib_b_[0];
+    1359       17687 :   last_control_output_.diagnostics.disturbance_by_b = -Ib_b_[1];
+    1360             : 
+    1361       17687 :   last_control_output_.diagnostics.disturbance_bx_w = -Ib_w[0];
+    1362       17687 :   last_control_output_.diagnostics.disturbance_by_w = -Ib_w[1];
+    1363             : 
+    1364       17687 :   last_control_output_.diagnostics.disturbance_wx_w = -Iw_w_[0];
+    1365       17687 :   last_control_output_.diagnostics.disturbance_wy_w = -Iw_w_[1];
+    1366             : 
+    1367       17687 :   last_control_output_.diagnostics.controller_enforcing_constraints = false;
+    1368             : 
+    1369       17687 :   last_control_output_.diagnostics.controller = "Se3Controller";
+    1370             : 
+    1371             :   // | ------------ construct the attitude reference ------------ |
+    1372             : 
+    1373       17687 :   mrs_msgs::HwApiAttitudeCmd attitude_cmd;
+    1374             : 
+    1375       17687 :   attitude_cmd.stamp       = ros::Time::now();
+    1376       17687 :   attitude_cmd.orientation = mrs_lib::AttitudeConverter(Rd);
+    1377       17687 :   attitude_cmd.throttle    = throttle;
+    1378             : 
+    1379       17687 :   if (output_modality == common::ATTITUDE) {
+    1380             : 
+    1381        1103 :     last_control_output_.control_output = attitude_cmd;
+    1382             : 
+    1383        1103 :     return;
+    1384             :   }
+    1385             : 
+    1386             :   // --------------------------------------------------------------
+    1387             :   // |                      attitude control                      |
+    1388             :   // --------------------------------------------------------------
+    1389             : 
+    1390       16584 :   Eigen::Vector3d rate_feedforward = Eigen::Vector3d::Zero(3);
+    1391             : 
+    1392       16584 :   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       16584 :   } else if (tracker_command.use_heading_rate) {
+    1397             : 
+    1398             :     // to fill in the feed forward yaw rate
+    1399       16584 :     double desired_yaw_rate = 0;
+    1400             : 
+    1401             :     try {
+    1402       16584 :       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       16584 :     rate_feedforward << 0, 0, desired_yaw_rate;
+    1409             :   }
+    1410             : 
+    1411             :   // | ------------ jerk feedforward -> angular rate ------------ |
+    1412             : 
+    1413       16584 :   Eigen::Vector3d jerk_feedforward = Eigen::Vector3d(0, 0, 0);
+    1414             : 
+    1415       16584 :   if (tracker_command.use_jerk && drs_params.jerk_feedforward) {
+    1416             : 
+    1417       16574 :     ROS_DEBUG_THROTTLE(1.0, "[Se3Controller]: using jerk feedforward");
+    1418             : 
+    1419       16574 :     Eigen::Matrix3d I;
+    1420       16574 :     I << 0, 1, 0, -1, 0, 0, 0, 0, 0;
+    1421       16574 :     Eigen::Vector3d desired_jerk = Eigen::Vector3d(tracker_command.jerk.x, tracker_command.jerk.y, tracker_command.jerk.z);
+    1422       16574 :     jerk_feedforward             = (I.transpose() * Rd.transpose() * desired_jerk) / (desired_thrust_force / total_mass);
+    1423             :   }
+    1424             : 
+    1425             :   // | --------------- run the attitude controller -------------- |
+    1426             : 
+    1427       16584 :   Eigen::Vector3d attitude_rate_saturation(constraints.roll_rate, constraints.pitch_rate, constraints.yaw_rate);
+    1428             : 
+    1429       16584 :   auto attitude_rate_command = common::attitudeController(uav_state, attitude_cmd, jerk_feedforward + rate_feedforward, attitude_rate_saturation, Kq,
+    1430       33168 :                                                           drs_params.pitch_roll_heading_rate_compensation);
+    1431             : 
+    1432       16584 :   if (!attitude_rate_command) {
+    1433           0 :     return;
+    1434             :   }
+    1435             : 
+    1436             :   // | --------- fill in the already known attitude rate -------- |
+    1437             : 
+    1438             :   {
+    1439             :     try {
+    1440       16584 :       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       16584 :   if (output_modality == common::ATTITUDE_RATE) {
+    1449             : 
+    1450       14187 :     last_control_output_.control_output = attitude_rate_command;
+    1451             : 
+    1452       14187 :     return;
+    1453             :   }
+    1454             : 
+    1455             :   // --------------------------------------------------------------
+    1456             :   // |                    Attitude rate control                   |
+    1457             :   // --------------------------------------------------------------
+    1458             : 
+    1459        2397 :   Kw = common_handlers_->detailed_model_params->inertia.diagonal().array() * Kw;
+    1460             : 
+    1461        2397 :   auto control_group_command = common::attitudeRateController(uav_state, attitude_rate_command.value(), Kw);
+    1462             : 
+    1463        2397 :   if (!control_group_command) {
+    1464           0 :     return;
+    1465             :   }
+    1466             : 
+    1467        2397 :   if (output_modality == common::CONTROL_GROUP) {
+    1468             : 
+    1469        1197 :     last_control_output_.control_output = control_group_command;
+    1470             : 
+    1471        1197 :     return;
+    1472             :   }
+    1473             : 
+    1474             :   // --------------------------------------------------------------
+    1475             :   // |                        output mixer                        |
+    1476             :   // --------------------------------------------------------------
+    1477             : 
+    1478        2400 :   mrs_msgs::HwApiActuatorCmd actuator_cmd = common::actuatorMixer(control_group_command.value(), common_handlers_->detailed_model_params->control_group_mixer);
+    1479             : 
+    1480        1200 :   last_control_output_.control_output = actuator_cmd;
+    1481             : 
+    1482        1200 :   return;
+    1483             : }
+    1484             : 
+    1485             : //}
+    1486             : 
+    1487             : /* positionPassthrough() //{ */
+    1488             : 
+    1489         248 : void Se3Controller::positionPassthrough(const mrs_msgs::UavState& uav_state, const mrs_msgs::TrackerCommand& tracker_command) {
+    1490             : 
+    1491         248 :   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         496 :   mrs_msgs::HwApiPositionCmd cmd;
+    1497             : 
+    1498         248 :   cmd.header.frame_id = uav_state.header.frame_id;
+    1499         248 :   cmd.header.stamp    = ros::Time::now();
+    1500             : 
+    1501         248 :   cmd.position = tracker_command.position;
+    1502         248 :   cmd.heading  = tracker_command.heading;
+    1503             : 
+    1504         248 :   last_control_output_.control_output = cmd;
+    1505             : 
+    1506             :   // fill the unbiased desired accelerations
+    1507         248 :   last_control_output_.desired_unbiased_acceleration = {};
+    1508         248 :   last_control_output_.desired_orientation           = {};
+    1509         248 :   last_control_output_.desired_heading_rate          = {};
+    1510             : 
+    1511             :   // | ----------------- fill in the diagnostics ---------------- |
+    1512             : 
+    1513         248 :   last_control_output_.diagnostics.ramping_up = false;
+    1514             : 
+    1515         248 :   last_control_output_.diagnostics.mass_estimator  = false;
+    1516         248 :   last_control_output_.diagnostics.mass_difference = 0;
+    1517             : 
+    1518         248 :   last_control_output_.diagnostics.disturbance_estimator = false;
+    1519             : 
+    1520         248 :   last_control_output_.diagnostics.disturbance_bx_b = 0;
+    1521         248 :   last_control_output_.diagnostics.disturbance_by_b = 0;
+    1522             : 
+    1523         248 :   last_control_output_.diagnostics.disturbance_bx_w = 0;
+    1524         248 :   last_control_output_.diagnostics.disturbance_by_w = 0;
+    1525             : 
+    1526         248 :   last_control_output_.diagnostics.disturbance_wx_w = 0;
+    1527         248 :   last_control_output_.diagnostics.disturbance_wy_w = 0;
+    1528             : 
+    1529         248 :   last_control_output_.diagnostics.controller_enforcing_constraints = false;
+    1530             : 
+    1531         248 :   last_control_output_.diagnostics.controller = "Se3Controller";
+    1532             : }
+    1533             : 
+    1534             : //}
+    1535             : 
+    1536             : /* PIDVelocityOutput() //{ */
+    1537             : 
+    1538         453 : 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         453 :   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         453 :   auto constraints = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+    1547         453 :   auto gains       = mrs_lib::get_mutexed(mutex_gains_, gains_);
+    1548             : 
+    1549         453 :   Eigen::Vector3d pos_ref = Eigen::Vector3d(tracker_command.position.x, tracker_command.position.y, tracker_command.position.z);
+    1550         453 :   Eigen::Vector3d pos     = Eigen::Vector3d(uav_state.pose.position.x, uav_state.pose.position.y, uav_state.pose.position.z);
+    1551             : 
+    1552         453 :   double hdg_ref = tracker_command.heading;
+    1553         453 :   double hdg     = getHeadingSafely(uav_state, tracker_command);
+    1554             : 
+    1555             :   // | ------------------ velocity feedforward ------------------ |
+    1556             : 
+    1557         453 :   Eigen::Vector3d vel_ff(0, 0, 0);
+    1558             : 
+    1559         453 :   if (tracker_command.use_velocity_horizontal && tracker_command.use_velocity_vertical) {
+    1560         453 :     vel_ff = Eigen::Vector3d(tracker_command.velocity.x, tracker_command.velocity.y, tracker_command.velocity.z);
+    1561             :   }
+    1562             : 
+    1563             :   // | -------------------------- gains ------------------------- |
+    1564             : 
+    1565         453 :   Eigen::Vector3d Kp;
+    1566             : 
+    1567             :   {
+    1568         453 :     std::scoped_lock lock(mutex_gains_);
+    1569             : 
+    1570         453 :     Kp << gains.kpxy, gains.kpxy, gains.kpz;
+    1571             :   }
+    1572             : 
+    1573             :   // | --------------------- control errors --------------------- |
+    1574             : 
+    1575         453 :   Eigen::Vector3d Ep = pos_ref - pos;
+    1576             : 
+    1577             :   // | --------------------------- pid -------------------------- |
+    1578             : 
+    1579         453 :   position_pid_x_.setSaturation(constraints.horizontal_speed);
+    1580         453 :   position_pid_y_.setSaturation(constraints.horizontal_speed);
+    1581         453 :   position_pid_z_.setSaturation(std::min(constraints.vertical_ascending_speed, constraints.vertical_descending_speed));
+    1582             : 
+    1583         453 :   double des_vel_x = position_pid_x_.update(Ep[0], dt);
+    1584         453 :   double des_vel_y = position_pid_y_.update(Ep[1], dt);
+    1585         453 :   double des_vel_z = position_pid_z_.update(Ep[2], dt);
+    1586             : 
+    1587             :   // | -------------------- position feedback ------------------- |
+    1588             : 
+    1589         453 :   Eigen::Vector3d des_vel = Eigen::Vector3d(des_vel_x, des_vel_y, des_vel_z) + vel_ff;
+    1590             : 
+    1591         453 :   if (control_output == common::VELOCITY_HDG) {
+    1592             : 
+    1593             :     // | --------------------- fill the output -------------------- |
+    1594             : 
+    1595         432 :     mrs_msgs::HwApiVelocityHdgCmd cmd;
+    1596             : 
+    1597         216 :     cmd.header.frame_id = uav_state.header.frame_id;
+    1598         216 :     cmd.header.stamp    = ros::Time::now();
+    1599             : 
+    1600         216 :     cmd.velocity.x = des_vel[0];
+    1601         216 :     cmd.velocity.y = des_vel[1];
+    1602         216 :     cmd.velocity.z = des_vel[2];
+    1603             : 
+    1604         216 :     cmd.heading = tracker_command.heading;
+    1605             : 
+    1606         216 :     last_control_output_.control_output = cmd;
+    1607             : 
+    1608         237 :   } else if (control_output == common::VELOCITY_HDG_RATE) {
+    1609             : 
+    1610         237 :     position_pid_heading_.setSaturation(constraints.heading_speed);
+    1611             : 
+    1612         237 :     double hdg_err = mrs_lib::geometry::sradians::diff(hdg_ref, hdg);
+    1613             : 
+    1614         237 :     double des_hdg_rate = position_pid_heading_.update(hdg_err, dt);
+    1615             : 
+    1616             :     // | --------------------------- ff --------------------------- |
+    1617             : 
+    1618         237 :     double des_hdg_ff = 0;
+    1619             : 
+    1620         237 :     if (tracker_command.use_heading_rate) {
+    1621         237 :       des_hdg_ff = tracker_command.heading_rate;
+    1622             :     }
+    1623             : 
+    1624             :     // | --------------------- fill the output -------------------- |
+    1625             : 
+    1626         474 :     mrs_msgs::HwApiVelocityHdgRateCmd cmd;
+    1627             : 
+    1628         237 :     cmd.header.frame_id = uav_state.header.frame_id;
+    1629         237 :     cmd.header.stamp    = ros::Time::now();
+    1630             : 
+    1631         237 :     cmd.velocity.x = des_vel[0];
+    1632         237 :     cmd.velocity.y = des_vel[1];
+    1633         237 :     cmd.velocity.z = des_vel[2];
+    1634             : 
+    1635         237 :     cmd.heading_rate = des_hdg_rate + des_hdg_ff;
+    1636             : 
+    1637         237 :     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         453 :   last_control_output_.desired_unbiased_acceleration = {};
+    1646         453 :   last_control_output_.desired_orientation           = {};
+    1647         453 :   last_control_output_.desired_heading_rate          = {};
+    1648             : 
+    1649             :   // | ----------------- fill in the diagnostics ---------------- |
+    1650             : 
+    1651         453 :   last_control_output_.diagnostics.ramping_up = false;
+    1652             : 
+    1653         453 :   last_control_output_.diagnostics.mass_estimator  = false;
+    1654         453 :   last_control_output_.diagnostics.mass_difference = 0;
+    1655             : 
+    1656         453 :   last_control_output_.diagnostics.disturbance_estimator = false;
+    1657             : 
+    1658         453 :   last_control_output_.diagnostics.disturbance_bx_b = 0;
+    1659         453 :   last_control_output_.diagnostics.disturbance_by_b = 0;
+    1660             : 
+    1661         453 :   last_control_output_.diagnostics.disturbance_bx_w = 0;
+    1662         453 :   last_control_output_.diagnostics.disturbance_by_w = 0;
+    1663             : 
+    1664         453 :   last_control_output_.diagnostics.disturbance_wx_w = 0;
+    1665         453 :   last_control_output_.diagnostics.disturbance_wy_w = 0;
+    1666             : 
+    1667         453 :   last_control_output_.diagnostics.controller_enforcing_constraints = false;
+    1668             : 
+    1669         453 :   last_control_output_.diagnostics.controller = "Se3Controller";
+    1670             : }
+    1671             : 
+    1672             : //}
+    1673             : 
+    1674             : // --------------------------------------------------------------
+    1675             : // |                          callbacks                         |
+    1676             : 
+    1677             : 
+    1678             : /* //{ callbackDrs() */
+    1679             : 
+    1680         130 : void Se3Controller::callbackDrs(mrs_uav_controllers::se3_controllerConfig& config, [[maybe_unused]] uint32_t level) {
+    1681             : 
+    1682         130 :   mrs_lib::set_mutexed(mutex_drs_params_, config, drs_params_);
+    1683             : 
+    1684         130 :   ROS_INFO("[Se3Controller]: DRS updated gains");
+    1685         130 : }
+    1686             : 
+    1687             : //}
+    1688             : 
+    1689             : // --------------------------------------------------------------
+    1690             : // |                           timers                           |
+    1691             : // --------------------------------------------------------------
+    1692             : 
+    1693             : /* timerGains() //{ */
+    1694             : 
+    1695        2612 : void Se3Controller::timerGains(const ros::TimerEvent& event) {
+    1696             : 
+    1697        7836 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerGains", _gain_filtering_rate_, 1.0, event);
+    1698             :   mrs_lib::ScopeTimer timer =
+    1699        7836 :       mrs_lib::ScopeTimer("ControlManager::timerHwApiCapabilities", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    1700             : 
+    1701        5224 :   auto drs_params = mrs_lib::get_mutexed(mutex_drs_params_, drs_params_);
+    1702        2612 :   auto gains      = mrs_lib::get_mutexed(mutex_gains_, gains_);
+    1703             : 
+    1704             :   // When muting the gains, we want to bypass the filter,
+    1705             :   // so it happens immediately.
+    1706        2612 :   bool   bypass_filter = (mute_gains_ || mute_gains_by_tracker_);
+    1707        2612 :   double gain_coeff    = (mute_gains_ || mute_gains_by_tracker_) ? _gain_mute_coefficient_ : 1.0;
+    1708             : 
+    1709        2612 :   mute_gains_ = false;
+    1710             : 
+    1711        2612 :   const double dt = (event.current_real - event.last_real).toSec();
+    1712             : 
+    1713        2612 :   bool updated = false;
+    1714             : 
+    1715        2612 :   gains.kpxy          = calculateGainChange(dt, gains.kpxy, drs_params.kpxy * gain_coeff, bypass_filter, "kpxy", updated);
+    1716        2612 :   gains.kvxy          = calculateGainChange(dt, gains.kvxy, drs_params.kvxy * gain_coeff, bypass_filter, "kvxy", updated);
+    1717        2612 :   gains.kaxy          = calculateGainChange(dt, gains.kaxy, drs_params.kaxy * gain_coeff, bypass_filter, "kaxy", updated);
+    1718        2612 :   gains.kiwxy         = calculateGainChange(dt, gains.kiwxy, drs_params.kiwxy * gain_coeff, bypass_filter, "kiwxy", updated);
+    1719        2612 :   gains.kibxy         = calculateGainChange(dt, gains.kibxy, drs_params.kibxy * gain_coeff, bypass_filter, "kibxy", updated);
+    1720        2612 :   gains.kpz           = calculateGainChange(dt, gains.kpz, drs_params.kpz * gain_coeff, bypass_filter, "kpz", updated);
+    1721        2612 :   gains.kvz           = calculateGainChange(dt, gains.kvz, drs_params.kvz * gain_coeff, bypass_filter, "kvz", updated);
+    1722        2612 :   gains.kaz           = calculateGainChange(dt, gains.kaz, drs_params.kaz * gain_coeff, bypass_filter, "kaz", updated);
+    1723        2612 :   gains.kq_roll_pitch = calculateGainChange(dt, gains.kq_roll_pitch, drs_params.kq_roll_pitch * gain_coeff, bypass_filter, "kq_roll_pitch", updated);
+    1724        2612 :   gains.kq_yaw        = calculateGainChange(dt, gains.kq_yaw, drs_params.kq_yaw * gain_coeff, bypass_filter, "kq_yaw", updated);
+    1725        2612 :   gains.km            = calculateGainChange(dt, gains.km, drs_params.km * gain_coeff, bypass_filter, "km", updated);
+    1726             : 
+    1727             :   // do not apply muting on these gains
+    1728        2612 :   gains.kiwxy_lim = calculateGainChange(dt, gains.kiwxy_lim, drs_params.kiwxy_lim, false, "kiwxy_lim", updated);
+    1729        2612 :   gains.kibxy_lim = calculateGainChange(dt, gains.kibxy_lim, drs_params.kibxy_lim, false, "kibxy_lim", updated);
+    1730        2612 :   gains.km_lim    = calculateGainChange(dt, gains.km_lim, drs_params.km_lim, false, "km_lim", updated);
+    1731             : 
+    1732        2612 :   mrs_lib::set_mutexed(mutex_gains_, gains, gains_);
+    1733             : 
+    1734             :   // set the gains back to dynamic reconfigure
+    1735             :   // and only do it when some filtering occurs
+    1736        2612 :   if (updated) {
+    1737             : 
+    1738         144 :     drs_params.kpxy          = gains.kpxy;
+    1739         144 :     drs_params.kvxy          = gains.kvxy;
+    1740         144 :     drs_params.kaxy          = gains.kaxy;
+    1741         144 :     drs_params.kiwxy         = gains.kiwxy;
+    1742         144 :     drs_params.kibxy         = gains.kibxy;
+    1743         144 :     drs_params.kpz           = gains.kpz;
+    1744         144 :     drs_params.kvz           = gains.kvz;
+    1745         144 :     drs_params.kaz           = gains.kaz;
+    1746         144 :     drs_params.kq_roll_pitch = gains.kq_roll_pitch;
+    1747         144 :     drs_params.kq_yaw        = gains.kq_yaw;
+    1748         144 :     drs_params.kiwxy_lim     = gains.kiwxy_lim;
+    1749         144 :     drs_params.kibxy_lim     = gains.kibxy_lim;
+    1750         144 :     drs_params.km            = gains.km;
+    1751         144 :     drs_params.km_lim        = gains.km_lim;
+    1752             : 
+    1753         144 :     drs_->updateConfig(drs_params);
+    1754             : 
+    1755         144 :     ROS_INFO_THROTTLE(10.0, "[Se3Controller]: gains have been updated");
+    1756             :   }
+    1757        2612 : }
+    1758             : 
+    1759             : //}
+    1760             : 
+    1761             : // --------------------------------------------------------------
+    1762             : // |                       other routines                       |
+    1763             : // --------------------------------------------------------------
+    1764             : 
+    1765             : /* calculateGainChange() //{ */
+    1766             : 
+    1767       36568 : double Se3Controller::calculateGainChange(const double dt, const double current_value, const double desired_value, const bool bypass_rate, std::string name,
+    1768             :                                           bool& updated) {
+    1769             : 
+    1770       36568 :   double change = desired_value - current_value;
+    1771             : 
+    1772       36568 :   double gains_filter_max_change = _gains_filter_change_rate_ * dt;
+    1773       36568 :   double gains_filter_min_change = _gains_filter_min_change_rate_ * dt;
+    1774             : 
+    1775       36568 :   if (!bypass_rate) {
+    1776             : 
+    1777             :     // if current value is near 0...
+    1778             :     double change_in_perc;
+    1779             :     double saturated_change;
+    1780             : 
+    1781       36392 :     if (fabs(current_value) < 1e-6) {
+    1782           0 :       change *= gains_filter_max_change;
+    1783             :     } else {
+    1784             : 
+    1785       36392 :       saturated_change = change;
+    1786             : 
+    1787       36392 :       change_in_perc = (current_value + saturated_change) / current_value - 1.0;
+    1788             : 
+    1789       36392 :       if (change_in_perc > gains_filter_max_change) {
+    1790        1232 :         saturated_change = current_value * gains_filter_max_change;
+    1791       35160 :       } else if (change_in_perc < -gains_filter_max_change) {
+    1792          17 :         saturated_change = current_value * -gains_filter_max_change;
+    1793             :       }
+    1794             : 
+    1795       36392 :       if (fabs(saturated_change) < fabs(change) * gains_filter_min_change) {
+    1796          12 :         change *= gains_filter_min_change;
+    1797             :       } else {
+    1798       36380 :         change = saturated_change;
+    1799             :       }
+    1800             :     }
+    1801             :   }
+    1802             : 
+    1803       36568 :   if (fabs(change) > 1e-3) {
+    1804        1597 :     ROS_DEBUG("[Se3Controller]: changing gain '%s' from %.2f to %.2f", name.c_str(), current_value, desired_value);
+    1805        1597 :     updated = true;
+    1806             :   }
+    1807             : 
+    1808       36568 :   return current_value + change;
+    1809             : }
+    1810             : 
+    1811             : //}
+    1812             : 
+    1813             : /* getHeadingSafely() //{ */
+    1814             : 
+    1815       19196 : double Se3Controller::getHeadingSafely(const mrs_msgs::UavState& uav_state, const mrs_msgs::TrackerCommand& tracker_command) {
+    1816             : 
+    1817             :   try {
+    1818       19196 :     return mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+    1819             :   }
+    1820           0 :   catch (...) {
+    1821             :   }
+    1822             : 
+    1823             :   try {
+    1824           0 :     return mrs_lib::AttitudeConverter(uav_state.pose.orientation).getYaw();
+    1825             :   }
+    1826           0 :   catch (...) {
+    1827             :   }
+    1828             : 
+    1829           0 :   if (tracker_command.use_heading) {
+    1830           0 :     return tracker_command.heading;
+    1831             :   }
+    1832             : 
+    1833           0 :   return 0;
+    1834             : }
+    1835             : 
+    1836             : //}
+    1837             : 
+    1838             : }  // namespace se3_controller
+    1839             : 
+    1840             : }  // namespace mrs_uav_controllers
+    1841             : 
+    1842             : #include <pluginlib/class_list_macros.h>
+    1843          65 : PLUGINLIB_EXPORT_CLASS(mrs_uav_controllers::se3_controller::Se3Controller, mrs_uav_managers::Controller)
+
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+
+ + + diff --git a/mrs_uav_managers/include/control_manager/index.html b/mrs_uav_managers/include/control_manager/index.html new file mode 100644 index 0000000000..b92eeac283 --- /dev/null +++ b/mrs_uav_managers/include/control_manager/index.html @@ -0,0 +1,102 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/control_manager + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_managers/include/control_managerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2024-01-20 21:44:18Functions:1010100.0 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
output_publisher.h +
100.0%
+ 		100.0 %4 / 4100.0 %10 / 10
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_managers/include/control_manager/output_publisher.h.func-sort-c.html b/mrs_uav_managers/include/control_manager/output_publisher.h.func-sort-c.html new file mode 100644 index 0000000000..d7046d6a0b --- /dev/null +++ b/mrs_uav_managers/include/control_manager/output_publisher.h.func-sort-c.html @@ -0,0 +1,120 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/control_manager/output_publisher.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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:2024-01-20 21:44:18Functions:1010100.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)451
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)482
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)504
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)1023
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)1025
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)3767
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)3768
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)7838
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)61705
mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::PublisherVisitor(mrs_uav_managers::control_manager::OutputPublisher*)80563
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_managers/include/control_manager/output_publisher.h.func.html b/mrs_uav_managers/include/control_manager/output_publisher.h.func.html new file mode 100644 index 0000000000..0e6049e64f --- /dev/null +++ b/mrs_uav_managers/include/control_manager/output_publisher.h.func.html @@ -0,0 +1,120 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/control_manager/output_publisher.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_managers/include/control_manager - output_publisher.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2024-01-20 21:44:18Functions:1010100.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

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*)80563
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)3768
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)7838
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)482
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)451
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)61705
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)3767
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)1025
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)504
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)1023
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_managers/include/control_manager/output_publisher.h.gcov.frameset.html b/mrs_uav_managers/include/control_manager/output_publisher.h.gcov.frameset.html new file mode 100644 index 0000000000..137c10c3db --- /dev/null +++ b/mrs_uav_managers/include/control_manager/output_publisher.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/control_manager/output_publisher.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_managers/include/control_manager/output_publisher.h.gcov.html b/mrs_uav_managers/include/control_manager/output_publisher.h.gcov.html new file mode 100644 index 0000000000..2b5e302179 --- /dev/null +++ b/mrs_uav_managers/include/control_manager/output_publisher.h.gcov.html @@ -0,0 +1,146 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/control_manager/output_publisher.h + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_managers/include/control_manager - output_publisher.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2024-01-20 21:44:18Functions:1010100.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #ifndef CONTROL_MANAGER_OUTPUT_PUBLISHER
+       2             : #define CONTROL_MANAGER_OUTPUT_PUBLISHER
+       3             : 
+       4             : #include <mrs_lib/publisher_handler.h>
+       5             : 
+       6             : #include <mrs_uav_managers/controller.h>
+       7             : 
+       8             : namespace mrs_uav_managers
+       9             : {
+      10             : 
+      11             : namespace control_manager
+      12             : {
+      13             : 
+      14             : class OutputPublisher {
+      15             : 
+      16             : public:
+      17             :   OutputPublisher();
+      18             : 
+      19             :   OutputPublisher(ros::NodeHandle& nh);
+      20             : 
+      21             :   void publish(const Controller::HwApiOutputVariant& control_output);
+      22             : 
+      23             : private:
+      24             :   mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd>            ph_hw_api_actuator_cmd_;
+      25             :   mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd>        ph_hw_api_control_group_cmd_;
+      26             :   mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd>        ph_hw_api_attitude_rate_cmd_;
+      27             :   mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd>            ph_hw_api_attitude_cmd_;
+      28             :   mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd> ph_hw_api_acceleration_hdg_rate_cmd_;
+      29             :   mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd>     ph_hw_api_acceleration_hdg_cmd_;
+      30             :   mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd>     ph_hw_api_velocity_hdg_rate_cmd_;
+      31             :   mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd>         ph_hw_api_velocity_hdg_cmd_;
+      32             :   mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd>            ph_hw_api_position_cmd_;
+      33             : 
+      34             :   void publish(const mrs_msgs::HwApiActuatorCmd& msg);
+      35             :   void publish(const mrs_msgs::HwApiControlGroupCmd& msg);
+      36             :   void publish(const mrs_msgs::HwApiAttitudeRateCmd& msg);
+      37             :   void publish(const mrs_msgs::HwApiAttitudeCmd& msg);
+      38             :   void publish(const mrs_msgs::HwApiAccelerationHdgRateCmd& msg);
+      39             :   void publish(const mrs_msgs::HwApiAccelerationHdgCmd& msg);
+      40             :   void publish(const mrs_msgs::HwApiVelocityHdgRateCmd& msg);
+      41             :   void publish(const mrs_msgs::HwApiVelocityHdgCmd& msg);
+      42             :   void publish(const mrs_msgs::HwApiPositionCmd& msg);
+      43             : 
+      44             :   class PublisherVisitor {
+      45             : 
+      46             :   public:
+      47       80563 :     PublisherVisitor(OutputPublisher* obj) : obj_(obj){};
+      48             : 
+      49             :     OutputPublisher* obj_;
+      50             : 
+      51             :     template <class T>
+      52       80563 :     void operator()(const T& msg) {
+      53       80563 :       obj_->publish(msg);
+      54       80563 :     }
+      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
+
+ + + 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
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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:2024-01-20 21:44:18Functions:2366.7 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + +

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&)55
mrs_uav_managers::AglEstimator::~AglEstimator().255
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_managers/include/mrs_uav_managers/agl_estimator.h.func.html b/mrs_uav_managers/include/mrs_uav_managers/agl_estimator.h.func.html new file mode 100644 index 0000000000..bc3849430e --- /dev/null +++ b/mrs_uav_managers/include/mrs_uav_managers/agl_estimator.h.func.html @@ -0,0 +1,92 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/mrs_uav_managers/agl_estimator.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_managers/include/mrs_uav_managers - agl_estimator.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-01-20 21:44:18Functions:2366.7 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::AglEstimator::AglEstimator(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)55
mrs_uav_managers::AglEstimator::~AglEstimator()0
mrs_uav_managers::AglEstimator::~AglEstimator().255
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + 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..0b9f1ce758 --- /dev/null +++ b/mrs_uav_managers/include/mrs_uav_managers/agl_estimator.h.gcov.html @@ -0,0 +1,157 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/mrs_uav_managers/agl_estimator.h + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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:2024-01-20 21:44:18Functions: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          55 :   AglEstimator(const std::string &name, const std::string &frame_id, const std::string &package_name)
+      55          55 :       : Estimator(agl::type, name, frame_id), package_name_(package_name) {
+      56          55 :   }
+      57             : 
+      58          55 :   virtual ~AglEstimator(void) {
+      59          55 :   }
+      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.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..30e4e7c001 --- /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:2024-01-20 21:44:18Functions: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::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&)451
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)451
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&)482
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)482
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&)504
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)504
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&)1023
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)1023
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&)1025
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)1025
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&)3767
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&)3768
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)5160
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)5160
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&)7838
mrs_uav_managers::control_manager::HwApiInitializeVisitor::operator()(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> >&, mrs_msgs::UavState_<std::allocator<void> > const&, double const&, double const&)9318
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)13371
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&)52390
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)63542
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+ + + +
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..87667f2f7c --- /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:2024-01-20 21:44:18Functions: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&)3768
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&)7838
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&)482
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&)451
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&)52390
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&)3767
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&)1025
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&)504
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&)1023
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&)9318
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&)5160
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)13371
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)482
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)451
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)63542
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)5160
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)1025
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)504
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)1023
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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/control_manager - common.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:539655.2 %
Date:2024-01-20 21:44:18Functions: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        5160 :   std::optional<double> operator()(const mrs_msgs::HwApiActuatorCmd& msg) {
+      82             : 
+      83        5160 :     if (msg.motors.size() == 0) {
+      84           0 :       return std::nullopt;
+      85             :     }
+      86             : 
+      87        5160 :     double throttle = 0;
+      88             : 
+      89       25800 :     for (size_t i = 0; i < msg.motors.size(); i++) {
+      90       20640 :       throttle += msg.motors[i];
+      91             :     };
+      92             : 
+      93        5160 :     throttle /= msg.motors.size();
+      94             : 
+      95        5160 :     return throttle;
+      96             :   }
+      97        5160 :   std::optional<double> operator()(const mrs_msgs::HwApiControlGroupCmd& msg) {
+      98        5160 :     return msg.throttle;
+      99             :   }
+     100       13371 :   std::optional<double> operator()(const mrs_msgs::HwApiAttitudeCmd& msg) {
+     101       13371 :     return msg.throttle;
+     102             :   }
+     103       63542 :   std::optional<double> operator()(const mrs_msgs::HwApiAttitudeRateCmd& msg) {
+     104       63542 :     return msg.throttle;
+     105             :   }
+     106        1023 :   std::optional<double> operator()([[maybe_unused]] const mrs_msgs::HwApiAccelerationHdgRateCmd& msg) {
+     107        1023 :     return std::nullopt;
+     108             :   }
+     109        1025 :   std::optional<double> operator()([[maybe_unused]] const mrs_msgs::HwApiAccelerationHdgCmd& msg) {
+     110        1025 :     return std::nullopt;
+     111             :   }
+     112         504 :   std::optional<double> operator()([[maybe_unused]] const mrs_msgs::HwApiVelocityHdgRateCmd& msg) {
+     113         504 :     return std::nullopt;
+     114             :   }
+     115         451 :   std::optional<double> operator()([[maybe_unused]] const mrs_msgs::HwApiVelocityHdgCmd& msg) {
+     116         451 :     return std::nullopt;
+     117             :   }
+     118         482 :   std::optional<double> operator()([[maybe_unused]] const mrs_msgs::HwApiPositionCmd& msg) {
+     119         482 :     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        3768 :   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        3768 :     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        3768 :     return validateHwApiActuatorCmd(msg, node_name, var_name);
+     152             :   }
+     153        3767 :   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        3767 :     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        3767 :     return validateHwApiControlGroupCmd(msg, node_name, var_name);
+     162             :   }
+     163        7838 :   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        7838 :     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        7838 :     return validateHwApiAttitudeCmd(msg, node_name, var_name);
+     172             :   }
+     173       52390 :   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       52390 :     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       52390 :     return validateHwApiAttitudeRateCmd(msg, node_name, var_name);
+     182             :   }
+     183        1023 :   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        1023 :     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        1023 :     return validateHwApiAccelerationHdgRateCmd(msg, node_name, var_name);
+     192             :   }
+     193        1025 :   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        1025 :     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        1025 :     return validateHwApiAccelerationHdgCmd(msg, node_name, var_name);
+     202             :   }
+     203         504 :   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         504 :     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         504 :     return validateHwApiVelocityHdgRateCmd(msg, node_name, var_name);
+     212             :   }
+     213         451 :   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         451 :     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         451 :     return validateHwApiVelocityHdgCmd(msg, node_name, var_name);
+     222             :   }
+     223         482 :   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         482 :     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         482 :     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        9318 :   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        9318 :     initializeHwApiCmd(msg, min_throttle);
+     267        9318 :   }
+     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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          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         325 :   virtual ~Controller() = default;
+     144             : };
+     145             : 
+     146             : }  // namespace mrs_uav_managers
+     147             : 
+     148             : #endif
+
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mrs_uav_managers::Estimator::~Estimator()0
mrs_uav_managers::Estimator::Estimator(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)387
mrs_uav_managers::Estimator::~Estimator().2387
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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&)387
mrs_uav_managers::Estimator::~Estimator()0
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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         387 :   Estimator(const std::string &type, const std::string &name, const std::string &frame_id) : type_(type), name_(name), frame_id_(frame_id) {
+      64         387 :   }
+      65             : 
+      66         387 :   virtual ~Estimator(void) {
+      67         387 :   }
+      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() const;
+      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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+ + diff --git a/mrs_uav_managers/include/mrs_uav_managers/estimation_manager/estimator.h.gcov.png b/mrs_uav_managers/include/mrs_uav_managers/estimation_manager/estimator.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..d24a7ae7fa04b7b1633468ba16c7ac71b827e7d9 GIT binary patch literal 505 zcmVHO=r)9+nepA@ zn&O{98B)Arlq6FOQk9AUg8ngfpv^wP-JvRqZctCy9yHThfLoJTHgz4ffeb)&g94s` z>s8=w;TR|)t5PE{+;gdBAlC@?yws^ERrjs#r5HE+=|XeT>L19ax#T;yC*#4z!I+9o zu4G82rk9Z}=q{iDgSN$EfniYhgjwK<>$(d7;yMzd*j%u+Q2y|?OlZFIBasa-nPBc_ zv)>C{3de`+Z0|qiMPJT#BOT}AvgE_QU~~I*HUh(4`?pky2sjp#LMYlHUH7LU4!RX% zK(|$~`Mj^9HC@eXL9P!MNJB8RUn&lY1c~tQ4Gxf^cfs{T_sj#dWGQwI*KU)E*9N#D z%oGF0R}|~^nC6+7Ol^`Akj+>Nxd2Dmd!OMZIgaKl- literal 0 HcmV?d00001 diff --git a/mrs_uav_managers/include/mrs_uav_managers/estimation_manager/index-detail-sort-f.html b/mrs_uav_managers/include/mrs_uav_managers/estimation_manager/index-detail-sort-f.html new file mode 100644 index 0000000000..319c6b4139 --- /dev/null +++ b/mrs_uav_managers/include/mrs_uav_managers/estimation_manager/index-detail-sort-f.html @@ -0,0 +1,128 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/mrs_uav_managers/estimation_manager + + + + + + + + + + + + + + +
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estimator.h +
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97.1%97.1%
+ 		97.1 %102 / 105100.0 %15 / 15
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Test:MRS UAV System - Test coverage reportLines:10610997.2 %
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Test:MRS UAV System - Test coverage reportLines:10610997.2 %
Date:2024-01-20 21:44:18Functions:171894.4 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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100.0%
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Test:MRS UAV System - Test coverage reportLines:10610997.2 %
Date:2024-01-20 21:44:18Functions:171894.4 %
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
estimator.h +
100.0%
+ 		100.0 %4 / 466.7 %2 / 3
support.h +
97.1%97.1%
+ 		97.1 %102 / 105100.0 %15 / 15
+
+
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Test:MRS UAV System - Test coverage reportLines:10210597.1 %
Date:2024-01-20 21:44:18Functions: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&)4
mrs_uav_managers::estimation_manager::Support::frameIdToEstimatorName(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)8
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&)195
mrs_uav_managers::estimation_manager::Support::toLowercase(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)260
mrs_uav_managers::estimation_manager::Support::toSnakeCase(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1544
mrs_uav_managers::estimation_manager::Support::applyPoseDiff(geometry_msgs::Pose_<std::allocator<void> > const&, geometry_msgs::Pose_<std::allocator<void> > const&)109105
mrs_uav_managers::estimation_manager::Support::rotateVecByHdg(geometry_msgs::Vector3_<std::allocator<void> > const&, double)218229
mrs_uav_managers::estimation_manager::Support::msgFromTf2(tf2::Transform const&)231078
mrs_uav_managers::estimation_manager::Support::uavStateToOdom(mrs_msgs::UavState_<std::allocator<void> > const&)245981
mrs_uav_managers::estimation_manager::Support::rotateVector(geometry_msgs::Vector3_<std::allocator<void> > const&, geometry_msgs::Quaternion_<std::allocator<void> > const&)246944
mrs_uav_managers::estimation_manager::Support::noNans(geometry_msgs::Quaternion_<std::allocator<void> > const&)259815
mrs_uav_managers::estimation_manager::Support::pointToVector3(geometry_msgs::Point_<std::allocator<void> > const&)604152
mrs_uav_managers::estimation_manager::Support::poseFromTf2(tf2::Transform const&)619521
mrs_uav_managers::estimation_manager::Support::tf2FromPose(geometry_msgs::Pose_<std::allocator<void> > const&)851237
mrs_uav_managers::estimation_manager::Support::noNans(geometry_msgs::TransformStamped_<std::allocator<void> > const&)953829
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Generated by: LCOV version 1.14
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LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_managers/include/mrs_uav_managers/estimation_manager - support.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:10210597.1 %
Date:2024-01-20 21:44:18Functions:1515100.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::estimation_manager::Support::msgFromTf2(tf2::Transform const&)231078
mrs_uav_managers::estimation_manager::Support::getPoseDiff(geometry_msgs::Pose_<std::allocator<void> > const&, geometry_msgs::Pose_<std::allocator<void> > const&)4
mrs_uav_managers::estimation_manager::Support::poseFromTf2(tf2::Transform const&)619521
mrs_uav_managers::estimation_manager::Support::tf2FromPose(geometry_msgs::Pose_<std::allocator<void> > const&)851237
mrs_uav_managers::estimation_manager::Support::toLowercase(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)260
mrs_uav_managers::estimation_manager::Support::toSnakeCase(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1544
mrs_uav_managers::estimation_manager::Support::rotateVector(geometry_msgs::Vector3_<std::allocator<void> > const&, geometry_msgs::Quaternion_<std::allocator<void> > const&)246944
mrs_uav_managers::estimation_manager::Support::applyPoseDiff(geometry_msgs::Pose_<std::allocator<void> > const&, geometry_msgs::Pose_<std::allocator<void> > const&)109105
mrs_uav_managers::estimation_manager::Support::pointToVector3(geometry_msgs::Point_<std::allocator<void> > const&)604152
mrs_uav_managers::estimation_manager::Support::rotateVecByHdg(geometry_msgs::Vector3_<std::allocator<void> > const&, double)218229
mrs_uav_managers::estimation_manager::Support::uavStateToOdom(mrs_msgs::UavState_<std::allocator<void> > const&)245981
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&)195
mrs_uav_managers::estimation_manager::Support::frameIdToEstimatorName(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)8
mrs_uav_managers::estimation_manager::Support::noNans(geometry_msgs::Quaternion_<std::allocator<void> > const&)259815
mrs_uav_managers::estimation_manager::Support::noNans(geometry_msgs::TransformStamped_<std::allocator<void> > const&)953829
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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:2024-01-20 21:44:18Functions: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        1544 :   static std::string toSnakeCase(const std::string& str_in) {
+      39             : 
+      40        1544 :     std::string str(1, tolower(str_in[0]));
+      41             : 
+      42       24318 :     for (auto it = str_in.begin() + 1; it != str_in.end(); ++it) {
+      43       22774 :       if (isupper(*it) && *(it - 1) != '_' && islower(*(it - 1))) {
+      44        1280 :         str += "_";
+      45             :       }
+      46       22774 :       str += *it;
+      47             :     }
+      48             : 
+      49        1544 :     std::transform(str.begin(), str.end(), str.begin(), ::tolower);
+      50             : 
+      51        1544 :     return str;
+      52             :   }
+      53             :   /*//}*/
+      54             : 
+      55             : /* toLowercase() //{ */
+      56             : 
+      57         260 : static std::string toLowercase(const std::string str_in) {
+      58         260 :   std::string str_out = str_in;
+      59         260 :   std::transform(str_out.begin(), str_out.end(), str_out.begin(), ::tolower);
+      60         260 :   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      218229 :   static tf2::Vector3 rotateVecByHdg(const geometry_msgs::Vector3& vec_in, const double hdg_in) {
+      99             : 
+     100      218229 :     const tf2::Quaternion q_hdg = mrs_lib::AttitudeConverter(0, 0, 0).setHeading(hdg_in);
+     101             : 
+     102      216067 :     const tf2::Vector3 vec_tf2(vec_in.x, vec_in.y, vec_in.z);
+     103             : 
+     104      215592 :     const tf2::Vector3 vec_rotated = tf2::quatRotate(q_hdg, vec_tf2);
+     105             : 
+     106      429136 :     return vec_rotated;
+     107             :   }
+     108             :   //}
+     109             : 
+     110             :   /* noNans() //{ */
+     111      953829 :   static bool noNans(const geometry_msgs::TransformStamped& tf) {
+     112             : 
+     113     2859343 :     return (std::isfinite(tf.transform.rotation.x) && std::isfinite(tf.transform.rotation.y) && std::isfinite(tf.transform.rotation.z) &&
+     114     3811340 :             std::isfinite(tf.transform.rotation.w) && std::isfinite(tf.transform.translation.x) && std::isfinite(tf.transform.translation.y) &&
+     115     1906284 :             std::isfinite(tf.transform.translation.z));
+     116             :   }
+     117             :   //}
+     118             : 
+     119             :   /* noNans() //{ */
+     120      259815 :   static bool noNans(const geometry_msgs::Quaternion& q) {
+     121             : 
+     122      259815 :     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      851237 :   static tf2::Transform tf2FromPose(const geometry_msgs::Pose& pose_in) {
+     136             : 
+     137      851237 :     tf2::Vector3 position(pose_in.position.x, pose_in.position.y, pose_in.position.z);
+     138             : 
+     139      850868 :     tf2::Quaternion q;
+     140      850887 :     tf2::fromMsg(pose_in.orientation, q);
+     141             : 
+     142      850733 :     tf2::Transform tf_out(q, position);
+     143             : 
+     144     1698778 :     return tf_out;
+     145             :   }
+     146             : 
+     147             :   //}
+     148             : 
+     149             :   /* poseFromTf2() //{ */
+     150             : 
+     151      619521 :   static geometry_msgs::Pose poseFromTf2(const tf2::Transform& tf_in) {
+     152             : 
+     153      619521 :     geometry_msgs::Pose pose_out;
+     154      618203 :     pose_out.position.x = tf_in.getOrigin().getX();
+     155      618904 :     pose_out.position.y = tf_in.getOrigin().getY();
+     156      619148 :     pose_out.position.z = tf_in.getOrigin().getZ();
+     157             : 
+     158      619314 :     pose_out.orientation = tf2::toMsg(tf_in.getRotation());
+     159             : 
+     160      619655 :     return pose_out;
+     161             :   }
+     162             : 
+     163             :   //}
+     164             : 
+     165             :   /* msgFromTf2() //{ */
+     166      231078 :   static geometry_msgs::Transform msgFromTf2(const tf2::Transform& tf_in) {
+     167             : 
+     168      231078 :     geometry_msgs::Transform tf_out;
+     169      231078 :     tf_out.translation.x = tf_in.getOrigin().getX();
+     170      231078 :     tf_out.translation.y = tf_in.getOrigin().getY();
+     171      231078 :     tf_out.translation.z = tf_in.getOrigin().getZ();
+     172      231078 :     tf_out.rotation = tf2::toMsg(tf_in.getRotation());
+     173             : 
+     174      231078 :     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      604152 :   static geometry_msgs::Vector3 pointToVector3(const geometry_msgs::Point& point_in) {
+     194             : 
+     195      604152 :     geometry_msgs::Vector3 vec_out;
+     196      603851 :     vec_out.x = point_in.x;
+     197      603851 :     vec_out.y = point_in.y;
+     198      603851 :     vec_out.z = point_in.z;
+     199             : 
+     200      603851 :     return vec_out;
+     201             :   }
+     202             : 
+     203             :   //}
+     204             : 
+     205             :   /*//{ rotateVector() */
+     206      246944 :   static geometry_msgs::Vector3 rotateVector(const geometry_msgs::Vector3& vec_in, const geometry_msgs::Quaternion& q_in) {
+     207             : 
+     208             :     try {
+     209      246944 :       Eigen::Matrix3d        R = mrs_lib::AttitudeConverter(q_in);
+     210      246918 :       Eigen::Vector3d        vec_in_eigen(vec_in.x, vec_in.y, vec_in.z);
+     211      246516 :       Eigen::Vector3d        vec_eigen_rotated = R * vec_in_eigen;
+     212      246696 :       geometry_msgs::Vector3 vec_out;
+     213      245932 :       vec_out.x = vec_eigen_rotated[0];
+     214      246057 :       vec_out.y = vec_eigen_rotated[1];
+     215      246168 :       vec_out.z = vec_eigen_rotated[2];
+     216      246320 :       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      245981 :   static nav_msgs::Odometry uavStateToOdom(const mrs_msgs::UavState& uav_state) {
+     227      245981 :     nav_msgs::Odometry odom;
+     228      245959 :     odom.header              = uav_state.header;
+     229      245873 :     odom.child_frame_id      = uav_state.child_frame_id;
+     230      245826 :     odom.pose.pose           = uav_state.pose;
+     231      245826 :     odom.twist.twist.angular = uav_state.velocity.angular;
+     232             : 
+     233      245826 :     tf2::Quaternion q;
+     234      245897 :     tf2::fromMsg(odom.pose.pose.orientation, q);
+     235      245854 :     odom.twist.twist.linear = Support::rotateVector(uav_state.velocity.linear, mrs_lib::AttitudeConverter(q.inverse()));
+     236             : 
+     237      490000 :     return odom;
+     238             :   }
+     239             :   /*//}*/
+     240             : 
+     241             :   /*//{ getPoseDiff() */
+     242           4 :   static geometry_msgs::Pose getPoseDiff(const geometry_msgs::Pose& p1, const geometry_msgs::Pose& p2) {
+     243             : 
+     244           4 :     tf2::Vector3 v1, v2;
+     245           4 :     tf2::fromMsg(p1.position, v1);
+     246           4 :     tf2::fromMsg(p2.position, v2);
+     247           4 :     const tf2::Vector3 v3 = v1 - v2;
+     248             : 
+     249           4 :     tf2::Quaternion q1, q2;
+     250           4 :     tf2::fromMsg(p1.orientation, q1);
+     251           4 :     tf2::fromMsg(p2.orientation, q2);
+     252           4 :     tf2::Quaternion q3 = q2 * q1.inverse();
+     253           4 :     q3.normalize();
+     254             : 
+     255           4 :     geometry_msgs::Pose pose_diff;
+     256           4 :     tf2::toMsg(v3, pose_diff.position);
+     257           4 :     pose_diff.orientation = tf2::toMsg(q3);
+     258             : 
+     259           8 :     return pose_diff;
+     260             :   }
+     261             :   /*//}*/
+     262             : 
+     263             :   /*//{ applyPoseDiff() */
+     264      109105 :   static geometry_msgs::Pose applyPoseDiff(const geometry_msgs::Pose& pose_in, const geometry_msgs::Pose& pose_diff) {
+     265             : 
+     266      109105 :     tf2::Vector3    pos_in;
+     267      109105 :     tf2::Quaternion q_in;
+     268      109105 :     tf2::fromMsg(pose_in.position, pos_in);
+     269      109105 :     tf2::fromMsg(pose_in.orientation, q_in);
+     270             : 
+     271      109105 :     tf2::Vector3    pos_diff;
+     272      109105 :     tf2::Quaternion q_diff;
+     273      109105 :     tf2::fromMsg(pose_diff.position, pos_diff);
+     274      109105 :     tf2::fromMsg(pose_diff.orientation, q_diff);
+     275             : 
+     276      109105 :     const tf2::Vector3    pos_out = tf2::quatRotate(q_diff.inverse(), (pos_in - pos_diff));
+     277      109105 :     const tf2::Quaternion q_out   = q_diff.inverse() * q_in;
+     278             : 
+     279      109105 :     geometry_msgs::Pose pose_out;
+     280      109105 :     tf2::toMsg(pos_out, pose_out.position);
+     281      109105 :     pose_out.orientation = tf2::toMsg(q_out);
+     282             : 
+     283      218210 :     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         195 :   static bool isStringInVector(const std::string& value, const std::vector<std::string>& str_vec) {
+     300         195 :     return std::find(str_vec.begin(), str_vec.end(), value) != str_vec.end();
+     301             :   }
+     302             :   /*//}*/
+     303             : 
+     304             :   /*//{ frameIdToEstimatorName() */
+     305           8 :   static std::string frameIdToEstimatorName(const std::string& str_in) {
+     306          16 :     const std::string str_tmp = str_in.substr(str_in.find("/")+1, str_in.size());
+     307          16 :     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:2024-01-20 21:44:18Functions:61060.0 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
tracker.h +
100.0%
+ 		100.0 %1 / 150.0 %1 / 2
<unnamed>100.0 %1 / 150.0 %1 / 2
controller.h +
100.0%
+ 		100.0 %1 / 150.0 %1 / 2
<unnamed>100.0 %1 / 150.0 %1 / 2
state_estimator.h +
100.0%
+ 		100.0 %5 / 566.7 %2 / 3
<unnamed>100.0 %5 / 566.7 %2 / 3
agl_estimator.h +
100.0%
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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&)70
mrs_uav_managers::StateEstimator::~StateEstimator().270
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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&)70
mrs_uav_managers::StateEstimator::~StateEstimator()0
mrs_uav_managers::StateEstimator::~StateEstimator().270
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Date:2024-01-20 21:44:18Functions:2366.7 %
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          Line data    Source code
+
+       1             : #ifndef MRS_UAV_MANAGERS_STATE_ESTIMATOR_H
+       2             : #define MRS_UAV_MANAGERS_STATE_ESTIMATOR_H
+       3             : 
+       4             : /* includes //{ */
+       5             : 
+       6             : #include <ros/ros.h>
+       7             : 
+       8             : #include <Eigen/Dense>
+       9             : 
+      10             : #include <nav_msgs/Odometry.h>
+      11             : 
+      12             : #include <mrs_msgs/UavState.h>
+      13             : #include <mrs_msgs/Float64ArrayStamped.h>
+      14             : #include <mrs_msgs/HwApiCapabilities.h>
+      15             : 
+      16             : #include <mrs_uav_managers/estimation_manager/estimator.h>
+      17             : 
+      18             : //}
+      19             : 
+      20             : namespace mrs_uav_managers
+      21             : {
+      22             : 
+      23             : namespace state
+      24             : {
+      25             : const char type[] = "STATE";
+      26             : }
+      27             : 
+      28             : using namespace estimation_manager;
+      29             : 
+      30             : class StateEstimator : public Estimator {
+      31             : 
+      32             : protected:
+      33             :   const std::string package_name_ = "mrs_uav_state_estimators";
+      34             : 
+      35             :   ros::NodeHandle nh_;
+      36             : 
+      37             :   mrs_msgs::UavState uav_state_;
+      38             :   mrs_msgs::UavState uav_state_init_;
+      39             :   mutable std::mutex mtx_uav_state_;
+      40             : 
+      41             :   nav_msgs::Odometry odom_;
+      42             :   mutable std::mutex mtx_odom_;
+      43             : 
+      44             :   nav_msgs::Odometry innovation_;
+      45             :   nav_msgs::Odometry innovation_init_;
+      46             :   mutable std::mutex mtx_innovation_;
+      47             : 
+      48             :   mrs_msgs::Float64ArrayStamped pose_covariance_, twist_covariance_;
+      49             :   mutable std::mutex            mtx_covariance_;
+      50             : 
+      51             :   bool is_override_frame_id_ = false;
+      52             : 
+      53             : protected:
+      54             :   mutable mrs_lib::PublisherHandler<mrs_msgs::UavState>               ph_uav_state_;
+      55             :   mutable mrs_lib::PublisherHandler<nav_msgs::Odometry>               ph_odom_;
+      56             :   mutable mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped>    ph_pose_covariance_, ph_twist_covariance_;
+      57             :   mutable mrs_lib::PublisherHandler<nav_msgs::Odometry>               ph_innovation_;
+      58             :   mutable mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped> ph_attitude_;
+      59             : 
+      60             : public:
+      61          70 :   StateEstimator(const std::string &name, const std::string &frame_id, const std::string &package_name)
+      62          70 :       : Estimator(state::type, name, frame_id), package_name_(package_name) {
+      63          70 :   }
+      64             : 
+      65          70 :   virtual ~StateEstimator(void) {
+      66          70 :   }
+      67             : 
+      68             :   virtual bool setUavState(const mrs_msgs::UavState &uav_state) = 0;
+      69             : 
+      70             :   // implemented methods
+      71             :   std::optional<mrs_msgs::UavState>        getUavState();
+      72             :   nav_msgs::Odometry                       getInnovation() const;
+      73             :   std::vector<double>                      getPoseCovariance() const;
+      74             :   std::vector<double>                      getTwistCovariance() const;
+      75             :   void                                     publishUavState() const;
+      76             :   void                                     publishOdom() const;
+      77             :   void                                     publishCovariance() const;
+      78             :   void                                     publishInnovation() const;
+      79             :   std::optional<geometry_msgs::Quaternion> rotateQuaternionByHeading(const geometry_msgs::Quaternion &q, const double hdg) const;
+      80             :   bool                                     isCompatibleWithHwApi(const mrs_msgs::HwApiCapabilitiesConstPtr &hw_api_capabilities) const;
+      81             : };
+      82             : 
+      83             : }  // namespace mrs_uav_managers
+      84             : 
+      85             : #endif  // MRS_UAV_MANAGERS_STATE_ESTIMATOR_H
+
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mrs_uav_managers::Tracker::~Tracker()0
mrs_uav_managers::Tracker::~Tracker().2391
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Current view:top level - mrs_uav_managers/include/mrs_uav_managers - tracker.h (source / functions)HitTotalCoverage
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Date:2024-01-20 21:44:18Functions:1250.0 %
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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         391 :   virtual ~Tracker() = default;
+     208             : };
+     209             : 
+     210             : }  // namespace mrs_uav_managers
+     211             : 
+     212             : #endif
+
+
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::TfMappingOrigin::getPrintName[abi:cxx11]()0
mrs_uav_managers::TfMappingOrigin::callbackMappingOdomAlt(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)0
mrs_uav_managers::TfMappingOrigin::callbackMappingOdomLat(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)0
mrs_uav_managers::TfMappingOrigin::callbackMappingOdomRot(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>)0
mrs_uav_managers::TfMappingOrigin::TfMappingOrigin(ros::NodeHandle, std::shared_ptr<mrs_lib::ParamLoader>, std::shared_ptr<mrs_lib::TransformBroadcaster> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t>)0
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+
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_managers/include/transform_manager/tf_mapping_origin.h.func.html b/mrs_uav_managers/include/transform_manager/tf_mapping_origin.h.func.html new file mode 100644 index 0000000000..efccf2eb5a --- /dev/null +++ b/mrs_uav_managers/include/transform_manager/tf_mapping_origin.h.func.html @@ -0,0 +1,100 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/transform_manager/tf_mapping_origin.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_managers/include/transform_manager - tf_mapping_origin.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:01580.0 %
Date:2024-01-20 21:44:18Functions:050.0 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::TfMappingOrigin::getPrintName[abi:cxx11]()0
mrs_uav_managers::TfMappingOrigin::callbackMappingOdomAlt(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)0
mrs_uav_managers::TfMappingOrigin::callbackMappingOdomLat(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)0
mrs_uav_managers::TfMappingOrigin::callbackMappingOdomRot(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>)0
mrs_uav_managers::TfMappingOrigin::TfMappingOrigin(ros::NodeHandle, std::shared_ptr<mrs_lib::ParamLoader>, std::shared_ptr<mrs_lib::TransformBroadcaster> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t>)0
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+
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_managers/include/transform_manager/tf_mapping_origin.h.gcov.frameset.html b/mrs_uav_managers/include/transform_manager/tf_mapping_origin.h.gcov.frameset.html new file mode 100644 index 0000000000..ddfde9a414 --- /dev/null +++ b/mrs_uav_managers/include/transform_manager/tf_mapping_origin.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/transform_manager/tf_mapping_origin.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_managers/include/transform_manager/tf_mapping_origin.h.gcov.html b/mrs_uav_managers/include/transform_manager/tf_mapping_origin.h.gcov.html new file mode 100644 index 0000000000..5f95a42761 --- /dev/null +++ b/mrs_uav_managers/include/transform_manager/tf_mapping_origin.h.gcov.html @@ -0,0 +1,474 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/transform_manager/tf_mapping_origin.h + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_managers/include/transform_manager - tf_mapping_origin.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:01580.0 %
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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
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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:20924087.1 %
Date:2024-01-20 21:44:18Functions:1414100.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::TfSource::setIsUtmSource(bool)8
mrs_uav_managers::TfSource::getIsUtmSource()16
mrs_uav_managers::TfSource::getIsUtmBased()17
mrs_uav_managers::TfSource::setUtmOrigin(geometry_msgs::Point_<std::allocator<void> > const&)70
mrs_uav_managers::TfSource::publishLocalTf(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)70
mrs_uav_managers::TfSource::setWorldOrigin(geometry_msgs::Point_<std::allocator<void> > const&)70
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)70
mrs_uav_managers::TfSource::getName[abi:cxx11]()576
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> > >&)105103
mrs_uav_managers::TfSource::publishTfFromOdom(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)136706
mrs_uav_managers::TfSource::callbackTfSourceOdom(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)136796
mrs_uav_managers::TfSource::publishTfFromAtt(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const> const&)140008
mrs_uav_managers::TfSource::callbackTfSourceAtt(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>)140025
mrs_uav_managers::TfSource::getPrintName[abi:cxx11]()656828
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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..b8724e8c0d --- /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:20924087.1 %
Date:2024-01-20 21:44:18Functions:1414100.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::TfSource::getPrintName[abi:cxx11]()656828
mrs_uav_managers::TfSource::setUtmOrigin(geometry_msgs::Point_<std::allocator<void> > const&)70
mrs_uav_managers::TfSource::getIsUtmBased()17
mrs_uav_managers::TfSource::getIsUtmSource()16
mrs_uav_managers::TfSource::publishLocalTf(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)70
mrs_uav_managers::TfSource::setIsUtmSource(bool)8
mrs_uav_managers::TfSource::setWorldOrigin(geometry_msgs::Point_<std::allocator<void> > const&)70
mrs_uav_managers::TfSource::publishTfFromAtt(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const> const&)140008
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> > >&)105103
mrs_uav_managers::TfSource::publishTfFromOdom(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)136706
mrs_uav_managers::TfSource::callbackTfSourceAtt(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>)140025
mrs_uav_managers::TfSource::callbackTfSourceOdom(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)136796
mrs_uav_managers::TfSource::getName[abi:cxx11]()576
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)70
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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:20924087.1 %
Date:2024-01-20 21:44:18Functions:1414100.0 %
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          70 :   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          70 :       : name_(name), nh_(nh), broadcaster_(broadcaster), ch_(ch), is_utm_source_(is_utm_source) {
+      42             : 
+      43          70 :     ROS_INFO("[%s]: initializing", getPrintName().c_str());
+      44             : 
+      45          70 :     if (name != "dummy") {
+      46             : 
+      47             :       /*//{ load parameters */
+      48             : 
+      49         140 :       const std::string yaml_prefix = "mrs_uav_managers/transform_manager/";
+      50             : 
+      51         140 :       std::string odom_topic, attitude_topic, ns;
+      52             : 
+      53          70 :       param_loader->loadParam(yaml_prefix + getName() + "/odom_topic", odom_topic);
+      54          70 :       param_loader->loadParam(yaml_prefix + getName() + "/custom_frame_id/enabled", custom_frame_id_enabled_, false);
+      55          70 :       if (custom_frame_id_enabled_) {
+      56           0 :         param_loader->loadParam(yaml_prefix + getName() + "/custom_frame_id/frame_id", custom_frame_id_);
+      57             :       }
+      58          70 :       param_loader->loadParam(yaml_prefix + getName() + "/tf_from_attitude/enabled", tf_from_attitude_enabled_);
+      59          70 :       if (tf_from_attitude_enabled_) {
+      60          69 :         param_loader->loadParam(yaml_prefix + getName() + "/tf_from_attitude/attitude_topic", attitude_topic);
+      61             :       }
+      62          70 :       param_loader->loadParam(yaml_prefix + getName() + "/namespace", ns);
+      63          70 :       full_topic_odom_     = "/" + ch_->uav_name + "/" + ns + "/" + odom_topic;
+      64          70 :       full_topic_attitude_ = "/" + ch_->uav_name + "/" + ns + "/" + attitude_topic;
+      65          70 :       param_loader->loadParam(yaml_prefix + getName() + "/inverted", is_inverted_);
+      66          70 :       param_loader->loadParam(yaml_prefix + getName() + "/republish_in_frames", republish_in_frames_);
+      67             : 
+      68             :       /* coordinate frames origins //{ */
+      69          70 :       param_loader->loadParam(yaml_prefix + getName() + "/utm_based", is_utm_based_);
+      70             :       /* param_loader->loadParam(yaml_prefix + getName() + "/publish_local_tf", publish_local_tf_); */
+      71             : 
+      72             :       /*//{ utm source */
+      73          70 :       if (is_utm_based_) {
+      74         138 :         std::string utm_origin_parent_frame_id;
+      75          69 :         param_loader->loadParam(yaml_prefix + "utm_origin_tf/parent", utm_origin_parent_frame_id);
+      76          69 :         ns_utm_origin_parent_frame_id_ = ch_->uav_name + "/" + utm_origin_parent_frame_id;
+      77             : 
+      78          69 :         std::string utm_origin_child_frame_id;
+      79          69 :         param_loader->loadParam(yaml_prefix + "utm_origin_tf/child", utm_origin_child_frame_id);
+      80          69 :         ns_utm_origin_child_frame_id_ = ch_->uav_name + "/" + utm_origin_child_frame_id;
+      81             :       }
+      82             :       /*//}*/
+      83             : 
+      84             :       /*//{ world source */
+      85          70 :       if (is_utm_based_) {
+      86         138 :         std::string world_origin_parent_frame_id;
+      87          69 :         param_loader->loadParam(yaml_prefix + "world_origin_tf/parent", world_origin_parent_frame_id);
+      88          69 :         ns_world_origin_parent_frame_id_ = ch_->uav_name + "/" + world_origin_parent_frame_id;
+      89             : 
+      90          69 :         std::string world_origin_child_frame_id;
+      91          69 :         param_loader->loadParam(yaml_prefix + "world_origin_tf/child", world_origin_child_frame_id);
+      92          69 :         ns_world_origin_child_frame_id_ = ch_->uav_name + "/" + world_origin_child_frame_id;
+      93             :       }
+      94             :       /*//}*/
+      95             : 
+      96             :       //}
+      97             : 
+      98          70 :       if (!param_loader->loadedSuccessfully()) {
+      99           0 :         ROS_ERROR("[%s]: Could not load all non-optional parameters. Shutting down.", getPrintName().c_str());
+     100           0 :         ros::shutdown();
+     101             :       }
+     102             : 
+     103             :       /*//}*/
+     104             : 
+     105             :       /*//{ initialize subscribers */
+     106         140 :       mrs_lib::SubscribeHandlerOptions shopts;
+     107          70 :       shopts.nh                 = nh_;
+     108          70 :       shopts.node_name          = getPrintName();
+     109          70 :       shopts.no_message_timeout = mrs_lib::no_timeout;
+     110          70 :       shopts.threadsafe         = true;
+     111          70 :       shopts.autostart          = true;
+     112          70 :       shopts.queue_size         = 10;
+     113          70 :       shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     114             : 
+     115          70 :       sh_tf_source_odom_ = mrs_lib::SubscribeHandler<nav_msgs::Odometry>(shopts, full_topic_odom_, &TfSource::callbackTfSourceOdom, this);
+     116          70 :       if (tf_from_attitude_enabled_) {
+     117          69 :         sh_tf_source_att_ = mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped>(shopts, full_topic_attitude_, &TfSource::callbackTfSourceAtt, this);
+     118             :       }
+     119             : 
+     120          70 :       if (is_utm_source_) {
+     121          64 :         sh_altitude_amsl_ = mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude>(shopts, "altitude_amsl_in");
+     122             :       }
+     123             : 
+     124             :     }
+     125             :     /*//}*/
+     126             : 
+     127         129 :     for (auto frame_id : republish_in_frames_) {
+     128          59 :       republishers_.push_back(
+     129         118 :           std::make_pair(frame_id, mrs_lib::PublisherHandler<nav_msgs::Odometry>(nh_, full_topic_odom_ + "/" + frame_id.substr(0, frame_id.find("_origin")))));
+     130             :     }
+     131          70 :     is_initialized_ = true;
+     132          70 :     ROS_INFO("[%s]: initialized", getPrintName().c_str());
+     133          70 :   }
+     134             :   /*//}*/
+     135             : 
+     136             :   /*//{ getName() */
+     137         576 :   std::string getName() {
+     138         576 :     return name_;
+     139             :   }
+     140             :   /*//}*/
+     141             : 
+     142             :   /*//{ getPrintName() */
+     143      656828 :   std::string getPrintName() {
+     144     1314604 :     return ch_->nodelet_name + "/" + name_;
+     145             :   }
+     146             :   /*//}*/
+     147             : 
+     148             :   /*//{ getIsUtmBased() */
+     149          17 :   bool getIsUtmBased() {
+     150          17 :     return is_utm_based_;
+     151             :   }
+     152             :   /*//}*/
+     153             : 
+     154             :   /*//{ getIsUtmSource() */
+     155          16 :   bool getIsUtmSource() {
+     156          16 :     return is_utm_source_;
+     157             :   }
+     158             :   /*//}*/
+     159             : 
+     160             :   /*//{ setIsUtmSource() */
+     161           8 :   void setIsUtmSource(const bool is_utm_source) {
+     162           8 :     if (is_utm_source) {
+     163           4 :       mrs_lib::SubscribeHandlerOptions shopts;
+     164           4 :       shopts.nh                 = nh_;
+     165           4 :       shopts.node_name          = getPrintName();
+     166           4 :       shopts.no_message_timeout = mrs_lib::no_timeout;
+     167           4 :       shopts.threadsafe         = true;
+     168           4 :       shopts.autostart          = true;
+     169           4 :       shopts.queue_size         = 10;
+     170           4 :       shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     171           4 :       sh_altitude_amsl_ = mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude>(shopts, "altitude_amsl_in");
+     172             :     }
+     173           8 :     is_utm_source_ = is_utm_source;
+     174           8 :   }
+     175             :   /*//}*/
+     176             : 
+     177             :   /*//{ setUtmOrigin() */
+     178          70 :   void setUtmOrigin(const geometry_msgs::Point& pt) {
+     179             : 
+     180          70 :     if (is_utm_based_ && !is_utm_origin_set_) {
+     181          69 :       utm_origin_        = pt;
+     182          69 :       is_utm_origin_set_ = true;
+     183             :     }
+     184          70 :   }
+     185             :   /*//}*/
+     186             : 
+     187             :   /*//{ setWorldOrigin() */
+     188          70 :   void setWorldOrigin(const geometry_msgs::Point& pt) {
+     189             : 
+     190          70 :     if (is_utm_based_ && !is_world_origin_set_) {
+     191          69 :       world_origin_        = pt;
+     192          69 :       is_world_origin_set_ = true;
+     193             :     }
+     194          70 :   }
+     195             :   /*//}*/
+     196             : 
+     197             : private:
+     198             :   const std::string name_;
+     199             :   const std::string ns_fcu_frame_id_;
+     200             : 
+     201             :   ros::NodeHandle nh_;
+     202             : 
+     203             :   std::shared_ptr<mrs_lib::TransformBroadcaster> broadcaster_;
+     204             :   tf2_ros::StaticTransformBroadcaster            static_broadcaster_;
+     205             : 
+     206             :   std::shared_ptr<estimation_manager::CommonHandlers_t> ch_;
+     207             : 
+     208             :   bool is_inverted_;
+     209             : 
+     210             :   bool             is_utm_based_;
+     211             :   bool             publish_local_tf_ = true;
+     212             :   bool             publish_utm_tf_   = false;
+     213             :   bool             publish_world_tf_ = false;
+     214             :   std::atomic_bool is_utm_source_    = false;
+     215             :   std::string      ns_utm_origin_parent_frame_id_;
+     216             :   std::string      ns_utm_origin_child_frame_id_;
+     217             : 
+     218             :   bool                 is_utm_origin_set_ = false;
+     219             :   geometry_msgs::Point utm_origin_;
+     220             : 
+     221             :   std::string ns_world_origin_parent_frame_id_;
+     222             :   std::string ns_world_origin_child_frame_id_;
+     223             : 
+     224             :   bool                 is_world_origin_set_ = false;
+     225             :   geometry_msgs::Point world_origin_;
+     226             : 
+     227             :   std::string full_topic_odom_;
+     228             :   std::string full_topic_attitude_;
+     229             :   bool        tf_from_attitude_enabled_ = false;
+     230             : 
+     231             :   bool        custom_frame_id_enabled_;
+     232             :   std::string custom_frame_id_;
+     233             : 
+     234             :   std::atomic_bool is_initialized_               = false;
+     235             :   std::atomic_bool is_local_static_tf_published_ = false;
+     236             :   std::atomic_bool is_utm_static_tf_published_   = false;
+     237             :   std::atomic_bool is_world_static_tf_published_ = false;
+     238             : 
+     239             :   std::vector<std::string> republish_in_frames_;
+     240             : 
+     241             :   std::vector<std::pair<std::string, mrs_lib::PublisherHandler<nav_msgs::Odometry>>> republishers_;
+     242             : 
+     243             :   mrs_lib::SubscribeHandler<nav_msgs::Odometry>               sh_tf_source_odom_;
+     244             :   mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped> sh_tf_source_att_;
+     245             :   mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude>          sh_altitude_amsl_;
+     246             :   nav_msgs::OdometryConstPtr                                  first_msg_;
+     247             :   bool                                                        got_first_msg_ = false;
+     248             : 
+     249             : 
+     250             :   /*//{ callbackTfSourceOdom()*/
+     251      136796 :   void callbackTfSourceOdom(const nav_msgs::Odometry::ConstPtr msg) {
+     252             : 
+     253      136796 :     if (!is_initialized_) {
+     254           0 :       return;
+     255             :     }
+     256             : 
+     257      410335 :     mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer(getPrintName() + "::callbackTfSourceOdom", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     258             : 
+     259      136730 :     scope_timer.checkpoint("get msg");
+     260             : 
+     261      136793 :     if (!got_first_msg_) {
+     262          70 :       first_msg_     = msg;
+     263          70 :       got_first_msg_ = true;
+     264             :     }
+     265             : 
+     266      136793 :     publishTfFromOdom(msg);
+     267      136836 :     scope_timer.checkpoint("pub tf");
+     268             : 
+     269      136834 :     if (publish_local_tf_ && !is_local_static_tf_published_) {
+     270          70 :       publishLocalTf(msg->header.frame_id);
+     271          70 :       scope_timer.checkpoint("pub local tf");
+     272             :     }
+     273             : 
+     274             :     /* if (publish_utm_tf_ && is_utm_based_ && is_utm_origin_set_ && !is_utm_static_tf_published_) { */
+     275             :     /*   publishUtmTf(msg->header.frame_id); */
+     276             :     /*   scope_timer.checkpoint("pub utm tf"); */
+     277             :     /* } */
+     278             : 
+     279             :     /* if (publish_world_tf_ && is_utm_based_ && is_world_origin_set_ && !is_world_static_tf_published_) { */
+     280             :     /*   publishWorldTf(msg->header.frame_id); */
+     281             :     /*   scope_timer.checkpoint("pub world tf"); */
+     282             :     /* } */
+     283             : 
+     284      241935 :     for (auto republisher : republishers_) {
+     285      105103 :       republishInFrame(msg, ch_->uav_name + "/" + republisher.first, republisher.second);
+     286             :     }
+     287             :   }
+     288             :   /*//}*/
+     289             : 
+     290             :   /*//{ callbackTfSourceAtt()*/
+     291      140025 :   void callbackTfSourceAtt(const geometry_msgs::QuaternionStamped::ConstPtr msg) {
+     292             : 
+     293      140025 :     if (!is_initialized_) {
+     294           0 :       return;
+     295             :     }
+     296             : 
+     297      420029 :     mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer(getPrintName() + "::callbackTfSourceAtt", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     298             : 
+     299      139983 :     scope_timer.checkpoint("get msg");
+     300      140009 :     publishTfFromAtt(msg);
+     301             :   }
+     302             :   /*//}*/
+     303             : 
+     304             :   /* publishTfFromOdom() //{*/
+     305      136706 :   void publishTfFromOdom(const nav_msgs::OdometryConstPtr& odom) {
+     306             : 
+     307      273487 :     mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer(getPrintName() + "::publishTfFromOdom", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     308             : 
+     309      136789 :     const tf2::Transform      tf       = Support::tf2FromPose(odom->pose.pose);
+     310      136733 :     const tf2::Transform      tf_inv   = tf.inverse();
+     311      136772 :     const geometry_msgs::Pose pose_inv = Support::poseFromTf2(tf_inv);
+     312             : 
+     313             :     /*//{ tf source origin */
+     314      136754 :     geometry_msgs::TransformStamped tf_msg;
+     315      136616 :     tf_msg.header.stamp         = odom->header.stamp;
+     316      136656 :     std::string origin_frame_id = custom_frame_id_enabled_ ? ch_->uav_name + "/" + custom_frame_id_ : odom->header.frame_id;
+     317      136702 :     if (is_inverted_) {
+     318             : 
+     319      136702 :       tf_msg.header.frame_id       = ch_->frames.ns_fcu;
+     320      136738 :       tf_msg.child_frame_id        = origin_frame_id;
+     321      136673 :       tf_msg.transform.translation = Support::pointToVector3(pose_inv.position);
+     322      136777 :       tf_msg.transform.rotation    = pose_inv.orientation;
+     323             : 
+     324             :     } else {
+     325           0 :       tf_msg.header.frame_id       = origin_frame_id;
+     326           0 :       tf_msg.child_frame_id        = ch_->frames.ns_fcu;
+     327           0 :       tf_msg.transform.translation = Support::pointToVector3(odom->pose.pose.position);
+     328           0 :       tf_msg.transform.rotation    = odom->pose.pose.orientation;
+     329             :     }
+     330             : 
+     331      136777 :     if (Support::noNans(tf_msg)) {
+     332             :       try {
+     333      136702 :         broadcaster_->sendTransform(tf_msg);
+     334             :       }
+     335           0 :       catch (...) {
+     336           0 :         ROS_ERROR("exception caught ");
+     337             :       }
+     338             : 
+     339      136835 :       if (tf_from_attitude_enabled_) {
+     340      135818 :         if (is_inverted_) {
+     341      135818 :           tf_msg.child_frame_id += "_att_only";
+     342             :         } else {
+     343           1 :           tf_msg.header.frame_id += "_att_only";
+     344             :         }
+     345             :         try {
+     346      135817 :           broadcaster_->sendTransform(tf_msg);
+     347             :         }
+     348           0 :         catch (...) {
+     349           0 :           ROS_ERROR("exception caught ");
+     350             :         }
+     351             :       }
+     352             :       /*//}*/
+     353             : 
+     354             :       /*//{ tf utm origin */
+     355             : 
+     356      136836 :       geometry_msgs::TransformStamped tf_utm_msg;
+     357      136836 :       if (is_utm_source_) {
+     358             :         
+     359      115539 :         if (!is_utm_origin_set_) {
+     360           0 :           ROS_INFO_THROTTLE(5.0, "[%s]: %s utm_origin initialization", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     361           0 :           return;
+     362             :         }
+     363             : 
+     364      115539 :         geometry_msgs::Pose pose_utm = odom->pose.pose;
+     365      115539 :         pose_utm.position.x += utm_origin_.x - first_msg_->pose.pose.position.x;
+     366      115539 :         pose_utm.position.y += utm_origin_.y - first_msg_->pose.pose.position.y;
+     367             : 
+     368      115539 :         if (sh_altitude_amsl_.hasMsg()) {
+     369      115536 :           pose_utm.position.z = sh_altitude_amsl_.getMsg()->amsl;
+     370             :         } else {
+     371           3 :           ROS_WARN_THROTTLE(5.0, "[%s]: AMSL altitude not available.", getPrintName().c_str());
+     372             :         }
+     373             : 
+     374      115539 :         tf_utm_msg.header.stamp    = odom->header.stamp;
+     375      115539 :         tf_utm_msg.header.frame_id = ns_utm_origin_parent_frame_id_;
+     376      115539 :         tf_utm_msg.child_frame_id  = ns_utm_origin_child_frame_id_;
+     377             : 
+     378      115539 :         tf2::Transform tf_utm;
+     379      115539 :         if (is_inverted_) {
+     380      115539 :           tf_utm = Support::tf2FromPose(pose_utm).inverse();
+     381             :         } else {
+     382           0 :           tf_utm = Support::tf2FromPose(pose_utm);
+     383             :         }
+     384      115539 :         tf_utm_msg.transform = Support::msgFromTf2(tf_utm);
+     385             : 
+     386             :         try {
+     387      115539 :           broadcaster_->sendTransform(tf_utm_msg);
+     388      115539 :           ROS_INFO_ONCE("[%s]: publishing utm_origin tf", getPrintName().c_str());
+     389             :         }
+     390           0 :         catch (...) {
+     391           0 :           ROS_ERROR("exception caught ");
+     392             :         }
+     393             :       }
+     394             :       /*//}*/
+     395             : 
+     396             :       /*//{ tf world origin */
+     397      136835 :       if (is_utm_source_) {
+     398      231078 :         geometry_msgs::TransformStamped tf_world_msg;
+     399      115539 :         tf_world_msg.header.stamp    = odom->header.stamp;
+     400      115539 :         tf_world_msg.header.frame_id = ns_world_origin_parent_frame_id_;
+     401      115539 :         tf_world_msg.child_frame_id  = ns_world_origin_child_frame_id_;
+     402             : 
+     403      115539 :         tf2::Transform tf_world;
+     404      115539 :         tf_world.setOrigin(tf2::Vector3(world_origin_.x, world_origin_.y, world_origin_.z));
+     405      115539 :         tf_world.setRotation(tf2::Quaternion(0, 0, 0, 1));
+     406             : 
+     407      115539 :         geometry_msgs::Pose pose_utm = odom->pose.pose;
+     408      115539 :         pose_utm.position.x += utm_origin_.x - first_msg_->pose.pose.position.x;
+     409      115539 :         pose_utm.position.y += utm_origin_.y - first_msg_->pose.pose.position.y;
+     410             : 
+     411      115539 :         tf2::Transform tf_utm;
+     412      115539 :         if (is_inverted_) {
+     413      115539 :           tf_utm = Support::tf2FromPose(pose_utm).inverse();
+     414             :         } else {
+     415           0 :           tf_utm = Support::tf2FromPose(pose_utm);
+     416             :         }
+     417             : 
+     418      115539 :         tf_world_msg.transform          = Support::msgFromTf2(tf_utm * tf_world);
+     419      115539 :         tf_world_msg.transform.rotation = pose_inv.orientation;
+     420             : 
+     421             :         try {
+     422      115539 :           broadcaster_->sendTransform(tf_world_msg);
+     423      115539 :           ROS_INFO_ONCE("[%s]: publishing world_origin tf", getPrintName().c_str());
+     424             :         }
+     425           0 :         catch (...) {
+     426           0 :           ROS_ERROR("exception caught ");
+     427             :         }
+     428             :       }
+     429             : 
+     430             :       /*//}*/
+     431             : 
+     432             :     } else {
+     433           3 :       ROS_WARN_THROTTLE(1.0, "[%s]: NaN detected in transform from %s to %s. Not publishing tf.", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     434             :                         tf_msg.child_frame_id.c_str());
+     435             :     }
+     436      136836 :     ROS_INFO_ONCE("[%s]: Broadcasting transform from parent frame: %s to child frame: %s based on topic: %s", getPrintName().c_str(),
+     437             :                   tf_msg.header.frame_id.c_str(), tf_msg.child_frame_id.c_str(), full_topic_odom_.c_str());
+     438             :   }
+     439             :   /*//}*/
+     440             : 
+     441             :   /* publishTfFromAtt() //{*/
+     442      140008 :   void publishTfFromAtt(const geometry_msgs::QuaternionStampedConstPtr& msg) {
+     443             : 
+     444      420073 :     mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer(getPrintName() + "::publishTfFromAtt", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     445             : 
+     446      280053 :     geometry_msgs::TransformStamped tf_msg;
+     447      139985 :     tf_msg.header.stamp = msg->header.stamp;
+     448             : 
+     449      140006 :     geometry_msgs::Pose pose;
+     450      139974 :     pose.position.x = 0.0;
+     451      139974 :     pose.position.y = 0.0;
+     452      139974 :     pose.position.z = 0.0;
+     453      139974 :     pose.orientation = msg->quaternion;
+     454      139964 :     if (is_inverted_) {
+     455             : 
+     456      139964 :       const tf2::Transform      tf       = Support::tf2FromPose(pose);
+     457      139991 :       const tf2::Transform      tf_inv   = tf.inverse();
+     458      140000 :       const geometry_msgs::Pose pose_inv = Support::poseFromTf2(tf_inv);
+     459             : 
+     460      140025 :       tf_msg.header.frame_id       = ch_->frames.ns_fcu;
+     461      139988 :       tf_msg.child_frame_id        = msg->header.frame_id;
+     462      139967 :       tf_msg.transform.translation = Support::pointToVector3(pose_inv.position);
+     463      139994 :       tf_msg.transform.rotation    = pose_inv.orientation;
+     464             : 
+     465             :     } else {
+     466           0 :       tf_msg.header.frame_id       = msg->header.frame_id;
+     467           0 :       tf_msg.child_frame_id        = ch_->frames.ns_fcu;
+     468           0 :       tf_msg.transform.translation = Support::pointToVector3(pose.position);
+     469           0 :       tf_msg.transform.rotation    = pose.orientation;
+     470             :     }
+     471             : 
+     472      139994 :     if (Support::noNans(tf_msg)) {
+     473             :       try {
+     474      139973 :         scope_timer.checkpoint("before pub");
+     475      139993 :         broadcaster_->sendTransform(tf_msg);
+     476      140036 :         scope_timer.checkpoint("after pub");
+     477             :       }
+     478           0 :       catch (...) {
+     479           0 :         ROS_ERROR("exception caught ");
+     480             :       }
+     481             :     } else {
+     482           0 :       ROS_WARN_THROTTLE(1.0, "[%s]: NaN detected in transform from %s to %s. Not publishing tf.", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     483             :                         tf_msg.child_frame_id.c_str());
+     484             :     }
+     485      140036 :     ROS_INFO_ONCE("[%s]: Broadcasting transform from parent frame: %s to child frame: %s based on topic: %s", getPrintName().c_str(),
+     486             :                   tf_msg.header.frame_id.c_str(), tf_msg.child_frame_id.c_str(), full_topic_attitude_.c_str());
+     487      140037 :   }
+     488             :   /*//}*/
+     489             : 
+     490             :   /* publishLocalTf() //{*/
+     491          70 :   void publishLocalTf(const std::string& frame_id) {
+     492             : 
+     493         210 :     mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer(getPrintName() + "::publishLocalTf", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     494             : 
+     495         140 :     geometry_msgs::TransformStamped tf_msg;
+     496          70 :     tf_msg.header.stamp = ros::Time::now();
+     497             : 
+     498          70 :     tf_msg.header.frame_id       = frame_id;
+     499          70 :     tf_msg.child_frame_id        = frame_id.substr(0, frame_id.find("_origin")) + "_local_origin";
+     500          70 :     tf_msg.transform.translation = Support::pointToVector3(first_msg_->pose.pose.position);
+     501          70 :     tf_msg.transform.rotation    = first_msg_->pose.pose.orientation;
+     502             : 
+     503          70 :     if (Support::noNans(tf_msg)) {
+     504             :       try {
+     505          70 :         static_broadcaster_.sendTransform(tf_msg);
+     506             :       }
+     507           0 :       catch (...) {
+     508           0 :         ROS_ERROR("exception caught ");
+     509             :       }
+     510             :     } else {
+     511           0 :       ROS_WARN_THROTTLE(1.0, "[%s]: NaN detected in transform from %s to %s. Not publishing tf.", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     512             :                         tf_msg.child_frame_id.c_str());
+     513             :     }
+     514          70 :     ROS_INFO_ONCE("[%s]: Broadcasting transform from parent frame: %s to child frame: %s based on first message of: %s", getPrintName().c_str(),
+     515             :                   tf_msg.header.frame_id.c_str(), tf_msg.child_frame_id.c_str(), full_topic_odom_.c_str());
+     516          70 :     is_local_static_tf_published_ = true;
+     517          70 :   }
+     518             :   /*//}*/
+     519             : 
+     520             :   /* publishUtmTf() //{*/
+     521             :   void publishUtmTf(const std::string& frame_id) {
+     522             : 
+     523             :     mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer(getPrintName() + "::publishUtmTf", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     524             : 
+     525             :     geometry_msgs::TransformStamped tf_msg;
+     526             :     tf_msg.header.stamp = ros::Time::now();
+     527             : 
+     528             :     tf_msg.header.frame_id         = frame_id;
+     529             :     tf_msg.child_frame_id          = frame_id.substr(0, frame_id.find("_origin")) + "_utm_origin";
+     530             :     tf_msg.transform.translation.x = -utm_origin_.x;  // minus because inverse tf tree
+     531             :     tf_msg.transform.translation.y = -utm_origin_.y;  // minus because inverse tf tree
+     532             :     tf_msg.transform.translation.z = -utm_origin_.z;  // minus because inverse tf tree
+     533             :     tf_msg.transform.rotation.x    = 0;
+     534             :     tf_msg.transform.rotation.y    = 0;
+     535             :     tf_msg.transform.rotation.z    = 0;
+     536             :     tf_msg.transform.rotation.w    = 1;
+     537             : 
+     538             :     if (Support::noNans(tf_msg)) {
+     539             :       try {
+     540             :         static_broadcaster_.sendTransform(tf_msg);
+     541             :       }
+     542             :       catch (...) {
+     543             :         ROS_ERROR("exception caught ");
+     544             :       }
+     545             :     } else {
+     546             :       ROS_WARN_THROTTLE(1.0, "[%s]: NaN detected in transform from %s to %s. Not publishing tf.", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     547             :                         tf_msg.child_frame_id.c_str());
+     548             :     }
+     549             :     ROS_INFO_ONCE("[%s]: Broadcasting transform from parent frame: %s to child frame: %s based on first message of: %s", getPrintName().c_str(),
+     550             :                   tf_msg.header.frame_id.c_str(), tf_msg.child_frame_id.c_str(), full_topic_odom_.c_str());
+     551             :     is_utm_static_tf_published_ = true;
+     552             :   }
+     553             :   /*//}*/
+     554             : 
+     555             :   /* publishWorldTf() //{*/
+     556             :   void publishWorldTf(const std::string& frame_id) {
+     557             : 
+     558             :     mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer(getPrintName() + "::publishWorldTf", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     559             : 
+     560             :     geometry_msgs::TransformStamped tf_msg;
+     561             :     tf_msg.header.stamp = ros::Time::now();
+     562             : 
+     563             :     tf_msg.header.frame_id         = frame_id;
+     564             :     tf_msg.child_frame_id          = frame_id.substr(0, frame_id.find("_origin")) + "_world_origin";
+     565             :     tf_msg.transform.translation.x = -(utm_origin_.x - world_origin_.x);  // minus because inverse tf tree
+     566             :     tf_msg.transform.translation.y = -(utm_origin_.y - world_origin_.y);  // minus because inverse tf tree
+     567             :     /* tf_msg.transform.translation.z = -(utm_origin_.z);                    // minus because inverse tf tree */
+     568             :     tf_msg.transform.translation.z = 0;
+     569             :     tf_msg.transform.rotation.x    = 0;
+     570             :     tf_msg.transform.rotation.y    = 0;
+     571             :     tf_msg.transform.rotation.z    = 0;
+     572             :     tf_msg.transform.rotation.w    = 1;
+     573             : 
+     574             :     if (Support::noNans(tf_msg)) {
+     575             :       try {
+     576             :         static_broadcaster_.sendTransform(tf_msg);
+     577             :       }
+     578             :       catch (...) {
+     579             :         ROS_ERROR("exception caught ");
+     580             :       }
+     581             :     } else {
+     582             :       ROS_WARN_THROTTLE(1.0, "[%s]: NaN detected in transform from %s to %s. Not publishing tf.", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     583             :                         tf_msg.child_frame_id.c_str());
+     584             :     }
+     585             :     ROS_INFO_ONCE("[%s]: Broadcasting transform from parent frame: %s to child frame: %s based on first message of: %s", getPrintName().c_str(),
+     586             :                   tf_msg.header.frame_id.c_str(), tf_msg.child_frame_id.c_str(), full_topic_odom_.c_str());
+     587             :     is_world_static_tf_published_ = true;
+     588             :   }
+     589             :   /*//}*/
+     590             : 
+     591             :   /* republishInFrame() //{*/
+     592      105103 :   void republishInFrame(const nav_msgs::OdometryConstPtr& msg, const std::string& frame_id, mrs_lib::PublisherHandler<nav_msgs::Odometry>& ph) {
+     593             : 
+     594      210206 :     mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer(getPrintName() + "::republishInFrame", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     595             : 
+     596      105103 :     nav_msgs::Odometry msg_out = *msg;
+     597      105103 :     msg_out.header.frame_id    = frame_id;
+     598             : 
+     599      105103 :     geometry_msgs::PoseStamped pose;
+     600      105103 :     pose.header = msg->header;
+     601      105103 :     pose.pose   = msg->pose.pose;
+     602             : 
+     603      105103 :     auto res = ch_->transformer->transformSingle(pose, frame_id);
+     604      105103 :     if (res) {
+     605       97566 :       msg_out.pose.pose = res->pose;
+     606       97566 :       ph.publish(msg_out);
+     607             :     } else {
+     608        7537 :       ROS_ERROR_THROTTLE(1.0, "[%s]: Could not transform pose to %s. Not republishing odom in this frame.", getPrintName().c_str(), frame_id.c_str());
+     609        7537 :       return;
+     610             :     }
+     611             :   }
+     612             : 
+     613             :   /*//}*/
+     614             : };
+     615             : 
+     616             : /*//}*/
+     617             : 
+     618             : }  // namespace mrs_uav_managers
+     619             : 
+     620             : #endif
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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Current view:top level - mrs_uav_managers/src - constraint_manager.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:14922765.6 %
Date:2024-01-20 21:44:18Functions:6875.0 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::constraint_manager::ConstraintManager::callbackSetConstraints(mrs_msgs::StringRequest_<std::allocator<void> >&, mrs_msgs::StringResponse_<std::allocator<void> >&)0
mrs_uav_managers::constraint_manager::ConstraintManager::callbackConstraintsOverride(mrs_msgs::ConstraintsOverrideRequest_<std::allocator<void> >&, mrs_msgs::ConstraintsOverrideResponse_<std::allocator<void> >&)0
(anonymous namespace)::ProxyExec0::ProxyExec0()65
mrs_uav_managers::constraint_manager::ConstraintManager::setConstraints(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)65
mrs_uav_managers::constraint_manager::ConstraintManager::onInit()65
mrs_uav_managers::constraint_manager::ConstraintManager::timerDiagnostics(ros::TimerEvent const&)1367
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&)1759
mrs_uav_managers::constraint_manager::ConstraintManager::timerConstraintManagement(ros::TimerEvent const&)13931
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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:14922765.6 %
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Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()65
mrs_uav_managers::constraint_manager::ConstraintManager::setConstraints(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)65
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&)1759
mrs_uav_managers::constraint_manager::ConstraintManager::timerDiagnostics(ros::TimerEvent const&)1367
mrs_uav_managers::constraint_manager::ConstraintManager::callbackSetConstraints(mrs_msgs::StringRequest_<std::allocator<void> >&, mrs_msgs::StringResponse_<std::allocator<void> >&)0
mrs_uav_managers::constraint_manager::ConstraintManager::timerConstraintManagement(ros::TimerEvent const&)13931
mrs_uav_managers::constraint_manager::ConstraintManager::callbackConstraintsOverride(mrs_msgs::ConstraintsOverrideRequest_<std::allocator<void> >&, mrs_msgs::ConstraintsOverrideResponse_<std::allocator<void> >&)0
mrs_uav_managers::constraint_manager::ConstraintManager::onInit()65
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Test:MRS UAV System - Test coverage reportLines:14922765.6 %
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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             :   bool            is_initialized_ = false;
+      45             : 
+      46             :   // | ----------------------- parameters ----------------------- |
+      47             : 
+      48             :   std::vector<std::string> _estimator_type_names_;
+      49             : 
+      50             :   std::vector<std::string>                                       _constraint_names_;
+      51             :   std::map<std::string, mrs_msgs::DynamicsConstraintsSrvRequest> _constraints_;
+      52             : 
+      53             :   std::map<std::string, std::vector<std::string>> _map_type_allowed_constraints_;
+      54             :   std::map<std::string, std::string>              _map_type_default_constraints_;
+      55             : 
+      56             :   // | --------------------- service clients -------------------- |
+      57             : 
+      58             :   mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv> sc_set_constraints_;
+      59             : 
+      60             :   // | ----------------------- subscribers ---------------------- |
+      61             : 
+      62             :   mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics> sh_estimation_diag_;
+      63             : 
+      64             :   // | ------------- constraint management ------------- |
+      65             : 
+      66             :   bool setConstraints(std::string constraints_names);
+      67             : 
+      68             :   ros::ServiceServer service_server_set_constraints_;
+      69             :   bool               callbackSetConstraints(mrs_msgs::String::Request& req, mrs_msgs::String::Response& res);
+      70             : 
+      71             :   std::string last_estimator_name_;
+      72             :   std::mutex  mutex_last_estimator_name_;
+      73             : 
+      74             :   void       timerConstraintManagement(const ros::TimerEvent& event);
+      75             :   ros::Timer timer_constraint_management_;
+      76             :   double     _constraint_management_rate_;
+      77             : 
+      78             :   std::string current_constraints_;
+      79             :   std::mutex  mutex_current_constraints_;
+      80             : 
+      81             :   // | ------------------ constraints override ------------------ |
+      82             : 
+      83             :   ros::ServiceServer service_server_constraints_override_;
+      84             :   bool               callbackConstraintsOverride(mrs_msgs::ConstraintsOverride::Request& req, mrs_msgs::ConstraintsOverride::Response& res);
+      85             : 
+      86             :   std::atomic<bool>                    override_constraints_         = false;
+      87             :   std::atomic<bool>                    constraints_override_updated_ = false;
+      88             :   std::mutex                           mutex_constraints_override_;
+      89             :   mrs_msgs::ConstraintsOverrideRequest constraints_override_;
+      90             : 
+      91             :   // | ------------------ diagnostics publisher ----------------- |
+      92             : 
+      93             :   mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics> ph_diagnostics_;
+      94             : 
+      95             :   void       timerDiagnostics(const ros::TimerEvent& event);
+      96             :   ros::Timer timer_diagnostics_;
+      97             :   double     _diagnostics_rate_;
+      98             : 
+      99             :   // | ------------------------ profiler ------------------------ |
+     100             : 
+     101             :   mrs_lib::Profiler profiler_;
+     102             :   bool              _profiler_enabled_ = false;
+     103             : 
+     104             :   // | ------------------- scope timer logger ------------------- |
+     105             : 
+     106             :   bool                                       scope_timer_enabled_ = false;
+     107             :   std::shared_ptr<mrs_lib::ScopeTimerLogger> scope_timer_logger_;
+     108             : 
+     109             :   // | ------------------------- helpers ------------------------ |
+     110             : 
+     111             :   bool stringInVector(const std::string& value, const std::vector<std::string>& vector);
+     112             : };
+     113             : 
+     114             : //}
+     115             : 
+     116             : /* //{ onInit() */
+     117             : 
+     118          65 : void ConstraintManager::onInit() {
+     119             : 
+     120          65 :   nh_ = nodelet::Nodelet::getMTPrivateNodeHandle();
+     121             : 
+     122          65 :   ros::Time::waitForValid();
+     123             : 
+     124          65 :   ROS_INFO("[ConstraintManager]: initializing");
+     125             : 
+     126             :   // | ------------------------- params ------------------------- |
+     127             : 
+     128         130 :   mrs_lib::ParamLoader param_loader(nh_, "ConstraintManager");
+     129             : 
+     130         130 :   std::string custom_config_path;
+     131         130 :   std::string platform_config_path;
+     132             : 
+     133          65 :   param_loader.loadParam("custom_config", custom_config_path);
+     134          65 :   param_loader.loadParam("platform_config", platform_config_path);
+     135             : 
+     136          65 :   if (custom_config_path != "") {
+     137          65 :     param_loader.addYamlFile(custom_config_path);
+     138             :   }
+     139             : 
+     140          65 :   if (platform_config_path != "") {
+     141          65 :     param_loader.addYamlFile(platform_config_path);
+     142             :   }
+     143             : 
+     144          65 :   param_loader.addYamlFileFromParam("private_config");
+     145          65 :   param_loader.addYamlFileFromParam("public_config");
+     146          65 :   param_loader.addYamlFileFromParam("public_constraints");
+     147             : 
+     148         130 :   const std::string yaml_prefix = "mrs_uav_managers/constraint_manager/";
+     149             : 
+     150             :   // params passed from the launch file are not prefixed
+     151          65 :   param_loader.loadParam("enable_profiler", _profiler_enabled_);
+     152             : 
+     153          65 :   param_loader.loadParam(yaml_prefix + "constraints", _constraint_names_);
+     154             : 
+     155          65 :   param_loader.loadParam(yaml_prefix + "estimator_types", _estimator_type_names_);
+     156             : 
+     157          65 :   param_loader.loadParam(yaml_prefix + "rate", _constraint_management_rate_);
+     158          65 :   param_loader.loadParam(yaml_prefix + "diagnostics_rate", _diagnostics_rate_);
+     159             : 
+     160          65 :   std::vector<std::string>::iterator it;
+     161             : 
+     162             :   // loading constraint names
+     163         260 :   for (it = _constraint_names_.begin(); it != _constraint_names_.end(); ++it) {
+     164             : 
+     165         195 :     ROS_INFO_STREAM("[ConstraintManager]: loading constraints '" << *it << "'");
+     166             : 
+     167         195 :     mrs_msgs::DynamicsConstraintsSrvRequest new_constraints;
+     168             : 
+     169         195 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/speed", new_constraints.constraints.horizontal_speed);
+     170         195 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/acceleration", new_constraints.constraints.horizontal_acceleration);
+     171         195 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/jerk", new_constraints.constraints.horizontal_jerk);
+     172         195 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/snap", new_constraints.constraints.horizontal_snap);
+     173             : 
+     174         195 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/ascending/speed", new_constraints.constraints.vertical_ascending_speed);
+     175         195 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/ascending/acceleration", new_constraints.constraints.vertical_ascending_acceleration);
+     176         195 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/ascending/jerk", new_constraints.constraints.vertical_ascending_jerk);
+     177         195 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/ascending/snap", new_constraints.constraints.vertical_ascending_snap);
+     178             : 
+     179         195 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/descending/speed", new_constraints.constraints.vertical_descending_speed);
+     180         195 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/descending/acceleration", new_constraints.constraints.vertical_descending_acceleration);
+     181         195 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/descending/jerk", new_constraints.constraints.vertical_descending_jerk);
+     182         195 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/descending/snap", new_constraints.constraints.vertical_descending_snap);
+     183             : 
+     184         195 :     param_loader.loadParam(yaml_prefix + *it + "/heading/speed", new_constraints.constraints.heading_speed);
+     185         195 :     param_loader.loadParam(yaml_prefix + *it + "/heading/acceleration", new_constraints.constraints.heading_acceleration);
+     186         195 :     param_loader.loadParam(yaml_prefix + *it + "/heading/jerk", new_constraints.constraints.heading_jerk);
+     187         195 :     param_loader.loadParam(yaml_prefix + *it + "/heading/snap", new_constraints.constraints.heading_snap);
+     188             : 
+     189         195 :     param_loader.loadParam(yaml_prefix + *it + "/angular_speed/roll", new_constraints.constraints.roll_rate);
+     190         195 :     param_loader.loadParam(yaml_prefix + *it + "/angular_speed/pitch", new_constraints.constraints.pitch_rate);
+     191         195 :     param_loader.loadParam(yaml_prefix + *it + "/angular_speed/yaw", new_constraints.constraints.yaw_rate);
+     192             : 
+     193             :     double tilt_deg;
+     194             : 
+     195         195 :     param_loader.loadParam(yaml_prefix + *it + "/tilt", tilt_deg);
+     196             : 
+     197         195 :     new_constraints.constraints.tilt = M_PI * (tilt_deg / 180.0);
+     198             : 
+     199         195 :     _constraints_.insert(std::pair<std::string, mrs_msgs::DynamicsConstraintsSrvRequest>(*it, new_constraints));
+     200             :   }
+     201             : 
+     202             :   // loading the allowed constraints lists
+     203         520 :   for (it = _estimator_type_names_.begin(); it != _estimator_type_names_.end(); ++it) {
+     204             : 
+     205         455 :     std::vector<std::string> temp_vector;
+     206         455 :     param_loader.loadParam(yaml_prefix + "allowed_constraints/" + *it, temp_vector);
+     207             : 
+     208         455 :     std::vector<std::string>::iterator it2;
+     209        1690 :     for (it2 = temp_vector.begin(); it2 != temp_vector.end(); ++it2) {
+     210        1235 :       if (!stringInVector(*it2, _constraint_names_)) {
+     211           0 :         ROS_ERROR("[ConstraintManager]: the element '%s' of %s/allowed_constraints is not a valid constraint!", it2->c_str(), it->c_str());
+     212           0 :         ros::shutdown();
+     213             :       }
+     214             :     }
+     215             : 
+     216         455 :     _map_type_allowed_constraints_.insert(std::pair<std::string, std::vector<std::string>>(*it, temp_vector));
+     217             :   }
+     218             : 
+     219             :   // loading the default constraints
+     220         520 :   for (it = _estimator_type_names_.begin(); it != _estimator_type_names_.end(); ++it) {
+     221             : 
+     222         455 :     std::string temp_str;
+     223         455 :     param_loader.loadParam(yaml_prefix + "default_constraints/" + *it, temp_str);
+     224             : 
+     225         455 :     if (!stringInVector(temp_str, _map_type_allowed_constraints_.at(*it))) {
+     226           0 :       ROS_ERROR("[ConstraintManager]: the element '%s' of %s/allowed_constraints is not a valid constraint!", temp_str.c_str(), it->c_str());
+     227           0 :       ros::shutdown();
+     228             :     }
+     229             : 
+     230         455 :     _map_type_default_constraints_.insert(std::pair<std::string, std::string>(*it, temp_str));
+     231             :   }
+     232             : 
+     233          65 :   ROS_INFO("[ConstraintManager]: done loading dynamical params");
+     234             : 
+     235          65 :   current_constraints_ = "";
+     236          65 :   last_estimator_name_ = "";
+     237             : 
+     238             :   // | ------------------------ services ------------------------ |
+     239             : 
+     240          65 :   service_server_set_constraints_ = nh_.advertiseService("set_constraints_in", &ConstraintManager::callbackSetConstraints, this);
+     241             : 
+     242          65 :   service_server_constraints_override_ = nh_.advertiseService("constraints_override_in", &ConstraintManager::callbackConstraintsOverride, this);
+     243             : 
+     244          65 :   sc_set_constraints_ = mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>(nh_, "set_constraints_out");
+     245             : 
+     246             :   // | ----------------------- subscribers ---------------------- |
+     247             : 
+     248         130 :   mrs_lib::SubscribeHandlerOptions shopts;
+     249          65 :   shopts.nh                 = nh_;
+     250          65 :   shopts.node_name          = "ConstraintManager";
+     251          65 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     252          65 :   shopts.threadsafe         = true;
+     253          65 :   shopts.autostart          = true;
+     254          65 :   shopts.queue_size         = 10;
+     255          65 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     256             : 
+     257          65 :   sh_estimation_diag_ = mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics>(shopts, "estimation_diagnostics_in");
+     258             : 
+     259             :   // | ----------------------- publishers ----------------------- |
+     260             : 
+     261          65 :   ph_diagnostics_ = mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics>(nh_, "diagnostics_out", 1);
+     262             : 
+     263             :   // | ------------------------- timers ------------------------- |
+     264             : 
+     265          65 :   timer_constraint_management_ = nh_.createTimer(ros::Rate(_constraint_management_rate_), &ConstraintManager::timerConstraintManagement, this);
+     266          65 :   timer_diagnostics_           = nh_.createTimer(ros::Rate(_diagnostics_rate_), &ConstraintManager::timerDiagnostics, this);
+     267             : 
+     268             :   // | ------------------------ profiler ------------------------ |
+     269             : 
+     270          65 :   profiler_ = mrs_lib::Profiler(nh_, "ConstraintManager", _profiler_enabled_);
+     271             : 
+     272             :   // | ------------------- scope timer logger ------------------- |
+     273             : 
+     274          65 :   param_loader.loadParam(yaml_prefix + "scope_timer/enabled", scope_timer_enabled_);
+     275         195 :   const std::string scope_timer_log_filename = param_loader.loadParam2("scope_timer/log_filename", std::string(""));
+     276          65 :   scope_timer_logger_                        = std::make_shared<mrs_lib::ScopeTimerLogger>(scope_timer_log_filename, scope_timer_enabled_);
+     277             : 
+     278             :   // | ----------------------- finish init ---------------------- |
+     279             : 
+     280          65 :   if (!param_loader.loadedSuccessfully()) {
+     281           0 :     ROS_ERROR("[ConstraintManager]: Could not load all parameters!");
+     282           0 :     ros::shutdown();
+     283             :   }
+     284             : 
+     285          65 :   is_initialized_ = true;
+     286             : 
+     287          65 :   ROS_INFO("[ConstraintManager]: initialized");
+     288             : 
+     289          65 :   ROS_DEBUG("[ConstraintManager]: debug output is enabled");
+     290          65 : }
+     291             : 
+     292             : //}
+     293             : 
+     294             : // --------------------------------------------------------------
+     295             : // |                           methods                          |
+     296             : // --------------------------------------------------------------
+     297             : 
+     298             : /* setConstraints() //{ */
+     299             : 
+     300          65 : bool ConstraintManager::setConstraints(std::string constraints_name) {
+     301             : 
+     302          65 :   std::map<std::string, mrs_msgs::DynamicsConstraintsSrvRequest>::iterator it;
+     303          65 :   it = _constraints_.find(constraints_name);
+     304             : 
+     305          65 :   if (it == _constraints_.end()) {
+     306           0 :     ROS_ERROR("[ConstraintManager]: could not setConstraints(), the constraint name '%s' is not on the list", constraints_name.c_str());
+     307           0 :     return false;
+     308             :   }
+     309             : 
+     310         130 :   mrs_msgs::DynamicsConstraintsSrv srv_call;
+     311             : 
+     312          65 :   srv_call.request = it->second;
+     313             : 
+     314          65 :   if (override_constraints_) {
+     315             : 
+     316           0 :     auto constraints_override = mrs_lib::get_mutexed(mutex_constraints_override_, constraints_override_);
+     317             : 
+     318           0 :     if (constraints_override.acceleration_horizontal > 0 &&
+     319           0 :         constraints_override.acceleration_horizontal <= srv_call.request.constraints.horizontal_acceleration) {
+     320           0 :       srv_call.request.constraints.horizontal_acceleration = constraints_override.acceleration_horizontal;
+     321             :     } else {
+     322           0 :       ROS_ERROR_THROTTLE(1.0, "[ConstraintManager]: required horizontal acceleration override is out of bounds");
+     323             :     }
+     324             : 
+     325           0 :     if (constraints_override.acceleration_vertical > 0 &&
+     326           0 :         constraints_override.acceleration_vertical <= srv_call.request.constraints.vertical_ascending_acceleration &&
+     327           0 :         constraints_override.acceleration_vertical <= srv_call.request.constraints.vertical_descending_acceleration) {
+     328           0 :       srv_call.request.constraints.vertical_ascending_acceleration  = constraints_override.acceleration_vertical;
+     329           0 :       srv_call.request.constraints.vertical_descending_acceleration = constraints_override.acceleration_vertical;
+     330             :     } else {
+     331           0 :       ROS_ERROR_THROTTLE(1.0, "[ConstraintManager]: required vertical acceleration override is out of bounds");
+     332             :     }
+     333             :   }
+     334             : 
+     335          65 :   bool res = sc_set_constraints_.call(srv_call);
+     336             : 
+     337          65 :   if (!res) {
+     338             : 
+     339           0 :     ROS_WARN_THROTTLE(1.0, "[ConstraintManager]: the service for setting constraints has failed!");
+     340           0 :     return false;
+     341             : 
+     342             :   } else {
+     343             : 
+     344          65 :     if (srv_call.response.success) {
+     345             : 
+     346          65 :       mrs_lib::set_mutexed(mutex_current_constraints_, constraints_name, current_constraints_);
+     347          65 :       return true;
+     348             : 
+     349             :     } else {
+     350             : 
+     351           0 :       ROS_WARN_THROTTLE(1.0, "[ConstraintManager]: set service for setting constraints returned: '%s'", srv_call.response.message.c_str());
+     352           0 :       return false;
+     353             :     }
+     354             :   }
+     355             : }
+     356             : 
+     357             : //}
+     358             : 
+     359             : // --------------------------------------------------------------
+     360             : // |                          callbacks                         |
+     361             : // --------------------------------------------------------------
+     362             : 
+     363             : // | -------------------- service callbacks ------------------- |
+     364             : 
+     365             : /* //{ callbackSetConstraints() */
+     366             : 
+     367           0 : bool ConstraintManager::callbackSetConstraints(mrs_msgs::String::Request& req, mrs_msgs::String::Response& res) {
+     368             : 
+     369           0 :   if (!is_initialized_) {
+     370           0 :     return false;
+     371             :   }
+     372             : 
+     373           0 :   std::stringstream ss;
+     374             : 
+     375           0 :   if (!sh_estimation_diag_.hasMsg()) {
+     376             : 
+     377           0 :     ss << "missing odometry diagnostics";
+     378             : 
+     379           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ConstraintManager]: " << ss.str());
+     380             : 
+     381           0 :     res.message = ss.str();
+     382           0 :     res.success = false;
+     383           0 :     return true;
+     384             :   }
+     385             : 
+     386           0 :   auto estimation_diagnostics = *sh_estimation_diag_.getMsg();
+     387             : 
+     388           0 :   if (!stringInVector(req.value, _constraint_names_)) {
+     389             : 
+     390           0 :     ss << "the constraints '" << req.value.c_str() << "' do not exist (in the ConstraintManager's config)";
+     391             : 
+     392           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ConstraintManager]: " << ss.str());
+     393             : 
+     394           0 :     res.message = ss.str();
+     395           0 :     res.success = false;
+     396           0 :     return true;
+     397             :   }
+     398             : 
+     399           0 :   if (!stringInVector(req.value, _map_type_allowed_constraints_.at(estimation_diagnostics.current_state_estimator))) {
+     400             : 
+     401           0 :     ss << "the constraints '" << req.value.c_str() << "' are not allowed given the current odometry type";
+     402             : 
+     403           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ConstraintManager]: " << ss.str());
+     404             : 
+     405           0 :     res.message = ss.str();
+     406           0 :     res.success = false;
+     407           0 :     return true;
+     408             :   }
+     409             : 
+     410           0 :   override_constraints_ = false;
+     411             : 
+     412             :   // try to set the constraints
+     413           0 :   if (!setConstraints(req.value)) {
+     414             : 
+     415           0 :     ss << "the ControlManager could not set the constraints";
+     416             : 
+     417           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ConstraintManager]: " << ss.str());
+     418             : 
+     419           0 :     res.message = ss.str();
+     420           0 :     res.success = false;
+     421           0 :     return true;
+     422             : 
+     423             :   } else {
+     424             : 
+     425           0 :     ss << "the constraints '" << req.value.c_str() << "' were set";
+     426             : 
+     427           0 :     ROS_INFO_STREAM_THROTTLE(1.0, "[ConstraintManager]: " << ss.str());
+     428             : 
+     429           0 :     res.message = ss.str();
+     430           0 :     res.success = true;
+     431           0 :     return true;
+     432             :   }
+     433             : }
+     434             : 
+     435             : //}
+     436             : 
+     437             : /* callackConstraintsOverride() //{ */
+     438             : 
+     439           0 : bool ConstraintManager::callbackConstraintsOverride(mrs_msgs::ConstraintsOverride::Request& req, mrs_msgs::ConstraintsOverride::Response& res) {
+     440             : 
+     441           0 :   if (!is_initialized_) {
+     442           0 :     return false;
+     443             :   }
+     444             : 
+     445             :   {
+     446           0 :     std::scoped_lock lock(mutex_constraints_override_);
+     447             : 
+     448           0 :     constraints_override_ = req;
+     449             :   }
+     450             : 
+     451           0 :   override_constraints_         = true;
+     452           0 :   constraints_override_updated_ = true;
+     453             : 
+     454           0 :   ROS_INFO_THROTTLE(0.1, "[ConstraintManager]: setting constraints override");
+     455             : 
+     456           0 :   res.message = "override set";
+     457           0 :   res.success = true;
+     458             : 
+     459           0 :   return true;
+     460             : }
+     461             : 
+     462             : //}
+     463             : 
+     464             : // --------------------------------------------------------------
+     465             : // |                           timers                           |
+     466             : // --------------------------------------------------------------
+     467             : 
+     468             : /* timerConstraintManagement() //{ */
+     469             : 
+     470       13931 : void ConstraintManager::timerConstraintManagement(const ros::TimerEvent& event) {
+     471             : 
+     472       13931 :   if (!is_initialized_) {
+     473        3288 :     return;
+     474             :   }
+     475             : 
+     476       27862 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerConstraintManagement", _constraint_management_rate_, 0.01, event);
+     477       27862 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ContraintManager::timerConstraintManagement", scope_timer_logger_, scope_timer_enabled_);
+     478             : 
+     479       13931 :   auto current_constraints = mrs_lib::get_mutexed(mutex_current_constraints_, current_constraints_);
+     480       13931 :   auto last_estimator_name = mrs_lib::get_mutexed(mutex_last_estimator_name_, last_estimator_name_);
+     481             : 
+     482       13931 :   if (!sh_estimation_diag_.hasMsg()) {
+     483        3288 :     return;
+     484             :   }
+     485             : 
+     486       10643 :   auto estimation_diagnostics = *sh_estimation_diag_.getMsg();
+     487             : 
+     488             :   // | --- automatically set constraints when the state estimator changes -- |
+     489       10643 :   if (estimation_diagnostics.current_state_estimator != last_estimator_name_) {
+     490             : 
+     491          69 :     ROS_INFO_THROTTLE(1.0, "[ConstraintManager]: the state estimator has changed! %s -> %s", last_estimator_name_.c_str(),
+     492             :                       estimation_diagnostics.current_state_estimator.c_str());
+     493             : 
+     494          69 :     std::map<std::string, std::string>::iterator it;
+     495          69 :     it = _map_type_default_constraints_.find(estimation_diagnostics.current_state_estimator);
+     496             : 
+     497          69 :     if (it == _map_type_default_constraints_.end()) {
+     498             : 
+     499           0 :       ROS_WARN_THROTTLE(1.0, "[ConstraintManager]: the state estimator type '%s' was not specified in the constraint_manager's config!",
+     500             :                         estimation_diagnostics.current_state_estimator.c_str());
+     501             : 
+     502             :     } else {
+     503             : 
+     504             :       // if the current constraints are within the allowed state estimator types, do nothing
+     505          69 :       if (stringInVector(current_constraints, _map_type_allowed_constraints_.at(estimation_diagnostics.current_state_estimator))) {
+     506             : 
+     507           4 :         last_estimator_name = estimation_diagnostics.current_state_estimator;
+     508             : 
+     509             :         // else, try to set the initial constraints
+     510             :       } else {
+     511             : 
+     512          65 :         ROS_WARN_THROTTLE(1.0, "[ConstraintManager]: the current constraints '%s' are not within the allowed constraints for '%s'", current_constraints.c_str(),
+     513             :                           estimation_diagnostics.current_state_estimator.c_str());
+     514             : 
+     515          65 :         if (setConstraints(it->second)) {
+     516             : 
+     517          65 :           last_estimator_name = estimation_diagnostics.current_state_estimator;
+     518             : 
+     519          65 :           ROS_INFO_THROTTLE(1.0, "[ConstraintManager]: constraints set to initial: '%s'", it->second.c_str());
+     520             : 
+     521             :         } else {
+     522             : 
+     523           0 :           ROS_WARN_THROTTLE(1.0, "[ConstraintManager]: could not set constraints!");
+     524             :         }
+     525             :       }
+     526             :     }
+     527             :   }
+     528             : 
+     529       10643 :   if (constraints_override_updated_) {
+     530             : 
+     531           0 :     std::map<std::string, std::string>::iterator it;
+     532           0 :     it = _map_type_default_constraints_.find(last_estimator_name_);
+     533             : 
+     534           0 :     ROS_INFO_THROTTLE(0.1, "[ConstraintManager]: re-setting constraints with user value override");
+     535             : 
+     536           0 :     if (setConstraints(it->second)) {
+     537           0 :       constraints_override_updated_ = false;
+     538             :     } else {
+     539           0 :       ROS_WARN_THROTTLE(1.0, "[ConstraintManager]: could not re-set the constraints!");
+     540             :     }
+     541             :   }
+     542             : 
+     543       10643 :   mrs_lib::set_mutexed(mutex_last_estimator_name_, last_estimator_name, last_estimator_name_);
+     544             : }
+     545             : 
+     546             : //}
+     547             : 
+     548             : /* timerDiagnostics() //{ */
+     549             : 
+     550        1367 : void ConstraintManager::timerDiagnostics(const ros::TimerEvent& event) {
+     551             : 
+     552        1367 :   if (!is_initialized_) {
+     553         321 :     return;
+     554             :   }
+     555             : 
+     556        2734 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerDiagnostics", _diagnostics_rate_, 0.01, event);
+     557        2734 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ContraintManager::timerDiagnostics", scope_timer_logger_, scope_timer_enabled_);
+     558             : 
+     559        1367 :   if (!sh_estimation_diag_.hasMsg()) {
+     560         321 :     ROS_WARN_THROTTLE(10.0, "[ConstraintManager]: can not do constraint management, missing estimation diagnostics!");
+     561         321 :     return;
+     562             :   }
+     563             : 
+     564        2092 :   auto estimation_diagnostics = *sh_estimation_diag_.getMsg();
+     565             : 
+     566        2092 :   auto current_constraints = mrs_lib::get_mutexed(mutex_current_constraints_, current_constraints_);
+     567             : 
+     568        2092 :   mrs_msgs::ConstraintManagerDiagnostics diagnostics;
+     569             : 
+     570        1046 :   diagnostics.stamp        = ros::Time::now();
+     571        1046 :   diagnostics.current_name = current_constraints;
+     572        1046 :   diagnostics.loaded       = _constraint_names_;
+     573             : 
+     574             :   // get the available constraints
+     575             :   {
+     576        1046 :     std::map<std::string, std::vector<std::string>>::iterator it;
+     577        1046 :     it = _map_type_allowed_constraints_.find(estimation_diagnostics.current_state_estimator);
+     578             : 
+     579        1046 :     if (it == _map_type_allowed_constraints_.end()) {
+     580           0 :       ROS_WARN_THROTTLE(1.0, "[ConstraintManager]: the odometry.type '%s' was not specified in the constraint_manager's config!",
+     581             :                         estimation_diagnostics.current_state_estimator.c_str());
+     582             :     } else {
+     583        1046 :       diagnostics.available = it->second;
+     584             :     }
+     585             :   }
+     586             : 
+     587             :   // get the current constraint values
+     588             :   {
+     589        1046 :     std::map<std::string, mrs_msgs::DynamicsConstraintsSrvRequest>::iterator it;
+     590        1046 :     it = _constraints_.find(current_constraints);
+     591             : 
+     592        1046 :     diagnostics.current_values = it->second.constraints;
+     593             :   }
+     594             : 
+     595        1046 :   ph_diagnostics_.publish(diagnostics);
+     596             : }
+     597             : 
+     598             : //}
+     599             : 
+     600             : // --------------------------------------------------------------
+     601             : // |                          routines                          |
+     602             : // --------------------------------------------------------------
+     603             : 
+     604             : /* stringInVector() //{ */
+     605             : 
+     606        1759 : bool ConstraintManager::stringInVector(const std::string& value, const std::vector<std::string>& vector) {
+     607             : 
+     608        1759 :   if (std::find(vector.begin(), vector.end(), value) == vector.end()) {
+     609          65 :     return false;
+     610             :   } else {
+     611        1694 :     return true;
+     612             :   }
+     613             : }
+     614             : 
+     615             : //}
+     616             : 
+     617             : }  // namespace constraint_manager
+     618             : 
+     619             : }  // namespace mrs_uav_managers
+     620             : 
+     621             : #include <pluginlib/class_list_macros.h>
+     622          65 : PLUGINLIB_EXPORT_CLASS(mrs_uav_managers::constraint_manager::ConstraintManager, nodelet::Nodelet)
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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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..637b9ed6eef252b61efd55da7f5e6f6d74642fba GIT binary patch literal 2164 zcmV-)2#fcLP)y?m8!+ z$c*5BC#Eej1bL%sb#%&sH@$VNs)&M)Ai4b;wR%oRG#MOc)Zne1K26hSM=aY}N65?um_Sil6aaL*pW{Ct-9CY?^6ZoBL$M zIL6rNj`7kRG9nq6F#zOxj|7*7=*WQ5MUQwxcu0PXXtmY^}C|8HtDhIk1p0B<6hGNRe6#F#lPJt~a>3I)_DEv$xq%Qr!C z|LNZ77Mr>uZrid!T3$2_%zJ`yTi1=EwH^^tiLnkb`k)?>NL-v>>Rfo`>cLo5TOEV5 zN*OuMdWR?YWk$%k1xC5(=(S}%lapm6W#`5ZFAgGQRKyxYwxA@dW8SzP(2=D?G|RV2 z88N0R&1|l?PpTtYRfvOc$>X)e@Bf^#QT{G*tBgr#St!^Zh`5b4BjPdTba_!UU|*X= zlVgK2)?v0@=&;WrF3qjgG+Xrh$)PZYNS}3!*=+g*rACW!zqD!c7 zQCO>{01I9Gs~M%D`!6A>9SD||93+75@jL>e~e*muF#5ZP3%jv#<1 zag2)5^`YJjc{^JtxD2S&vCBT!O{IVwz9#R;0KujJR43=xb&(n4S+RPn^L(M!n+Kwr zu?5Y3{@543N)c5vC!?&I(Udd6fZMWA=x}ChCb{ttjrh^W`G+oAkyMLWq3I3-ml1wSM$+qHc~$Zkmr(*Z2(WEn8B9RQr%oZW$C z+*W+`m{0U@U(zrIyB7!8@nilc6}V6ySo_DvGuODt)$36S5C>0{&QOeA3 zmWA(VS`oX-YTuw+5#MgCj{_;GtO_wv5j?uOq6*Pg4h2sl#(Tv5ZmHm@qyP@ds%EI8 zP;{CUuqIEemLl4uut4WiKs3*XpMf2^%Kl$cl#+rAA*N0tj0J$E$4x>AD{+T^I7S`f zZwVoE2d{#nYBu9=IOkcY4ASi32E@wjiS0cbAO5c$fK=%3g*voyAUwFwuExJ?NqfO8`Jw8taQy-a^;4t8-+Mlt5 z5}1y&Q}WJ^M8@RJ%e`0<_mnbRCpx)8#oW?RL`D*tTExUZ&Pzs&F4lcxn6^_~5c{<_ z*RCZs-*HU8myF56oT{?O-Lat!7+BY(OcGRlsTDw@Ji*wdWG q + + + + + + 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:23056340.9 %
Date:2024-01-20 21:44:18Functions: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&)65
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&)451
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&)471
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&)482
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&)504
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&)1012
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&)1023
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&)1025
mrs_uav_managers::control_manager::RCChannelToRange(double, double, double)2176
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&)3767
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&)3768
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&)4627
mrs_uav_managers::control_manager::initializeHwApiCmd(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> >&, double const&)9318
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&)9318
mrs_uav_managers::control_manager::getLowestOuput(mrs_uav_managers::control_manager::ControlOutputModalities_t const&)9650
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&)52390
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&)61538
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&)71248
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&)79083
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&)87828
mrs_uav_managers::control_manager::extractThrottle(mrs_uav_managers::Controller::ControlOutput const&)97681
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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..52672b1a35 --- /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:23056340.9 %
Date:2024-01-20 21:44:18Functions: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&)1012
mrs_uav_managers::control_manager::getLowestOuput(mrs_uav_managers::control_manager::ControlOutputModalities_t const&)9650
mrs_uav_managers::control_manager::extractThrottle(mrs_uav_managers::Controller::ControlOutput const&)97681
mrs_uav_managers::control_manager::getHighestOuput(mrs_uav_managers::control_manager::ControlOutputModalities_t const&)0
mrs_uav_managers::control_manager::RCChannelToRange(double, double, double)2176
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&)87828
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&)4627
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&)9318
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&)71248
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&)61538
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&)9318
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&)3768
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&)79083
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&)482
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&)471
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&)65
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&)451
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&)52390
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&)3767
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&)1025
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&)504
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&)1023
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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..7911e43087 --- /dev/null +++ b/mrs_uav_managers/src/control_manager/common/common.cpp.gcov.html @@ -0,0 +1,1301 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/control_manager/common/common.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_managers/src/control_manager/common - common.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:23056340.9 %
Date:2024-01-20 21:44:18Functions: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        1012 : std::optional<unsigned int> idxInVector(const std::string& str, const std::vector<std::string>& vec) {
+      12             : 
+      13        2849 :   for (unsigned int i = 0; i < vec.size(); i++) {
+      14        2847 :     if (str == vec[i]) {
+      15        1010 :       return {i};
+      16             :     }
+      17             :   }
+      18             : 
+      19           2 :   return {};
+      20             : }
+      21             : 
+      22             : //}
+      23             : 
+      24             : /* validateTrackerCommand() //{ */
+      25             : 
+      26       61538 : bool validateTrackerCommand(const std::optional<mrs_msgs::TrackerCommand>& msg, const std::string& node_name, const std::string& var_name) {
+      27             : 
+      28       61538 :   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       61538 :   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       61538 :   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       61538 :   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       61538 :   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       61538 :   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       61538 :   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       61538 :   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       61538 :   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       61538 :   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       61538 :   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       61538 :   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       61538 :   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       61538 :   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       61538 :   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       61538 :   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       61538 :   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       61538 :   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       61538 :   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       61538 :   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       61538 :   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       61538 :   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       61538 :   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       61538 :   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       61538 :   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         471 : bool validateVelocityReference(const mrs_msgs::VelocityReference& msg, const std::string& node_name, const std::string& var_name) {
+     237             : 
+     238             :   // check velocity
+     239             : 
+     240         471 :   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         471 :   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         471 :   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         471 :   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         471 :   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         471 :   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         471 :   return true;
+     271             : }
+     272             : 
+     273             : //}
+     274             : 
+     275             : /* validateReference() //{ */
+     276             : 
+     277        4627 : bool validateReference(const mrs_msgs::Reference& msg, const std::string& node_name, const std::string& var_name) {
+     278             : 
+     279             :   // check position
+     280             : 
+     281        4627 :   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        4627 :   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        4627 :   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        4627 :   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        4627 :   return true;
+     304             : }
+     305             : 
+     306             : //}
+     307             : 
+     308             : /* validateUavState() //{ */
+     309             : 
+     310       87828 : bool validateUavState(const mrs_msgs::UavState& msg, const std::string& node_name, const std::string& var_name) {
+     311             : 
+     312             :   // check position
+     313             : 
+     314       87828 :   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       87828 :   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       87828 :   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       87828 :   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       87828 :   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       87828 :   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       87828 :   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       87828 :   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       87828 :   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       87828 :   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       87828 :   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       87828 :   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       87828 :   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       87828 :   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       87828 :   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       87828 :   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       87828 :   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       87828 :   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       87828 :   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       87828 :   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       87828 :   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       87828 :   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       87828 :   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       87828 :   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       87828 :   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       87828 :   return true;
+     454             : }
+     455             : 
+     456             : //}
+     457             : 
+     458             : /* RCChannelToRange() //{ */
+     459             : 
+     460        2176 : double RCChannelToRange(double rc_value, double range, double deadband) {
+     461             : 
+     462        2176 :   double tmp_neg1_to_1 = (rc_value - 0.5) * 2.0;
+     463             : 
+     464        2176 :   if (tmp_neg1_to_1 > 1.0) {
+     465           0 :     tmp_neg1_to_1 = 1.0;
+     466        2176 :   } else if (tmp_neg1_to_1 < -1.0) {
+     467           0 :     tmp_neg1_to_1 = -1.0;
+     468             :   }
+     469             : 
+     470             :   // check the deadband
+     471        2176 :   if (tmp_neg1_to_1 < deadband && tmp_neg1_to_1 > -deadband) {
+     472        1705 :     return 0.0;
+     473             :   }
+     474             : 
+     475         471 :   if (tmp_neg1_to_1 > 0) {
+     476             : 
+     477         261 :     double tmp = (tmp_neg1_to_1 - deadband) / (1.0 - deadband);
+     478             : 
+     479         261 :     return range * tmp;
+     480             : 
+     481             :   } else {
+     482             : 
+     483         210 :     double tmp = (-tmp_neg1_to_1 - deadband) / (1.0 - deadband);
+     484             : 
+     485         210 :     return -range * tmp;
+     486             :   }
+     487             : 
+     488             :   return 0.0;
+     489             : }
+     490             : 
+     491             : //}
+     492             : 
+     493             : /* loadDetailedUavModelParams() //{ */
+     494             : 
+     495          65 : 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         130 :   mrs_lib::ParamLoader param_loader(nh, node_name);
+     499             : 
+     500          65 :   if (custom_config != "") {
+     501          65 :     param_loader.addYamlFile(custom_config);
+     502             :   }
+     503             : 
+     504          65 :   if (platform_config != "") {
+     505          65 :     param_loader.addYamlFile(platform_config);
+     506             :   }
+     507             : 
+     508             :   double arm_length;
+     509             :   double body_height;
+     510             :   double force_constant;
+     511             :   double torque_constant;
+     512             :   double prop_radius;
+     513             :   double rpm_min;
+     514             :   double rpm_max;
+     515             :   double mass;
+     516             : 
+     517          65 :   param_loader.loadParam("uav_mass", mass);
+     518             : 
+     519          65 :   param_loader.loadParam("model_params/arm_length", arm_length);
+     520          65 :   param_loader.loadParam("model_params/body_height", body_height);
+     521             : 
+     522          65 :   param_loader.loadParam("model_params/propulsion/force_constant", force_constant);
+     523          65 :   param_loader.loadParam("model_params/propulsion/torque_constant", torque_constant);
+     524          65 :   param_loader.loadParam("model_params/propulsion/prop_radius", prop_radius);
+     525          65 :   param_loader.loadParam("model_params/propulsion/rpm/min", rpm_min);
+     526          65 :   param_loader.loadParam("model_params/propulsion/rpm/max", rpm_max);
+     527             : 
+     528         195 :   Eigen::MatrixXd allocation_matrix = param_loader.loadMatrixDynamic2("model_params/propulsion/allocation_matrix", 4, -1);
+     529             : 
+     530          65 :   if (!param_loader.loadedSuccessfully()) {
+     531           0 :     ROS_INFO("[%s]: detailed model params not loaded, missing some info", node_name.c_str());
+     532           0 :     return {};
+     533             :   }
+     534             : 
+     535          65 :   int n_motors = allocation_matrix.cols();
+     536             : 
+     537         130 :   DetailedModelParams_t model_params;
+     538             : 
+     539          65 :   model_params.arm_length  = arm_length;
+     540          65 :   model_params.body_height = body_height;
+     541          65 :   model_params.prop_radius = prop_radius;
+     542             : 
+     543         195 :   Eigen::MatrixXd inertia_matrix = param_loader.loadMatrixDynamic2("model_params/inertia_matrix", 3, 3);
+     544             : 
+     545          65 :   if (param_loader.loadedSuccessfully()) {
+     546             : 
+     547           0 :     model_params.inertia = inertia_matrix;
+     548           0 :     ROS_INFO("[%s]: inertia loaded from config file:", node_name.c_str());
+     549           0 :     ROS_INFO_STREAM(model_params.inertia);
+     550             : 
+     551             :   } else {
+     552             : 
+     553             :     // create the inertia matrix
+     554          65 :     model_params.inertia       = Eigen::Matrix3d::Zero();
+     555          65 :     model_params.inertia(0, 0) = mass * (3.0 * arm_length * arm_length + body_height * body_height) / 12.0;
+     556          65 :     model_params.inertia(1, 1) = mass * (3.0 * arm_length * arm_length + body_height * body_height) / 12.0;
+     557          65 :     model_params.inertia(2, 2) = (mass * arm_length * arm_length) / 2.0;
+     558             : 
+     559          65 :     ROS_INFO("[%s]: inertia computed form parameters:", node_name.c_str());
+     560          65 :     ROS_INFO_STREAM(model_params.inertia);
+     561             :   }
+     562             : 
+     563             :   // create the force-torque allocation matrix
+     564          65 :   model_params.force_torque_mixer = allocation_matrix;
+     565          65 :   model_params.force_torque_mixer.row(0) *= arm_length * force_constant;
+     566          65 :   model_params.force_torque_mixer.row(1) *= arm_length * force_constant;
+     567          65 :   model_params.force_torque_mixer.row(2) *= torque_constant * (3.0 * prop_radius) * force_constant;
+     568          65 :   model_params.force_torque_mixer.row(3) *= force_constant;
+     569             : 
+     570             :   // | ------- create the control group allocation matrix ------- |
+     571             : 
+     572             :   // pseudoinverse of the force-torque matrix (maximum norm)
+     573             :   Eigen::MatrixXd alloc_tmp =
+     574         130 :       model_params.force_torque_mixer.transpose() * (model_params.force_torque_mixer * model_params.force_torque_mixer.transpose()).inverse();
+     575             : 
+     576             :   // | ------------- normalize the allocation matrix ------------ |
+     577             :   // this will make it match the PX4 control group mixing
+     578             : 
+     579             :   // the first two columns (roll, pitch)
+     580         325 :   for (int i = 0; i < n_motors; i++) {
+     581         260 :     alloc_tmp.block(i, 0, 1, 2).normalize();
+     582             :   }
+     583             : 
+     584             :   // the 3rd column (yaw)
+     585         325 :   for (int i = 0; i < n_motors; i++) {
+     586         260 :     if (alloc_tmp(i, 2) > 1e-2) {
+     587         130 :       alloc_tmp(i, 2) = 1.0;
+     588         130 :     } else if (alloc_tmp(i, 2) < -1e-2) {
+     589         130 :       alloc_tmp(i, 2) = -1.0;
+     590             :     } else {
+     591           0 :       alloc_tmp(i, 2) = 0.0;
+     592             :     }
+     593             :   }
+     594             : 
+     595             :   // the 4th column (throttle)
+     596         325 :   for (int i = 0; i < n_motors; i++) {
+     597         260 :     alloc_tmp(i, 3) = 1.0;
+     598             :   }
+     599             : 
+     600          65 :   std::cout << "Control group mixer: " << std::endl << alloc_tmp << std::endl;
+     601             : 
+     602          65 :   model_params.control_group_mixer = alloc_tmp;
+     603             : 
+     604          65 :   return model_params;
+     605             : }
+     606             : 
+     607             : //}
+     608             : 
+     609             : /* getLowestOutput() //{ */
+     610             : 
+     611        9650 : CONTROL_OUTPUT getLowestOuput(const ControlOutputModalities_t& outputs) {
+     612             : 
+     613        9650 :   if (outputs.actuators) {
+     614          16 :     return ACTUATORS_CMD;
+     615             :   }
+     616             : 
+     617        9634 :   if (outputs.control_group) {
+     618          16 :     return CONTROL_GROUP;
+     619             :   }
+     620             : 
+     621        9618 :   if (outputs.attitude_rate) {
+     622        9552 :     return ATTITUDE_RATE;
+     623             :   }
+     624             : 
+     625          66 :   if (outputs.attitude) {
+     626          16 :     return ATTITUDE;
+     627             :   }
+     628             : 
+     629          50 :   if (outputs.acceleration_hdg_rate) {
+     630          10 :     return ACCELERATION_HDG_RATE;
+     631             :   }
+     632             : 
+     633          40 :   if (outputs.acceleration_hdg) {
+     634          10 :     return ACCELERATION_HDG;
+     635             :   }
+     636             : 
+     637          30 :   if (outputs.velocity_hdg_rate) {
+     638          10 :     return VELOCITY_HDG_RATE;
+     639             :   }
+     640             : 
+     641          20 :   if (outputs.velocity_hdg) {
+     642          10 :     return VELOCITY_HDG;
+     643             :   }
+     644             : 
+     645          10 :   return POSITION;
+     646             : }
+     647             : 
+     648             : //}
+     649             : 
+     650             : /* getHighestOutput() //{ */
+     651             : 
+     652           0 : CONTROL_OUTPUT getHighestOuput(const ControlOutputModalities_t& outputs) {
+     653             : 
+     654           0 :   if (outputs.position) {
+     655           0 :     return POSITION;
+     656             :   }
+     657             : 
+     658           0 :   if (outputs.velocity_hdg) {
+     659           0 :     return VELOCITY_HDG;
+     660             :   }
+     661             : 
+     662           0 :   if (outputs.velocity_hdg_rate) {
+     663           0 :     return VELOCITY_HDG_RATE;
+     664             :   }
+     665             : 
+     666           0 :   if (outputs.acceleration_hdg) {
+     667           0 :     return ACCELERATION_HDG;
+     668             :   }
+     669             : 
+     670           0 :   if (outputs.acceleration_hdg_rate) {
+     671           0 :     return ACCELERATION_HDG_RATE;
+     672             :   }
+     673             : 
+     674           0 :   if (outputs.attitude) {
+     675           0 :     return ATTITUDE;
+     676             :   }
+     677             : 
+     678           0 :   if (outputs.attitude_rate) {
+     679           0 :     return ATTITUDE_RATE;
+     680             :   }
+     681             : 
+     682           0 :   if (outputs.control_group) {
+     683           0 :     return CONTROL_GROUP;
+     684             :   }
+     685             : 
+     686           0 :   return ACTUATORS_CMD;
+     687             : }
+     688             : 
+     689             : //}
+     690             : 
+     691             : // | -------- extraction of throttle out of hw api cmds ------- |
+     692             : 
+     693             : /* extractThrottle() //{ */
+     694             : 
+     695       97681 : std::optional<double> extractThrottle(const Controller::ControlOutput& control_output) {
+     696             : 
+     697       97681 :   if (!control_output.control_output) {
+     698        6963 :     return {};
+     699             :   }
+     700             : 
+     701      181436 :   return std::visit(HwApiCmdExtractThrottleVisitor(), control_output.control_output.value());
+     702             : }
+     703             : 
+     704             : //}
+     705             : 
+     706             : // | -------------- validation of HW api commands ------------- |
+     707             : 
+     708             : /* validateControlOutput() //{ */
+     709             : 
+     710       71248 : bool validateControlOutput(const Controller::ControlOutput& control_output, const ControlOutputModalities_t& output_modalities, const std::string& node_name,
+     711             :                            const std::string& var_name) {
+     712             : 
+     713       71248 :   if (!control_output.control_output) {
+     714           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: the optional variable '%s' is not set!!!", node_name.c_str(), var_name.c_str());
+     715           0 :     return false;
+     716             :   }
+     717             : 
+     718       71248 :   std::variant<ControlOutputModalities_t> output_modalities_var{output_modalities};
+     719      142496 :   std::variant<std::string>               node_name_var{node_name};
+     720       71248 :   std::variant<std::string>               var_name_var{var_name};
+     721             : 
+     722       71248 :   return std::visit(HwApiValidateVisitor(), control_output.control_output.value(), output_modalities_var, node_name_var, var_name_var);
+     723             : }
+     724             : 
+     725             : //}
+     726             : 
+     727             : /* validateHwApiActuatorCmd() //{ */
+     728             : 
+     729        3768 : bool validateHwApiActuatorCmd(const mrs_msgs::HwApiActuatorCmd& msg, const std::string& node_name, const std::string& var_name) {
+     730             : 
+     731       18840 :   for (size_t i = 0; i < msg.motors.size(); i++) {
+     732       15072 :     if (!std::isfinite(msg.motors[i])) {
+     733           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.motors[%d]'!!!", node_name.c_str(), var_name.c_str(), int(i));
+     734           0 :       return false;
+     735             :     }
+     736             :   }
+     737             : 
+     738        3768 :   return true;
+     739             : }
+     740             : 
+     741             : //}
+     742             : 
+     743             : /* validateHwApiControlGroupCmd() //{ */
+     744             : 
+     745        3767 : bool validateHwApiControlGroupCmd(const mrs_msgs::HwApiControlGroupCmd& msg, const std::string& node_name, const std::string& var_name) {
+     746             : 
+     747        3767 :   if (!std::isfinite(msg.roll)) {
+     748           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.roll'!!!", node_name.c_str(), var_name.c_str());
+     749           0 :     return false;
+     750             :   }
+     751             : 
+     752        3767 :   if (!std::isfinite(msg.pitch)) {
+     753           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.pitch'!!!", node_name.c_str(), var_name.c_str());
+     754           0 :     return false;
+     755             :   }
+     756             : 
+     757        3767 :   if (!std::isfinite(msg.yaw)) {
+     758           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.yaw'!!!", node_name.c_str(), var_name.c_str());
+     759           0 :     return false;
+     760             :   }
+     761             : 
+     762        3767 :   if (!std::isfinite(msg.throttle)) {
+     763           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.throttle'!!!", node_name.c_str(), var_name.c_str());
+     764           0 :     return false;
+     765             :   }
+     766             : 
+     767        3767 :   return true;
+     768             : }
+     769             : 
+     770             : //}
+     771             : 
+     772             : /* validateHwApiAttitudeCmd() //{ */
+     773             : 
+     774       79083 : bool validateHwApiAttitudeCmd(const mrs_msgs::HwApiAttitudeCmd& msg, const std::string& node_name, const std::string& var_name) {
+     775             : 
+     776             :   // check the orientation
+     777             : 
+     778       79083 :   if (!std::isfinite(msg.orientation.x)) {
+     779           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.orientation.x'!!!", node_name.c_str(), var_name.c_str());
+     780           0 :     return false;
+     781             :   }
+     782             : 
+     783       79083 :   if (!std::isfinite(msg.orientation.y)) {
+     784           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.orientation.y'!!!", node_name.c_str(), var_name.c_str());
+     785           0 :     return false;
+     786             :   }
+     787             : 
+     788       79083 :   if (!std::isfinite(msg.orientation.z)) {
+     789           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.orientation.z'!!!", node_name.c_str(), var_name.c_str());
+     790           0 :     return false;
+     791             :   }
+     792             : 
+     793       79083 :   if (!std::isfinite(msg.orientation.w)) {
+     794           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.orientation.w'!!!", node_name.c_str(), var_name.c_str());
+     795           0 :     return false;
+     796             :   }
+     797             : 
+     798             :   // check the throttle
+     799             : 
+     800       79083 :   if (!std::isfinite(msg.throttle)) {
+     801           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.throttle'!!!", node_name.c_str(), var_name.c_str());
+     802           0 :     return false;
+     803             :   }
+     804             : 
+     805       79083 :   return true;
+     806             : }
+     807             : 
+     808             : //}
+     809             : 
+     810             : /* validateHwApiAttitudeRateCmd() //{ */
+     811             : 
+     812       52390 : bool validateHwApiAttitudeRateCmd(const mrs_msgs::HwApiAttitudeRateCmd& msg, const std::string& node_name, const std::string& var_name) {
+     813             : 
+     814             :   // check the body rate
+     815             : 
+     816       52390 :   if (!std::isfinite(msg.body_rate.x)) {
+     817           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.body_rate.x'!!!", node_name.c_str(), var_name.c_str());
+     818           0 :     return false;
+     819             :   }
+     820             : 
+     821       52390 :   if (!std::isfinite(msg.body_rate.y)) {
+     822           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.body_rate.y'!!!", node_name.c_str(), var_name.c_str());
+     823           0 :     return false;
+     824             :   }
+     825             : 
+     826       52390 :   if (!std::isfinite(msg.body_rate.z)) {
+     827           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.body_rate.z'!!!", node_name.c_str(), var_name.c_str());
+     828           0 :     return false;
+     829             :   }
+     830             : 
+     831             :   // check the throttle
+     832             : 
+     833       52390 :   if (!std::isfinite(msg.throttle)) {
+     834           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.throttle'!!!", node_name.c_str(), var_name.c_str());
+     835           0 :     return false;
+     836             :   }
+     837             : 
+     838       52390 :   return true;
+     839             : }
+     840             : 
+     841             : //}
+     842             : 
+     843             : /* validateHwApiAccelerationHdgRateCmd() //{ */
+     844             : 
+     845        1023 : bool validateHwApiAccelerationHdgRateCmd(const mrs_msgs::HwApiAccelerationHdgRateCmd& msg, const std::string& node_name, const std::string& var_name) {
+     846             : 
+     847             :   // | ----------------- check the acceleration ----------------- |
+     848             : 
+     849        1023 :   if (!std::isfinite(msg.acceleration.x)) {
+     850           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.acceleration.x'!!!", node_name.c_str(), var_name.c_str());
+     851           0 :     return false;
+     852             :   }
+     853             : 
+     854        1023 :   if (!std::isfinite(msg.acceleration.y)) {
+     855           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.acceleration.y'!!!", node_name.c_str(), var_name.c_str());
+     856           0 :     return false;
+     857             :   }
+     858             : 
+     859        1023 :   if (!std::isfinite(msg.acceleration.z)) {
+     860           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.acceleration.z'!!!", node_name.c_str(), var_name.c_str());
+     861           0 :     return false;
+     862             :   }
+     863             : 
+     864             :   // check the heading rate
+     865             : 
+     866        1023 :   if (!std::isfinite(msg.heading_rate)) {
+     867           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.heading_rate'!!!", node_name.c_str(), var_name.c_str());
+     868           0 :     return false;
+     869             :   }
+     870             : 
+     871        1023 :   return true;
+     872             : }
+     873             : 
+     874             : //}
+     875             : 
+     876             : /* validateHwApiAccelerationHdgCmd() //{ */
+     877             : 
+     878        1025 : bool validateHwApiAccelerationHdgCmd(const mrs_msgs::HwApiAccelerationHdgCmd& msg, const std::string& node_name, const std::string& var_name) {
+     879             : 
+     880             :   // | ----------------- check the acceleration ----------------- |
+     881             : 
+     882        1025 :   if (!std::isfinite(msg.acceleration.x)) {
+     883           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.acceleration.x'!!!", node_name.c_str(), var_name.c_str());
+     884           0 :     return false;
+     885             :   }
+     886             : 
+     887        1025 :   if (!std::isfinite(msg.acceleration.y)) {
+     888           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.acceleration.y'!!!", node_name.c_str(), var_name.c_str());
+     889           0 :     return false;
+     890             :   }
+     891             : 
+     892        1025 :   if (!std::isfinite(msg.acceleration.z)) {
+     893           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.acceleration.z'!!!", node_name.c_str(), var_name.c_str());
+     894           0 :     return false;
+     895             :   }
+     896             : 
+     897             :   // check the heading
+     898             : 
+     899        1025 :   if (!std::isfinite(msg.heading)) {
+     900           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.heading'!!!", node_name.c_str(), var_name.c_str());
+     901           0 :     return false;
+     902             :   }
+     903             : 
+     904        1025 :   return true;
+     905             : }
+     906             : 
+     907             : //}
+     908             : 
+     909             : /* validateHwApiVelocityHdgRateCmd() //{ */
+     910             : 
+     911         504 : bool validateHwApiVelocityHdgRateCmd(const mrs_msgs::HwApiVelocityHdgRateCmd& msg, const std::string& node_name, const std::string& var_name) {
+     912             : 
+     913             :   // | ----------------- check the velocity ----------------- |
+     914             : 
+     915         504 :   if (!std::isfinite(msg.velocity.x)) {
+     916           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.velocity.x'!!!", node_name.c_str(), var_name.c_str());
+     917           0 :     return false;
+     918             :   }
+     919             : 
+     920         504 :   if (!std::isfinite(msg.velocity.y)) {
+     921           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.velocity.y'!!!", node_name.c_str(), var_name.c_str());
+     922           0 :     return false;
+     923             :   }
+     924             : 
+     925         504 :   if (!std::isfinite(msg.velocity.z)) {
+     926           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.velocity.z'!!!", node_name.c_str(), var_name.c_str());
+     927           0 :     return false;
+     928             :   }
+     929             : 
+     930             :   // check the heading rate
+     931             : 
+     932         504 :   if (!std::isfinite(msg.heading_rate)) {
+     933           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.heading_rate'!!!", node_name.c_str(), var_name.c_str());
+     934           0 :     return false;
+     935             :   }
+     936             : 
+     937         504 :   return true;
+     938             : }
+     939             : 
+     940             : //}
+     941             : 
+     942             : /* validateHwApiVelocityHdgCmd() //{ */
+     943             : 
+     944         451 : bool validateHwApiVelocityHdgCmd(const mrs_msgs::HwApiVelocityHdgCmd& msg, const std::string& node_name, const std::string& var_name) {
+     945             : 
+     946             :   // | ----------------- check the velocity ----------------- |
+     947             : 
+     948         451 :   if (!std::isfinite(msg.velocity.x)) {
+     949           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.velocity.x'!!!", node_name.c_str(), var_name.c_str());
+     950           0 :     return false;
+     951             :   }
+     952             : 
+     953         451 :   if (!std::isfinite(msg.velocity.y)) {
+     954           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.velocity.y'!!!", node_name.c_str(), var_name.c_str());
+     955           0 :     return false;
+     956             :   }
+     957             : 
+     958         451 :   if (!std::isfinite(msg.velocity.z)) {
+     959           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.velocity.z'!!!", node_name.c_str(), var_name.c_str());
+     960           0 :     return false;
+     961             :   }
+     962             : 
+     963             :   // check the heading
+     964             : 
+     965         451 :   if (!std::isfinite(msg.heading)) {
+     966           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.heading'!!!", node_name.c_str(), var_name.c_str());
+     967           0 :     return false;
+     968             :   }
+     969             : 
+     970         451 :   return true;
+     971             : }
+     972             : 
+     973             : //}
+     974             : 
+     975             : /* validateHwApiPositionHdgCmd() //{ */
+     976             : 
+     977         482 : bool validateHwApiPositionCmd(const mrs_msgs::HwApiPositionCmd& msg, const std::string& node_name, const std::string& var_name) {
+     978             : 
+     979             :   // | ----------------- check the position ----------------- |
+     980             : 
+     981         482 :   if (!std::isfinite(msg.position.x)) {
+     982           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.position.x'!!!", node_name.c_str(), var_name.c_str());
+     983           0 :     return false;
+     984             :   }
+     985             : 
+     986         482 :   if (!std::isfinite(msg.position.y)) {
+     987           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.position.y'!!!", node_name.c_str(), var_name.c_str());
+     988           0 :     return false;
+     989             :   }
+     990             : 
+     991         482 :   if (!std::isfinite(msg.position.z)) {
+     992           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.position.z'!!!", node_name.c_str(), var_name.c_str());
+     993           0 :     return false;
+     994             :   }
+     995             : 
+     996             :   // check the heading
+     997             : 
+     998         482 :   if (!std::isfinite(msg.heading)) {
+     999           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.heading'!!!", node_name.c_str(), var_name.c_str());
+    1000           0 :     return false;
+    1001             :   }
+    1002             : 
+    1003         482 :   return true;
+    1004             : }
+    1005             : 
+    1006             : //}
+    1007             : 
+    1008             : // | ------------ initialization of HW api commands ----------- |
+    1009             : 
+    1010             : /* initializeDefaultOutput() //{ */
+    1011             : 
+    1012        9318 : Controller::HwApiOutputVariant initializeDefaultOutput(const ControlOutputModalities_t& possible_outputs, const mrs_msgs::UavState& uav_state,
+    1013             :                                                        const double& min_throttle, const double& n_motors) {
+    1014             : 
+    1015        9318 :   CONTROL_OUTPUT lowest_output = getLowestOuput(possible_outputs);
+    1016             : 
+    1017        9318 :   Controller::HwApiOutputVariant output;
+    1018             : 
+    1019        9318 :   switch (lowest_output) {
+    1020           0 :     case ACTUATORS_CMD: {
+    1021           0 :       output = mrs_msgs::HwApiActuatorCmd();
+    1022           0 :       break;
+    1023             :     }
+    1024           0 :     case CONTROL_GROUP: {
+    1025           0 :       output = mrs_msgs::HwApiControlGroupCmd();
+    1026           0 :       break;
+    1027             :     }
+    1028        9318 :     case ATTITUDE_RATE: {
+    1029        9318 :       output = mrs_msgs::HwApiAttitudeRateCmd();
+    1030        9318 :       break;
+    1031             :     }
+    1032           0 :     case ATTITUDE: {
+    1033           0 :       output = mrs_msgs::HwApiAttitudeCmd();
+    1034           0 :       break;
+    1035             :     }
+    1036           0 :     case ACCELERATION_HDG_RATE: {
+    1037           0 :       output = mrs_msgs::HwApiAccelerationHdgRateCmd();
+    1038           0 :       break;
+    1039             :     }
+    1040           0 :     case ACCELERATION_HDG: {
+    1041           0 :       output = mrs_msgs::HwApiAccelerationHdgCmd();
+    1042           0 :       break;
+    1043             :     }
+    1044           0 :     case VELOCITY_HDG_RATE: {
+    1045           0 :       output = mrs_msgs::HwApiVelocityHdgRateCmd();
+    1046           0 :       break;
+    1047             :     }
+    1048           0 :     case VELOCITY_HDG: {
+    1049           0 :       output = mrs_msgs::HwApiVelocityHdgCmd();
+    1050           0 :       break;
+    1051             :     }
+    1052           0 :     case POSITION: {
+    1053           0 :       output = mrs_msgs::HwApiPositionCmd();
+    1054           0 :       break;
+    1055             :     }
+    1056             :   }
+    1057             : 
+    1058       18636 :   std::variant<mrs_msgs::UavState> uav_state_var{uav_state};
+    1059        9318 :   std::variant<double>             min_throttle_var{min_throttle};
+    1060        9318 :   std::variant<double>             n_motors_var{n_motors};
+    1061             : 
+    1062        9318 :   std::visit(HwApiInitializeVisitor(), output, uav_state_var, min_throttle_var, n_motors_var);
+    1063             : 
+    1064       18636 :   return output;
+    1065             : }  // namespace mrs_uav_managers
+    1066             : 
+    1067             : //}
+    1068             : 
+    1069             : /* initializeHwApiCmd(mrs_msgs::HwApiActuatorCmd& msg) //{ */
+    1070             : 
+    1071           0 : void initializeHwApiCmd(mrs_msgs::HwApiActuatorCmd& msg, const double& min_throttle, const double& n_motors) {
+    1072             : 
+    1073           0 :   msg.stamp = ros::Time::now();
+    1074             : 
+    1075           0 :   for (int i = 0; i < n_motors; i++) {
+    1076           0 :     msg.motors.push_back(min_throttle);
+    1077             :   }
+    1078           0 : }
+    1079             : 
+    1080             : //}
+    1081             : 
+    1082             : /* initializeHwApiCmd(mrs_msgs::HwApiControlGroupCmd& msg) //{ */
+    1083             : 
+    1084           0 : void initializeHwApiCmd(mrs_msgs::HwApiControlGroupCmd& msg, const double& min_throttle) {
+    1085             : 
+    1086           0 :   msg.stamp = ros::Time::now();
+    1087             : 
+    1088           0 :   msg.roll     = 0;
+    1089           0 :   msg.pitch    = 0;
+    1090           0 :   msg.yaw      = 0;
+    1091           0 :   msg.throttle = min_throttle;
+    1092           0 : }
+    1093             : 
+    1094             : //}
+    1095             : 
+    1096             : /* initializeHwApiCmd(mrs_msgs::HwApiAttitudeRateCmd& msg) //{ */
+    1097             : 
+    1098        9318 : void initializeHwApiCmd(mrs_msgs::HwApiAttitudeRateCmd& msg, const double& min_throttle) {
+    1099             : 
+    1100        9318 :   msg.stamp = ros::Time::now();
+    1101             : 
+    1102        9318 :   msg.body_rate.x = 0;
+    1103        9318 :   msg.body_rate.y = 0;
+    1104        9318 :   msg.body_rate.z = 0;
+    1105        9318 :   msg.throttle    = min_throttle;
+    1106        9318 : }
+    1107             : 
+    1108             : //}
+    1109             : 
+    1110             : /* initializeHwApiCmd(mrs_msgs::HwApiAttitudeCmd& msg) //{ */
+    1111             : 
+    1112           0 : void initializeHwApiCmd(mrs_msgs::HwApiAttitudeCmd& msg, const mrs_msgs::UavState& uav_state, const double& min_throttle) {
+    1113             : 
+    1114           0 :   msg.stamp = ros::Time::now();
+    1115             : 
+    1116           0 :   msg.orientation = uav_state.pose.orientation;
+    1117           0 :   msg.throttle    = min_throttle;
+    1118           0 : }
+    1119             : 
+    1120             : //}
+    1121             : 
+    1122             : /* initializeHwApiCmd(mrs_msgs::HwApiAccelerationHdgRateCmd& msg) //{ */
+    1123             : 
+    1124           0 : void initializeHwApiCmd(mrs_msgs::HwApiAccelerationHdgRateCmd& msg, const mrs_msgs::UavState& uav_state) {
+    1125             : 
+    1126           0 :   msg.header.frame_id = uav_state.header.frame_id;
+    1127           0 :   msg.header.stamp    = ros::Time::now();
+    1128             : 
+    1129           0 :   msg.acceleration.x = 0;
+    1130           0 :   msg.acceleration.y = 0;
+    1131           0 :   msg.acceleration.z = 0;
+    1132           0 :   msg.heading_rate   = 0;
+    1133           0 : }
+    1134             : 
+    1135             : //}
+    1136             : 
+    1137             : /* initializeHwApiCmd(mrs_msgs::HwApiAccelerationHdgCmd& msg) //{ */
+    1138             : 
+    1139           0 : void initializeHwApiCmd(mrs_msgs::HwApiAccelerationHdgCmd& msg, const mrs_msgs::UavState& uav_state) {
+    1140             : 
+    1141           0 :   msg.header.frame_id = uav_state.header.frame_id;
+    1142           0 :   msg.header.stamp    = ros::Time::now();
+    1143             : 
+    1144           0 :   msg.acceleration.x = 0;
+    1145           0 :   msg.acceleration.y = 0;
+    1146           0 :   msg.acceleration.z = 0;
+    1147             : 
+    1148             :   try {
+    1149           0 :     msg.heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+    1150             :   }
+    1151           0 :   catch (std::runtime_error& exrun) {
+    1152           0 :     msg.heading = 0;
+    1153             :   }
+    1154           0 : }
+    1155             : 
+    1156             : //}
+    1157             : 
+    1158             : /* initializeHwApiCmd(mrs_msgs::HwApiVelocityHdgRateCmd& msg) //{ */
+    1159             : 
+    1160           0 : void initializeHwApiCmd(mrs_msgs::HwApiVelocityHdgRateCmd& msg, const mrs_msgs::UavState& uav_state) {
+    1161             : 
+    1162           0 :   msg.header.frame_id = uav_state.header.frame_id;
+    1163           0 :   msg.header.stamp    = ros::Time::now();
+    1164             : 
+    1165           0 :   msg.velocity.x   = 0;
+    1166           0 :   msg.velocity.y   = 0;
+    1167           0 :   msg.velocity.z   = 0;
+    1168           0 :   msg.heading_rate = 0;
+    1169           0 : }
+    1170             : 
+    1171             : //}
+    1172             : 
+    1173             : /* initializeHwApiCmd(mrs_msgs::HwApiVelocityHdgCmd& msg) //{ */
+    1174             : 
+    1175           0 : void initializeHwApiCmd(mrs_msgs::HwApiVelocityHdgCmd& msg, const mrs_msgs::UavState& uav_state) {
+    1176             : 
+    1177           0 :   msg.header.frame_id = uav_state.header.frame_id;
+    1178           0 :   msg.header.stamp    = ros::Time::now();
+    1179             : 
+    1180           0 :   msg.velocity.x = 0;
+    1181           0 :   msg.velocity.y = 0;
+    1182           0 :   msg.velocity.z = 0;
+    1183             : 
+    1184             :   try {
+    1185           0 :     msg.heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+    1186             :   }
+    1187           0 :   catch (std::runtime_error& exrun) {
+    1188           0 :     msg.heading = 0;
+    1189             :   }
+    1190           0 : }
+    1191             : 
+    1192             : //}
+    1193             : 
+    1194             : /* initializeHwApiCmd(mrs_msgs::HwApiPositionCmd& msg) //{ */
+    1195             : 
+    1196           0 : void initializeHwApiCmd(mrs_msgs::HwApiPositionCmd& msg, const mrs_msgs::UavState& uav_state) {
+    1197             : 
+    1198           0 :   msg.header.frame_id = uav_state.header.frame_id;
+    1199           0 :   msg.header.stamp    = ros::Time::now();
+    1200             : 
+    1201           0 :   msg.position.x = uav_state.pose.position.x;
+    1202           0 :   msg.position.y = uav_state.pose.position.y;
+    1203           0 :   msg.position.z = uav_state.pose.position.z;
+    1204             : 
+    1205             :   try {
+    1206           0 :     msg.heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+    1207             :   }
+    1208           0 :   catch (std::runtime_error& exrun) {
+    1209           0 :     msg.heading = 0;
+    1210             :   }
+    1211           0 : }
+    1212             : 
+    1213             : //}
+    1214             : 
+    1215             : }  // namespace control_manager
+    1216             : 
+    1217             : }  // namespace mrs_uav_managers
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + diff --git a/mrs_uav_managers/src/control_manager/common/common.cpp.gcov.png b/mrs_uav_managers/src/control_manager/common/common.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..b65417b7013a7ee5ab02118f551c8eb7b33a98d3 GIT binary patch literal 2393 zcmV-f38wamP)E^zyB&vMKE9pL7@d-c=zsXFNJ&|2@oK@-b-oTSb1G6 z>u+05CGFJ~SWT0)XJ~pCV)JeiRX!f29|!$7fN#|Et7Dc|r+zVv!!V3}-|L!&6JfVC zuoCoijSJ;gMX>2EM6wg6?;6D+qiG(8E05elE8&%5*=oD|xn1Kp_9HCAh?J#=W7KS^ z@uXA;;pg*rlzI6(Eq~P0@-Ul^ig0 zD6W915{#KDv{|PL$Xd3F0ZG7=3dSgI#7`o{;|aiU#WR)G*O;HGqOVcKMF3R`rrMr4 zhL4EfM2ZI=Ub*6#f7{nvY#0S#fvGESo+N6%l&xD}7n-L@|F3!1aBj~e*T)a!5pe73 zN)_fRU`ho8LUs{9x*(nfV1?olFaqWaU}X3ZFqMMYS`OF9Y&oLo%qKLGoCk7GXdovx z`t=|F35{7-F0CYU-foOl00V$n6 z3Yap%d|@M}?or{9jx<#W*>a=Aszu!Di}v`69h|W@$_}swSXxXjO+psWkmKNHrONWtuUUT1JrJ4GMR7vr1Ty+K&-8(=SGQKA_dHfEL;GB7jg)HU^SI%d zf+d~%IXxM6bejlVc!&F`(^-yaW!uG8X#oW_*#a_CZfj~ zaGo8K8SrsY0*nZQ3ILoYfY2m9J2Yh#!0+@`9+U32kN z!t&v(`cj0T?W16X`J7aMNe_=_CbQWLXY$RCju^sFoq&+8Gq&llF-8&w$@t~m)&0o~ zcBNqUHLg6y#Kth8*3)!NI~9is2OgoGiv*fhgExami!c`Tk;f9vGZ>Z3^6ZMSgJj1F zX z9QF)g&=c@|=`kGLe}~Yf()07knY~s>W#YyhAu4=2gVvZ~I%7IUPa5zJa#;i}+~Ed0Q>1?Q{Gx#^j2IQg7eqd6QYl1ls95vtf6T zjYh2%qB-GZ=070V^e zVqDFRf)qy#7#-SMNxgZN52fhoxWby78-%PjQ^K$A*fsiPwb$rx(hz?1&^6KV!iA7G z=gO4Yy)hO_tZSn6G0-u2*4L_!6@OcZxgU=2v>M!5&p5$9fI6Z^dv)a@tZTa<)tdpd zm=7;+i+{YZU2s$uhzuVMQ^L<07^1lp9@#vSDf$7Afu?iI(JxC&j+89(^GFTDkVm5F z{BrbZq{AaMu;=BG&`66%vgtg7Cc_eH8<5f^Li_u(ViNFChuxyW4gu=#`|yBhmCXvhCoKba?bjGB1yH*o;>j9XWpa z%tswOvRbYsVNzp`;Wn*aDQ!#coAI^eYp&5+Y@OF#xAql0Sr9tr`^$39drrlMUdggVdmn^Ej3G}X|A|?Oy+~DW_GRsOO5zV-_OeNr#7fccxf9J4afGIZ9RU4uQ_ z4!d-ABj>bSx(k_IeNH>kkG^bVF*Rzw$Seq}&FI@#ftz-lbvbtjy@U+oVxJGc$>W)s z3_PwED0C8pKq`WcQW}?#)7Q+)QimM<7Xc|bdI?j?5%e|L-`>9dbNqj99tm0cd7M$g zY&_C8x=Y}Z)JPwXr)F~USg_6Hxj*9{U!m`Dzjgf@i_md`Ob-?xGc}rkR8@yT)T!@Du)@+T**DKZ4*|?8Vp- zrV91Wj4z~N9s(KsvJq|>C@D1jr~;F&d&+?H_xk~9uWGhA^bszTKDzD7J%x(@#NPuU z#+l8*u6;ho_chixUP9A1c<)?knjS%N5(WmZ>ecLuk_FVvD4D2PkdVvciyKbfC+v<8 z&xJo>|5%$VlQ&EPnhw?Yf200000 LNkvXXu0mjfvgUyr literal 0 HcmV?d00001 diff --git a/mrs_uav_managers/src/control_manager/common/index-detail-sort-f.html b/mrs_uav_managers/src/control_manager/common/index-detail-sort-f.html new file mode 100644 index 0000000000..7cd51be298 --- /dev/null +++ b/mrs_uav_managers/src/control_manager/common/index-detail-sort-f.html @@ -0,0 +1,110 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/control_manager/common + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_managers/src/control_manager/commonHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:23056340.9 %
Date:2024-01-20 21:44:18Functions:213167.7 %
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Generated by: LCOV version 1.14
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LCOV - code coverage report
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Current view:top level - mrs_uav_managers/src/control_manager/commonHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:23056340.9 %
Date:2024-01-20 21:44:18Functions:213167.7 %
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40.9%40.9%
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Generated by: LCOV version 1.14
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LCOV - code coverage report
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Current view:top level - mrs_uav_managers/src/control_manager/commonHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:23056340.9 %
Date:2024-01-20 21:44:18Functions:213167.7 %
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40.9%40.9%
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<unnamed>40.9 %230 / 56367.7 %21 / 31
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Generated by: LCOV version 1.14
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LCOV - code coverage report
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Current view:top level - mrs_uav_managers/src/control_manager/commonHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:23056340.9 %
Date:2024-01-20 21:44:18Functions:213167.7 %
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Current view:top level - mrs_uav_managers/src/control_manager/commonHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:23056340.9 %
Date:2024-01-20 21:44:18Functions:213167.7 %
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Generated by: LCOV version 1.14
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LCOV - code coverage report
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Current view:top level - mrs_uav_managers/src/control_manager/commonHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:23056340.9 %
Date:2024-01-20 21:44:18Functions:213167.7 %
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common.cpp +
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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:2205366160.2 %
Date:2024-01-20 21:44:18Functions:7311066.4 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::control_manager::ControlManager::timerBumper(ros::TimerEvent const&)0
mrs_uav_managers::control_manager::ControlManager::parachuteSrv()0
mrs_uav_managers::control_manager::ControlManager::callbackHover(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackEHover(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)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::callbackGotoFcu(mrs_msgs::Vec4Request_<std::allocator<void> >&, mrs_msgs::Vec4Response_<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::bumperGetSectorId(double const&, double const&, double 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::callbackSetHeading(mrs_msgs::Vec1Request_<std::allocator<void> >&, mrs_msgs::Vec1Response_<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::callbackGotoAltitude(mrs_msgs::Vec1Request_<std::allocator<void> >&, mrs_msgs::Vec1Response_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackTransformPose(mrs_msgs::TransformPoseSrvRequest_<std::allocator<void> >&, mrs_msgs::TransformPoseSrvResponse_<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::bumperPushFromObstacle()0
mrs_uav_managers::control_manager::ControlManager::callbackReferenceTopic(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > const>)0
mrs_uav_managers::control_manager::ControlManager::stopTrajectoryTracking[abi:cxx11]()0
mrs_uav_managers::control_manager::ControlManager::callbackReferenceService(mrs_msgs::ReferenceStampedSrvRequest_<std::allocator<void> >&, mrs_msgs::ReferenceStampedSrvResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackTransformVector3(mrs_msgs::TransformVector3SrvRequest_<std::allocator<void> >&, mrs_msgs::TransformVector3SrvResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::resumeTrajectoryTracking[abi:cxx11]()0
mrs_uav_managers::control_manager::ControlManager::callbackValidateReference(mrs_msgs::ValidateReferenceRequest_<std::allocator<void> >&, mrs_msgs::ValidateReferenceResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackSetHeadingRelative(mrs_msgs::Vec1Request_<std::allocator<void> >&, mrs_msgs::Vec1Response_<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::callbackTransformReference(mrs_msgs::TransformReferenceSrvRequest_<std::allocator<void> >&, mrs_msgs::TransformReferenceSrvResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackValidateReferenceList(mrs_msgs::ValidateReferenceListRequest_<std::allocator<void> >&, mrs_msgs::ValidateReferenceListResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackStopTrajectoryTracking(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackVelocityReferenceTopic(boost::shared_ptr<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const>)0
mrs_uav_managers::control_manager::ControlManager::callbackResumeTrajectoryTracking(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackTrajectoryReferenceTopic(boost::shared_ptr<mrs_msgs::TrajectoryReference_<std::allocator<void> > const>)0
mrs_uav_managers::control_manager::ControlManager::hover[abi:cxx11]()0
mrs_uav_managers::control_manager::ControlManager::callbackEland(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)1
mrs_uav_managers::control_manager::ControlManager::gotoTrajectoryStart[abi:cxx11]()1
mrs_uav_managers::control_manager::ControlManager::startTrajectoryTracking[abi:cxx11]()1
mrs_uav_managers::control_manager::ControlManager::callbackGotoTrajectoryStart(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)1
mrs_uav_managers::control_manager::ControlManager::callbackStartTrajectoryTracking(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)1
mrs_uav_managers::control_manager::ControlManager::ehover[abi:cxx11]()2
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::setTrajectoryReference[abi:cxx11](mrs_msgs::TrajectoryReference_<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::eland[abi:cxx11]()5
mrs_uav_managers::control_manager::ControlManager::elandSrv()5
mrs_uav_managers::control_manager::ControlManager::callbackArm(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)6
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::changeLandingState(mrs_uav_managers::control_manager::LandingStates_t)8
mrs_uav_managers::control_manager::ControlManager::getNextEscFailsafeState()8
mrs_uav_managers::control_manager::ControlManager::odometryCallbacksSrv(bool)12
mrs_uav_managers::control_manager::ControlManager::isOffboard()16
mrs_uav_managers::control_manager::ControlManager::callbackGotoRelative(mrs_msgs::Vec4Request_<std::allocator<void> >&, mrs_msgs::Vec4Response_<std::allocator<void> >&)16
mrs_uav_managers::control_manager::ControlManager::arming[abi:cxx11](bool)16
mrs_uav_managers::control_manager::ControlManager::callbackGoto(mrs_msgs::Vec4Request_<std::allocator<void> >&, mrs_msgs::Vec4Response_<std::allocator<void> >&)25
mrs_uav_managers::control_manager::ControlManager::isPathToPointInSafetyArea2d(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&, mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)31
mrs_uav_managers::control_manager::ControlManager::setReference[abi:cxx11](mrs_msgs::ReferenceStamped_<std::allocator<void> >)41
(anonymous namespace)::ProxyExec0::ProxyExec0()65
mrs_uav_managers::control_manager::ControlManager::initialize()65
mrs_uav_managers::control_manager::ControlManager::preinitialize()65
mrs_uav_managers::control_manager::ControlManager::setConstraints(mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const&)65
mrs_uav_managers::control_manager::ControlManager::callbackToggleOutput(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)65
mrs_uav_managers::control_manager::ControlManager::callbackSetConstraints(mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> >&, mrs_msgs::DynamicsConstraintsSrvResponse_<std::allocator<void> >&)65
mrs_uav_managers::control_manager::ControlManager::onInit()65
mrs_uav_managers::control_manager::ControlManager::toggleOutput(bool const&)83
mrs_uav_managers::control_manager::ControlManager::callbackEmergencyReference(mrs_msgs::ReferenceStampedSrvRequest_<std::allocator<void> >&, mrs_msgs::ReferenceStampedSrvResponse_<std::allocator<void> >&)83
mrs_uav_managers::control_manager::ControlManager::setCallbacks(bool)84
mrs_uav_managers::control_manager::ControlManager::callbackEnableCallbacks(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)84
mrs_uav_managers::control_manager::ControlManager::timerHwApiCapabilities(ros::TimerEvent const&)112
mrs_uav_managers::control_manager::ControlManager::callbackSwitchController(mrs_msgs::StringRequest_<std::allocator<void> >&, mrs_msgs::StringResponse_<std::allocator<void> >&)124
mrs_uav_managers::control_manager::ControlManager::callbackSwitchTracker(mrs_msgs::StringRequest_<std::allocator<void> >&, mrs_msgs::StringResponse_<std::allocator<void> >&)125
mrs_uav_managers::control_manager::ControlManager::initializeControlOutput()138
mrs_uav_managers::control_manager::ControlManager::switchController(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)148
mrs_uav_managers::control_manager::ControlManager::switchTracker(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)149
mrs_uav_managers::control_manager::ControlManager::escalatingFailsafe[abi:cxx11]()149
mrs_uav_managers::control_manager::ControlManager::setConstraintsToTrackers(mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const&)206
mrs_uav_managers::control_manager::ControlManager::setConstraintsToControllers(mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const&)253
mrs_uav_managers::control_manager::ControlManager::timerEland(ros::TimerEvent const&)295
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)325
mrs_uav_managers::control_manager::ControlManager::getMass()337
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)391
mrs_uav_managers::control_manager::ControlManager::ungripSrv()409
mrs_uav_managers::control_manager::ControlManager::setVelocityReference[abi:cxx11](mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const&)471
mrs_uav_managers::control_manager::ControlManager::velocityReferenceToReference(mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const&)471
mrs_uav_managers::control_manager::ControlManager::callbackVelocityReferenceService(mrs_msgs::VelocityReferenceStampedSrvRequest_<std::allocator<void> >&, mrs_msgs::VelocityReferenceStampedSrvResponse_<std::allocator<void> >&)471
mrs_uav_managers::control_manager::ControlManager::isPathToPointInSafetyArea3d(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&, mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)512
mrs_uav_managers::control_manager::ControlManager::isPointInSafetyArea3d(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)1114
mrs_uav_managers::control_manager::ControlManager::callbackValidateReference2d(mrs_msgs::ValidateReferenceRequest_<std::allocator<void> >&, mrs_msgs::ValidateReferenceResponse_<std::allocator<void> >&)4046
mrs_uav_managers::control_manager::ControlManager::isPointInSafetyArea2d(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)4173
mrs_uav_managers::control_manager::ControlManager::getMaxZ(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)8030
mrs_uav_managers::control_manager::ControlManager::timerFailsafe(ros::TimerEvent const&)9710
mrs_uav_managers::control_manager::ControlManager::timerStatus(ros::TimerEvent const&)11081
mrs_uav_managers::control_manager::ControlManager::publishDiagnostics()11145
mrs_uav_managers::control_manager::ControlManager::isFlyingNormally()11147
mrs_uav_managers::control_manager::ControlManager::callbackRC(boost::shared_ptr<mrs_msgs::HwApiRcChannels_<std::allocator<void> > const>)17433
mrs_uav_managers::control_manager::ControlManager::timerJoystick(ros::TimerEvent const&)38154
mrs_uav_managers::control_manager::ControlManager::callbackGNSS(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)61042
mrs_uav_managers::control_manager::ControlManager::getMinZ(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)62462
mrs_uav_managers::control_manager::ControlManager::enforceControllersConstraints(mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const&)77551
mrs_uav_managers::control_manager::ControlManager::updateTrackers()77966
mrs_uav_managers::control_manager::ControlManager::asyncControl()87207
mrs_uav_managers::control_manager::ControlManager::updateControllers(mrs_msgs::UavState_<std::allocator<void> > const&)87676
mrs_uav_managers::control_manager::ControlManager::publishControlReferenceOdom(std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&, mrs_uav_managers::Controller::ControlOutput const&)87676
mrs_uav_managers::control_manager::ControlManager::publish()87676
mrs_uav_managers::control_manager::ControlManager::callbackUavState(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>)109105
mrs_uav_managers::control_manager::ControlManager::timerSafety(ros::TimerEvent const&)201877
mrs_uav_managers::control_manager::ControlManager::callbackHwApiStatus(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const>)254197
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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..e07995beee --- /dev/null +++ b/mrs_uav_managers/src/control_manager/control_manager.cpp.func.html @@ -0,0 +1,520 @@ + + + + + + + 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:2205366160.2 %
Date:2024-01-20 21:44:18Functions:7311066.4 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()65
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)391
mrs_uav_managers::control_manager::ControlManager::callbackRC(boost::shared_ptr<mrs_msgs::HwApiRcChannels_<std::allocator<void> > const>)17433
mrs_uav_managers::control_manager::ControlManager::initialize()65
mrs_uav_managers::control_manager::ControlManager::isOffboard()16
mrs_uav_managers::control_manager::ControlManager::timerEland(ros::TimerEvent const&)295
mrs_uav_managers::control_manager::ControlManager::callbackArm(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)6
mrs_uav_managers::control_manager::ControlManager::timerBumper(ros::TimerEvent const&)0
mrs_uav_managers::control_manager::ControlManager::timerSafety(ros::TimerEvent const&)201877
mrs_uav_managers::control_manager::ControlManager::timerStatus(ros::TimerEvent const&)11081
mrs_uav_managers::control_manager::ControlManager::asyncControl()87207
mrs_uav_managers::control_manager::ControlManager::callbackGNSS(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)61042
mrs_uav_managers::control_manager::ControlManager::callbackGoto(mrs_msgs::Vec4Request_<std::allocator<void> >&, mrs_msgs::Vec4Response_<std::allocator<void> >&)25
mrs_uav_managers::control_manager::ControlManager::parachuteSrv()0
mrs_uav_managers::control_manager::ControlManager::setCallbacks(bool)84
mrs_uav_managers::control_manager::ControlManager::setReference[abi:cxx11](mrs_msgs::ReferenceStamped_<std::allocator<void> >)41
mrs_uav_managers::control_manager::ControlManager::toggleOutput(bool const&)83
mrs_uav_managers::control_manager::ControlManager::callbackEland(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)1
mrs_uav_managers::control_manager::ControlManager::callbackHover(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::preinitialize()65
mrs_uav_managers::control_manager::ControlManager::switchTracker(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)149
mrs_uav_managers::control_manager::ControlManager::timerFailsafe(ros::TimerEvent const&)9710
mrs_uav_managers::control_manager::ControlManager::timerJoystick(ros::TimerEvent const&)38154
mrs_uav_managers::control_manager::ControlManager::callbackEHover(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)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::setConstraints(mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const&)65
mrs_uav_managers::control_manager::ControlManager::timerPirouette(ros::TimerEvent const&)0
mrs_uav_managers::control_manager::ControlManager::updateTrackers()77966
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> >&)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>)109105
mrs_uav_managers::control_manager::ControlManager::isFlyingNormally()11147
mrs_uav_managers::control_manager::ControlManager::switchController(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)148
mrs_uav_managers::control_manager::ControlManager::bumperGetSectorId(double const&, double const&, double 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::updateControllers(mrs_msgs::UavState_<std::allocator<void> > const&)87676
mrs_uav_managers::control_manager::ControlManager::callbackSetHeading(mrs_msgs::Vec1Request_<std::allocator<void> >&, mrs_msgs::Vec1Response_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::changeLandingState(mrs_uav_managers::control_manager::LandingStates_t)8
mrs_uav_managers::control_manager::ControlManager::escalatingFailsafe[abi:cxx11]()149
mrs_uav_managers::control_manager::ControlManager::publishDiagnostics()11145
mrs_uav_managers::control_manager::ControlManager::callbackHwApiStatus(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const>)254197
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]()1
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> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackGotoRelative(mrs_msgs::Vec4Request_<std::allocator<void> >&, mrs_msgs::Vec4Response_<std::allocator<void> >&)16
mrs_uav_managers::control_manager::ControlManager::callbackToggleOutput(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)65
mrs_uav_managers::control_manager::ControlManager::odometryCallbacksSrv(bool)12
mrs_uav_managers::control_manager::ControlManager::setVelocityReference[abi:cxx11](mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const&)471
mrs_uav_managers::control_manager::ControlManager::callbackSwitchTracker(mrs_msgs::StringRequest_<std::allocator<void> >&, mrs_msgs::StringResponse_<std::allocator<void> >&)125
mrs_uav_managers::control_manager::ControlManager::callbackTransformPose(mrs_msgs::TransformPoseSrvRequest_<std::allocator<void> >&, mrs_msgs::TransformPoseSrvResponse_<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::isPointInSafetyArea2d(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)4173
mrs_uav_managers::control_manager::ControlManager::isPointInSafetyArea3d(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)1114
mrs_uav_managers::control_manager::ControlManager::bumperPushFromObstacle()0
mrs_uav_managers::control_manager::ControlManager::callbackReferenceTopic(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > const>)0
mrs_uav_managers::control_manager::ControlManager::callbackSetConstraints(mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> >&, mrs_msgs::DynamicsConstraintsSrvResponse_<std::allocator<void> >&)65
mrs_uav_managers::control_manager::ControlManager::setTrajectoryReference[abi:cxx11](mrs_msgs::TrajectoryReference_<std::allocator<void> >)4
mrs_uav_managers::control_manager::ControlManager::stopTrajectoryTracking[abi:cxx11]()0
mrs_uav_managers::control_manager::ControlManager::timerHwApiCapabilities(ros::TimerEvent const&)112
mrs_uav_managers::control_manager::ControlManager::callbackEnableCallbacks(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)84
mrs_uav_managers::control_manager::ControlManager::getNextEscFailsafeState()8
mrs_uav_managers::control_manager::ControlManager::initializeControlOutput()138
mrs_uav_managers::control_manager::ControlManager::startTrajectoryTracking[abi:cxx11]()1
mrs_uav_managers::control_manager::ControlManager::callbackReferenceService(mrs_msgs::ReferenceStampedSrvRequest_<std::allocator<void> >&, mrs_msgs::ReferenceStampedSrvResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackSwitchController(mrs_msgs::StringRequest_<std::allocator<void> >&, mrs_msgs::StringResponse_<std::allocator<void> >&)124
mrs_uav_managers::control_manager::ControlManager::callbackTransformVector3(mrs_msgs::TransformVector3SrvRequest_<std::allocator<void> >&, mrs_msgs::TransformVector3SrvResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::resumeTrajectoryTracking[abi:cxx11]()0
mrs_uav_managers::control_manager::ControlManager::setConstraintsToTrackers(mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const&)206
mrs_uav_managers::control_manager::ControlManager::callbackValidateReference(mrs_msgs::ValidateReferenceRequest_<std::allocator<void> >&, mrs_msgs::ValidateReferenceResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackEmergencyReference(mrs_msgs::ReferenceStampedSrvRequest_<std::allocator<void> >&, mrs_msgs::ReferenceStampedSrvResponse_<std::allocator<void> >&)83
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> >&)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::callbackTransformReference(mrs_msgs::TransformReferenceSrvRequest_<std::allocator<void> >&, mrs_msgs::TransformReferenceSrvResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackGotoTrajectoryStart(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)1
mrs_uav_managers::control_manager::ControlManager::callbackValidateReference2d(mrs_msgs::ValidateReferenceRequest_<std::allocator<void> >&, mrs_msgs::ValidateReferenceResponse_<std::allocator<void> >&)4046
mrs_uav_managers::control_manager::ControlManager::isPathToPointInSafetyArea2d(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&, mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)31
mrs_uav_managers::control_manager::ControlManager::isPathToPointInSafetyArea3d(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&, mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)512
mrs_uav_managers::control_manager::ControlManager::publishControlReferenceOdom(std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&, mrs_uav_managers::Controller::ControlOutput const&)87676
mrs_uav_managers::control_manager::ControlManager::setConstraintsToControllers(mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const&)253
mrs_uav_managers::control_manager::ControlManager::velocityReferenceToReference(mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const&)471
mrs_uav_managers::control_manager::ControlManager::callbackValidateReferenceList(mrs_msgs::ValidateReferenceListRequest_<std::allocator<void> >&, mrs_msgs::ValidateReferenceListResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::enforceControllersConstraints(mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const&)77551
mrs_uav_managers::control_manager::ControlManager::callbackStopTrajectoryTracking(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackVelocityReferenceTopic(boost::shared_ptr<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const>)0
mrs_uav_managers::control_manager::ControlManager::callbackStartTrajectoryTracking(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> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackTrajectoryReferenceTopic(boost::shared_ptr<mrs_msgs::TrajectoryReference_<std::allocator<void> > const>)0
mrs_uav_managers::control_manager::ControlManager::callbackVelocityReferenceService(mrs_msgs::VelocityReferenceStampedSrvRequest_<std::allocator<void> >&, mrs_msgs::VelocityReferenceStampedSrvResponse_<std::allocator<void> >&)471
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]()5
mrs_uav_managers::control_manager::ControlManager::hover[abi:cxx11]()0
mrs_uav_managers::control_manager::ControlManager::arming[abi:cxx11](bool)16
mrs_uav_managers::control_manager::ControlManager::ehover[abi:cxx11]()2
mrs_uav_managers::control_manager::ControlManager::onInit()65
mrs_uav_managers::control_manager::ControlManager::getMass()337
mrs_uav_managers::control_manager::ControlManager::getMaxZ(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)8030
mrs_uav_managers::control_manager::ControlManager::getMinZ(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)62462
mrs_uav_managers::control_manager::ControlManager::publish()87676
mrs_uav_managers::control_manager::ControlManager::elandSrv()5
mrs_uav_managers::control_manager::ControlManager::failsafe[abi:cxx11]()7
mrs_uav_managers::control_manager::ControlManager::ungripSrv()409
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)325
+
+
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Generated by: LCOV version 1.14
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LCOV - code coverage report
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Current view:top level - mrs_uav_managers/src/control_manager - control_manager.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:2205366160.2 %
Date:2024-01-20 21:44:18Functions:7311066.4 %
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/ObstacleSectors.h>
+      16             : #include <mrs_msgs/BoolStamped.h>
+      17             : #include <mrs_msgs/BumperStatus.h>
+      18             : #include <mrs_msgs/ControlManagerDiagnostics.h>
+      19             : #include <mrs_msgs/DynamicsConstraints.h>
+      20             : #include <mrs_msgs/ControlError.h>
+      21             : #include <mrs_msgs/GetFloat64.h>
+      22             : #include <mrs_msgs/ValidateReference.h>
+      23             : #include <mrs_msgs/ValidateReferenceList.h>
+      24             : #include <mrs_msgs/BumperParamsSrv.h>
+      25             : #include <mrs_msgs/TrackerCommand.h>
+      26             : #include <mrs_msgs/EstimatorInput.h>
+      27             : 
+      28             : #include <geometry_msgs/Point32.h>
+      29             : #include <geometry_msgs/TwistStamped.h>
+      30             : #include <geometry_msgs/PoseArray.h>
+      31             : #include <geometry_msgs/Vector3Stamped.h>
+      32             : 
+      33             : #include <nav_msgs/Odometry.h>
+      34             : 
+      35             : #include <sensor_msgs/Joy.h>
+      36             : #include <sensor_msgs/NavSatFix.h>
+      37             : 
+      38             : #include <mrs_lib/safety_zone/safety_zone.h>
+      39             : #include <mrs_lib/profiler.h>
+      40             : #include <mrs_lib/param_loader.h>
+      41             : #include <mrs_lib/utils.h>
+      42             : #include <mrs_lib/mutex.h>
+      43             : #include <mrs_lib/transformer.h>
+      44             : #include <mrs_lib/geometry/misc.h>
+      45             : #include <mrs_lib/geometry/cyclic.h>
+      46             : #include <mrs_lib/attitude_converter.h>
+      47             : #include <mrs_lib/subscribe_handler.h>
+      48             : #include <mrs_lib/msg_extractor.h>
+      49             : #include <mrs_lib/quadratic_throttle_model.h>
+      50             : #include <mrs_lib/publisher_handler.h>
+      51             : #include <mrs_lib/service_client_handler.h>
+      52             : 
+      53             : #include <mrs_msgs/HwApiCapabilities.h>
+      54             : #include <mrs_msgs/HwApiStatus.h>
+      55             : #include <mrs_msgs/HwApiRcChannels.h>
+      56             : 
+      57             : #include <mrs_msgs/HwApiActuatorCmd.h>
+      58             : #include <mrs_msgs/HwApiControlGroupCmd.h>
+      59             : #include <mrs_msgs/HwApiAttitudeRateCmd.h>
+      60             : #include <mrs_msgs/HwApiAttitudeCmd.h>
+      61             : #include <mrs_msgs/HwApiAccelerationHdgRateCmd.h>
+      62             : #include <mrs_msgs/HwApiAccelerationHdgCmd.h>
+      63             : #include <mrs_msgs/HwApiVelocityHdgRateCmd.h>
+      64             : #include <mrs_msgs/HwApiVelocityHdgCmd.h>
+      65             : #include <mrs_msgs/HwApiPositionCmd.h>
+      66             : 
+      67             : #include <std_msgs/Float64.h>
+      68             : 
+      69             : #include <future>
+      70             : 
+      71             : #include <pluginlib/class_loader.h>
+      72             : 
+      73             : #include <nodelet/loader.h>
+      74             : 
+      75             : #include <eigen3/Eigen/Eigen>
+      76             : 
+      77             : #include <visualization_msgs/Marker.h>
+      78             : #include <visualization_msgs/MarkerArray.h>
+      79             : 
+      80             : #include <mrs_msgs/Reference.h>
+      81             : #include <mrs_msgs/ReferenceStamped.h>
+      82             : #include <mrs_msgs/ReferenceList.h>
+      83             : #include <mrs_msgs/TrajectoryReference.h>
+      84             : 
+      85             : #include <mrs_msgs/ReferenceStampedSrv.h>
+      86             : #include <mrs_msgs/ReferenceStampedSrvRequest.h>
+      87             : #include <mrs_msgs/ReferenceStampedSrvResponse.h>
+      88             : 
+      89             : #include <mrs_msgs/VelocityReferenceStampedSrv.h>
+      90             : #include <mrs_msgs/VelocityReferenceStampedSrvRequest.h>
+      91             : #include <mrs_msgs/VelocityReferenceStampedSrvResponse.h>
+      92             : 
+      93             : #include <mrs_msgs/TransformReferenceSrv.h>
+      94             : #include <mrs_msgs/TransformReferenceSrvRequest.h>
+      95             : #include <mrs_msgs/TransformReferenceSrvResponse.h>
+      96             : 
+      97             : #include <mrs_msgs/TransformPoseSrv.h>
+      98             : #include <mrs_msgs/TransformPoseSrvRequest.h>
+      99             : #include <mrs_msgs/TransformPoseSrvResponse.h>
+     100             : 
+     101             : #include <mrs_msgs/TransformVector3Srv.h>
+     102             : #include <mrs_msgs/TransformVector3SrvRequest.h>
+     103             : #include <mrs_msgs/TransformVector3SrvResponse.h>
+     104             : 
+     105             : #include <mrs_msgs/Float64StampedSrv.h>
+     106             : #include <mrs_msgs/Float64StampedSrvRequest.h>
+     107             : #include <mrs_msgs/Float64StampedSrvResponse.h>
+     108             : 
+     109             : #include <mrs_msgs/Vec4.h>
+     110             : #include <mrs_msgs/Vec4Request.h>
+     111             : #include <mrs_msgs/Vec4Response.h>
+     112             : 
+     113             : #include <mrs_msgs/Vec1.h>
+     114             : #include <mrs_msgs/Vec1Request.h>
+     115             : #include <mrs_msgs/Vec1Response.h>
+     116             : 
+     117             : //}
+     118             : 
+     119             : /* defines //{ */
+     120             : 
+     121             : #define TAU 2 * M_PI
+     122             : #define REF_X 0
+     123             : #define REF_Y 1
+     124             : #define REF_Z 2
+     125             : #define REF_HEADING 3
+     126             : #define ELAND_STR "eland"
+     127             : #define EHOVER_STR "ehover"
+     128             : #define ESCALATING_FAILSAFE_STR "escalating_failsafe"
+     129             : #define FAILSAFE_STR "failsafe"
+     130             : #define INPUT_UAV_STATE 0
+     131             : #define INPUT_ODOMETRY 1
+     132             : #define RC_DEADBAND 0.2
+     133             : 
+     134             : //}
+     135             : 
+     136             : /* using //{ */
+     137             : 
+     138             : using vec2_t = mrs_lib::geometry::vec_t<2>;
+     139             : using vec3_t = mrs_lib::geometry::vec_t<3>;
+     140             : 
+     141             : using radians  = mrs_lib::geometry::radians;
+     142             : using sradians = mrs_lib::geometry::sradians;
+     143             : 
+     144             : //}
+     145             : 
+     146             : namespace mrs_uav_managers
+     147             : {
+     148             : 
+     149             : namespace control_manager
+     150             : {
+     151             : 
+     152             : /* //{ class ControlManager */
+     153             : 
+     154             : // state machine
+     155             : typedef enum
+     156             : {
+     157             : 
+     158             :   IDLE_STATE,
+     159             :   LANDING_STATE,
+     160             : 
+     161             : } LandingStates_t;
+     162             : 
+     163             : const char* state_names[2] = {
+     164             : 
+     165             :     "IDLING", "LANDING"};
+     166             : 
+     167             : // state machine
+     168             : typedef enum
+     169             : {
+     170             : 
+     171             :   FCU_FRAME,
+     172             :   RELATIVE_FRAME,
+     173             :   ABSOLUTE_FRAME
+     174             : 
+     175             : } ReferenceFrameType_t;
+     176             : 
+     177             : // state machine
+     178             : typedef enum
+     179             : {
+     180             : 
+     181             :   ESC_NONE_STATE     = 0,
+     182             :   ESC_EHOVER_STATE   = 1,
+     183             :   ESC_ELAND_STATE    = 2,
+     184             :   ESC_FAILSAFE_STATE = 3,
+     185             :   ESC_FINISHED_STATE = 4,
+     186             : 
+     187             : } EscalatingFailsafeStates_t;
+     188             : 
+     189             : /* class ControllerParams() //{ */
+     190             : 
+     191             : class ControllerParams {
+     192             : 
+     193             : public:
+     194             :   ControllerParams(std::string address, std::string name_space, double eland_threshold, double failsafe_threshold, double odometry_innovation_threshold,
+     195             :                    bool human_switchable);
+     196             : 
+     197             : public:
+     198             :   double      failsafe_threshold;
+     199             :   double      eland_threshold;
+     200             :   double      odometry_innovation_threshold;
+     201             :   std::string address;
+     202             :   std::string name_space;
+     203             :   bool        human_switchable;
+     204             : };
+     205             : 
+     206         325 : ControllerParams::ControllerParams(std::string address, std::string name_space, double eland_threshold, double failsafe_threshold,
+     207         325 :                                    double odometry_innovation_threshold, bool human_switchable) {
+     208             : 
+     209         325 :   this->eland_threshold               = eland_threshold;
+     210         325 :   this->odometry_innovation_threshold = odometry_innovation_threshold;
+     211         325 :   this->failsafe_threshold            = failsafe_threshold;
+     212         325 :   this->address                       = address;
+     213         325 :   this->name_space                    = name_space;
+     214         325 :   this->human_switchable              = human_switchable;
+     215         325 : }
+     216             : 
+     217             : //}
+     218             : 
+     219             : /* class TrackerParams() //{ */
+     220             : 
+     221             : class TrackerParams {
+     222             : 
+     223             : public:
+     224             :   TrackerParams(std::string address, std::string name_space, bool human_switchable);
+     225             : 
+     226             : public:
+     227             :   std::string address;
+     228             :   std::string name_space;
+     229             :   bool        human_switchable;
+     230             : };
+     231             : 
+     232         391 : TrackerParams::TrackerParams(std::string address, std::string name_space, bool human_switchable) {
+     233             : 
+     234         391 :   this->address          = address;
+     235         391 :   this->name_space       = name_space;
+     236         391 :   this->human_switchable = human_switchable;
+     237         391 : }
+     238             : 
+     239             : //}
+     240             : 
+     241             : class ControlManager : public nodelet::Nodelet {
+     242             : 
+     243             : public:
+     244             :   virtual void onInit();
+     245             : 
+     246             : private:
+     247             :   ros::NodeHandle   nh_;
+     248             :   std::atomic<bool> is_initialized_ = false;
+     249             :   std::string       _uav_name_;
+     250             :   std::string       _body_frame_;
+     251             : 
+     252             :   std::string _custom_config_;
+     253             :   std::string _platform_config_;
+     254             :   std::string _world_config_;
+     255             :   std::string _network_config_;
+     256             : 
+     257             :   // | --------------- dynamic loading of trackers -------------- |
+     258             : 
+     259             :   std::unique_ptr<pluginlib::ClassLoader<mrs_uav_managers::Tracker>> tracker_loader_;  // pluginlib loader of dynamically loaded trackers
+     260             :   std::vector<std::string>                                           _tracker_names_;  // list of tracker names
+     261             :   std::map<std::string, TrackerParams>                               trackers_;        // map between tracker names and tracker param
+     262             :   std::vector<boost::shared_ptr<mrs_uav_managers::Tracker>>          tracker_list_;    // list of trackers, routines are callable from this
+     263             :   std::mutex                                                         mutex_tracker_list_;
+     264             : 
+     265             :   // | ------------- dynamic loading of controllers ------------- |
+     266             : 
+     267             :   std::unique_ptr<pluginlib::ClassLoader<mrs_uav_managers::Controller>> controller_loader_;  // pluginlib loader of dynamically loaded controllers
+     268             :   std::vector<std::string>                                              _controller_names_;  // list of controller names
+     269             :   std::map<std::string, ControllerParams>                               controllers_;        // map between controller names and controller params
+     270             :   std::vector<boost::shared_ptr<mrs_uav_managers::Controller>>          controller_list_;    // list of controllers, routines are callable from this
+     271             :   std::mutex                                                            mutex_controller_list_;
+     272             : 
+     273             :   // | ------------------------- HW API ------------------------- |
+     274             : 
+     275             :   mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities> sh_hw_api_capabilities_;
+     276             : 
+     277             :   OutputPublisher control_output_publisher_;
+     278             : 
+     279             :   ControlOutputModalities_t _hw_api_inputs_;
+     280             : 
+     281             :   double desired_uav_state_rate_ = 100.0;
+     282             : 
+     283             :   // this timer will check till we already got the hardware api diagnostics
+     284             :   // then it will trigger the initialization of the controllers and finish
+     285             :   // the initialization of the ControlManager
+     286             :   ros::Timer timer_hw_api_capabilities_;
+     287             :   void       timerHwApiCapabilities(const ros::TimerEvent& event);
+     288             : 
+     289             :   void preinitialize(void);
+     290             :   void initialize(void);
+     291             : 
+     292             :   // | ------------ tracker and controller switching ------------ |
+     293             : 
+     294             :   std::tuple<bool, std::string> switchController(const std::string& controller_name);
+     295             :   std::tuple<bool, std::string> switchTracker(const std::string& tracker_name);
+     296             : 
+     297             :   // the time of last switching of a tracker or a controller
+     298             :   ros::Time  controller_tracker_switch_time_;
+     299             :   std::mutex mutex_controller_tracker_switch_time_;
+     300             : 
+     301             :   // | -------------------- the transformer  -------------------- |
+     302             : 
+     303             :   std::shared_ptr<mrs_lib::Transformer> transformer_;
+     304             : 
+     305             :   // | ------------------- scope timer logger ------------------- |
+     306             : 
+     307             :   bool                                       scope_timer_enabled_ = false;
+     308             :   std::shared_ptr<mrs_lib::ScopeTimerLogger> scope_timer_logger_;
+     309             : 
+     310             :   // | --------------------- general params --------------------- |
+     311             : 
+     312             :   // defines the type of state input: odometry or uav_state mesasge types
+     313             :   int _state_input_;
+     314             : 
+     315             :   // names of important trackers
+     316             :   std::string _null_tracker_name_;     // null tracker is active when UAV is not in the air
+     317             :   std::string _ehover_tracker_name_;   // ehover tracker is used for emergency hovering
+     318             :   std::string _landoff_tracker_name_;  // landoff is used for landing and takeoff
+     319             : 
+     320             :   // names of important controllers
+     321             :   std::string _failsafe_controller_name_;  // controller used for feed-forward failsafe
+     322             :   std::string _eland_controller_name_;     // controller used for emergancy landing
+     323             : 
+     324             :   // joystick control
+     325             :   bool        _joystick_enabled_ = false;
+     326             :   int         _joystick_mode_;
+     327             :   std::string _joystick_tracker_name_;
+     328             :   std::string _joystick_controller_name_;
+     329             :   std::string _joystick_fallback_tracker_name_;
+     330             :   std::string _joystick_fallback_controller_name_;
+     331             : 
+     332             :   // should disarm after emergancy landing?
+     333             :   bool _eland_disarm_enabled_ = false;
+     334             : 
+     335             :   // enabling the emergency handoff -> will disable eland and failsafe
+     336             :   bool _rc_emergency_handoff_ = false;
+     337             : 
+     338             :   // what throttle should be output when null tracker is active?
+     339             :   double _min_throttle_null_tracker_ = 0.0;
+     340             : 
+     341             :   // rates of all the timers
+     342             :   double _status_timer_rate_   = 0;
+     343             :   double _safety_timer_rate_   = 0;
+     344             :   double _elanding_timer_rate_ = 0;
+     345             :   double _failsafe_timer_rate_ = 0;
+     346             :   double _bumper_timer_rate_   = 0;
+     347             : 
+     348             :   bool _snap_trajectory_to_safety_area_ = false;
+     349             : 
+     350             :   // | -------------- uav_state/odometry subscriber ------------- |
+     351             : 
+     352             :   mrs_lib::SubscribeHandler<nav_msgs::Odometry> sh_odometry_;
+     353             :   mrs_lib::SubscribeHandler<mrs_msgs::UavState> sh_uav_state_;
+     354             : 
+     355             :   mrs_msgs::UavState uav_state_;
+     356             :   mrs_msgs::UavState previous_uav_state_;
+     357             :   bool               got_uav_state_               = false;
+     358             :   double             _uav_state_max_missing_time_ = 0;  // how long should we tolerate missing state estimate?
+     359             :   double             uav_roll_                    = 0;
+     360             :   double             uav_pitch_                   = 0;
+     361             :   double             uav_yaw_                     = 0;
+     362             :   double             uav_heading_                 = 0;
+     363             :   std::mutex         mutex_uav_state_;
+     364             : 
+     365             :   // odometry hiccup detection
+     366             :   double uav_state_avg_dt_        = 1;
+     367             :   double uav_state_hiccup_factor_ = 1;
+     368             :   int    uav_state_count_         = 0;
+     369             : 
+     370             :   mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix> sh_gnss_;
+     371             : 
+     372             :   // | -------------- safety area max z subscriber -------------- |
+     373             : 
+     374             :   mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped> sh_max_z_;
+     375             : 
+     376             :   // | ------------- odometry innovation subscriber ------------- |
+     377             : 
+     378             :   // odometry innovation is published by the odometry node
+     379             :   // it is used to issue eland if the estimator's input is too wonky
+     380             :   mrs_lib::SubscribeHandler<nav_msgs::Odometry> sh_odometry_innovation_;
+     381             : 
+     382             :   // | --------------------- common handlers -------------------- |
+     383             : 
+     384             :   // contains handlers that are shared with trackers and controllers
+     385             :   std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t> common_handlers_;
+     386             : 
+     387             :   // | --------------- tracker and controller IDs --------------- |
+     388             : 
+     389             :   // keeping track of currently active controllers and trackers
+     390             :   unsigned int active_tracker_idx_    = 0;
+     391             :   unsigned int active_controller_idx_ = 0;
+     392             : 
+     393             :   // indeces of some notable trackers
+     394             :   unsigned int _ehover_tracker_idx_               = 0;
+     395             :   unsigned int _landoff_tracker_idx_              = 0;
+     396             :   unsigned int _joystick_tracker_idx_             = 0;
+     397             :   unsigned int _joystick_controller_idx_          = 0;
+     398             :   unsigned int _failsafe_controller_idx_          = 0;
+     399             :   unsigned int _joystick_fallback_controller_idx_ = 0;
+     400             :   unsigned int _joystick_fallback_tracker_idx_    = 0;
+     401             :   unsigned int _null_tracker_idx_                 = 0;
+     402             :   unsigned int _eland_controller_idx_             = 0;
+     403             : 
+     404             :   // | -------------- enabling the output publisher ------------- |
+     405             : 
+     406             :   void              toggleOutput(const bool& input);
+     407             :   std::atomic<bool> output_enabled_ = false;
+     408             : 
+     409             :   // | ----------------------- publishers ----------------------- |
+     410             : 
+     411             :   mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics>     ph_controller_diagnostics_;
+     412             :   mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand>            ph_tracker_cmd_;
+     413             :   mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput>            ph_mrs_odom_input_;
+     414             :   mrs_lib::PublisherHandler<nav_msgs::Odometry>                  ph_control_reference_odom_;
+     415             :   mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics> ph_diagnostics_;
+     416             :   mrs_lib::PublisherHandler<std_msgs::Empty>                     ph_offboard_on_;
+     417             :   mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>            ph_tilt_error_;
+     418             :   mrs_lib::PublisherHandler<std_msgs::Float64>                   ph_mass_estimate_;
+     419             :   mrs_lib::PublisherHandler<std_msgs::Float64>                   ph_throttle_;
+     420             :   mrs_lib::PublisherHandler<std_msgs::Float64>                   ph_thrust_;
+     421             :   mrs_lib::PublisherHandler<mrs_msgs::ControlError>              ph_control_error_;
+     422             :   mrs_lib::PublisherHandler<visualization_msgs::MarkerArray>     ph_safety_area_markers_;
+     423             :   mrs_lib::PublisherHandler<visualization_msgs::MarkerArray>     ph_safety_area_coordinates_markers_;
+     424             :   mrs_lib::PublisherHandler<visualization_msgs::MarkerArray>     ph_disturbances_markers_;
+     425             :   mrs_lib::PublisherHandler<mrs_msgs::BumperStatus>              ph_bumper_status_;
+     426             :   mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints>       ph_current_constraints_;
+     427             :   mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>            ph_heading_;
+     428             :   mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>            ph_speed_;
+     429             : 
+     430             :   // | --------------------- service servers -------------------- |
+     431             : 
+     432             :   ros::ServiceServer service_server_switch_tracker_;
+     433             :   ros::ServiceServer service_server_switch_controller_;
+     434             :   ros::ServiceServer service_server_reset_tracker_;
+     435             :   ros::ServiceServer service_server_hover_;
+     436             :   ros::ServiceServer service_server_ehover_;
+     437             :   ros::ServiceServer service_server_failsafe_;
+     438             :   ros::ServiceServer service_server_failsafe_escalating_;
+     439             :   ros::ServiceServer service_server_toggle_output_;
+     440             :   ros::ServiceServer service_server_arm_;
+     441             :   ros::ServiceServer service_server_enable_callbacks_;
+     442             :   ros::ServiceServer service_server_set_constraints_;
+     443             :   ros::ServiceServer service_server_use_joystick_;
+     444             :   ros::ServiceServer service_server_use_safety_area_;
+     445             :   ros::ServiceServer service_server_emergency_reference_;
+     446             :   ros::ServiceServer service_server_pirouette_;
+     447             :   ros::ServiceServer service_server_eland_;
+     448             :   ros::ServiceServer service_server_parachute_;
+     449             : 
+     450             :   // human callbable services for references
+     451             :   ros::ServiceServer service_server_goto_;
+     452             :   ros::ServiceServer service_server_goto_fcu_;
+     453             :   ros::ServiceServer service_server_goto_relative_;
+     454             :   ros::ServiceServer service_server_goto_altitude_;
+     455             :   ros::ServiceServer service_server_set_heading_;
+     456             :   ros::ServiceServer service_server_set_heading_relative_;
+     457             : 
+     458             :   // the reference service and subscriber
+     459             :   ros::ServiceServer                                    service_server_reference_;
+     460             :   mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped> sh_reference_;
+     461             : 
+     462             :   // the velocity reference service and subscriber
+     463             :   ros::ServiceServer                                            service_server_velocity_reference_;
+     464             :   mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped> sh_velocity_reference_;
+     465             : 
+     466             :   // trajectory tracking
+     467             :   ros::ServiceServer                                       service_server_trajectory_reference_;
+     468             :   mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference> sh_trajectory_reference_;
+     469             :   ros::ServiceServer                                       service_server_start_trajectory_tracking_;
+     470             :   ros::ServiceServer                                       service_server_stop_trajectory_tracking_;
+     471             :   ros::ServiceServer                                       service_server_resume_trajectory_tracking_;
+     472             :   ros::ServiceServer                                       service_server_goto_trajectory_start_;
+     473             : 
+     474             :   // transform service servers
+     475             :   ros::ServiceServer service_server_transform_reference_;
+     476             :   ros::ServiceServer service_server_transform_pose_;
+     477             :   ros::ServiceServer service_server_transform_vector3_;
+     478             : 
+     479             :   // safety area services
+     480             :   ros::ServiceServer service_server_validate_reference_;
+     481             :   ros::ServiceServer service_server_validate_reference_2d_;
+     482             :   ros::ServiceServer service_server_validate_reference_list_;
+     483             : 
+     484             :   // bumper service servers
+     485             :   ros::ServiceServer service_server_bumper_enabler_;
+     486             :   ros::ServiceServer service_server_bumper_repulsion_enabler_;
+     487             : 
+     488             :   // service clients
+     489             :   mrs_lib::ServiceClientHandler<std_srvs::SetBool> sch_arming_;
+     490             :   mrs_lib::ServiceClientHandler<std_srvs::Trigger> sch_eland_;
+     491             :   mrs_lib::ServiceClientHandler<std_srvs::Trigger> sch_shutdown_;
+     492             :   mrs_lib::ServiceClientHandler<std_srvs::SetBool> sch_set_odometry_callbacks_;
+     493             :   mrs_lib::ServiceClientHandler<std_srvs::Trigger> sch_parachute_;
+     494             : 
+     495             :   // safety area min z servers
+     496             :   ros::ServiceServer service_server_set_min_z_;
+     497             :   ros::ServiceServer service_server_get_min_z_;
+     498             : 
+     499             :   // | --------- trackers' and controllers' last results -------- |
+     500             : 
+     501             :   // the last result of an active tracker
+     502             :   std::optional<mrs_msgs::TrackerCommand> last_tracker_cmd_;
+     503             :   std::mutex                              mutex_last_tracker_cmd_;
+     504             : 
+     505             :   // the last result of an active controller
+     506             :   Controller::ControlOutput last_control_output_;
+     507             :   std::mutex                mutex_last_control_output_;
+     508             : 
+     509             :   // | -------------- HW API diagnostics subscriber ------------- |
+     510             : 
+     511             :   mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus> sh_hw_api_status_;
+     512             : 
+     513             :   bool offboard_mode_          = false;
+     514             :   bool offboard_mode_was_true_ = false;  // if it was ever true
+     515             :   bool armed_                  = false;
+     516             : 
+     517             :   // | -------------------- throttle and mass ------------------- |
+     518             : 
+     519             :   // throttle mass estimation during eland
+     520             :   double    throttle_mass_estimate_   = 0;
+     521             :   bool      throttle_under_threshold_ = false;
+     522             :   ros::Time throttle_mass_estimate_first_time_;
+     523             : 
+     524             :   // | ---------------------- safety params --------------------- |
+     525             : 
+     526             :   // failsafe when tilt error is too large
+     527             :   bool   _tilt_error_disarm_enabled_;
+     528             :   double _tilt_error_disarm_timeout_;
+     529             :   double _tilt_error_disarm_threshold_;
+     530             : 
+     531             :   ros::Time tilt_error_disarm_time_;
+     532             :   bool      tilt_error_disarm_over_thr_ = false;
+     533             : 
+     534             :   // elanding when tilt error is too large
+     535             :   bool   _tilt_limit_eland_enabled_;
+     536             :   double _tilt_limit_eland_ = 0;  // [rad]
+     537             : 
+     538             :   // disarming when tilt error is too large
+     539             :   bool   _tilt_limit_disarm_enabled_;
+     540             :   double _tilt_limit_disarm_ = 0;  // [rad]
+     541             : 
+     542             :   // elanding when yaw error is too large
+     543             :   bool   _yaw_error_eland_enabled_;
+     544             :   double _yaw_error_eland_ = 0;  // [rad]
+     545             : 
+     546             :   // keeping track of control errors
+     547             :   std::optional<double> tilt_error_ = 0;
+     548             :   std::optional<double> yaw_error_  = 0;
+     549             :   std::mutex            mutex_attitude_error_;
+     550             : 
+     551             :   std::optional<Eigen::Vector3d> position_error_;
+     552             :   std::mutex                     mutex_position_error_;
+     553             : 
+     554             :   // control error for triggering failsafe, eland, etc.
+     555             :   // this filled with the current controllers failsafe threshold
+     556             :   double _failsafe_threshold_                = 0;  // control error for triggering failsafe
+     557             :   double _eland_threshold_                   = 0;  // control error for triggering eland
+     558             :   bool   _odometry_innovation_check_enabled_ = false;
+     559             :   double _odometry_innovation_threshold_     = 0;  // innovation size for triggering eland
+     560             : 
+     561             :   bool callbacks_enabled_ = true;
+     562             : 
+     563             :   // | ------------------------ parachute ----------------------- |
+     564             : 
+     565             :   bool _parachute_enabled_ = false;
+     566             : 
+     567             :   std::tuple<bool, std::string> deployParachute(void);
+     568             :   bool                          parachuteSrv(void);
+     569             : 
+     570             :   // | ----------------------- safety area ---------------------- |
+     571             : 
+     572             :   // safety area
+     573             :   std::unique_ptr<mrs_lib::SafetyZone> safety_zone_;
+     574             : 
+     575             :   std::atomic<bool> use_safety_area_ = false;
+     576             : 
+     577             :   std::string _safety_area_horizontal_frame_;
+     578             :   std::string _safety_area_vertical_frame_;
+     579             : 
+     580             :   double _safety_area_min_z_ = 0;
+     581             :   double _safety_area_max_z_ = 0;
+     582             : 
+     583             :   // safety area routines
+     584             :   // those are passed to trackers using the common_handlers object
+     585             :   bool   isPointInSafetyArea2d(const mrs_msgs::ReferenceStamped& point);
+     586             :   bool   isPointInSafetyArea3d(const mrs_msgs::ReferenceStamped& point);
+     587             :   bool   isPathToPointInSafetyArea2d(const mrs_msgs::ReferenceStamped& from, const mrs_msgs::ReferenceStamped& to);
+     588             :   bool   isPathToPointInSafetyArea3d(const mrs_msgs::ReferenceStamped& from, const mrs_msgs::ReferenceStamped& to);
+     589             :   double getMinZ(const std::string& frame_id);
+     590             :   double getMaxZ(const std::string& frame_id);
+     591             : 
+     592             :   // | ------------------------ callbacks ----------------------- |
+     593             : 
+     594             :   // topic callbacks
+     595             :   void callbackOdometry(const nav_msgs::Odometry::ConstPtr msg);
+     596             :   void callbackUavState(const mrs_msgs::UavState::ConstPtr msg);
+     597             :   void callbackHwApiStatus(const mrs_msgs::HwApiStatus::ConstPtr msg);
+     598             :   void callbackGNSS(const sensor_msgs::NavSatFix::ConstPtr msg);
+     599             :   void callbackRC(const mrs_msgs::HwApiRcChannels::ConstPtr msg);
+     600             : 
+     601             :   // topic timeouts
+     602             :   void timeoutUavState(const double& missing_for);
+     603             : 
+     604             :   // switching controller and tracker services
+     605             :   bool callbackSwitchTracker(mrs_msgs::String::Request& req, mrs_msgs::String::Response& res);
+     606             :   bool callbackSwitchController(mrs_msgs::String::Request& req, mrs_msgs::String::Response& res);
+     607             :   bool callbackTrackerResetStatic(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     608             : 
+     609             :   // reference callbacks
+     610             :   void callbackReferenceTopic(const mrs_msgs::ReferenceStamped::ConstPtr msg);
+     611             :   void callbackVelocityReferenceTopic(const mrs_msgs::VelocityReferenceStamped::ConstPtr msg);
+     612             :   void callbackTrajectoryReferenceTopic(const mrs_msgs::TrajectoryReference::ConstPtr msg);
+     613             :   bool callbackGoto(mrs_msgs::Vec4::Request& req, mrs_msgs::Vec4::Response& res);
+     614             :   bool callbackGotoFcu(mrs_msgs::Vec4::Request& req, mrs_msgs::Vec4::Response& res);
+     615             :   bool callbackGotoRelative(mrs_msgs::Vec4::Request& req, mrs_msgs::Vec4::Response& res);
+     616             :   bool callbackGotoAltitude(mrs_msgs::Vec1::Request& req, mrs_msgs::Vec1::Response& res);
+     617             :   bool callbackSetHeading(mrs_msgs::Vec1::Request& req, mrs_msgs::Vec1::Response& res);
+     618             :   bool callbackSetHeadingRelative(mrs_msgs::Vec1::Request& req, mrs_msgs::Vec1::Response& res);
+     619             :   bool callbackReferenceService(mrs_msgs::ReferenceStampedSrv::Request& req, mrs_msgs::ReferenceStampedSrv::Response& res);
+     620             :   bool callbackVelocityReferenceService(mrs_msgs::VelocityReferenceStampedSrv::Request& req, mrs_msgs::VelocityReferenceStampedSrv::Response& res);
+     621             :   bool callbackTrajectoryReferenceService(mrs_msgs::TrajectoryReferenceSrv::Request& req, mrs_msgs::TrajectoryReferenceSrv::Response& res);
+     622             :   bool callbackEmergencyReference(mrs_msgs::ReferenceStampedSrv::Request& req, mrs_msgs::ReferenceStampedSrv::Response& res);
+     623             : 
+     624             :   // safety callbacks
+     625             :   bool callbackHover(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     626             :   bool callbackStartTrajectoryTracking([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     627             :   bool callbackStopTrajectoryTracking([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     628             :   bool callbackResumeTrajectoryTracking([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     629             :   bool callbackGotoTrajectoryStart([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     630             :   bool callbackEHover(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     631             :   bool callbackFailsafe(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     632             :   bool callbackFailsafeEscalating(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     633             :   bool callbackEland(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     634             :   bool callbackParachute([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     635             :   bool callbackToggleOutput(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res);
+     636             :   bool callbackArm(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res);
+     637             :   bool callbackEnableCallbacks(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res);
+     638             :   bool callbackEnableBumper(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res);
+     639             :   bool callbackUseSafetyArea(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res);
+     640             :   bool callbackBumperSetParams(mrs_msgs::BumperParamsSrv::Request& req, mrs_msgs::BumperParamsSrv::Response& res);
+     641             : 
+     642             :   bool callbackGetMinZ(mrs_msgs::GetFloat64::Request& req, mrs_msgs::GetFloat64::Response& res);
+     643             : 
+     644             :   bool callbackValidateReference(mrs_msgs::ValidateReference::Request& req, mrs_msgs::ValidateReference::Response& res);
+     645             :   bool callbackValidateReference2d(mrs_msgs::ValidateReference::Request& req, mrs_msgs::ValidateReference::Response& res);
+     646             :   bool callbackValidateReferenceList(mrs_msgs::ValidateReferenceList::Request& req, mrs_msgs::ValidateReferenceList::Response& res);
+     647             : 
+     648             :   // transformation callbacks
+     649             :   bool callbackTransformReference(mrs_msgs::TransformReferenceSrv::Request& req, mrs_msgs::TransformReferenceSrv::Response& res);
+     650             :   bool callbackTransformPose(mrs_msgs::TransformPoseSrv::Request& req, mrs_msgs::TransformPoseSrv::Response& res);
+     651             :   bool callbackTransformVector3(mrs_msgs::TransformVector3Srv::Request& req, mrs_msgs::TransformVector3Srv::Response& res);
+     652             : 
+     653             :   // | ----------------------- constraints ---------------------- |
+     654             : 
+     655             :   // sets constraints to all trackers
+     656             :   bool callbackSetConstraints(mrs_msgs::DynamicsConstraintsSrv::Request& req, mrs_msgs::DynamicsConstraintsSrv::Response& res);
+     657             : 
+     658             :   // constraints management
+     659             :   bool              got_constraints_ = false;
+     660             :   std::mutex        mutex_constraints_;
+     661             :   void              setConstraints(const mrs_msgs::DynamicsConstraintsSrvRequest& constraints);
+     662             :   void              setConstraintsToTrackers(const mrs_msgs::DynamicsConstraintsSrvRequest& constraints);
+     663             :   void              setConstraintsToControllers(const mrs_msgs::DynamicsConstraintsSrvRequest& constraints);
+     664             :   std::atomic<bool> constraints_being_enforced_ = false;
+     665             : 
+     666             :   std::optional<mrs_msgs::DynamicsConstraintsSrvRequest> enforceControllersConstraints(const mrs_msgs::DynamicsConstraintsSrvRequest& constraints);
+     667             : 
+     668             :   mrs_msgs::DynamicsConstraintsSrvRequest current_constraints_;
+     669             :   mrs_msgs::DynamicsConstraintsSrvRequest sanitized_constraints_;
+     670             : 
+     671             :   // | ------------------ emergency triggered? ------------------ |
+     672             : 
+     673             :   bool failsafe_triggered_ = false;
+     674             :   bool eland_triggered_    = false;
+     675             : 
+     676             :   // | ------------------------- timers ------------------------- |
+     677             : 
+     678             :   // timer for regular status publishing
+     679             :   ros::Timer timer_status_;
+     680             :   void       timerStatus(const ros::TimerEvent& event);
+     681             : 
+     682             :   // timer for issuing the failsafe landing
+     683             :   ros::Timer timer_failsafe_;
+     684             :   void       timerFailsafe(const ros::TimerEvent& event);
+     685             : 
+     686             :   // oneshot timer for running controllers and trackers
+     687             :   void              asyncControl(void);
+     688             :   std::atomic<bool> running_async_control_ = false;
+     689             :   std::future<void> async_control_result_;
+     690             : 
+     691             :   // timer for issuing emergancy landing
+     692             :   ros::Timer timer_eland_;
+     693             :   void       timerEland(const ros::TimerEvent& event);
+     694             : 
+     695             :   // timer for regular checking of controller errors
+     696             :   ros::Timer        timer_safety_;
+     697             :   void              timerSafety(const ros::TimerEvent& event);
+     698             :   std::atomic<bool> running_safety_timer_        = false;
+     699             :   std::atomic<bool> odometry_switch_in_progress_ = false;
+     700             : 
+     701             :   // timer for issuing the pirouette
+     702             :   ros::Timer timer_pirouette_;
+     703             :   void       timerPirouette(const ros::TimerEvent& event);
+     704             : 
+     705             :   // | --------------------- obstacle bumper -------------------- |
+     706             : 
+     707             :   // bumper timer
+     708             :   ros::Timer timer_bumper_;
+     709             :   void       timerBumper(const ros::TimerEvent& event);
+     710             : 
+     711             :   // bumper subscriber
+     712             :   mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors> sh_bumper_;
+     713             : 
+     714             :   bool        _bumper_switch_tracker_    = false;
+     715             :   bool        _bumper_switch_controller_ = false;
+     716             :   std::string _bumper_tracker_name_;
+     717             :   std::string _bumper_controller_name_;
+     718             :   std::string bumper_previous_tracker_;
+     719             :   std::string bumper_previous_controller_;
+     720             : 
+     721             :   std::atomic<bool> bumper_enabled_ = false;
+     722             :   std::atomic<bool> repulsing_      = false;
+     723             : 
+     724             :   double _bumper_horizontal_distance_ = 0;
+     725             :   double _bumper_vertical_distance_   = 0;
+     726             : 
+     727             :   double _bumper_horizontal_overshoot_ = 0;
+     728             :   double _bumper_vertical_overshoot_   = 0;
+     729             : 
+     730             :   int  bumperGetSectorId(const double& x, const double& y, const double& z);
+     731             :   bool bumperPushFromObstacle(void);
+     732             : 
+     733             :   // | --------------- safety checks and failsafes -------------- |
+     734             : 
+     735             :   // escalating failsafe (eland -> failsafe -> disarm)
+     736             :   bool                       _service_escalating_failsafe_enabled_ = false;
+     737             :   bool                       _rc_escalating_failsafe_enabled_      = false;
+     738             :   double                     _escalating_failsafe_timeout_         = 0;
+     739             :   ros::Time                  escalating_failsafe_time_;
+     740             :   bool                       _escalating_failsafe_ehover_   = false;
+     741             :   bool                       _escalating_failsafe_eland_    = false;
+     742             :   bool                       _escalating_failsafe_failsafe_ = false;
+     743             :   double                     _rc_escalating_failsafe_threshold_;
+     744             :   int                        _rc_escalating_failsafe_channel_  = 0;
+     745             :   bool                       rc_escalating_failsafe_triggered_ = false;
+     746             :   EscalatingFailsafeStates_t state_escalating_failsafe_        = ESC_NONE_STATE;
+     747             : 
+     748             :   std::string _tracker_error_action_;
+     749             : 
+     750             :   // emergancy landing state machine
+     751             :   LandingStates_t current_state_landing_  = IDLE_STATE;
+     752             :   LandingStates_t previous_state_landing_ = IDLE_STATE;
+     753             :   std::mutex      mutex_landing_state_machine_;
+     754             :   void            changeLandingState(LandingStates_t new_state);
+     755             :   double          _uav_mass_ = 0;
+     756             :   double          _elanding_cutoff_mass_factor_;
+     757             :   double          _elanding_cutoff_timeout_;
+     758             :   double          landing_uav_mass_ = 0;
+     759             : 
+     760             :   // initial body disturbance loaded from params
+     761             :   double _initial_body_disturbance_x_ = 0;
+     762             :   double _initial_body_disturbance_y_ = 0;
+     763             : 
+     764             :   // profiling
+     765             :   mrs_lib::Profiler profiler_;
+     766             :   bool              _profiler_enabled_ = false;
+     767             : 
+     768             :   // diagnostics publishing
+     769             :   void       publishDiagnostics(void);
+     770             :   std::mutex mutex_diagnostics_;
+     771             : 
+     772             :   void                                             ungripSrv(void);
+     773             :   mrs_lib::ServiceClientHandler<std_srvs::Trigger> sch_ungrip_;
+     774             : 
+     775             :   bool isFlyingNormally(void);
+     776             : 
+     777             :   // | ------------------------ pirouette ----------------------- |
+     778             : 
+     779             :   bool       _pirouette_enabled_ = false;
+     780             :   double     _pirouette_speed_;
+     781             :   double     _pirouette_timer_rate_;
+     782             :   std::mutex mutex_pirouette_;
+     783             :   double     pirouette_initial_heading_;
+     784             :   double     pirouette_iterator_;
+     785             :   bool       callbackPirouette(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     786             : 
+     787             :   // | -------------------- joystick control -------------------- |
+     788             : 
+     789             :   mrs_lib::SubscribeHandler<sensor_msgs::Joy> sh_joystick_;
+     790             : 
+     791             :   void callbackJoystick(const sensor_msgs::Joy::ConstPtr msg);
+     792             :   bool callbackUseJoystick([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     793             : 
+     794             :   // joystick buttons mappings
+     795             :   int _channel_A_, _channel_B_, _channel_X_, _channel_Y_, _channel_start_, _channel_back_, _channel_LT_, _channel_RT_, _channel_L_joy_, _channel_R_joy_;
+     796             : 
+     797             :   // channel numbers and channel multipliers
+     798             :   int    _channel_pitch_, _channel_roll_, _channel_heading_, _channel_throttle_;
+     799             :   double _channel_mult_pitch_, _channel_mult_roll_, _channel_mult_heading_, _channel_mult_throttle_;
+     800             : 
+     801             :   ros::Timer timer_joystick_;
+     802             :   void       timerJoystick(const ros::TimerEvent& event);
+     803             :   double     _joystick_timer_rate_ = 0;
+     804             : 
+     805             :   double _joystick_carrot_distance_ = 0;
+     806             : 
+     807             :   ros::Time joystick_start_press_time_;
+     808             :   bool      joystick_start_pressed_ = false;
+     809             : 
+     810             :   ros::Time joystick_back_press_time_;
+     811             :   bool      joystick_back_pressed_ = false;
+     812             :   bool      joystick_goto_enabled_ = false;
+     813             : 
+     814             :   bool      joystick_failsafe_pressed_ = false;
+     815             :   ros::Time joystick_failsafe_press_time_;
+     816             : 
+     817             :   bool      joystick_eland_pressed_ = false;
+     818             :   ros::Time joystick_eland_press_time_;
+     819             : 
+     820             :   // | ------------------- RC joystick control ------------------ |
+     821             : 
+     822             :   // listening to the RC channels as told by pixhawk
+     823             :   mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels> sh_hw_api_rc_;
+     824             : 
+     825             :   // the RC channel mapping of the main 4 control signals
+     826             :   double _rc_channel_pitch_, _rc_channel_roll_, _rc_channel_heading_, _rc_channel_throttle_;
+     827             : 
+     828             :   bool              _rc_goto_enabled_               = false;
+     829             :   std::atomic<bool> rc_goto_active_                 = false;
+     830             :   double            rc_joystick_channel_last_value_ = 0.5;
+     831             :   bool              rc_joystick_channel_was_low_    = false;
+     832             :   int               _rc_joystick_channel_           = 0;
+     833             : 
+     834             :   double _rc_horizontal_speed_ = 0;
+     835             :   double _rc_vertical_speed_   = 0;
+     836             :   double _rc_heading_rate_     = 0;
+     837             : 
+     838             :   // | ------------------- trajectory loading ------------------- |
+     839             : 
+     840             :   mrs_lib::PublisherHandler<geometry_msgs::PoseArray>        pub_debug_original_trajectory_poses_;
+     841             :   mrs_lib::PublisherHandler<visualization_msgs::MarkerArray> pub_debug_original_trajectory_markers_;
+     842             : 
+     843             :   // | --------------------- other routines --------------------- |
+     844             : 
+     845             :   // this is called to update the trackers and to receive position control command from the active one
+     846             :   void updateTrackers(void);
+     847             : 
+     848             :   // this is called to update the controllers and to receive attitude control command from the active one
+     849             :   void updateControllers(const mrs_msgs::UavState& uav_state);
+     850             : 
+     851             :   // sets the reference to the active tracker
+     852             :   std::tuple<bool, std::string> setReference(const mrs_msgs::ReferenceStamped reference_in);
+     853             : 
+     854             :   // sets the velocity reference to the active tracker
+     855             :   std::tuple<bool, std::string> setVelocityReference(const mrs_msgs::VelocityReferenceStamped& reference_in);
+     856             : 
+     857             :   // sets the reference trajectory to the active tracker
+     858             :   std::tuple<bool, std::string, bool, std::vector<std::string>, std::vector<bool>, std::vector<std::string>> setTrajectoryReference(
+     859             :       const mrs_msgs::TrajectoryReference trajectory_in);
+     860             : 
+     861             :   // publishes
+     862             :   void publish(void);
+     863             : 
+     864             :   bool loadConfigFile(const std::string& file_path, const std::string ns);
+     865             : 
+     866             :   double getMass(void);
+     867             : 
+     868             :   // publishes rviz-visualizable control reference
+     869             :   void publishControlReferenceOdom(const std::optional<mrs_msgs::TrackerCommand>& tracker_command, const Controller::ControlOutput& control_output);
+     870             : 
+     871             :   void initializeControlOutput(void);
+     872             : 
+     873             :   // tell the mrs_odometry to disable its callbacks
+     874             :   void odometryCallbacksSrv(const bool input);
+     875             : 
+     876             :   mrs_msgs::ReferenceStamped velocityReferenceToReference(const mrs_msgs::VelocityReferenceStamped& vel_reference);
+     877             : 
+     878             :   void                          setCallbacks(bool in);
+     879             :   bool                          isOffboard(void);
+     880             :   bool                          elandSrv(void);
+     881             :   std::tuple<bool, std::string> arming(const bool input);
+     882             : 
+     883             :   // safety functions impl
+     884             :   std::tuple<bool, std::string> ehover(void);
+     885             :   std::tuple<bool, std::string> hover(void);
+     886             :   std::tuple<bool, std::string> startTrajectoryTracking(void);
+     887             :   std::tuple<bool, std::string> stopTrajectoryTracking(void);
+     888             :   std::tuple<bool, std::string> resumeTrajectoryTracking(void);
+     889             :   std::tuple<bool, std::string> gotoTrajectoryStart(void);
+     890             :   std::tuple<bool, std::string> eland(void);
+     891             :   std::tuple<bool, std::string> failsafe(void);
+     892             :   std::tuple<bool, std::string> escalatingFailsafe(void);
+     893             : 
+     894             :   EscalatingFailsafeStates_t getNextEscFailsafeState(void);
+     895             : };
+     896             : 
+     897             : //}
+     898             : 
+     899             : /* //{ onInit() */
+     900             : 
+     901          65 : void ControlManager::onInit() {
+     902          65 :   preinitialize();
+     903          65 : }
+     904             : 
+     905             : //}
+     906             : 
+     907             : /* preinitialize() //{ */
+     908             : 
+     909          65 : void ControlManager::preinitialize(void) {
+     910             : 
+     911          65 :   nh_ = nodelet::Nodelet::getMTPrivateNodeHandle();
+     912             : 
+     913          65 :   ros::Time::waitForValid();
+     914             : 
+     915          65 :   mrs_lib::SubscribeHandlerOptions shopts;
+     916          65 :   shopts.nh                 = nh_;
+     917          65 :   shopts.node_name          = "ControlManager";
+     918          65 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     919          65 :   shopts.threadsafe         = true;
+     920          65 :   shopts.autostart          = true;
+     921          65 :   shopts.queue_size         = 10;
+     922          65 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     923             : 
+     924          65 :   sh_hw_api_capabilities_ = mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities>(shopts, "hw_api_capabilities_in");
+     925             : 
+     926          65 :   timer_hw_api_capabilities_ = nh_.createTimer(ros::Rate(1.0), &ControlManager::timerHwApiCapabilities, this);
+     927          65 : }
+     928             : 
+     929             : //}
+     930             : 
+     931             : /* initialize() //{ */
+     932             : 
+     933          65 : void ControlManager::initialize(void) {
+     934             : 
+     935          65 :   joystick_start_press_time_      = ros::Time(0);
+     936          65 :   joystick_failsafe_press_time_   = ros::Time(0);
+     937          65 :   joystick_eland_press_time_      = ros::Time(0);
+     938          65 :   escalating_failsafe_time_       = ros::Time(0);
+     939          65 :   controller_tracker_switch_time_ = ros::Time(0);
+     940             : 
+     941          65 :   ROS_INFO("[ControlManager]: initializing");
+     942             : 
+     943             :   // --------------------------------------------------------------
+     944             :   // |         common handler for trackers and controllers        |
+     945             :   // --------------------------------------------------------------
+     946             : 
+     947          65 :   common_handlers_ = std::make_shared<mrs_uav_managers::control_manager::CommonHandlers_t>();
+     948             : 
+     949             :   // --------------------------------------------------------------
+     950             :   // |                           params                           |
+     951             :   // --------------------------------------------------------------
+     952             : 
+     953         130 :   mrs_lib::ParamLoader param_loader(nh_, "ControlManager");
+     954             : 
+     955          65 :   param_loader.loadParam("custom_config", _custom_config_);
+     956          65 :   param_loader.loadParam("platform_config", _platform_config_);
+     957          65 :   param_loader.loadParam("world_config", _world_config_);
+     958          65 :   param_loader.loadParam("network_config", _network_config_);
+     959             : 
+     960          65 :   if (_custom_config_ != "") {
+     961          65 :     param_loader.addYamlFile(_custom_config_);
+     962             :   }
+     963             : 
+     964          65 :   if (_platform_config_ != "") {
+     965          65 :     param_loader.addYamlFile(_platform_config_);
+     966             :   }
+     967             : 
+     968          65 :   if (_world_config_ != "") {
+     969          65 :     param_loader.addYamlFile(_world_config_);
+     970             :   }
+     971             : 
+     972          65 :   if (_network_config_ != "") {
+     973          65 :     param_loader.addYamlFile(_network_config_);
+     974             :   }
+     975             : 
+     976          65 :   param_loader.addYamlFileFromParam("private_config");
+     977          65 :   param_loader.addYamlFileFromParam("public_config");
+     978          65 :   param_loader.addYamlFileFromParam("private_trackers");
+     979          65 :   param_loader.addYamlFileFromParam("private_controllers");
+     980          65 :   param_loader.addYamlFileFromParam("public_controllers");
+     981             : 
+     982             :   // params passed from the launch file are not prefixed
+     983          65 :   param_loader.loadParam("uav_name", _uav_name_);
+     984          65 :   param_loader.loadParam("body_frame", _body_frame_);
+     985          65 :   param_loader.loadParam("enable_profiler", _profiler_enabled_);
+     986          65 :   param_loader.loadParam("uav_mass", _uav_mass_);
+     987          65 :   param_loader.loadParam("body_disturbance_x", _initial_body_disturbance_x_);
+     988          65 :   param_loader.loadParam("body_disturbance_y", _initial_body_disturbance_y_);
+     989          65 :   param_loader.loadParam("g", common_handlers_->g);
+     990             : 
+     991             :   // motor params are also not prefixed, since they are common to more nodes
+     992          65 :   param_loader.loadParam("motor_params/a", common_handlers_->throttle_model.A);
+     993          65 :   param_loader.loadParam("motor_params/b", common_handlers_->throttle_model.B);
+     994          65 :   param_loader.loadParam("motor_params/n_motors", common_handlers_->throttle_model.n_motors);
+     995             : 
+     996             :   // | ----------------------- safety area ---------------------- |
+     997             : 
+     998             :   bool use_safety_area;
+     999          65 :   param_loader.loadParam("safety_area/enabled", use_safety_area);
+    1000          65 :   use_safety_area_ = use_safety_area;
+    1001             : 
+    1002          65 :   param_loader.loadParam("safety_area/horizontal/frame_name", _safety_area_horizontal_frame_);
+    1003             : 
+    1004          65 :   param_loader.loadParam("safety_area/vertical/frame_name", _safety_area_vertical_frame_);
+    1005          65 :   param_loader.loadParam("safety_area/vertical/min_z", _safety_area_min_z_);
+    1006          65 :   param_loader.loadParam("safety_area/vertical/max_z", _safety_area_max_z_);
+    1007             : 
+    1008          65 :   if (use_safety_area_) {
+    1009             : 
+    1010         171 :     Eigen::MatrixXd border_points = param_loader.loadMatrixDynamic2("safety_area/horizontal/points", -1, 2);
+    1011             : 
+    1012             :     try {
+    1013             : 
+    1014         114 :       std::vector<Eigen::MatrixXd> polygon_obstacle_points;
+    1015          57 :       std::vector<Eigen::MatrixXd> point_obstacle_points;
+    1016             : 
+    1017          57 :       safety_zone_ = std::make_unique<mrs_lib::SafetyZone>(border_points);
+    1018             :     }
+    1019             : 
+    1020           0 :     catch (mrs_lib::SafetyZone::BorderError& e) {
+    1021           0 :       ROS_ERROR("[ControlManager]: SafetyArea: wrong configruation for the safety zone border polygon");
+    1022           0 :       ros::shutdown();
+    1023             :     }
+    1024           0 :     catch (...) {
+    1025           0 :       ROS_ERROR("[ControlManager]: SafetyArea: unhandled exception!");
+    1026           0 :       ros::shutdown();
+    1027             :     }
+    1028             : 
+    1029          57 :     ROS_INFO("[ControlManager]: safety area initialized");
+    1030             :   }
+    1031             : 
+    1032          65 :   param_loader.setPrefix("mrs_uav_managers/control_manager/");
+    1033             : 
+    1034          65 :   param_loader.loadParam("state_input", _state_input_);
+    1035             : 
+    1036          65 :   if (!(_state_input_ == INPUT_UAV_STATE || _state_input_ == INPUT_ODOMETRY)) {
+    1037           0 :     ROS_ERROR("[ControlManager]: the state_input parameter has to be in {0, 1}");
+    1038           0 :     ros::shutdown();
+    1039             :   }
+    1040             : 
+    1041          65 :   param_loader.loadParam("safety/min_throttle_null_tracker", _min_throttle_null_tracker_);
+    1042          65 :   param_loader.loadParam("safety/ehover_tracker", _ehover_tracker_name_);
+    1043          65 :   param_loader.loadParam("safety/failsafe_controller", _failsafe_controller_name_);
+    1044             : 
+    1045          65 :   param_loader.loadParam("safety/eland/controller", _eland_controller_name_);
+    1046          65 :   param_loader.loadParam("safety/eland/cutoff_mass_factor", _elanding_cutoff_mass_factor_);
+    1047          65 :   param_loader.loadParam("safety/eland/cutoff_timeout", _elanding_cutoff_timeout_);
+    1048          65 :   param_loader.loadParam("safety/eland/timer_rate", _elanding_timer_rate_);
+    1049          65 :   param_loader.loadParam("safety/eland/disarm", _eland_disarm_enabled_);
+    1050             : 
+    1051          65 :   param_loader.loadParam("safety/escalating_failsafe/service/enabled", _service_escalating_failsafe_enabled_);
+    1052          65 :   param_loader.loadParam("safety/escalating_failsafe/rc/enabled", _rc_escalating_failsafe_enabled_);
+    1053          65 :   param_loader.loadParam("safety/escalating_failsafe/rc/channel_number", _rc_escalating_failsafe_channel_);
+    1054          65 :   param_loader.loadParam("safety/escalating_failsafe/rc/threshold", _rc_escalating_failsafe_threshold_);
+    1055          65 :   param_loader.loadParam("safety/escalating_failsafe/timeout", _escalating_failsafe_timeout_);
+    1056          65 :   param_loader.loadParam("safety/escalating_failsafe/ehover", _escalating_failsafe_ehover_);
+    1057          65 :   param_loader.loadParam("safety/escalating_failsafe/eland", _escalating_failsafe_eland_);
+    1058          65 :   param_loader.loadParam("safety/escalating_failsafe/failsafe", _escalating_failsafe_failsafe_);
+    1059             : 
+    1060          65 :   param_loader.loadParam("safety/tilt_limit/eland/enabled", _tilt_limit_eland_enabled_);
+    1061          65 :   param_loader.loadParam("safety/tilt_limit/eland/limit", _tilt_limit_eland_);
+    1062             : 
+    1063          65 :   _tilt_limit_eland_ = M_PI * (_tilt_limit_eland_ / 180.0);
+    1064             : 
+    1065          65 :   if (_tilt_limit_eland_enabled_ && fabs(_tilt_limit_eland_) < 1e-3) {
+    1066           0 :     ROS_ERROR("[ControlManager]: safety/tilt_limit/eland/enabled = 'TRUE' but the limit is too low");
+    1067           0 :     ros::shutdown();
+    1068             :   }
+    1069             : 
+    1070          65 :   param_loader.loadParam("safety/tilt_limit/disarm/enabled", _tilt_limit_disarm_enabled_);
+    1071          65 :   param_loader.loadParam("safety/tilt_limit/disarm/limit", _tilt_limit_disarm_);
+    1072             : 
+    1073          65 :   _tilt_limit_disarm_ = M_PI * (_tilt_limit_disarm_ / 180.0);
+    1074             : 
+    1075          65 :   if (_tilt_limit_disarm_enabled_ && fabs(_tilt_limit_disarm_) < 1e-3) {
+    1076           0 :     ROS_ERROR("[ControlManager]: safety/tilt_limit/disarm/enabled = 'TRUE' but the limit is too low");
+    1077           0 :     ros::shutdown();
+    1078             :   }
+    1079             : 
+    1080          65 :   param_loader.loadParam("safety/yaw_error_eland/enabled", _yaw_error_eland_enabled_);
+    1081          65 :   param_loader.loadParam("safety/yaw_error_eland/limit", _yaw_error_eland_);
+    1082             : 
+    1083          65 :   _yaw_error_eland_ = M_PI * (_yaw_error_eland_ / 180.0);
+    1084             : 
+    1085          65 :   if (_yaw_error_eland_enabled_ && fabs(_yaw_error_eland_) < 1e-3) {
+    1086           0 :     ROS_ERROR("[ControlManager]: safety/yaw_error_eland/enabled = 'TRUE' but the limit is too low");
+    1087           0 :     ros::shutdown();
+    1088             :   }
+    1089             : 
+    1090          65 :   param_loader.loadParam("status_timer_rate", _status_timer_rate_);
+    1091          65 :   param_loader.loadParam("safety/safety_timer_rate", _safety_timer_rate_);
+    1092          65 :   param_loader.loadParam("safety/failsafe_timer_rate", _failsafe_timer_rate_);
+    1093          65 :   param_loader.loadParam("safety/rc_emergency_handoff/enabled", _rc_emergency_handoff_);
+    1094             : 
+    1095          65 :   param_loader.loadParam("safety/odometry_max_missing_time", _uav_state_max_missing_time_);
+    1096          65 :   param_loader.loadParam("safety/odometry_innovation_eland/enabled", _odometry_innovation_check_enabled_);
+    1097             : 
+    1098          65 :   param_loader.loadParam("safety/tilt_error_disarm/enabled", _tilt_error_disarm_enabled_);
+    1099          65 :   param_loader.loadParam("safety/tilt_error_disarm/timeout", _tilt_error_disarm_timeout_);
+    1100          65 :   param_loader.loadParam("safety/tilt_error_disarm/error_threshold", _tilt_error_disarm_threshold_);
+    1101             : 
+    1102          65 :   _tilt_error_disarm_threshold_ = M_PI * (_tilt_error_disarm_threshold_ / 180.0);
+    1103             : 
+    1104          65 :   if (_tilt_error_disarm_enabled_ && fabs(_tilt_error_disarm_threshold_) < 1e-3) {
+    1105           0 :     ROS_ERROR("[ControlManager]: safety/tilt_error_disarm/enabled = 'TRUE' but the limit is too low");
+    1106           0 :     ros::shutdown();
+    1107             :   }
+    1108             : 
+    1109             :   // default constraints
+    1110             : 
+    1111          65 :   param_loader.loadParam("default_constraints/horizontal/speed", current_constraints_.constraints.horizontal_speed);
+    1112          65 :   param_loader.loadParam("default_constraints/horizontal/acceleration", current_constraints_.constraints.horizontal_acceleration);
+    1113          65 :   param_loader.loadParam("default_constraints/horizontal/jerk", current_constraints_.constraints.horizontal_jerk);
+    1114          65 :   param_loader.loadParam("default_constraints/horizontal/snap", current_constraints_.constraints.horizontal_snap);
+    1115             : 
+    1116          65 :   param_loader.loadParam("default_constraints/vertical/ascending/speed", current_constraints_.constraints.vertical_ascending_speed);
+    1117          65 :   param_loader.loadParam("default_constraints/vertical/ascending/acceleration", current_constraints_.constraints.vertical_ascending_acceleration);
+    1118          65 :   param_loader.loadParam("default_constraints/vertical/ascending/jerk", current_constraints_.constraints.vertical_ascending_jerk);
+    1119          65 :   param_loader.loadParam("default_constraints/vertical/ascending/snap", current_constraints_.constraints.vertical_ascending_snap);
+    1120             : 
+    1121          65 :   param_loader.loadParam("default_constraints/vertical/descending/speed", current_constraints_.constraints.vertical_descending_speed);
+    1122          65 :   param_loader.loadParam("default_constraints/vertical/descending/acceleration", current_constraints_.constraints.vertical_descending_acceleration);
+    1123          65 :   param_loader.loadParam("default_constraints/vertical/descending/jerk", current_constraints_.constraints.vertical_descending_jerk);
+    1124          65 :   param_loader.loadParam("default_constraints/vertical/descending/snap", current_constraints_.constraints.vertical_descending_snap);
+    1125             : 
+    1126          65 :   param_loader.loadParam("default_constraints/heading/speed", current_constraints_.constraints.heading_speed);
+    1127          65 :   param_loader.loadParam("default_constraints/heading/acceleration", current_constraints_.constraints.heading_acceleration);
+    1128          65 :   param_loader.loadParam("default_constraints/heading/jerk", current_constraints_.constraints.heading_jerk);
+    1129          65 :   param_loader.loadParam("default_constraints/heading/snap", current_constraints_.constraints.heading_snap);
+    1130             : 
+    1131          65 :   param_loader.loadParam("default_constraints/angular_speed/roll", current_constraints_.constraints.roll_rate);
+    1132          65 :   param_loader.loadParam("default_constraints/angular_speed/pitch", current_constraints_.constraints.pitch_rate);
+    1133          65 :   param_loader.loadParam("default_constraints/angular_speed/yaw", current_constraints_.constraints.yaw_rate);
+    1134             : 
+    1135          65 :   param_loader.loadParam("default_constraints/tilt", current_constraints_.constraints.tilt);
+    1136             : 
+    1137          65 :   current_constraints_.constraints.tilt = M_PI * (current_constraints_.constraints.tilt / 180.0);
+    1138             : 
+    1139             :   // joystick
+    1140             : 
+    1141          65 :   param_loader.loadParam("joystick/enabled", _joystick_enabled_);
+    1142          65 :   param_loader.loadParam("joystick/mode", _joystick_mode_);
+    1143          65 :   param_loader.loadParam("joystick/carrot_distance", _joystick_carrot_distance_);
+    1144          65 :   param_loader.loadParam("joystick/joystick_timer_rate", _joystick_timer_rate_);
+    1145          65 :   param_loader.loadParam("joystick/attitude_control/tracker", _joystick_tracker_name_);
+    1146          65 :   param_loader.loadParam("joystick/attitude_control/controller", _joystick_controller_name_);
+    1147          65 :   param_loader.loadParam("joystick/attitude_control/fallback/tracker", _joystick_fallback_tracker_name_);
+    1148          65 :   param_loader.loadParam("joystick/attitude_control/fallback/controller", _joystick_fallback_controller_name_);
+    1149             : 
+    1150          65 :   param_loader.loadParam("joystick/channels/A", _channel_A_);
+    1151          65 :   param_loader.loadParam("joystick/channels/B", _channel_B_);
+    1152          65 :   param_loader.loadParam("joystick/channels/X", _channel_X_);
+    1153          65 :   param_loader.loadParam("joystick/channels/Y", _channel_Y_);
+    1154          65 :   param_loader.loadParam("joystick/channels/start", _channel_start_);
+    1155          65 :   param_loader.loadParam("joystick/channels/back", _channel_back_);
+    1156          65 :   param_loader.loadParam("joystick/channels/LT", _channel_LT_);
+    1157          65 :   param_loader.loadParam("joystick/channels/RT", _channel_RT_);
+    1158          65 :   param_loader.loadParam("joystick/channels/L_joy", _channel_L_joy_);
+    1159          65 :   param_loader.loadParam("joystick/channels/R_joy", _channel_R_joy_);
+    1160             : 
+    1161             :   // load channels
+    1162          65 :   param_loader.loadParam("joystick/channels/pitch", _channel_pitch_);
+    1163          65 :   param_loader.loadParam("joystick/channels/roll", _channel_roll_);
+    1164          65 :   param_loader.loadParam("joystick/channels/heading", _channel_heading_);
+    1165          65 :   param_loader.loadParam("joystick/channels/throttle", _channel_throttle_);
+    1166             : 
+    1167             :   // load channel multipliers
+    1168          65 :   param_loader.loadParam("joystick/channel_multipliers/pitch", _channel_mult_pitch_);
+    1169          65 :   param_loader.loadParam("joystick/channel_multipliers/roll", _channel_mult_roll_);
+    1170          65 :   param_loader.loadParam("joystick/channel_multipliers/heading", _channel_mult_heading_);
+    1171          65 :   param_loader.loadParam("joystick/channel_multipliers/throttle", _channel_mult_throttle_);
+    1172             : 
+    1173             :   bool bumper_enabled;
+    1174          65 :   param_loader.loadParam("obstacle_bumper/enabled", bumper_enabled);
+    1175          65 :   bumper_enabled_ = bumper_enabled;
+    1176             : 
+    1177          65 :   param_loader.loadParam("obstacle_bumper/switch_tracker", _bumper_switch_tracker_);
+    1178          65 :   param_loader.loadParam("obstacle_bumper/switch_controller", _bumper_switch_controller_);
+    1179          65 :   param_loader.loadParam("obstacle_bumper/tracker", _bumper_tracker_name_);
+    1180          65 :   param_loader.loadParam("obstacle_bumper/controller", _bumper_controller_name_);
+    1181          65 :   param_loader.loadParam("obstacle_bumper/timer_rate", _bumper_timer_rate_);
+    1182             : 
+    1183          65 :   param_loader.loadParam("obstacle_bumper/horizontal/threshold_distance", _bumper_horizontal_distance_);
+    1184          65 :   param_loader.loadParam("obstacle_bumper/vertical/threshold_distance", _bumper_vertical_distance_);
+    1185             : 
+    1186          65 :   param_loader.loadParam("obstacle_bumper/horizontal/overshoot", _bumper_horizontal_overshoot_);
+    1187          65 :   param_loader.loadParam("obstacle_bumper/vertical/overshoot", _bumper_vertical_overshoot_);
+    1188             : 
+    1189          65 :   param_loader.loadParam("safety/tracker_error_action", _tracker_error_action_);
+    1190             : 
+    1191          65 :   param_loader.loadParam("trajectory_tracking/snap_to_safety_area", _snap_trajectory_to_safety_area_);
+    1192             : 
+    1193             :   // check the values of tracker error action
+    1194          65 :   if (_tracker_error_action_ != ELAND_STR && _tracker_error_action_ != EHOVER_STR) {
+    1195           0 :     ROS_ERROR("[ControlManager]: the tracker_error_action parameter (%s) is not correct, requires {%s, %s}", _tracker_error_action_.c_str(), ELAND_STR,
+    1196             :               EHOVER_STR);
+    1197           0 :     ros::shutdown();
+    1198             :   }
+    1199             : 
+    1200          65 :   param_loader.loadParam("rc_joystick/enabled", _rc_goto_enabled_);
+    1201          65 :   param_loader.loadParam("rc_joystick/channel_number", _rc_joystick_channel_);
+    1202          65 :   param_loader.loadParam("rc_joystick/horizontal_speed", _rc_horizontal_speed_);
+    1203          65 :   param_loader.loadParam("rc_joystick/vertical_speed", _rc_vertical_speed_);
+    1204          65 :   param_loader.loadParam("rc_joystick/heading_rate", _rc_heading_rate_);
+    1205             : 
+    1206          65 :   param_loader.loadParam("rc_joystick/channels/pitch", _rc_channel_pitch_);
+    1207          65 :   param_loader.loadParam("rc_joystick/channels/roll", _rc_channel_roll_);
+    1208          65 :   param_loader.loadParam("rc_joystick/channels/heading", _rc_channel_heading_);
+    1209          65 :   param_loader.loadParam("rc_joystick/channels/throttle", _rc_channel_throttle_);
+    1210             : 
+    1211          65 :   param_loader.loadParam("pirouette/speed", _pirouette_speed_);
+    1212          65 :   param_loader.loadParam("pirouette/timer_rate", _pirouette_timer_rate_);
+    1213             : 
+    1214          65 :   param_loader.loadParam("safety/parachute/enabled", _parachute_enabled_);
+    1215             : 
+    1216             :   // --------------------------------------------------------------
+    1217             :   // |             initialize the last control output             |
+    1218             :   // --------------------------------------------------------------
+    1219             : 
+    1220          65 :   initializeControlOutput();
+    1221             : 
+    1222             :   // | --------------------- tf transformer --------------------- |
+    1223             : 
+    1224          65 :   transformer_ = std::make_shared<mrs_lib::Transformer>(nh_, "ControlManager");
+    1225          65 :   transformer_->setDefaultPrefix(_uav_name_);
+    1226          65 :   transformer_->retryLookupNewest(true);
+    1227             : 
+    1228             :   // | ------------------- scope timer logger ------------------- |
+    1229             : 
+    1230          65 :   param_loader.loadParam("scope_timer/enabled", scope_timer_enabled_);
+    1231         195 :   const std::string scope_timer_log_filename = param_loader.loadParam2("scope_timer/log_filename", std::string(""));
+    1232          65 :   scope_timer_logger_                        = std::make_shared<mrs_lib::ScopeTimerLogger>(scope_timer_log_filename, scope_timer_enabled_);
+    1233             : 
+    1234             :   // bind transformer to trackers and controllers for use
+    1235          65 :   common_handlers_->transformer = transformer_;
+    1236             : 
+    1237             :   // bind scope timer to trackers and controllers for use
+    1238          65 :   common_handlers_->scope_timer.enabled = scope_timer_enabled_;
+    1239          65 :   common_handlers_->scope_timer.logger  = scope_timer_logger_;
+    1240             : 
+    1241          65 :   common_handlers_->safety_area.use_safety_area       = use_safety_area_;
+    1242          65 :   common_handlers_->safety_area.isPointInSafetyArea2d = boost::bind(&ControlManager::isPointInSafetyArea2d, this, _1);
+    1243          65 :   common_handlers_->safety_area.isPointInSafetyArea3d = boost::bind(&ControlManager::isPointInSafetyArea3d, this, _1);
+    1244          65 :   common_handlers_->safety_area.getMinZ               = boost::bind(&ControlManager::getMinZ, this, _1);
+    1245          65 :   common_handlers_->safety_area.getMaxZ               = boost::bind(&ControlManager::getMaxZ, this, _1);
+    1246             : 
+    1247          65 :   common_handlers_->getMass = boost::bind(&ControlManager::getMass, this);
+    1248             : 
+    1249          65 :   common_handlers_->detailed_model_params = loadDetailedUavModelParams(nh_, "ControlManager", _platform_config_, _custom_config_);
+    1250             : 
+    1251          65 :   common_handlers_->control_output_modalities = _hw_api_inputs_;
+    1252             : 
+    1253          65 :   common_handlers_->uav_name = _uav_name_;
+    1254             : 
+    1255          65 :   common_handlers_->parent_nh = nh_;
+    1256             : 
+    1257             :   // --------------------------------------------------------------
+    1258             :   // |                        load trackers                       |
+    1259             :   // --------------------------------------------------------------
+    1260             : 
+    1261         130 :   std::vector<std::string> custom_trackers;
+    1262             : 
+    1263          65 :   param_loader.loadParam("mrs_trackers", _tracker_names_);
+    1264          65 :   param_loader.loadParam("trackers", custom_trackers);
+    1265             : 
+    1266          65 :   if (!custom_trackers.empty()) {
+    1267           1 :     _tracker_names_.insert(_tracker_names_.end(), custom_trackers.begin(), custom_trackers.end());
+    1268             :   }
+    1269             : 
+    1270          65 :   param_loader.loadParam("null_tracker", _null_tracker_name_);
+    1271          65 :   param_loader.loadParam("landing_takeoff_tracker", _landoff_tracker_name_);
+    1272             : 
+    1273          65 :   tracker_loader_ = std::make_unique<pluginlib::ClassLoader<mrs_uav_managers::Tracker>>("mrs_uav_managers", "mrs_uav_managers::Tracker");
+    1274             : 
+    1275         456 :   for (int i = 0; i < int(_tracker_names_.size()); i++) {
+    1276             : 
+    1277         782 :     std::string tracker_name = _tracker_names_[i];
+    1278             : 
+    1279             :     // load the controller parameters
+    1280         782 :     std::string address;
+    1281         782 :     std::string name_space;
+    1282             :     bool        human_switchable;
+    1283             : 
+    1284         391 :     param_loader.loadParam(tracker_name + "/address", address);
+    1285         391 :     param_loader.loadParam(tracker_name + "/namespace", name_space);
+    1286         391 :     param_loader.loadParam(tracker_name + "/human_switchable", human_switchable, false);
+    1287             : 
+    1288        1173 :     TrackerParams new_tracker(address, name_space, human_switchable);
+    1289         391 :     trackers_.insert(std::pair<std::string, TrackerParams>(tracker_name, new_tracker));
+    1290             : 
+    1291             :     try {
+    1292         391 :       ROS_INFO("[ControlManager]: loading the tracker '%s'", new_tracker.address.c_str());
+    1293         391 :       tracker_list_.push_back(tracker_loader_->createInstance(new_tracker.address.c_str()));
+    1294             :     }
+    1295           0 :     catch (pluginlib::CreateClassException& ex1) {
+    1296           0 :       ROS_ERROR("[ControlManager]: CreateClassException for the tracker '%s'", new_tracker.address.c_str());
+    1297           0 :       ROS_ERROR("[ControlManager]: Error: %s", ex1.what());
+    1298           0 :       ros::shutdown();
+    1299             :     }
+    1300           0 :     catch (pluginlib::PluginlibException& ex) {
+    1301           0 :       ROS_ERROR("[ControlManager]: PluginlibException for the tracker '%s'", new_tracker.address.c_str());
+    1302           0 :       ROS_ERROR("[ControlManager]: Error: %s", ex.what());
+    1303           0 :       ros::shutdown();
+    1304             :     }
+    1305             :   }
+    1306             : 
+    1307          65 :   ROS_INFO("[ControlManager]: trackers were loaded");
+    1308             : 
+    1309         456 :   for (int i = 0; i < int(tracker_list_.size()); i++) {
+    1310             : 
+    1311         391 :     std::map<std::string, TrackerParams>::iterator it;
+    1312         391 :     it = trackers_.find(_tracker_names_[i]);
+    1313             : 
+    1314             :     // create private handlers
+    1315             :     std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers =
+    1316         782 :         std::make_shared<mrs_uav_managers::control_manager::PrivateHandlers_t>();
+    1317             : 
+    1318         391 :     private_handlers->loadConfigFile = boost::bind(&ControlManager::loadConfigFile, this, _1, it->second.name_space);
+    1319         391 :     private_handlers->name_space     = it->second.name_space;
+    1320         391 :     private_handlers->runtime_name   = _tracker_names_[i];
+    1321         391 :     private_handlers->param_loader   = std::make_unique<mrs_lib::ParamLoader>(ros::NodeHandle(nh_, it->second.name_space), _tracker_names_[i]);
+    1322             : 
+    1323         391 :     if (_custom_config_ != "") {
+    1324         391 :       private_handlers->param_loader->addYamlFile(_custom_config_);
+    1325             :     }
+    1326             : 
+    1327         391 :     if (_platform_config_ != "") {
+    1328         391 :       private_handlers->param_loader->addYamlFile(_platform_config_);
+    1329             :     }
+    1330             : 
+    1331         391 :     if (_world_config_ != "") {
+    1332         391 :       private_handlers->param_loader->addYamlFile(_world_config_);
+    1333             :     }
+    1334             : 
+    1335         391 :     if (_network_config_ != "") {
+    1336         391 :       private_handlers->param_loader->addYamlFile(_network_config_);
+    1337             :     }
+    1338             : 
+    1339         391 :     bool success = false;
+    1340             : 
+    1341             :     try {
+    1342         391 :       ROS_INFO("[ControlManager]: initializing the tracker '%s'", it->second.address.c_str());
+    1343         391 :       success = tracker_list_[i]->initialize(ros::NodeHandle(nh_, it->second.name_space), common_handlers_, private_handlers);
+    1344             :     }
+    1345           0 :     catch (std::runtime_error& ex) {
+    1346           0 :       ROS_ERROR("[ControlManager]: exception caught during tracker initialization: '%s'", ex.what());
+    1347             :     }
+    1348             : 
+    1349         391 :     if (!success) {
+    1350           0 :       ROS_ERROR("[ControlManager]: failed to initialize the tracker '%s'", it->second.address.c_str());
+    1351           0 :       ros::shutdown();
+    1352             :     }
+    1353             :   }
+    1354             : 
+    1355          65 :   ROS_INFO("[ControlManager]: trackers were initialized");
+    1356             : 
+    1357             :   // --------------------------------------------------------------
+    1358             :   // |           check the existance of selected trackers         |
+    1359             :   // --------------------------------------------------------------
+    1360             : 
+    1361             :   // | ------ check for the existance of the hover tracker ------ |
+    1362             : 
+    1363             :   // check if the hover_tracker is within the loaded trackers
+    1364             :   {
+    1365          65 :     auto idx = idxInVector(_ehover_tracker_name_, _tracker_names_);
+    1366             : 
+    1367          65 :     if (idx) {
+    1368          65 :       _ehover_tracker_idx_ = idx.value();
+    1369             :     } else {
+    1370           0 :       ROS_ERROR("[ControlManager]: the safety/hover_tracker (%s) is not within the loaded trackers", _ehover_tracker_name_.c_str());
+    1371           0 :       ros::shutdown();
+    1372             :     }
+    1373             :   }
+    1374             : 
+    1375             :   // | ----- check for the existence of the landoff tracker ----- |
+    1376             : 
+    1377             :   {
+    1378          65 :     auto idx = idxInVector(_landoff_tracker_name_, _tracker_names_);
+    1379             : 
+    1380          65 :     if (idx) {
+    1381          65 :       _landoff_tracker_idx_ = idx.value();
+    1382             :     } else {
+    1383           0 :       ROS_ERROR("[ControlManager]: the landoff tracker (%s) is not within the loaded trackers", _landoff_tracker_name_.c_str());
+    1384           0 :       ros::shutdown();
+    1385             :     }
+    1386             :   }
+    1387             : 
+    1388             :   // | ------- check for the existence of the null tracker ------ |
+    1389             : 
+    1390             :   {
+    1391          65 :     auto idx = idxInVector(_null_tracker_name_, _tracker_names_);
+    1392             : 
+    1393          65 :     if (idx) {
+    1394          65 :       _null_tracker_idx_ = idx.value();
+    1395             :     } else {
+    1396           0 :       ROS_ERROR("[ControlManager]: the null tracker (%s) is not within the loaded trackers", _null_tracker_name_.c_str());
+    1397           0 :       ros::shutdown();
+    1398             :     }
+    1399             :   }
+    1400             : 
+    1401             :   // --------------------------------------------------------------
+    1402             :   // |         check existance of trackers for joystick           |
+    1403             :   // --------------------------------------------------------------
+    1404             : 
+    1405          65 :   if (_joystick_enabled_) {
+    1406             : 
+    1407          65 :     auto idx = idxInVector(_joystick_tracker_name_, _tracker_names_);
+    1408             : 
+    1409          65 :     if (idx) {
+    1410          65 :       _joystick_tracker_idx_ = idx.value();
+    1411             :     } else {
+    1412           0 :       ROS_ERROR("[ControlManager]: the joystick tracker (%s) is not within the loaded trackers", _joystick_tracker_name_.c_str());
+    1413           0 :       ros::shutdown();
+    1414             :     }
+    1415             :   }
+    1416             : 
+    1417          65 :   if (_bumper_switch_tracker_) {
+    1418             : 
+    1419          65 :     auto idx = idxInVector(_bumper_tracker_name_, _tracker_names_);
+    1420             : 
+    1421          65 :     if (!idx) {
+    1422           0 :       ROS_ERROR("[ControlManager]: the bumper tracker (%s) is not within the loaded trackers", _bumper_tracker_name_.c_str());
+    1423           0 :       ros::shutdown();
+    1424             :     }
+    1425             :   }
+    1426             : 
+    1427             :   {
+    1428          65 :     auto idx = idxInVector(_joystick_fallback_tracker_name_, _tracker_names_);
+    1429             : 
+    1430          65 :     if (idx) {
+    1431          65 :       _joystick_fallback_tracker_idx_ = idx.value();
+    1432             :     } else {
+    1433           0 :       ROS_ERROR("[ControlManager]: the joystick fallback tracker (%s) is not within the loaded trackers", _joystick_fallback_tracker_name_.c_str());
+    1434           0 :       ros::shutdown();
+    1435             :     }
+    1436             :   }
+    1437             : 
+    1438             :   // --------------------------------------------------------------
+    1439             :   // |                    load the controllers                    |
+    1440             :   // --------------------------------------------------------------
+    1441             : 
+    1442         130 :   std::vector<std::string> custom_controllers;
+    1443             : 
+    1444          65 :   param_loader.loadParam("mrs_controllers", _controller_names_);
+    1445          65 :   param_loader.loadParam("controllers", custom_controllers);
+    1446             : 
+    1447          65 :   if (!custom_controllers.empty()) {
+    1448           0 :     _controller_names_.insert(_controller_names_.end(), custom_controllers.begin(), custom_controllers.end());
+    1449             :   }
+    1450             : 
+    1451          65 :   controller_loader_ = std::make_unique<pluginlib::ClassLoader<mrs_uav_managers::Controller>>("mrs_uav_managers", "mrs_uav_managers::Controller");
+    1452             : 
+    1453             :   // for each controller in the list
+    1454         390 :   for (int i = 0; i < int(_controller_names_.size()); i++) {
+    1455             : 
+    1456         650 :     std::string controller_name = _controller_names_[i];
+    1457             : 
+    1458             :     // load the controller parameters
+    1459         650 :     std::string address;
+    1460         650 :     std::string name_space;
+    1461             :     double      eland_threshold, failsafe_threshold, odometry_innovation_threshold;
+    1462             :     bool        human_switchable;
+    1463         325 :     param_loader.loadParam(controller_name + "/address", address);
+    1464         325 :     param_loader.loadParam(controller_name + "/namespace", name_space);
+    1465         325 :     param_loader.loadParam(controller_name + "/eland_threshold", eland_threshold);
+    1466         325 :     param_loader.loadParam(controller_name + "/failsafe_threshold", failsafe_threshold);
+    1467         325 :     param_loader.loadParam(controller_name + "/odometry_innovation_threshold", odometry_innovation_threshold);
+    1468         325 :     param_loader.loadParam(controller_name + "/human_switchable", human_switchable, false);
+    1469             : 
+    1470             :     // check if the controller can output some of the required outputs
+    1471             :     {
+    1472             : 
+    1473         325 :       ControlOutputModalities_t outputs;
+    1474         325 :       param_loader.loadParam(controller_name + "/outputs/actuators", outputs.actuators, false);
+    1475         325 :       param_loader.loadParam(controller_name + "/outputs/control_group", outputs.control_group, false);
+    1476         325 :       param_loader.loadParam(controller_name + "/outputs/attitude_rate", outputs.attitude_rate, false);
+    1477         325 :       param_loader.loadParam(controller_name + "/outputs/attitude", outputs.attitude, false);
+    1478         325 :       param_loader.loadParam(controller_name + "/outputs/acceleration_hdg_rate", outputs.acceleration_hdg_rate, false);
+    1479         325 :       param_loader.loadParam(controller_name + "/outputs/acceleration_hdg", outputs.acceleration_hdg, false);
+    1480         325 :       param_loader.loadParam(controller_name + "/outputs/velocity_hdg_rate", outputs.velocity_hdg_rate, false);
+    1481         325 :       param_loader.loadParam(controller_name + "/outputs/velocity_hdg", outputs.velocity_hdg, false);
+    1482         325 :       param_loader.loadParam(controller_name + "/outputs/position", outputs.position, false);
+    1483             : 
+    1484         325 :       bool meets_actuators             = (_hw_api_inputs_.actuators && outputs.actuators);
+    1485         325 :       bool meets_control_group         = (_hw_api_inputs_.control_group && outputs.control_group);
+    1486         325 :       bool meets_attitude_rate         = (_hw_api_inputs_.attitude_rate && outputs.attitude_rate);
+    1487         325 :       bool meets_attitude              = (_hw_api_inputs_.attitude && outputs.attitude);
+    1488         325 :       bool meets_acceleration_hdg_rate = (_hw_api_inputs_.acceleration_hdg_rate && outputs.acceleration_hdg_rate);
+    1489         325 :       bool meets_acceleration_hdg      = (_hw_api_inputs_.acceleration_hdg && outputs.acceleration_hdg);
+    1490         325 :       bool meets_velocity_hdg_rate     = (_hw_api_inputs_.velocity_hdg_rate && outputs.velocity_hdg_rate);
+    1491         325 :       bool meets_velocity_hdg          = (_hw_api_inputs_.velocity_hdg && outputs.velocity_hdg);
+    1492         325 :       bool meets_position              = (_hw_api_inputs_.position && outputs.position);
+    1493             : 
+    1494         310 :       bool meets_requirements = meets_actuators || meets_control_group || meets_attitude_rate || meets_attitude || meets_acceleration_hdg_rate ||
+    1495         635 :                                 meets_acceleration_hdg || meets_velocity_hdg_rate || meets_velocity_hdg || meets_position;
+    1496             : 
+    1497         325 :       if (!meets_requirements) {
+    1498             : 
+    1499           0 :         ROS_ERROR("[ControlManager]: the controller '%s' does not meet the control output requirements, which are some of the following",
+    1500             :                   controller_name.c_str());
+    1501             : 
+    1502           0 :         if (_hw_api_inputs_.actuators) {
+    1503           0 :           ROS_ERROR("[ControlManager]: - actuators");
+    1504             :         }
+    1505             : 
+    1506           0 :         if (_hw_api_inputs_.control_group) {
+    1507           0 :           ROS_ERROR("[ControlManager]: - control group");
+    1508             :         }
+    1509             : 
+    1510           0 :         if (_hw_api_inputs_.attitude_rate) {
+    1511           0 :           ROS_ERROR("[ControlManager]: - attitude rate");
+    1512             :         }
+    1513             : 
+    1514           0 :         if (_hw_api_inputs_.attitude) {
+    1515           0 :           ROS_ERROR("[ControlManager]: - attitude");
+    1516             :         }
+    1517             : 
+    1518           0 :         if (_hw_api_inputs_.acceleration_hdg_rate) {
+    1519           0 :           ROS_ERROR("[ControlManager]: - acceleration+hdg rate");
+    1520             :         }
+    1521             : 
+    1522           0 :         if (_hw_api_inputs_.acceleration_hdg) {
+    1523           0 :           ROS_ERROR("[ControlManager]: - acceleration+hdg");
+    1524             :         }
+    1525             : 
+    1526           0 :         if (_hw_api_inputs_.velocity_hdg_rate) {
+    1527           0 :           ROS_ERROR("[ControlManager]: - velocity+hdg rate");
+    1528             :         }
+    1529             : 
+    1530           0 :         if (_hw_api_inputs_.velocity_hdg) {
+    1531           0 :           ROS_ERROR("[ControlManager]: - velocity+hdg");
+    1532             :         }
+    1533             : 
+    1534           0 :         if (_hw_api_inputs_.position) {
+    1535           0 :           ROS_ERROR("[ControlManager]: - position");
+    1536             :         }
+    1537             : 
+    1538           0 :         ros::shutdown();
+    1539             :       }
+    1540             : 
+    1541         325 :       if ((_hw_api_inputs_.actuators || _hw_api_inputs_.control_group) && !common_handlers_->detailed_model_params) {
+    1542           0 :         ROS_ERROR(
+    1543             :             "[ControlManager]: the HW API supports 'actuators' or 'control_group' input, but the 'detailed uav model params' were not loaded sucessfully");
+    1544           0 :         ros::shutdown();
+    1545             :       }
+    1546             :     }
+    1547             : 
+    1548             :     // | --- alter the timer rates based on the hw capabilities --- |
+    1549             : 
+    1550         325 :     CONTROL_OUTPUT lowest_output = getLowestOuput(_hw_api_inputs_);
+    1551             : 
+    1552         325 :     if (lowest_output == ACTUATORS_CMD || lowest_output == CONTROL_GROUP) {
+    1553          30 :       _safety_timer_rate_     = 200.0;
+    1554          30 :       desired_uav_state_rate_ = 250.0;
+    1555         295 :     } else if (lowest_output == ATTITUDE_RATE || lowest_output == ATTITUDE) {
+    1556         245 :       _safety_timer_rate_     = 100.0;
+    1557         245 :       desired_uav_state_rate_ = 100.0;
+    1558          50 :     } else if (lowest_output == ACCELERATION_HDG_RATE || lowest_output == ACCELERATION_HDG) {
+    1559          20 :       _safety_timer_rate_     = 30.0;
+    1560          20 :       _status_timer_rate_     = 1.0;
+    1561          20 :       desired_uav_state_rate_ = 40.0;
+    1562             : 
+    1563          20 :       if (_uav_state_max_missing_time_ < 0.2) {
+    1564           4 :         _uav_state_max_missing_time_ = 0.2;
+    1565             :       }
+    1566          30 :     } else if (lowest_output >= VELOCITY_HDG_RATE) {
+    1567          30 :       _safety_timer_rate_     = 20.0;
+    1568          30 :       _status_timer_rate_     = 1.0;
+    1569          30 :       desired_uav_state_rate_ = 20.0;
+    1570             : 
+    1571          30 :       if (_uav_state_max_missing_time_ < 1.0) {
+    1572           6 :         _uav_state_max_missing_time_ = 1.0;
+    1573             :       }
+    1574             :     }
+    1575             : 
+    1576         325 :     if (eland_threshold == 0) {
+    1577          66 :       eland_threshold = 1e6;
+    1578             :     }
+    1579             : 
+    1580         325 :     if (failsafe_threshold == 0) {
+    1581          66 :       failsafe_threshold = 1e6;
+    1582             :     }
+    1583             : 
+    1584         325 :     if (odometry_innovation_threshold == 0) {
+    1585          67 :       odometry_innovation_threshold = 1e6;
+    1586             :     }
+    1587             : 
+    1588         975 :     ControllerParams new_controller(address, name_space, eland_threshold, failsafe_threshold, odometry_innovation_threshold, human_switchable);
+    1589         325 :     controllers_.insert(std::pair<std::string, ControllerParams>(controller_name, new_controller));
+    1590             : 
+    1591             :     try {
+    1592         325 :       ROS_INFO("[ControlManager]: loading the controller '%s'", new_controller.address.c_str());
+    1593         325 :       controller_list_.push_back(controller_loader_->createInstance(new_controller.address.c_str()));
+    1594             :     }
+    1595           0 :     catch (pluginlib::CreateClassException& ex1) {
+    1596           0 :       ROS_ERROR("[ControlManager]: CreateClassException for the controller '%s'", new_controller.address.c_str());
+    1597           0 :       ROS_ERROR("[ControlManager]: Error: %s", ex1.what());
+    1598           0 :       ros::shutdown();
+    1599             :     }
+    1600           0 :     catch (pluginlib::PluginlibException& ex) {
+    1601           0 :       ROS_ERROR("[ControlManager]: PluginlibException for the controller '%s'", new_controller.address.c_str());
+    1602           0 :       ROS_ERROR("[ControlManager]: Error: %s", ex.what());
+    1603           0 :       ros::shutdown();
+    1604             :     }
+    1605             :   }
+    1606             : 
+    1607          65 :   ROS_INFO("[ControlManager]: controllers were loaded");
+    1608             : 
+    1609         390 :   for (int i = 0; i < int(controller_list_.size()); i++) {
+    1610             : 
+    1611         325 :     std::map<std::string, ControllerParams>::iterator it;
+    1612         325 :     it = controllers_.find(_controller_names_[i]);
+    1613             : 
+    1614             :     // create private handlers
+    1615             :     std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers =
+    1616         650 :         std::make_shared<mrs_uav_managers::control_manager::PrivateHandlers_t>();
+    1617             : 
+    1618         325 :     private_handlers->loadConfigFile = boost::bind(&ControlManager::loadConfigFile, this, _1, it->second.name_space);
+    1619         325 :     private_handlers->name_space     = it->second.name_space;
+    1620         325 :     private_handlers->runtime_name   = _controller_names_[i];
+    1621         325 :     private_handlers->param_loader   = std::make_unique<mrs_lib::ParamLoader>(ros::NodeHandle(nh_, it->second.name_space), _controller_names_[i]);
+    1622             : 
+    1623         325 :     if (_custom_config_ != "") {
+    1624         325 :       private_handlers->param_loader->addYamlFile(_custom_config_);
+    1625             :     }
+    1626             : 
+    1627         325 :     if (_platform_config_ != "") {
+    1628         325 :       private_handlers->param_loader->addYamlFile(_platform_config_);
+    1629             :     }
+    1630             : 
+    1631         325 :     if (_world_config_ != "") {
+    1632         325 :       private_handlers->param_loader->addYamlFile(_world_config_);
+    1633             :     }
+    1634             : 
+    1635         325 :     if (_network_config_ != "") {
+    1636         325 :       private_handlers->param_loader->addYamlFile(_network_config_);
+    1637             :     }
+    1638             : 
+    1639         325 :     bool success = false;
+    1640             : 
+    1641             :     try {
+    1642             : 
+    1643         325 :       ROS_INFO("[ControlManager]: initializing the controller '%s'", it->second.address.c_str());
+    1644         325 :       success = controller_list_[i]->initialize(ros::NodeHandle(nh_, it->second.name_space), common_handlers_, private_handlers);
+    1645             :     }
+    1646           0 :     catch (std::runtime_error& ex) {
+    1647           0 :       ROS_ERROR("[ControlManager]: exception caught during controller initialization: '%s'", ex.what());
+    1648             :     }
+    1649             : 
+    1650         325 :     if (!success) {
+    1651           0 :       ROS_ERROR("[ControlManager]: failed to initialize the controller '%s'", it->second.address.c_str());
+    1652           0 :       ros::shutdown();
+    1653             :     }
+    1654             :   }
+    1655             : 
+    1656          65 :   ROS_INFO("[ControlManager]: controllers were initialized");
+    1657             : 
+    1658             :   {
+    1659          65 :     auto idx = idxInVector(_failsafe_controller_name_, _controller_names_);
+    1660             : 
+    1661          65 :     if (idx) {
+    1662          65 :       _failsafe_controller_idx_ = idx.value();
+    1663             :     } else {
+    1664           0 :       ROS_ERROR("[ControlManager]: the failsafe controller (%s) is not within the loaded controllers", _failsafe_controller_name_.c_str());
+    1665           0 :       ros::shutdown();
+    1666             :     }
+    1667             :   }
+    1668             : 
+    1669             :   {
+    1670          65 :     auto idx = idxInVector(_eland_controller_name_, _controller_names_);
+    1671             : 
+    1672          65 :     if (idx) {
+    1673          65 :       _eland_controller_idx_ = idx.value();
+    1674             :     } else {
+    1675           0 :       ROS_ERROR("[ControlManager]: the eland controller (%s) is not within the loaded controllers", _eland_controller_name_.c_str());
+    1676           0 :       ros::shutdown();
+    1677             :     }
+    1678             :   }
+    1679             : 
+    1680             :   {
+    1681          65 :     auto idx = idxInVector(_joystick_controller_name_, _controller_names_);
+    1682             : 
+    1683          65 :     if (idx) {
+    1684          65 :       _joystick_controller_idx_ = idx.value();
+    1685             :     } else {
+    1686           0 :       ROS_ERROR("[ControlManager]: the joystick controller (%s) is not within the loaded controllers", _joystick_controller_name_.c_str());
+    1687           0 :       ros::shutdown();
+    1688             :     }
+    1689             :   }
+    1690             : 
+    1691          65 :   if (_bumper_switch_controller_) {
+    1692             : 
+    1693          65 :     auto idx = idxInVector(_bumper_controller_name_, _controller_names_);
+    1694             : 
+    1695          65 :     if (!idx) {
+    1696           0 :       ROS_ERROR("[ControlManager]: the bumper controller (%s) is not within the loaded controllers", _bumper_controller_name_.c_str());
+    1697           0 :       ros::shutdown();
+    1698             :     }
+    1699             :   }
+    1700             : 
+    1701             :   {
+    1702          65 :     auto idx = idxInVector(_joystick_fallback_controller_name_, _controller_names_);
+    1703             : 
+    1704          65 :     if (idx) {
+    1705          65 :       _joystick_fallback_controller_idx_ = idx.value();
+    1706             :     } else {
+    1707           0 :       ROS_ERROR("[ControlManager]: the joystick fallback controller (%s) is not within the loaded controllers", _joystick_fallback_controller_name_.c_str());
+    1708           0 :       ros::shutdown();
+    1709             :     }
+    1710             :   }
+    1711             : 
+    1712             :   // --------------------------------------------------------------
+    1713             :   // |                  activate the NullTracker                  |
+    1714             :   // --------------------------------------------------------------
+    1715             : 
+    1716          65 :   ROS_INFO("[ControlManager]: activating the null tracker");
+    1717             : 
+    1718          65 :   tracker_list_[_null_tracker_idx_]->activate(last_tracker_cmd_);
+    1719          65 :   active_tracker_idx_ = _null_tracker_idx_;
+    1720             : 
+    1721             :   // --------------------------------------------------------------
+    1722             :   // |    activate the eland controller as the first controller   |
+    1723             :   // --------------------------------------------------------------
+    1724             : 
+    1725          65 :   ROS_INFO("[ControlManager]: activating the the eland controller (%s) as the first controller", _controller_names_[_eland_controller_idx_].c_str());
+    1726             : 
+    1727          65 :   controller_list_[_eland_controller_idx_]->activate(last_control_output_);
+    1728          65 :   active_controller_idx_ = _eland_controller_idx_;
+    1729             : 
+    1730             :   // update the time
+    1731             :   {
+    1732         130 :     std::scoped_lock lock(mutex_controller_tracker_switch_time_);
+    1733             : 
+    1734          65 :     controller_tracker_switch_time_ = ros::Time::now();
+    1735             :   }
+    1736             : 
+    1737          65 :   output_enabled_ = false;
+    1738             : 
+    1739             :   // | --------------- set the default constraints -------------- |
+    1740             : 
+    1741          65 :   sanitized_constraints_ = current_constraints_;
+    1742          65 :   setConstraints(current_constraints_);
+    1743             : 
+    1744             :   // | ------------------------ profiler ------------------------ |
+    1745             : 
+    1746          65 :   profiler_ = mrs_lib::Profiler(nh_, "ControlManager", _profiler_enabled_);
+    1747             : 
+    1748             :   // | ----------------------- publishers ----------------------- |
+    1749             : 
+    1750          65 :   control_output_publisher_ = OutputPublisher(nh_);
+    1751             : 
+    1752          65 :   ph_controller_diagnostics_             = mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics>(nh_, "controller_diagnostics_out", 1);
+    1753          65 :   ph_tracker_cmd_                        = mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand>(nh_, "tracker_cmd_out", 1);
+    1754          65 :   ph_mrs_odom_input_                     = mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput>(nh_, "estimator_input_out", 1);
+    1755          65 :   ph_control_reference_odom_             = mrs_lib::PublisherHandler<nav_msgs::Odometry>(nh_, "control_reference_out", 1);
+    1756          65 :   ph_diagnostics_                        = mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics>(nh_, "diagnostics_out", 1);
+    1757          65 :   ph_offboard_on_                        = mrs_lib::PublisherHandler<std_msgs::Empty>(nh_, "offboard_on_out", 1);
+    1758          65 :   ph_tilt_error_                         = mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>(nh_, "tilt_error_out", 1);
+    1759          65 :   ph_mass_estimate_                      = mrs_lib::PublisherHandler<std_msgs::Float64>(nh_, "mass_estimate_out", 1, false, 10.0);
+    1760          65 :   ph_throttle_                           = mrs_lib::PublisherHandler<std_msgs::Float64>(nh_, "throttle_out", 1, false, 10.0);
+    1761          65 :   ph_thrust_                             = mrs_lib::PublisherHandler<std_msgs::Float64>(nh_, "thrust_out", 1, false, 100.0);
+    1762          65 :   ph_control_error_                      = mrs_lib::PublisherHandler<mrs_msgs::ControlError>(nh_, "control_error_out", 1);
+    1763          65 :   ph_safety_area_markers_                = mrs_lib::PublisherHandler<visualization_msgs::MarkerArray>(nh_, "safety_area_markers_out", 1, true, 1.0);
+    1764          65 :   ph_safety_area_coordinates_markers_    = mrs_lib::PublisherHandler<visualization_msgs::MarkerArray>(nh_, "safety_area_coordinates_markers_out", 1, true, 1.0);
+    1765          65 :   ph_disturbances_markers_               = mrs_lib::PublisherHandler<visualization_msgs::MarkerArray>(nh_, "disturbances_markers_out", 1, false, 10.0);
+    1766          65 :   ph_bumper_status_                      = mrs_lib::PublisherHandler<mrs_msgs::BumperStatus>(nh_, "bumper_status_out", 1);
+    1767          65 :   ph_current_constraints_                = mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints>(nh_, "current_constraints_out", 1);
+    1768          65 :   ph_heading_                            = mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>(nh_, "heading_out", 1);
+    1769          65 :   ph_speed_                              = mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>(nh_, "speed_out", 1, false, 10.0);
+    1770          65 :   pub_debug_original_trajectory_poses_   = mrs_lib::PublisherHandler<geometry_msgs::PoseArray>(nh_, "trajectory_original/poses_out", 1, true);
+    1771          65 :   pub_debug_original_trajectory_markers_ = mrs_lib::PublisherHandler<visualization_msgs::MarkerArray>(nh_, "trajectory_original/markers_out", 1, true);
+    1772             : 
+    1773             :   // | ----------------------- subscribers ---------------------- |
+    1774             : 
+    1775         130 :   mrs_lib::SubscribeHandlerOptions shopts;
+    1776          65 :   shopts.nh                 = nh_;
+    1777          65 :   shopts.node_name          = "ControlManager";
+    1778          65 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+    1779          65 :   shopts.threadsafe         = true;
+    1780          65 :   shopts.autostart          = true;
+    1781          65 :   shopts.queue_size         = 10;
+    1782          65 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+    1783             : 
+    1784          65 :   if (_state_input_ == INPUT_UAV_STATE) {
+    1785          65 :     sh_uav_state_ = mrs_lib::SubscribeHandler<mrs_msgs::UavState>(shopts, "uav_state_in", &ControlManager::callbackUavState, this);
+    1786           0 :   } else if (_state_input_ == INPUT_ODOMETRY) {
+    1787           0 :     sh_odometry_ = mrs_lib::SubscribeHandler<nav_msgs::Odometry>(shopts, "odometry_in", &ControlManager::callbackOdometry, this);
+    1788             :   }
+    1789             : 
+    1790          65 :   if (_odometry_innovation_check_enabled_) {
+    1791          65 :     sh_odometry_innovation_ = mrs_lib::SubscribeHandler<nav_msgs::Odometry>(shopts, "odometry_innovation_in");
+    1792             :   }
+    1793             : 
+    1794          65 :   sh_bumper_    = mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors>(shopts, "bumper_sectors_in");
+    1795          65 :   sh_max_z_     = mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped>(shopts, "max_z_in");
+    1796          65 :   sh_joystick_  = mrs_lib::SubscribeHandler<sensor_msgs::Joy>(shopts, "joystick_in", &ControlManager::callbackJoystick, this);
+    1797          65 :   sh_gnss_      = mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix>(shopts, "gnss_in", &ControlManager::callbackGNSS, this);
+    1798          65 :   sh_hw_api_rc_ = mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels>(shopts, "hw_api_rc_in", &ControlManager::callbackRC, this);
+    1799             : 
+    1800          65 :   sh_hw_api_status_ = mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus>(shopts, "hw_api_status_in", &ControlManager::callbackHwApiStatus, this);
+    1801             : 
+    1802             :   // | -------------------- general services -------------------- |
+    1803             : 
+    1804          65 :   service_server_switch_tracker_             = nh_.advertiseService("switch_tracker_in", &ControlManager::callbackSwitchTracker, this);
+    1805          65 :   service_server_switch_controller_          = nh_.advertiseService("switch_controller_in", &ControlManager::callbackSwitchController, this);
+    1806          65 :   service_server_reset_tracker_              = nh_.advertiseService("tracker_reset_static_in", &ControlManager::callbackTrackerResetStatic, this);
+    1807          65 :   service_server_hover_                      = nh_.advertiseService("hover_in", &ControlManager::callbackHover, this);
+    1808          65 :   service_server_ehover_                     = nh_.advertiseService("ehover_in", &ControlManager::callbackEHover, this);
+    1809          65 :   service_server_failsafe_                   = nh_.advertiseService("failsafe_in", &ControlManager::callbackFailsafe, this);
+    1810          65 :   service_server_failsafe_escalating_        = nh_.advertiseService("failsafe_escalating_in", &ControlManager::callbackFailsafeEscalating, this);
+    1811          65 :   service_server_toggle_output_              = nh_.advertiseService("toggle_output_in", &ControlManager::callbackToggleOutput, this);
+    1812          65 :   service_server_arm_                        = nh_.advertiseService("arm_in", &ControlManager::callbackArm, this);
+    1813          65 :   service_server_enable_callbacks_           = nh_.advertiseService("enable_callbacks_in", &ControlManager::callbackEnableCallbacks, this);
+    1814          65 :   service_server_set_constraints_            = nh_.advertiseService("set_constraints_in", &ControlManager::callbackSetConstraints, this);
+    1815          65 :   service_server_use_joystick_               = nh_.advertiseService("use_joystick_in", &ControlManager::callbackUseJoystick, this);
+    1816          65 :   service_server_use_safety_area_            = nh_.advertiseService("use_safety_area_in", &ControlManager::callbackUseSafetyArea, this);
+    1817          65 :   service_server_eland_                      = nh_.advertiseService("eland_in", &ControlManager::callbackEland, this);
+    1818          65 :   service_server_parachute_                  = nh_.advertiseService("parachute_in", &ControlManager::callbackParachute, this);
+    1819          65 :   service_server_transform_reference_        = nh_.advertiseService("transform_reference_in", &ControlManager::callbackTransformReference, this);
+    1820          65 :   service_server_transform_pose_             = nh_.advertiseService("transform_pose_in", &ControlManager::callbackTransformPose, this);
+    1821          65 :   service_server_transform_vector3_          = nh_.advertiseService("transform_vector3_in", &ControlManager::callbackTransformVector3, this);
+    1822          65 :   service_server_bumper_enabler_             = nh_.advertiseService("bumper_in", &ControlManager::callbackEnableBumper, this);
+    1823          65 :   service_server_get_min_z_                  = nh_.advertiseService("get_min_z_in", &ControlManager::callbackGetMinZ, this);
+    1824          65 :   service_server_validate_reference_         = nh_.advertiseService("validate_reference_in", &ControlManager::callbackValidateReference, this);
+    1825          65 :   service_server_validate_reference_2d_      = nh_.advertiseService("validate_reference_2d_in", &ControlManager::callbackValidateReference2d, this);
+    1826          65 :   service_server_validate_reference_list_    = nh_.advertiseService("validate_reference_list_in", &ControlManager::callbackValidateReferenceList, this);
+    1827          65 :   service_server_start_trajectory_tracking_  = nh_.advertiseService("start_trajectory_tracking_in", &ControlManager::callbackStartTrajectoryTracking, this);
+    1828          65 :   service_server_stop_trajectory_tracking_   = nh_.advertiseService("stop_trajectory_tracking_in", &ControlManager::callbackStopTrajectoryTracking, this);
+    1829          65 :   service_server_resume_trajectory_tracking_ = nh_.advertiseService("resume_trajectory_tracking_in", &ControlManager::callbackResumeTrajectoryTracking, this);
+    1830          65 :   service_server_goto_trajectory_start_      = nh_.advertiseService("goto_trajectory_start_in", &ControlManager::callbackGotoTrajectoryStart, this);
+    1831             : 
+    1832          65 :   sch_arming_                 = mrs_lib::ServiceClientHandler<std_srvs::SetBool>(nh_, "hw_api_arming_out");
+    1833          65 :   sch_eland_                  = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "eland_out");
+    1834          65 :   sch_shutdown_               = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "shutdown_out");
+    1835          65 :   sch_set_odometry_callbacks_ = mrs_lib::ServiceClientHandler<std_srvs::SetBool>(nh_, "set_odometry_callbacks_out");
+    1836          65 :   sch_ungrip_                 = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "ungrip_out");
+    1837          65 :   sch_parachute_              = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "parachute_out");
+    1838             : 
+    1839             :   // | ---------------- setpoint command services --------------- |
+    1840             : 
+    1841             :   // human callable
+    1842          65 :   service_server_goto_                 = nh_.advertiseService("goto_in", &ControlManager::callbackGoto, this);
+    1843          65 :   service_server_goto_fcu_             = nh_.advertiseService("goto_fcu_in", &ControlManager::callbackGotoFcu, this);
+    1844          65 :   service_server_goto_relative_        = nh_.advertiseService("goto_relative_in", &ControlManager::callbackGotoRelative, this);
+    1845          65 :   service_server_goto_altitude_        = nh_.advertiseService("goto_altitude_in", &ControlManager::callbackGotoAltitude, this);
+    1846          65 :   service_server_set_heading_          = nh_.advertiseService("set_heading_in", &ControlManager::callbackSetHeading, this);
+    1847          65 :   service_server_set_heading_relative_ = nh_.advertiseService("set_heading_relative_in", &ControlManager::callbackSetHeadingRelative, this);
+    1848             : 
+    1849          65 :   service_server_reference_ = nh_.advertiseService("reference_in", &ControlManager::callbackReferenceService, this);
+    1850          65 :   sh_reference_             = mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped>(shopts, "reference_in", &ControlManager::callbackReferenceTopic, this);
+    1851             : 
+    1852          65 :   service_server_velocity_reference_ = nh_.advertiseService("velocity_reference_in", &ControlManager::callbackVelocityReferenceService, this);
+    1853             :   sh_velocity_reference_ =
+    1854          65 :       mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped>(shopts, "velocity_reference_in", &ControlManager::callbackVelocityReferenceTopic, this);
+    1855             : 
+    1856          65 :   service_server_trajectory_reference_ = nh_.advertiseService("trajectory_reference_in", &ControlManager::callbackTrajectoryReferenceService, this);
+    1857             :   sh_trajectory_reference_ =
+    1858          65 :       mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference>(shopts, "trajectory_reference_in", &ControlManager::callbackTrajectoryReferenceTopic, this);
+    1859             : 
+    1860             :   // | --------------------- other services --------------------- |
+    1861             : 
+    1862          65 :   service_server_emergency_reference_ = nh_.advertiseService("emergency_reference_in", &ControlManager::callbackEmergencyReference, this);
+    1863          65 :   service_server_pirouette_           = nh_.advertiseService("pirouette_in", &ControlManager::callbackPirouette, this);
+    1864             : 
+    1865             :   // | ------------------------- timers ------------------------- |
+    1866             : 
+    1867          65 :   timer_status_    = nh_.createTimer(ros::Rate(_status_timer_rate_), &ControlManager::timerStatus, this);
+    1868          65 :   timer_safety_    = nh_.createTimer(ros::Rate(_safety_timer_rate_), &ControlManager::timerSafety, this);
+    1869          65 :   timer_bumper_    = nh_.createTimer(ros::Rate(_bumper_timer_rate_), &ControlManager::timerBumper, this, false, bumper_enabled_);
+    1870          65 :   timer_eland_     = nh_.createTimer(ros::Rate(_elanding_timer_rate_), &ControlManager::timerEland, this, false, false);
+    1871          65 :   timer_failsafe_  = nh_.createTimer(ros::Rate(_failsafe_timer_rate_), &ControlManager::timerFailsafe, this, false, false);
+    1872          65 :   timer_pirouette_ = nh_.createTimer(ros::Rate(_pirouette_timer_rate_), &ControlManager::timerPirouette, this, false, false);
+    1873          65 :   timer_joystick_  = nh_.createTimer(ros::Rate(_joystick_timer_rate_), &ControlManager::timerJoystick, this);
+    1874             : 
+    1875             :   // | ----------------------- finish init ---------------------- |
+    1876             : 
+    1877          65 :   if (!param_loader.loadedSuccessfully()) {
+    1878           0 :     ROS_ERROR("[ControlManager]: could not load all parameters!");
+    1879           0 :     ros::shutdown();
+    1880             :   }
+    1881             : 
+    1882          65 :   is_initialized_ = true;
+    1883             : 
+    1884          65 :   ROS_INFO("[ControlManager]: initialized");
+    1885          65 : }
+    1886             : 
+    1887             : //}
+    1888             : 
+    1889             : // --------------------------------------------------------------
+    1890             : // |                           timers                           |
+    1891             : // --------------------------------------------------------------
+    1892             : 
+    1893             : /* timerHwApiCapabilities() //{ */
+    1894             : 
+    1895         112 : void ControlManager::timerHwApiCapabilities(const ros::TimerEvent& event) {
+    1896             : 
+    1897         224 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerHwApiCapabilities", _status_timer_rate_, 1.0, event);
+    1898         224 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::timerHwApiCapabilities", scope_timer_logger_, scope_timer_enabled_);
+    1899             : 
+    1900         112 :   if (!sh_hw_api_capabilities_.hasMsg()) {
+    1901          47 :     ROS_INFO_THROTTLE(1.0, "[ControlManager]: waiting for HW API capabilities");
+    1902          47 :     return;
+    1903             :   }
+    1904             : 
+    1905         130 :   auto hw_ap_capabilities = sh_hw_api_capabilities_.getMsg();
+    1906             : 
+    1907          65 :   ROS_INFO("[ControlManager]: got HW API capabilities, the possible control modes are:");
+    1908             : 
+    1909          65 :   if (hw_ap_capabilities->accepts_actuator_cmd) {
+    1910           3 :     ROS_INFO("[ControlManager]: - actuator command");
+    1911           3 :     _hw_api_inputs_.actuators = true;
+    1912             :   }
+    1913             : 
+    1914          65 :   if (hw_ap_capabilities->accepts_control_group_cmd) {
+    1915           3 :     ROS_INFO("[ControlManager]: - control group command");
+    1916           3 :     _hw_api_inputs_.control_group = true;
+    1917             :   }
+    1918             : 
+    1919          65 :   if (hw_ap_capabilities->accepts_attitude_rate_cmd) {
+    1920          46 :     ROS_INFO("[ControlManager]: - attitude rate command");
+    1921          46 :     _hw_api_inputs_.attitude_rate = true;
+    1922             :   }
+    1923             : 
+    1924          65 :   if (hw_ap_capabilities->accepts_attitude_cmd) {
+    1925          46 :     ROS_INFO("[ControlManager]: - attitude command");
+    1926          46 :     _hw_api_inputs_.attitude = true;
+    1927             :   }
+    1928             : 
+    1929          65 :   if (hw_ap_capabilities->accepts_acceleration_hdg_rate_cmd) {
+    1930           2 :     ROS_INFO("[ControlManager]: - acceleration+hdg rate command");
+    1931           2 :     _hw_api_inputs_.acceleration_hdg_rate = true;
+    1932             :   }
+    1933             : 
+    1934          65 :   if (hw_ap_capabilities->accepts_acceleration_hdg_cmd) {
+    1935           2 :     ROS_INFO("[ControlManager]: - acceleration+hdg command");
+    1936           2 :     _hw_api_inputs_.acceleration_hdg = true;
+    1937             :   }
+    1938             : 
+    1939          65 :   if (hw_ap_capabilities->accepts_velocity_hdg_rate_cmd) {
+    1940           2 :     ROS_INFO("[ControlManager]: - velocityhdg rate command");
+    1941           2 :     _hw_api_inputs_.velocity_hdg_rate = true;
+    1942             :   }
+    1943             : 
+    1944          65 :   if (hw_ap_capabilities->accepts_velocity_hdg_cmd) {
+    1945           2 :     ROS_INFO("[ControlManager]: - velocityhdg command");
+    1946           2 :     _hw_api_inputs_.velocity_hdg = true;
+    1947             :   }
+    1948             : 
+    1949          65 :   if (hw_ap_capabilities->accepts_position_cmd) {
+    1950           2 :     ROS_INFO("[ControlManager]: - position command");
+    1951           2 :     _hw_api_inputs_.position = true;
+    1952             :   }
+    1953             : 
+    1954          65 :   initialize();
+    1955             : 
+    1956          65 :   timer_hw_api_capabilities_.stop();
+    1957             : }
+    1958             : 
+    1959             : //}
+    1960             : 
+    1961             : /* //{ timerStatus() */
+    1962             : 
+    1963       11081 : void ControlManager::timerStatus(const ros::TimerEvent& event) {
+    1964             : 
+    1965       11081 :   if (!is_initialized_)
+    1966           0 :     return;
+    1967             : 
+    1968       33243 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerStatus", _status_timer_rate_, 0.1, event);
+    1969       33243 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::timerStatus", scope_timer_logger_, scope_timer_enabled_);
+    1970             : 
+    1971             :   // copy member variables
+    1972       22162 :   auto uav_state             = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    1973       22162 :   auto last_control_output   = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    1974       22162 :   auto last_tracker_cmd      = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    1975       11081 :   auto yaw_error             = mrs_lib::get_mutexed(mutex_attitude_error_, yaw_error_);
+    1976       11081 :   auto position_error        = mrs_lib::get_mutexed(mutex_position_error_, position_error_);
+    1977       11081 :   auto active_controller_idx = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    1978       11081 :   auto active_tracker_idx    = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    1979             : 
+    1980             :   double uav_x, uav_y, uav_z;
+    1981       11081 :   uav_x = uav_state.pose.position.x;
+    1982       11081 :   uav_y = uav_state.pose.position.y;
+    1983       11081 :   uav_z = uav_state.pose.position.z;
+    1984             : 
+    1985             :   // --------------------------------------------------------------
+    1986             :   // |                      print the status                      |
+    1987             :   // --------------------------------------------------------------
+    1988             : 
+    1989             :   {
+    1990       22162 :     std::string controller = _controller_names_[active_controller_idx];
+    1991       22162 :     std::string tracker    = _tracker_names_[active_tracker_idx];
+    1992       11081 :     double      mass       = last_control_output.diagnostics.total_mass;
+    1993       11081 :     double      bx_b       = last_control_output.diagnostics.disturbance_bx_b;
+    1994       11081 :     double      by_b       = last_control_output.diagnostics.disturbance_by_b;
+    1995       11081 :     double      wx_w       = last_control_output.diagnostics.disturbance_wx_w;
+    1996       11081 :     double      wy_w       = last_control_output.diagnostics.disturbance_wy_w;
+    1997             : 
+    1998       11081 :     ROS_INFO_THROTTLE(5.0, "[ControlManager]: tracker: '%s', controller: '%s', mass: '%.2f kg', disturbances: body [%.2f, %.2f] N, world [%.2f, %.2f] N",
+    1999             :                       tracker.c_str(), controller.c_str(), mass, bx_b, by_b, wx_w, wy_w);
+    2000             :   }
+    2001             : 
+    2002             :   // --------------------------------------------------------------
+    2003             :   // |                   publish the diagnostics                  |
+    2004             :   // --------------------------------------------------------------
+    2005             : 
+    2006       11081 :   publishDiagnostics();
+    2007             : 
+    2008             :   // --------------------------------------------------------------
+    2009             :   // |                publish if the offboard is on               |
+    2010             :   // --------------------------------------------------------------
+    2011             : 
+    2012       11081 :   if (offboard_mode_) {
+    2013             : 
+    2014        8352 :     std_msgs::Empty offboard_on_out;
+    2015             : 
+    2016        8352 :     ph_offboard_on_.publish(offboard_on_out);
+    2017             :   }
+    2018             : 
+    2019             :   // --------------------------------------------------------------
+    2020             :   // |                   publish the tilt error                   |
+    2021             :   // --------------------------------------------------------------
+    2022             :   {
+    2023       22162 :     std::scoped_lock lock(mutex_attitude_error_);
+    2024             : 
+    2025       11081 :     if (tilt_error_) {
+    2026             : 
+    2027       22162 :       mrs_msgs::Float64Stamped tilt_error_out;
+    2028       11081 :       tilt_error_out.header.stamp    = ros::Time::now();
+    2029       11081 :       tilt_error_out.header.frame_id = uav_state.header.frame_id;
+    2030       11081 :       tilt_error_out.value           = (180.0 / M_PI) * tilt_error_.value();
+    2031             : 
+    2032       11081 :       ph_tilt_error_.publish(tilt_error_out);
+    2033             :     }
+    2034             :   }
+    2035             : 
+    2036             :   // --------------------------------------------------------------
+    2037             :   // |                  publish the control error                 |
+    2038             :   // --------------------------------------------------------------
+    2039             : 
+    2040       11081 :   if (position_error) {
+    2041             : 
+    2042        7601 :     Eigen::Vector3d pos_error_value = position_error.value();
+    2043             : 
+    2044       15202 :     mrs_msgs::ControlError msg_out;
+    2045             : 
+    2046        7601 :     msg_out.header.stamp    = ros::Time::now();
+    2047        7601 :     msg_out.header.frame_id = uav_state.header.frame_id;
+    2048             : 
+    2049        7601 :     msg_out.position_errors.x    = pos_error_value[0];
+    2050        7601 :     msg_out.position_errors.y    = pos_error_value[1];
+    2051        7601 :     msg_out.position_errors.z    = pos_error_value[2];
+    2052        7601 :     msg_out.total_position_error = pos_error_value.norm();
+    2053             : 
+    2054        7601 :     if (yaw_error_) {
+    2055        7601 :       msg_out.yaw_error = yaw_error.value();
+    2056             :     }
+    2057             : 
+    2058        7601 :     std::map<std::string, ControllerParams>::iterator it;
+    2059             : 
+    2060        7601 :     it = controllers_.find(_controller_names_[active_controller_idx]);
+    2061             : 
+    2062        7601 :     msg_out.position_eland_threshold    = it->second.eland_threshold;
+    2063        7601 :     msg_out.position_failsafe_threshold = it->second.failsafe_threshold;
+    2064             : 
+    2065        7601 :     ph_control_error_.publish(msg_out);
+    2066             :   }
+    2067             : 
+    2068             :   // --------------------------------------------------------------
+    2069             :   // |                  publish the mass estimate                 |
+    2070             :   // --------------------------------------------------------------
+    2071             : 
+    2072       11081 :   if (last_control_output.diagnostics.mass_estimator) {
+    2073             : 
+    2074        6466 :     std_msgs::Float64 mass_estimate_out;
+    2075        6466 :     mass_estimate_out.data = _uav_mass_ + last_control_output.diagnostics.mass_difference;
+    2076             : 
+    2077        6466 :     ph_mass_estimate_.publish(mass_estimate_out);
+    2078             :   }
+    2079             : 
+    2080             :   // --------------------------------------------------------------
+    2081             :   // |                 publish the current heading                |
+    2082             :   // --------------------------------------------------------------
+    2083             : 
+    2084       11081 :   if (_state_input_ == INPUT_UAV_STATE && sh_uav_state_.hasMsg()) {
+    2085             : 
+    2086             :     try {
+    2087             : 
+    2088             :       double heading;
+    2089             : 
+    2090        9408 :       heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+    2091             : 
+    2092       18816 :       mrs_msgs::Float64Stamped heading_out;
+    2093        9408 :       heading_out.header = uav_state.header;
+    2094        9408 :       heading_out.value  = heading;
+    2095             : 
+    2096        9408 :       ph_heading_.publish(heading_out);
+    2097             :     }
+    2098           0 :     catch (...) {
+    2099           0 :       ROS_ERROR_THROTTLE(1.0, "exception caught, could not transform heading");
+    2100             :     }
+    2101             :   }
+    2102             : 
+    2103             :   // --------------------------------------------------------------
+    2104             :   // |                  publish the current speed                 |
+    2105             :   // --------------------------------------------------------------
+    2106             : 
+    2107       11081 :   if (_state_input_ == INPUT_UAV_STATE && sh_uav_state_.hasMsg()) {
+    2108             : 
+    2109        9408 :     double speed = sqrt(pow(uav_state.velocity.linear.x, 2) + pow(uav_state.velocity.linear.y, 2) + pow(uav_state.velocity.linear.z, 2));
+    2110             : 
+    2111       18816 :     mrs_msgs::Float64Stamped speed_out;
+    2112        9408 :     speed_out.header = uav_state.header;
+    2113        9408 :     speed_out.value  = speed;
+    2114             : 
+    2115        9408 :     ph_speed_.publish(speed_out);
+    2116             :   }
+    2117             : 
+    2118             :   // --------------------------------------------------------------
+    2119             :   // |               publish the safety area markers              |
+    2120             :   // --------------------------------------------------------------
+    2121             : 
+    2122       11081 :   if (use_safety_area_) {
+    2123             : 
+    2124       17788 :     mrs_msgs::ReferenceStamped temp_ref;
+    2125        8894 :     temp_ref.header.frame_id = _safety_area_horizontal_frame_;
+    2126             : 
+    2127       17788 :     geometry_msgs::TransformStamped tf;
+    2128             : 
+    2129       26682 :     auto ret = transformer_->getTransform(_safety_area_horizontal_frame_, "local_origin", ros::Time(0));
+    2130             : 
+    2131        8894 :     if (ret) {
+    2132             : 
+    2133        7393 :       ROS_INFO_ONCE("[ControlManager]: got TFs, publishing safety area markers");
+    2134             : 
+    2135       14786 :       visualization_msgs::MarkerArray safety_area_marker_array;
+    2136       14786 :       visualization_msgs::MarkerArray safety_area_coordinates_marker_array;
+    2137             : 
+    2138       14786 :       mrs_lib::Polygon border = safety_zone_->getBorder();
+    2139             : 
+    2140       14786 :       std::vector<geometry_msgs::Point> border_points_bot_original = border.getPointMessageVector(getMinZ(_safety_area_horizontal_frame_));
+    2141       14786 :       std::vector<geometry_msgs::Point> border_points_top_original = border.getPointMessageVector(getMaxZ(_safety_area_horizontal_frame_));
+    2142             : 
+    2143       14786 :       std::vector<geometry_msgs::Point> border_points_bot_transformed = border_points_bot_original;
+    2144       14786 :       std::vector<geometry_msgs::Point> border_points_top_transformed = border_points_bot_original;
+    2145             : 
+    2146             :       // if we fail in transforming the area at some point
+    2147             :       // do not publish it at all
+    2148        7393 :       bool tf_success = true;
+    2149             : 
+    2150       14786 :       geometry_msgs::TransformStamped tf = ret.value();
+    2151             : 
+    2152             :       /* transform area points to local origin //{ */
+    2153             : 
+    2154             :       // transform border bottom points to local origin
+    2155       36965 :       for (size_t i = 0; i < border_points_bot_original.size(); i++) {
+    2156             : 
+    2157       29572 :         temp_ref.header.frame_id      = _safety_area_horizontal_frame_;
+    2158       29572 :         temp_ref.header.stamp         = ros::Time(0);
+    2159       29572 :         temp_ref.reference.position.x = border_points_bot_original[i].x;
+    2160       29572 :         temp_ref.reference.position.y = border_points_bot_original[i].y;
+    2161       29572 :         temp_ref.reference.position.z = border_points_bot_original[i].z;
+    2162             : 
+    2163       59144 :         if (auto ret = transformer_->transform(temp_ref, tf)) {
+    2164             : 
+    2165       29572 :           temp_ref = ret.value();
+    2166             : 
+    2167       29572 :           border_points_bot_transformed[i].x = temp_ref.reference.position.x;
+    2168       29572 :           border_points_bot_transformed[i].y = temp_ref.reference.position.y;
+    2169       29572 :           border_points_bot_transformed[i].z = temp_ref.reference.position.z;
+    2170             : 
+    2171             :         } else {
+    2172           0 :           tf_success = false;
+    2173             :         }
+    2174             :       }
+    2175             : 
+    2176             :       // transform border top points to local origin
+    2177       36965 :       for (size_t i = 0; i < border_points_top_original.size(); i++) {
+    2178             : 
+    2179       29572 :         temp_ref.header.frame_id      = _safety_area_horizontal_frame_;
+    2180       29572 :         temp_ref.header.stamp         = ros::Time(0);
+    2181       29572 :         temp_ref.reference.position.x = border_points_top_original[i].x;
+    2182       29572 :         temp_ref.reference.position.y = border_points_top_original[i].y;
+    2183       29572 :         temp_ref.reference.position.z = border_points_top_original[i].z;
+    2184             : 
+    2185       59144 :         if (auto ret = transformer_->transform(temp_ref, tf)) {
+    2186             : 
+    2187       29572 :           temp_ref = ret.value();
+    2188             : 
+    2189       29572 :           border_points_top_transformed[i].x = temp_ref.reference.position.x;
+    2190       29572 :           border_points_top_transformed[i].y = temp_ref.reference.position.y;
+    2191       29572 :           border_points_top_transformed[i].z = temp_ref.reference.position.z;
+    2192             : 
+    2193             :         } else {
+    2194           0 :           tf_success = false;
+    2195             :         }
+    2196             :       }
+    2197             : 
+    2198             :       //}
+    2199             : 
+    2200       14786 :       visualization_msgs::Marker safety_area_marker;
+    2201             : 
+    2202        7393 :       safety_area_marker.header.frame_id = _uav_name_ + "/local_origin";
+    2203        7393 :       safety_area_marker.type            = visualization_msgs::Marker::LINE_LIST;
+    2204        7393 :       safety_area_marker.color.a         = 0.15;
+    2205        7393 :       safety_area_marker.scale.x         = 0.2;
+    2206        7393 :       safety_area_marker.color.r         = 1;
+    2207        7393 :       safety_area_marker.color.g         = 0;
+    2208        7393 :       safety_area_marker.color.b         = 0;
+    2209             : 
+    2210        7393 :       safety_area_marker.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    2211             : 
+    2212       14786 :       visualization_msgs::Marker safety_area_coordinates_marker;
+    2213             : 
+    2214        7393 :       safety_area_coordinates_marker.header.frame_id = _uav_name_ + "/local_origin";
+    2215        7393 :       safety_area_coordinates_marker.type            = visualization_msgs::Marker::TEXT_VIEW_FACING;
+    2216        7393 :       safety_area_coordinates_marker.color.a         = 1;
+    2217        7393 :       safety_area_coordinates_marker.scale.z         = 1.0;
+    2218        7393 :       safety_area_coordinates_marker.color.r         = 0;
+    2219        7393 :       safety_area_coordinates_marker.color.g         = 0;
+    2220        7393 :       safety_area_coordinates_marker.color.b         = 0;
+    2221             : 
+    2222        7393 :       safety_area_coordinates_marker.id = 0;
+    2223             : 
+    2224        7393 :       safety_area_coordinates_marker.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    2225             : 
+    2226             :       /* adding safety area points //{ */
+    2227             : 
+    2228             :       // bottom border
+    2229       36965 :       for (size_t i = 0; i < border_points_bot_transformed.size(); i++) {
+    2230             : 
+    2231       29572 :         safety_area_marker.points.push_back(border_points_bot_transformed[i]);
+    2232       29572 :         safety_area_marker.points.push_back(border_points_bot_transformed[(i + 1) % border_points_bot_transformed.size()]);
+    2233             : 
+    2234       59144 :         std::stringstream ss;
+    2235             : 
+    2236       29572 :         if (_safety_area_horizontal_frame_ == "latlon_origin") {
+    2237           0 :           ss << "idx: " << i << std::endl
+    2238           0 :              << std::setprecision(6) << std::fixed << "lat: " << border_points_bot_original[i].x << std::endl
+    2239           0 :              << "lon: " << border_points_bot_original[i].y;
+    2240             :         } else {
+    2241       29572 :           ss << "idx: " << i << std::endl
+    2242       29572 :              << std::setprecision(1) << std::fixed << "x: " << border_points_bot_original[i].x << std::endl
+    2243       29572 :              << "y: " << border_points_bot_original[i].y;
+    2244             :         }
+    2245             : 
+    2246       29572 :         safety_area_coordinates_marker.color.r = 0;
+    2247       29572 :         safety_area_coordinates_marker.color.g = 0;
+    2248       29572 :         safety_area_coordinates_marker.color.b = 0;
+    2249             : 
+    2250       29572 :         safety_area_coordinates_marker.pose.position = border_points_bot_transformed[i];
+    2251       29572 :         safety_area_coordinates_marker.text          = ss.str();
+    2252       29572 :         safety_area_coordinates_marker.id++;
+    2253             : 
+    2254       29572 :         safety_area_coordinates_marker_array.markers.push_back(safety_area_coordinates_marker);
+    2255             :       }
+    2256             : 
+    2257             :       // top border + top/bot edges
+    2258       36965 :       for (size_t i = 0; i < border_points_top_transformed.size(); i++) {
+    2259             : 
+    2260       29572 :         safety_area_marker.points.push_back(border_points_top_transformed[i]);
+    2261       29572 :         safety_area_marker.points.push_back(border_points_top_transformed[(i + 1) % border_points_top_transformed.size()]);
+    2262             : 
+    2263       29572 :         safety_area_marker.points.push_back(border_points_bot_transformed[i]);
+    2264       29572 :         safety_area_marker.points.push_back(border_points_top_transformed[i]);
+    2265             : 
+    2266       59144 :         std::stringstream ss;
+    2267             : 
+    2268       29572 :         if (_safety_area_horizontal_frame_ == "latlon_origin") {
+    2269           0 :           ss << "idx: " << i << std::endl
+    2270           0 :              << std::setprecision(6) << std::fixed << "lat: " << border_points_bot_original[i].x << std::endl
+    2271           0 :              << "lon: " << border_points_bot_original[i].y;
+    2272             :         } else {
+    2273       29572 :           ss << "idx: " << i << std::endl
+    2274       29572 :              << std::setprecision(1) << std::fixed << "x: " << border_points_bot_original[i].x << std::endl
+    2275       29572 :              << "y: " << border_points_bot_original[i].y;
+    2276             :         }
+    2277             : 
+    2278       29572 :         safety_area_coordinates_marker.color.r = 1;
+    2279       29572 :         safety_area_coordinates_marker.color.g = 1;
+    2280       29572 :         safety_area_coordinates_marker.color.b = 1;
+    2281             : 
+    2282       29572 :         safety_area_coordinates_marker.pose.position = border_points_top_transformed[i];
+    2283       29572 :         safety_area_coordinates_marker.text          = ss.str();
+    2284       29572 :         safety_area_coordinates_marker.id++;
+    2285             : 
+    2286       29572 :         safety_area_coordinates_marker_array.markers.push_back(safety_area_coordinates_marker);
+    2287             :       }
+    2288             : 
+    2289             :       //}
+    2290             : 
+    2291        7393 :       if (tf_success) {
+    2292             : 
+    2293        7393 :         safety_area_marker_array.markers.push_back(safety_area_marker);
+    2294             : 
+    2295        7393 :         ph_safety_area_markers_.publish(safety_area_marker_array);
+    2296             : 
+    2297        7393 :         ph_safety_area_coordinates_markers_.publish(safety_area_coordinates_marker_array);
+    2298             :       }
+    2299             : 
+    2300             :     } else {
+    2301        1501 :       ROS_WARN_ONCE("[ControlManager]: missing TFs, can not publish safety area markers");
+    2302             :     }
+    2303             :   }
+    2304             : 
+    2305             :   // --------------------------------------------------------------
+    2306             :   // |              publish the disturbances markers              |
+    2307             :   // --------------------------------------------------------------
+    2308             : 
+    2309       11081 :   if (last_control_output.diagnostics.disturbance_estimator && got_uav_state_) {
+    2310             : 
+    2311       13030 :     visualization_msgs::MarkerArray msg_out;
+    2312             : 
+    2313        6515 :     double id = 0;
+    2314             : 
+    2315        6515 :     double multiplier = 1.0;
+    2316             : 
+    2317        6515 :     Eigen::Quaterniond quat_eigen = mrs_lib::AttitudeConverter(uav_state.pose.orientation);
+    2318             : 
+    2319        6515 :     Eigen::Vector3d      vec3d;
+    2320        6515 :     geometry_msgs::Point point;
+    2321             : 
+    2322             :     /* world disturbance //{ */
+    2323             :     {
+    2324             : 
+    2325       13030 :       visualization_msgs::Marker marker;
+    2326             : 
+    2327        6515 :       marker.header.frame_id = uav_state.header.frame_id;
+    2328        6515 :       marker.header.stamp    = ros::Time::now();
+    2329        6515 :       marker.ns              = "control_manager";
+    2330        6515 :       marker.id              = id++;
+    2331        6515 :       marker.type            = visualization_msgs::Marker::ARROW;
+    2332        6515 :       marker.action          = visualization_msgs::Marker::ADD;
+    2333             : 
+    2334             :       /* position //{ */
+    2335             : 
+    2336        6515 :       marker.pose.position.x = 0.0;
+    2337        6515 :       marker.pose.position.y = 0.0;
+    2338        6515 :       marker.pose.position.z = 0.0;
+    2339             : 
+    2340             :       //}
+    2341             : 
+    2342             :       /* orientation //{ */
+    2343             : 
+    2344        6515 :       marker.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    2345             : 
+    2346             :       //}
+    2347             : 
+    2348             :       /* origin //{ */
+    2349        6515 :       point.x = uav_x;
+    2350        6515 :       point.y = uav_y;
+    2351        6515 :       point.z = uav_z;
+    2352             : 
+    2353        6515 :       marker.points.push_back(point);
+    2354             : 
+    2355             :       //}
+    2356             : 
+    2357             :       /* tip //{ */
+    2358             : 
+    2359        6515 :       point.x = uav_x + multiplier * last_control_output.diagnostics.disturbance_wx_w;
+    2360        6515 :       point.y = uav_y + multiplier * last_control_output.diagnostics.disturbance_wy_w;
+    2361        6515 :       point.z = uav_z;
+    2362             : 
+    2363        6515 :       marker.points.push_back(point);
+    2364             : 
+    2365             :       //}
+    2366             : 
+    2367        6515 :       marker.scale.x = 0.05;
+    2368        6515 :       marker.scale.y = 0.05;
+    2369        6515 :       marker.scale.z = 0.05;
+    2370             : 
+    2371        6515 :       marker.color.a = 0.5;
+    2372        6515 :       marker.color.r = 1.0;
+    2373        6515 :       marker.color.g = 0.0;
+    2374        6515 :       marker.color.b = 0.0;
+    2375             : 
+    2376        6515 :       marker.mesh_resource = "package://pr2_description/meshes/base_v0/base.dae";
+    2377             : 
+    2378        6515 :       msg_out.markers.push_back(marker);
+    2379             :     }
+    2380             : 
+    2381             :     //}
+    2382             : 
+    2383             :     /* body disturbance //{ */
+    2384             :     {
+    2385             : 
+    2386       13030 :       visualization_msgs::Marker marker;
+    2387             : 
+    2388        6515 :       marker.header.frame_id = uav_state.header.frame_id;
+    2389        6515 :       marker.header.stamp    = ros::Time::now();
+    2390        6515 :       marker.ns              = "control_manager";
+    2391        6515 :       marker.id              = id++;
+    2392        6515 :       marker.type            = visualization_msgs::Marker::ARROW;
+    2393        6515 :       marker.action          = visualization_msgs::Marker::ADD;
+    2394             : 
+    2395             :       /* position //{ */
+    2396             : 
+    2397        6515 :       marker.pose.position.x = 0.0;
+    2398        6515 :       marker.pose.position.y = 0.0;
+    2399        6515 :       marker.pose.position.z = 0.0;
+    2400             : 
+    2401             :       //}
+    2402             : 
+    2403             :       /* orientation //{ */
+    2404             : 
+    2405        6515 :       marker.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    2406             : 
+    2407             :       //}
+    2408             : 
+    2409             :       /* origin //{ */
+    2410             : 
+    2411        6515 :       point.x = uav_x;
+    2412        6515 :       point.y = uav_y;
+    2413        6515 :       point.z = uav_z;
+    2414             : 
+    2415        6515 :       marker.points.push_back(point);
+    2416             : 
+    2417             :       //}
+    2418             : 
+    2419             :       /* tip //{ */
+    2420             : 
+    2421        6515 :       vec3d << multiplier * last_control_output.diagnostics.disturbance_bx_b, multiplier * last_control_output.diagnostics.disturbance_by_b, 0;
+    2422        6515 :       vec3d = quat_eigen * vec3d;
+    2423             : 
+    2424        6515 :       point.x = uav_x + vec3d[0];
+    2425        6515 :       point.y = uav_y + vec3d[1];
+    2426        6515 :       point.z = uav_z + vec3d[2];
+    2427             : 
+    2428        6515 :       marker.points.push_back(point);
+    2429             : 
+    2430             :       //}
+    2431             : 
+    2432        6515 :       marker.scale.x = 0.05;
+    2433        6515 :       marker.scale.y = 0.05;
+    2434        6515 :       marker.scale.z = 0.05;
+    2435             : 
+    2436        6515 :       marker.color.a = 0.5;
+    2437        6515 :       marker.color.r = 0.0;
+    2438        6515 :       marker.color.g = 1.0;
+    2439        6515 :       marker.color.b = 0.0;
+    2440             : 
+    2441        6515 :       marker.mesh_resource = "package://pr2_description/meshes/base_v0/base.dae";
+    2442             : 
+    2443        6515 :       msg_out.markers.push_back(marker);
+    2444             :     }
+    2445             : 
+    2446             :     //}
+    2447             : 
+    2448        6515 :     ph_disturbances_markers_.publish(msg_out);
+    2449             :   }
+    2450             : 
+    2451             :   // --------------------------------------------------------------
+    2452             :   // |               publish the current constraints              |
+    2453             :   // --------------------------------------------------------------
+    2454             : 
+    2455       11081 :   if (got_constraints_) {
+    2456             : 
+    2457        9353 :     auto sanitized_constraints = mrs_lib::get_mutexed(mutex_constraints_, sanitized_constraints_);
+    2458             : 
+    2459        9353 :     mrs_msgs::DynamicsConstraints constraints = sanitized_constraints.constraints;
+    2460             : 
+    2461        9353 :     ph_current_constraints_.publish(constraints);
+    2462             :   }
+    2463             : }
+    2464             : 
+    2465             : //}
+    2466             : 
+    2467             : /* //{ timerSafety() */
+    2468             : 
+    2469      201877 : void ControlManager::timerSafety(const ros::TimerEvent& event) {
+    2470             : 
+    2471      201879 :   mrs_lib::AtomicScopeFlag unset_running(running_safety_timer_);
+    2472             : 
+    2473      201877 :   if (!is_initialized_)
+    2474           0 :     return;
+    2475             : 
+    2476      403756 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerSafety", _safety_timer_rate_, 0.05, event);
+    2477      403756 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::timerSafety", scope_timer_logger_, scope_timer_enabled_);
+    2478             : 
+    2479             :   // copy member variables
+    2480      201879 :   auto last_control_output   = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    2481      201879 :   auto last_tracker_cmd      = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    2482      201879 :   auto [uav_state, uav_yaw]  = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_, uav_yaw_);
+    2483      201877 :   auto active_controller_idx = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    2484      201877 :   auto active_tracker_idx    = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    2485             : 
+    2486      384151 :   if (!got_uav_state_ || (_state_input_ == INPUT_UAV_STATE && _odometry_innovation_check_enabled_ && !sh_odometry_innovation_.hasMsg()) ||
+    2487      182274 :       active_tracker_idx == _null_tracker_idx_) {
+    2488       54987 :     return;
+    2489             :   }
+    2490             : 
+    2491      146890 :   if (odometry_switch_in_progress_) {
+    2492           6 :     ROS_WARN("[ControlManager]: timerSafety tried to run while odometry switch in progress");
+    2493           6 :     return;
+    2494             :   }
+    2495             : 
+    2496             :   // | ------------------------ timeouts ------------------------ |
+    2497             : 
+    2498      146884 :   if (_state_input_ == INPUT_UAV_STATE && sh_uav_state_.hasMsg()) {
+    2499      146884 :     double missing_for = (ros::Time::now() - sh_uav_state_.lastMsgTime()).toSec();
+    2500             : 
+    2501      146884 :     if (missing_for > _uav_state_max_missing_time_) {
+    2502           0 :       timeoutUavState(missing_for);
+    2503             :     }
+    2504             :   }
+    2505             : 
+    2506      146884 :   if (_state_input_ == INPUT_ODOMETRY && sh_odometry_.hasMsg()) {
+    2507           0 :     double missing_for = (ros::Time::now() - sh_odometry_.lastMsgTime()).toSec();
+    2508             : 
+    2509           0 :     if (missing_for > _uav_state_max_missing_time_) {
+    2510           0 :       timeoutUavState(missing_for);
+    2511             :     }
+    2512             :   }
+    2513             : 
+    2514             :   // | -------------- eland and failsafe thresholds ------------- |
+    2515             : 
+    2516      146884 :   std::map<std::string, ControllerParams>::iterator it;
+    2517      146884 :   it = controllers_.find(_controller_names_[active_controller_idx]);
+    2518             : 
+    2519      146884 :   _eland_threshold_               = it->second.eland_threshold;
+    2520      146884 :   _failsafe_threshold_            = it->second.failsafe_threshold;
+    2521      146884 :   _odometry_innovation_threshold_ = it->second.odometry_innovation_threshold;
+    2522             : 
+    2523             :   // | --------- calculate control errors and tilt angle -------- |
+    2524             : 
+    2525             :   // This means that the timerFailsafe only does its work when Controllers and Trackers produce valid output.
+    2526             :   // Cases when the commands are not valid should be handle in updateControllers() and updateTrackers() methods.
+    2527      146884 :   if (!last_tracker_cmd || !last_control_output.control_output) {
+    2528         127 :     return;
+    2529             :   }
+    2530             : 
+    2531             :   {
+    2532      146757 :     std::scoped_lock lock(mutex_attitude_error_);
+    2533             : 
+    2534      146757 :     tilt_error_ = 0;
+    2535      146757 :     yaw_error_  = 0;
+    2536             :   }
+    2537             : 
+    2538             :   {
+    2539             :     // TODO this whole scope is very clumsy
+    2540             : 
+    2541      146757 :     position_error_ = {};
+    2542             : 
+    2543      146757 :     if (last_tracker_cmd->use_position_horizontal && !std::holds_alternative<mrs_msgs::HwApiPositionCmd>(last_control_output.control_output.value())) {
+    2544             : 
+    2545      145767 :       std::scoped_lock lock(mutex_position_error_);
+    2546             : 
+    2547      145765 :       if (!position_error_) {
+    2548      145753 :         position_error_ = Eigen::Vector3d::Zero(3);
+    2549             :       }
+    2550             : 
+    2551      145765 :       position_error_.value()[0] = last_tracker_cmd->position.x - uav_state.pose.position.x;
+    2552      145765 :       position_error_.value()[1] = last_tracker_cmd->position.y - uav_state.pose.position.y;
+    2553             :     }
+    2554             : 
+    2555      146755 :     if (last_tracker_cmd->use_position_vertical && !std::holds_alternative<mrs_msgs::HwApiPositionCmd>(last_control_output.control_output.value())) {
+    2556             : 
+    2557      145763 :       std::scoped_lock lock(mutex_position_error_);
+    2558             : 
+    2559      145763 :       if (!position_error_) {
+    2560           0 :         position_error_ = Eigen::Vector3d::Zero(3);
+    2561             :       }
+    2562             : 
+    2563      145763 :       position_error_.value()[2] = last_tracker_cmd->position.z - uav_state.pose.position.z;
+    2564             :     }
+    2565             :   }
+    2566             : 
+    2567             :   // rotate the drone's z axis
+    2568      146755 :   tf2::Transform uav_state_transform = mrs_lib::AttitudeConverter(uav_state.pose.orientation);
+    2569      146755 :   tf2::Vector3   uav_z_in_world      = uav_state_transform * tf2::Vector3(0, 0, 1);
+    2570             : 
+    2571             :   // calculate the angle between the drone's z axis and the world's z axis
+    2572      146755 :   double tilt_angle = acos(uav_z_in_world.dot(tf2::Vector3(0, 0, 1)));
+    2573             : 
+    2574             :   // | ------------ calculate the tilt and yaw error ------------ |
+    2575             : 
+    2576             :   // | --------------------- the tilt error --------------------- |
+    2577             : 
+    2578      146755 :   if (last_control_output.desired_orientation) {
+    2579             : 
+    2580             :     // calculate the desired drone's z axis in the world frame
+    2581      127237 :     tf2::Transform attitude_cmd_transform = mrs_lib::AttitudeConverter(last_control_output.desired_orientation.value());
+    2582      127237 :     tf2::Vector3   uav_z_in_world_desired = attitude_cmd_transform * tf2::Vector3(0, 0, 1);
+    2583             : 
+    2584             :     {
+    2585      127237 :       std::scoped_lock lock(mutex_attitude_error_);
+    2586             : 
+    2587             :       // calculate the angle between the drone's z axis and the world's z axis
+    2588      127237 :       tilt_error_ = acos(uav_z_in_world.dot(uav_z_in_world_desired));
+    2589             : 
+    2590             :       // calculate the yaw error
+    2591      127237 :       double cmd_yaw = mrs_lib::AttitudeConverter(last_control_output.desired_orientation.value()).getYaw();
+    2592      127237 :       yaw_error_     = fabs(radians::diff(cmd_yaw, uav_yaw));
+    2593             :     }
+    2594             :   }
+    2595             : 
+    2596      146755 :   auto position_error          = mrs_lib::get_mutexed(mutex_position_error_, position_error_);
+    2597      146755 :   auto [tilt_error, yaw_error] = mrs_lib::get_mutexed(mutex_attitude_error_, tilt_error_, yaw_error_);
+    2598             : 
+    2599             :   // --------------------------------------------------------------
+    2600             :   // |   activate the failsafe controller in case of large error  |
+    2601             :   // --------------------------------------------------------------
+    2602             : 
+    2603      146755 :   if (position_error) {
+    2604             : 
+    2605      145763 :     if (position_error->norm() > _failsafe_threshold_ && !failsafe_triggered_) {
+    2606             : 
+    2607           9 :       auto controller_tracker_switch_time = mrs_lib::get_mutexed(mutex_controller_tracker_switch_time_, controller_tracker_switch_time_);
+    2608             : 
+    2609           9 :       if ((ros::Time::now() - controller_tracker_switch_time).toSec() > 1.0) {
+    2610             : 
+    2611           1 :         if (!failsafe_triggered_) {
+    2612             : 
+    2613           1 :           ROS_ERROR("[ControlManager]: activating failsafe land: control_error=%.2f/%.2f m (x: %.2f, y: %.2f, z: %.2f)", position_error->norm(),
+    2614             :                     _failsafe_threshold_, position_error.value()[0], position_error.value()[1], position_error.value()[2]);
+    2615             : 
+    2616           1 :           failsafe();
+    2617             :         }
+    2618             :       }
+    2619             :     }
+    2620             :   }
+    2621             : 
+    2622             :   // --------------------------------------------------------------
+    2623             :   // |     activate emergency land in case of large innovation    |
+    2624             :   // --------------------------------------------------------------
+    2625             : 
+    2626      146755 :   if (_odometry_innovation_check_enabled_) {
+    2627             : 
+    2628      146756 :     std::optional<nav_msgs::Odometry::ConstPtr> innovation;
+    2629             : 
+    2630      146755 :     if (sh_odometry_innovation_.hasMsg()) {
+    2631      146755 :       innovation = {sh_odometry_innovation_.getMsg()};
+    2632             :     } else {
+    2633           0 :       ROS_WARN_THROTTLE(1.0, "[ControlManager]: missing estimator innnovation but the innovation check is enabled!");
+    2634             :     }
+    2635             : 
+    2636      146755 :     if (innovation) {
+    2637             : 
+    2638      146755 :       auto [x, y, z] = mrs_lib::getPosition(innovation.value());
+    2639             : 
+    2640      146754 :       double heading = 0;
+    2641             :       try {
+    2642      146754 :         heading = mrs_lib::getHeading(innovation.value());
+    2643             :       }
+    2644           0 :       catch (mrs_lib::AttitudeConverter::GetHeadingException& e) {
+    2645           0 :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: exception caught: '%s'", e.what());
+    2646             :       }
+    2647             : 
+    2648      146755 :       double last_innovation = mrs_lib::geometry::dist(vec3_t(x, y, z), vec3_t(0, 0, 0));
+    2649             : 
+    2650      146755 :       if (last_innovation > _odometry_innovation_threshold_ || radians::diff(heading, 0) > M_PI_2) {
+    2651             : 
+    2652           2 :         auto controller_tracker_switch_time = mrs_lib::get_mutexed(mutex_controller_tracker_switch_time_, controller_tracker_switch_time_);
+    2653             : 
+    2654           2 :         if ((ros::Time::now() - controller_tracker_switch_time).toSec() > 1.0) {
+    2655             : 
+    2656           1 :           if (!failsafe_triggered_ && !eland_triggered_) {
+    2657             : 
+    2658           1 :             ROS_ERROR("[ControlManager]: activating emergency land: odometry innovation too large: %.2f/%.2f (x: %.2f, y: %.2f, z: %.2f, heading: %.2f)",
+    2659             :                       last_innovation, _odometry_innovation_threshold_, x, y, z, heading);
+    2660             : 
+    2661           1 :             eland();
+    2662             :           }
+    2663             :         }
+    2664             :       }
+    2665             :     }
+    2666             :   }
+    2667             : 
+    2668             :   // --------------------------------------------------------------
+    2669             :   // |   activate emergency land in case of medium control error  |
+    2670             :   // --------------------------------------------------------------
+    2671             : 
+    2672             :   // | ------------------- tilt control error ------------------- |
+    2673             : 
+    2674      146754 :   if (_tilt_limit_eland_enabled_ && tilt_angle > _tilt_limit_eland_) {
+    2675             : 
+    2676           0 :     auto controller_tracker_switch_time = mrs_lib::get_mutexed(mutex_controller_tracker_switch_time_, controller_tracker_switch_time_);
+    2677             : 
+    2678           0 :     if ((ros::Time::now() - controller_tracker_switch_time).toSec() > 1.0) {
+    2679             : 
+    2680           0 :       if (!failsafe_triggered_ && !eland_triggered_) {
+    2681             : 
+    2682           0 :         ROS_ERROR("[ControlManager]: activating emergency land: tilt angle too large (%.2f/%.2f deg)", (180.0 / M_PI) * tilt_angle,
+    2683             :                   (180.0 / M_PI) * _tilt_limit_eland_);
+    2684             : 
+    2685           0 :         eland();
+    2686             :       }
+    2687             :     }
+    2688             :   }
+    2689             : 
+    2690             :   // | ----------------- position control error ----------------- |
+    2691             : 
+    2692      146754 :   if (position_error) {
+    2693             : 
+    2694      145763 :     double error_size = position_error->norm();
+    2695             : 
+    2696      145763 :     if (error_size > _eland_threshold_ / 2.0) {
+    2697             : 
+    2698         775 :       auto controller_tracker_switch_time = mrs_lib::get_mutexed(mutex_controller_tracker_switch_time_, controller_tracker_switch_time_);
+    2699             : 
+    2700         775 :       if ((ros::Time::now() - controller_tracker_switch_time).toSec() > 1.0) {
+    2701             : 
+    2702         573 :         if (!failsafe_triggered_ && !eland_triggered_) {
+    2703             : 
+    2704         407 :           ROS_DEBUG_THROTTLE(1.0, "[ControlManager]: releasing payload due to large position error");
+    2705             : 
+    2706         407 :           ungripSrv();
+    2707             :         }
+    2708             :       }
+    2709             :     }
+    2710             : 
+    2711      145763 :     if (error_size > _eland_threshold_) {
+    2712             : 
+    2713         237 :       auto controller_tracker_switch_time = mrs_lib::get_mutexed(mutex_controller_tracker_switch_time_, controller_tracker_switch_time_);
+    2714             : 
+    2715         237 :       if ((ros::Time::now() - controller_tracker_switch_time).toSec() > 1.0) {
+    2716             : 
+    2717          59 :         if (!failsafe_triggered_ && !eland_triggered_) {
+    2718             : 
+    2719           1 :           ROS_ERROR("[ControlManager]: activating emergency land: position error %.2f/%.2f m (error x: %.2f, y: %.2f, z: %.2f)", error_size, _eland_threshold_,
+    2720             :                     position_error.value()[0], position_error.value()[1], position_error.value()[2]);
+    2721             : 
+    2722           1 :           eland();
+    2723             :         }
+    2724             :       }
+    2725             :     }
+    2726             :   }
+    2727             : 
+    2728             :   // | -------------------- yaw control error ------------------- |
+    2729             :   // do not have to mutex the yaw_error_ here since I am filling it in this function
+    2730             : 
+    2731      146755 :   if (_yaw_error_eland_enabled_ && yaw_error) {
+    2732             : 
+    2733      146755 :     if (yaw_error.value() > (_yaw_error_eland_ / 2.0)) {
+    2734             : 
+    2735           0 :       auto controller_tracker_switch_time = mrs_lib::get_mutexed(mutex_controller_tracker_switch_time_, controller_tracker_switch_time_);
+    2736             : 
+    2737           0 :       if ((ros::Time::now() - controller_tracker_switch_time).toSec() > 1.0) {
+    2738             : 
+    2739           0 :         if (!failsafe_triggered_ && !eland_triggered_) {
+    2740             : 
+    2741           0 :           ROS_DEBUG_THROTTLE(1.0, "[ControlManager]: releasing payload: yaw error %.2f/%.2f deg", (180.0 / M_PI) * yaw_error.value(),
+    2742             :                              (180.0 / M_PI) * _yaw_error_eland_ / 2.0);
+    2743             : 
+    2744           0 :           ungripSrv();
+    2745             :         }
+    2746             :       }
+    2747             :     }
+    2748             : 
+    2749      146754 :     if (yaw_error.value() > _yaw_error_eland_) {
+    2750             : 
+    2751           0 :       auto controller_tracker_switch_time = mrs_lib::get_mutexed(mutex_controller_tracker_switch_time_, controller_tracker_switch_time_);
+    2752             : 
+    2753           0 :       if ((ros::Time::now() - controller_tracker_switch_time).toSec() > 1.0) {
+    2754             : 
+    2755           0 :         if (!failsafe_triggered_ && !eland_triggered_) {
+    2756             : 
+    2757           0 :           ROS_ERROR("[ControlManager]: activating emergency land: yaw error %.2f/%.2f deg", (180.0 / M_PI) * yaw_error.value(),
+    2758             :                     (180.0 / M_PI) * _yaw_error_eland_);
+    2759             : 
+    2760           0 :           eland();
+    2761             :         }
+    2762             :       }
+    2763             :     }
+    2764             :   }
+    2765             : 
+    2766             :   // --------------------------------------------------------------
+    2767             :   // |      disarm the drone when the tilt exceeds the limit      |
+    2768             :   // --------------------------------------------------------------
+    2769      146754 :   if (_tilt_limit_disarm_enabled_ && tilt_angle > _tilt_limit_disarm_) {
+    2770             : 
+    2771           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_);
+    2772             : 
+    2773           0 :     arming(false);
+    2774             :   }
+    2775             : 
+    2776             :   // --------------------------------------------------------------
+    2777             :   // |     disarm the drone when tilt error exceeds the limit     |
+    2778             :   // --------------------------------------------------------------
+    2779             : 
+    2780      146754 :   if (_tilt_error_disarm_enabled_ && tilt_error) {
+    2781             : 
+    2782      146752 :     auto controller_tracker_switch_time = mrs_lib::get_mutexed(mutex_controller_tracker_switch_time_, controller_tracker_switch_time_);
+    2783             : 
+    2784             :     // the time from the last controller/tracker switch
+    2785             :     // fyi: we should not
+    2786      146755 :     double time_from_ctrl_tracker_switch = (ros::Time::now() - controller_tracker_switch_time).toSec();
+    2787             : 
+    2788             :     // if the tile error is over the threshold
+    2789             :     // && we are not ramping up during takeoff
+    2790      146754 :     if (fabs(tilt_error.value()) > _tilt_error_disarm_threshold_ && !last_control_output.diagnostics.ramping_up) {
+    2791             : 
+    2792             :       // only account for the error if some time passed from the last tracker/controller switch
+    2793          74 :       if (time_from_ctrl_tracker_switch > 1.0) {
+    2794             : 
+    2795             :         // if the threshold was not exceeded before
+    2796          74 :         if (!tilt_error_disarm_over_thr_) {
+    2797             : 
+    2798           2 :           tilt_error_disarm_over_thr_ = true;
+    2799           2 :           tilt_error_disarm_time_     = ros::Time::now();
+    2800             : 
+    2801           2 :           ROS_WARN("[ControlManager]: tilt error exceeded threshold (%.2f/%.2f deg)", (180.0 / M_PI) * tilt_error.value(),
+    2802             :                    (180.0 / M_PI) * _tilt_error_disarm_threshold_);
+    2803             : 
+    2804             :           // if it was exceeded before, just keep it
+    2805             :         } else {
+    2806             : 
+    2807          72 :           ROS_WARN_THROTTLE(0.1, "[ControlManager]: tilt error (%.2f deg) over threshold for %.2f s", (180.0 / M_PI) * tilt_error.value(),
+    2808             :                             (ros::Time::now() - tilt_error_disarm_time_).toSec());
+    2809             :         }
+    2810             : 
+    2811             :         // if the tile error is bad, but the controller just switched,
+    2812             :         // don't think its bad anymore
+    2813             :       } else {
+    2814             : 
+    2815           0 :         tilt_error_disarm_over_thr_ = false;
+    2816           0 :         tilt_error_disarm_time_     = ros::Time::now();
+    2817             :       }
+    2818             : 
+    2819             :       // if the tilt error is fine
+    2820             :     } else {
+    2821             : 
+    2822             :       // make it fine
+    2823      146680 :       tilt_error_disarm_over_thr_ = false;
+    2824      146680 :       tilt_error_disarm_time_     = ros::Time::now();
+    2825             :     }
+    2826             : 
+    2827             :     // calculate the time over the threshold
+    2828      146754 :     double tot = (ros::Time::now() - tilt_error_disarm_time_).toSec();
+    2829             : 
+    2830             :     // if the tot exceeds the limit (and if we are actually over the threshold)
+    2831      146755 :     if (tilt_error_disarm_over_thr_ && (tot > _tilt_error_disarm_timeout_)) {
+    2832             : 
+    2833           0 :       bool is_flying = offboard_mode_ && active_tracker_idx != _null_tracker_idx_;
+    2834             : 
+    2835             :       // only when flying and not in failsafe
+    2836           0 :       if (is_flying) {
+    2837             : 
+    2838           0 :         ROS_ERROR("[ControlManager]: tilt error too large for %.2f s, disarming", tot);
+    2839             : 
+    2840           0 :         toggleOutput(false);
+    2841           0 :         arming(false);
+    2842             :       }
+    2843             :     }
+    2844             :   }
+    2845             : 
+    2846             :   // | --------- dropping out of OFFBOARD in mid flight --------- |
+    2847             : 
+    2848             :   // if we are not in offboard and the drone is in mid air (NullTracker is not active)
+    2849      146758 :   if (offboard_mode_was_true_ && !offboard_mode_ && active_tracker_idx != _null_tracker_idx_) {
+    2850             : 
+    2851           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: we fell out of OFFBOARD in mid air, disabling output");
+    2852             : 
+    2853           0 :     toggleOutput(false);
+    2854             :   }
+    2855             : }  // namespace control_manager
+    2856             : 
+    2857             : //}
+    2858             : 
+    2859             : /* //{ timerEland() */
+    2860             : 
+    2861         295 : void ControlManager::timerEland(const ros::TimerEvent& event) {
+    2862             : 
+    2863         295 :   if (!is_initialized_)
+    2864           0 :     return;
+    2865             : 
+    2866         590 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerEland", _elanding_timer_rate_, 0.01, event);
+    2867         590 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::timerEland", scope_timer_logger_, scope_timer_enabled_);
+    2868             : 
+    2869             :   // copy member variables
+    2870         295 :   auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    2871             : 
+    2872         295 :   if (!last_control_output.control_output) {
+    2873           0 :     return;
+    2874             :   }
+    2875             : 
+    2876         295 :   auto throttle = extractThrottle(last_control_output);
+    2877             : 
+    2878         295 :   if (!throttle) {
+    2879           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: TODO: implement landing detection mechanism for the current control modality");
+    2880           0 :     return;
+    2881             :   }
+    2882             : 
+    2883         295 :   if (current_state_landing_ == IDLE_STATE) {
+    2884             : 
+    2885           0 :     return;
+    2886             : 
+    2887         295 :   } else if (current_state_landing_ == LANDING_STATE) {
+    2888             : 
+    2889             :     // --------------------------------------------------------------
+    2890             :     // |                            TODO                            |
+    2891             :     // This section needs work. The throttle landing detection      |
+    2892             :     // mechanism should be extracted and other mechanisms, such     |
+    2893             :     // as velocity-based detection should be used for high          |
+    2894             :     // modalities                                                   |
+    2895             :     // --------------------------------------------------------------
+    2896             : 
+    2897         295 :     if (!last_control_output.control_output) {
+    2898           0 :       ROS_WARN_THROTTLE(1.0, "[ControlManager]: timerEland: last_control_output has not been initialized, returning");
+    2899           0 :       ROS_WARN_THROTTLE(1.0, "[ControlManager]: tip: the RC eland is probably triggered");
+    2900           0 :       return;
+    2901             :     }
+    2902             : 
+    2903             :     // recalculate the mass based on the throttle
+    2904         295 :     throttle_mass_estimate_ = mrs_lib::quadratic_throttle_model::throttleToForce(common_handlers_->throttle_model, throttle.value()) / common_handlers_->g;
+    2905         295 :     ROS_INFO_THROTTLE(1.0, "[ControlManager]: landing: initial mass: %.2f throttle_mass_estimate: %.2f", landing_uav_mass_, throttle_mass_estimate_);
+    2906             : 
+    2907             :     // condition for automatic motor turn off
+    2908         295 :     if (((throttle_mass_estimate_ < _elanding_cutoff_mass_factor_ * landing_uav_mass_) || throttle < 0.01)) {
+    2909          66 :       if (!throttle_under_threshold_) {
+    2910             : 
+    2911           3 :         throttle_mass_estimate_first_time_ = ros::Time::now();
+    2912           3 :         throttle_under_threshold_          = true;
+    2913             :       }
+    2914             : 
+    2915          66 :       ROS_INFO_THROTTLE(0.1, "[ControlManager]: throttle is under cutoff factor for %.2f s", (ros::Time::now() - throttle_mass_estimate_first_time_).toSec());
+    2916             : 
+    2917             :     } else {
+    2918         229 :       throttle_mass_estimate_first_time_ = ros::Time::now();
+    2919         229 :       throttle_under_threshold_          = false;
+    2920             :     }
+    2921             : 
+    2922         295 :     if (throttle_under_threshold_ && ((ros::Time::now() - throttle_mass_estimate_first_time_).toSec() > _elanding_cutoff_timeout_)) {
+    2923             :       // enable callbacks? ... NO
+    2924             : 
+    2925           3 :       ROS_INFO("[ControlManager]: reached cutoff throttle, disabling output");
+    2926           3 :       toggleOutput(false);
+    2927             : 
+    2928             :       // disarm the drone
+    2929           3 :       if (_eland_disarm_enabled_) {
+    2930             : 
+    2931           3 :         ROS_INFO("[ControlManager]: calling for disarm");
+    2932           3 :         arming(false);
+    2933             :       }
+    2934             : 
+    2935           3 :       changeLandingState(IDLE_STATE);
+    2936             : 
+    2937           3 :       ROS_WARN("[ControlManager]: emergency landing finished");
+    2938             : 
+    2939           3 :       ROS_DEBUG("[ControlManager]: stopping eland timer");
+    2940           3 :       timer_eland_.stop();
+    2941           3 :       ROS_DEBUG("[ControlManager]: eland timer stopped");
+    2942             : 
+    2943             :       // we should NOT set eland_triggered_=true
+    2944             :     }
+    2945             :   }
+    2946             : }
+    2947             : 
+    2948             : //}
+    2949             : 
+    2950             : /* //{ timerFailsafe() */
+    2951             : 
+    2952        9710 : void ControlManager::timerFailsafe(const ros::TimerEvent& event) {
+    2953             : 
+    2954        9710 :   if (!is_initialized_) {
+    2955           0 :     return;
+    2956             :   }
+    2957             : 
+    2958        9710 :   ROS_INFO_ONCE("[ControlManager]: timerFailsafe() spinning");
+    2959             : 
+    2960       19420 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerFailsafe", _failsafe_timer_rate_, 0.01, event);
+    2961       19420 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::timerFailsafe", scope_timer_logger_, scope_timer_enabled_);
+    2962             : 
+    2963             :   // copy member variables
+    2964        9710 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    2965             : 
+    2966        9710 :   updateControllers(uav_state);
+    2967             : 
+    2968        9710 :   publish();
+    2969             : 
+    2970        9710 :   auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    2971             : 
+    2972        9710 :   if (!last_control_output.control_output) {
+    2973           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: timerFailsafe: the control output produced by the failsafe controller is empty!");
+    2974           0 :     return;
+    2975             :   }
+    2976             : 
+    2977        9710 :   auto throttle = extractThrottle(last_control_output);
+    2978             : 
+    2979        9710 :   if (!throttle) {
+    2980           0 :     ROS_DEBUG_THROTTLE(1.0, "[ControlManager]: FailsafeTimer: could not extract throttle out of the last control output");
+    2981           0 :     return;
+    2982             :   }
+    2983             : 
+    2984             :   // --------------------------------------------------------------
+    2985             :   // |                            TODO                            |
+    2986             :   // This section needs work. The throttle landing detection      |
+    2987             :   // mechanism should be extracted and other mechanisms, such     |
+    2988             :   // as velocity-based detection should be used for high          |
+    2989             :   // modalities                                                   |
+    2990             :   // --------------------------------------------------------------
+    2991             : 
+    2992        9710 :   double throttle_mass_estimate_ = mrs_lib::quadratic_throttle_model::throttleToForce(common_handlers_->throttle_model, throttle.value()) / common_handlers_->g;
+    2993        9710 :   ROS_INFO_THROTTLE(1.0, "[ControlManager]: failsafe: initial mass: %.2f throttle_mass_estimate: %.2f", landing_uav_mass_, throttle_mass_estimate_);
+    2994             : 
+    2995             :   // condition for automatic motor turn off
+    2996        9710 :   if (((throttle_mass_estimate_ < _elanding_cutoff_mass_factor_ * landing_uav_mass_))) {
+    2997             : 
+    2998        1414 :     if (!throttle_under_threshold_) {
+    2999             : 
+    3000           7 :       throttle_mass_estimate_first_time_ = ros::Time::now();
+    3001           7 :       throttle_under_threshold_          = true;
+    3002             :     }
+    3003             : 
+    3004        1414 :     ROS_INFO_THROTTLE(0.1, "[ControlManager]: throttle is under cutoff factor for %.2f s", (ros::Time::now() - throttle_mass_estimate_first_time_).toSec());
+    3005             : 
+    3006             :   } else {
+    3007             : 
+    3008        8296 :     throttle_mass_estimate_first_time_ = ros::Time::now();
+    3009        8296 :     throttle_under_threshold_          = false;
+    3010             :   }
+    3011             : 
+    3012             :   // condition for automatic motor turn off
+    3013        9710 :   if (throttle_under_threshold_ && ((ros::Time::now() - throttle_mass_estimate_first_time_).toSec() > _elanding_cutoff_timeout_)) {
+    3014             : 
+    3015           7 :     ROS_INFO_THROTTLE(1.0, "[ControlManager]: detecting zero throttle, disarming");
+    3016             : 
+    3017           7 :     arming(false);
+    3018             :   }
+    3019             : }
+    3020             : 
+    3021             : //}
+    3022             : 
+    3023             : /* //{ timerJoystick() */
+    3024             : 
+    3025       38154 : void ControlManager::timerJoystick(const ros::TimerEvent& event) {
+    3026             : 
+    3027       38154 :   if (!is_initialized_) {
+    3028           0 :     return;
+    3029             :   }
+    3030             : 
+    3031      114462 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerJoystick", _status_timer_rate_, 0.05, event);
+    3032      114462 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::timerJoystick", scope_timer_logger_, scope_timer_enabled_);
+    3033             : 
+    3034       76308 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    3035             : 
+    3036             :   // if start was pressed and held for > 3.0 s
+    3037       38154 :   if (joystick_start_pressed_ && joystick_start_press_time_ != ros::Time(0) && (ros::Time::now() - joystick_start_press_time_).toSec() > 3.0) {
+    3038             : 
+    3039           0 :     joystick_start_press_time_ = ros::Time(0);
+    3040             : 
+    3041           0 :     ROS_INFO("[ControlManager]: transitioning to joystick control: activating '%s' and '%s'", _joystick_tracker_name_.c_str(),
+    3042             :              _joystick_controller_name_.c_str());
+    3043             : 
+    3044           0 :     joystick_start_pressed_ = false;
+    3045             : 
+    3046           0 :     switchTracker(_joystick_tracker_name_);
+    3047           0 :     switchController(_joystick_controller_name_);
+    3048             :   }
+    3049             : 
+    3050             :   // if RT+LT were pressed and held for > 0.1 s
+    3051       38154 :   if (joystick_failsafe_pressed_ && joystick_failsafe_press_time_ != ros::Time(0) && (ros::Time::now() - joystick_failsafe_press_time_).toSec() > 0.1) {
+    3052             : 
+    3053           0 :     joystick_failsafe_press_time_ = ros::Time(0);
+    3054             : 
+    3055           0 :     ROS_INFO("[ControlManager]: activating failsafe by joystick");
+    3056             : 
+    3057           0 :     joystick_failsafe_pressed_ = false;
+    3058             : 
+    3059           0 :     failsafe();
+    3060             :   }
+    3061             : 
+    3062             :   // if joypads were pressed and held for > 0.1 s
+    3063       38154 :   if (joystick_eland_pressed_ && joystick_eland_press_time_ != ros::Time(0) && (ros::Time::now() - joystick_eland_press_time_).toSec() > 0.1) {
+    3064             : 
+    3065           0 :     joystick_eland_press_time_ = ros::Time(0);
+    3066             : 
+    3067           0 :     ROS_INFO("[ControlManager]: activating eland by joystick");
+    3068             : 
+    3069           0 :     joystick_failsafe_pressed_ = false;
+    3070             : 
+    3071           0 :     eland();
+    3072             :   }
+    3073             : 
+    3074             :   // if back was pressed and held for > 0.1 s
+    3075       38154 :   if (joystick_back_pressed_ && joystick_back_press_time_ != ros::Time(0) && (ros::Time::now() - joystick_back_press_time_).toSec() > 0.1) {
+    3076             : 
+    3077           0 :     joystick_back_press_time_ = ros::Time(0);
+    3078             : 
+    3079             :     // activate/deactivate the joystick goto functionality
+    3080           0 :     joystick_goto_enabled_ = !joystick_goto_enabled_;
+    3081             : 
+    3082           0 :     ROS_INFO("[ControlManager]: joystick control %s", joystick_goto_enabled_ ? "activated" : "deactivated");
+    3083             :   }
+    3084             : 
+    3085             :   // if the GOTO functionality is enabled...
+    3086       38154 :   if (joystick_goto_enabled_ && sh_joystick_.hasMsg()) {
+    3087             : 
+    3088           0 :     auto joystick_data = sh_joystick_.getMsg();
+    3089             : 
+    3090             :     // create the reference
+    3091             : 
+    3092           0 :     mrs_msgs::Vec4::Request request;
+    3093             : 
+    3094           0 :     if (fabs(joystick_data->axes[_channel_pitch_]) >= 0.05 || fabs(joystick_data->axes[_channel_roll_]) >= 0.05 ||
+    3095           0 :         fabs(joystick_data->axes[_channel_heading_]) >= 0.05 || fabs(joystick_data->axes[_channel_throttle_]) >= 0.05) {
+    3096             : 
+    3097           0 :       if (_joystick_mode_ == 0) {
+    3098             : 
+    3099           0 :         request.goal[REF_X]       = _channel_mult_pitch_ * joystick_data->axes[_channel_pitch_] * _joystick_carrot_distance_;
+    3100           0 :         request.goal[REF_Y]       = _channel_mult_roll_ * joystick_data->axes[_channel_roll_] * _joystick_carrot_distance_;
+    3101           0 :         request.goal[REF_Z]       = _channel_mult_throttle_ * joystick_data->axes[_channel_throttle_];
+    3102           0 :         request.goal[REF_HEADING] = _channel_mult_heading_ * joystick_data->axes[_channel_heading_];
+    3103             : 
+    3104           0 :         mrs_msgs::Vec4::Response response;
+    3105             : 
+    3106           0 :         callbackGotoFcu(request, response);
+    3107             : 
+    3108           0 :       } else if (_joystick_mode_ == 1) {
+    3109             : 
+    3110           0 :         mrs_msgs::TrajectoryReference trajectory;
+    3111             : 
+    3112           0 :         double dt = 0.2;
+    3113             : 
+    3114           0 :         trajectory.fly_now         = true;
+    3115           0 :         trajectory.header.frame_id = "fcu_untilted";
+    3116           0 :         trajectory.use_heading     = true;
+    3117           0 :         trajectory.dt              = dt;
+    3118             : 
+    3119           0 :         mrs_msgs::Reference point;
+    3120           0 :         point.position.x = 0;
+    3121           0 :         point.position.y = 0;
+    3122           0 :         point.position.z = 0;
+    3123           0 :         point.heading    = 0;
+    3124             : 
+    3125           0 :         trajectory.points.push_back(point);
+    3126             : 
+    3127           0 :         double speed = 1.0;
+    3128             : 
+    3129           0 :         for (int i = 0; i < 50; i++) {
+    3130             : 
+    3131           0 :           point.position.x += _channel_mult_pitch_ * joystick_data->axes[_channel_pitch_] * (speed * dt);
+    3132           0 :           point.position.y += _channel_mult_roll_ * joystick_data->axes[_channel_roll_] * (speed * dt);
+    3133           0 :           point.position.z += _channel_mult_throttle_ * joystick_data->axes[_channel_throttle_] * (speed * dt);
+    3134           0 :           point.heading = _channel_mult_heading_ * joystick_data->axes[_channel_heading_];
+    3135             : 
+    3136           0 :           trajectory.points.push_back(point);
+    3137             :         }
+    3138             : 
+    3139           0 :         setTrajectoryReference(trajectory);
+    3140             :       }
+    3141             :     }
+    3142             :   }
+    3143             : 
+    3144       38154 :   if (rc_goto_active_ && last_tracker_cmd && sh_hw_api_rc_.hasMsg()) {
+    3145             : 
+    3146             :     // create the reference
+    3147        1088 :     mrs_msgs::VelocityReferenceStampedSrv::Request request;
+    3148             : 
+    3149         544 :     double des_x       = 0;
+    3150         544 :     double des_y       = 0;
+    3151         544 :     double des_z       = 0;
+    3152         544 :     double des_heading = 0;
+    3153             : 
+    3154         544 :     bool nothing_to_do = true;
+    3155             : 
+    3156             :     // copy member variables
+    3157        1088 :     mrs_msgs::HwApiRcChannelsConstPtr rc_channels = sh_hw_api_rc_.getMsg();
+    3158             : 
+    3159         544 :     if (rc_channels->channels.size() < 4) {
+    3160             : 
+    3161           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: RC control channel numbers are out of range (the # of channels in rc/in topic is %d)",
+    3162             :                          int(rc_channels->channels.size()));
+    3163           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: tip: this could be caused by the RC failsafe not being configured!");
+    3164             : 
+    3165             :     } else {
+    3166             : 
+    3167         544 :       double tmp_x       = RCChannelToRange(rc_channels->channels[_rc_channel_pitch_], _rc_horizontal_speed_, 0.1);
+    3168         544 :       double tmp_y       = -RCChannelToRange(rc_channels->channels[_rc_channel_roll_], _rc_horizontal_speed_, 0.1);
+    3169         544 :       double tmp_z       = RCChannelToRange(rc_channels->channels[_rc_channel_throttle_], _rc_vertical_speed_, 0.3);
+    3170         544 :       double tmp_heading = -RCChannelToRange(rc_channels->channels[_rc_channel_heading_], _rc_heading_rate_, 0.1);
+    3171             : 
+    3172         544 :       if (abs(tmp_x) > 1e-3) {
+    3173          87 :         des_x         = tmp_x;
+    3174          87 :         nothing_to_do = false;
+    3175             :       }
+    3176             : 
+    3177         544 :       if (abs(tmp_y) > 1e-3) {
+    3178         111 :         des_y         = tmp_y;
+    3179         111 :         nothing_to_do = false;
+    3180             :       }
+    3181             : 
+    3182         544 :       if (abs(tmp_z) > 1e-3) {
+    3183         225 :         des_z         = tmp_z;
+    3184         225 :         nothing_to_do = false;
+    3185             :       }
+    3186             : 
+    3187         544 :       if (abs(tmp_heading) > 1e-3) {
+    3188          48 :         des_heading   = tmp_heading;
+    3189          48 :         nothing_to_do = false;
+    3190             :       }
+    3191             :     }
+    3192             : 
+    3193         544 :     if (!nothing_to_do) {
+    3194             : 
+    3195         471 :       request.reference.header.frame_id = "fcu_untilted";
+    3196             : 
+    3197         471 :       request.reference.reference.use_heading_rate = true;
+    3198             : 
+    3199         471 :       request.reference.reference.velocity.x   = des_x;
+    3200         471 :       request.reference.reference.velocity.y   = des_y;
+    3201         471 :       request.reference.reference.velocity.z   = des_z;
+    3202         471 :       request.reference.reference.heading_rate = des_heading;
+    3203             : 
+    3204         942 :       mrs_msgs::VelocityReferenceStampedSrv::Response response;
+    3205             : 
+    3206             :       // disable callbacks of all trackers
+    3207         471 :       std_srvs::SetBoolRequest req_enable_callbacks;
+    3208             : 
+    3209             :       // enable the callbacks for the active tracker
+    3210         471 :       req_enable_callbacks.data = true;
+    3211             :       {
+    3212         471 :         std::scoped_lock lock(mutex_tracker_list_);
+    3213             : 
+    3214         942 :         tracker_list_[active_tracker_idx_]->enableCallbacks(
+    3215         942 :             std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    3216             :       }
+    3217             : 
+    3218         471 :       callbacks_enabled_ = true;
+    3219             : 
+    3220         471 :       callbackVelocityReferenceService(request, response);
+    3221             : 
+    3222         471 :       callbacks_enabled_ = false;
+    3223             : 
+    3224         471 :       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);
+    3225             : 
+    3226             :       // disable the callbacks back again
+    3227         471 :       req_enable_callbacks.data = false;
+    3228             :       {
+    3229         471 :         std::scoped_lock lock(mutex_tracker_list_);
+    3230             : 
+    3231         942 :         tracker_list_[active_tracker_idx_]->enableCallbacks(
+    3232         942 :             std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    3233             :       }
+    3234             :     }
+    3235             :   }
+    3236             : }
+    3237             : 
+    3238             : //}
+    3239             : 
+    3240             : /* //{ timerBumper() */
+    3241             : 
+    3242           0 : void ControlManager::timerBumper(const ros::TimerEvent& event) {
+    3243             : 
+    3244           0 :   if (!is_initialized_)
+    3245           0 :     return;
+    3246             : 
+    3247           0 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerBumper", _bumper_timer_rate_, 0.05, event);
+    3248           0 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::timerBumper", scope_timer_logger_, scope_timer_enabled_);
+    3249             : 
+    3250           0 :   if (!bumper_enabled_) {
+    3251           0 :     return;
+    3252             :   }
+    3253             : 
+    3254           0 :   if (!isFlyingNormally()) {
+    3255           0 :     return;
+    3256             :   }
+    3257             : 
+    3258           0 :   if (!got_uav_state_) {
+    3259           0 :     return;
+    3260             :   }
+    3261             : 
+    3262           0 :   if ((ros::Time::now() - sh_bumper_.lastMsgTime()).toSec() > 1.0) {
+    3263           0 :     return;
+    3264             :   }
+    3265             : 
+    3266             :   // --------------------------------------------------------------
+    3267             :   // |                      bumper repulsion                      |
+    3268             :   // --------------------------------------------------------------
+    3269             : 
+    3270           0 :   bumperPushFromObstacle();
+    3271             : }
+    3272             : 
+    3273             : //}
+    3274             : 
+    3275             : /* //{ timerPirouette() */
+    3276             : 
+    3277           0 : void ControlManager::timerPirouette(const ros::TimerEvent& event) {
+    3278             : 
+    3279           0 :   if (!is_initialized_)
+    3280           0 :     return;
+    3281             : 
+    3282           0 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerPirouette", _pirouette_timer_rate_, 0.01, event);
+    3283           0 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::timerPirouette", scope_timer_logger_, scope_timer_enabled_);
+    3284             : 
+    3285           0 :   pirouette_iterator_++;
+    3286             : 
+    3287           0 :   double pirouette_duration  = (2 * M_PI) / _pirouette_speed_;
+    3288           0 :   double pirouette_n_steps   = pirouette_duration * _pirouette_timer_rate_;
+    3289           0 :   double pirouette_step_size = (2 * M_PI) / pirouette_n_steps;
+    3290             : 
+    3291           0 :   if (rc_escalating_failsafe_triggered_ || failsafe_triggered_ || eland_triggered_ || (pirouette_iterator_ > pirouette_duration * _pirouette_timer_rate_)) {
+    3292             : 
+    3293           0 :     _pirouette_enabled_ = false;
+    3294           0 :     timer_pirouette_.stop();
+    3295             : 
+    3296           0 :     setCallbacks(true);
+    3297             : 
+    3298           0 :     return;
+    3299             :   }
+    3300             : 
+    3301             :   // set the reference
+    3302           0 :   mrs_msgs::ReferenceStamped reference_request;
+    3303             : 
+    3304           0 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    3305             : 
+    3306           0 :   reference_request.header.frame_id      = "";
+    3307           0 :   reference_request.header.stamp         = ros::Time(0);
+    3308           0 :   reference_request.reference.position.x = last_tracker_cmd->position.x;
+    3309           0 :   reference_request.reference.position.y = last_tracker_cmd->position.y;
+    3310           0 :   reference_request.reference.position.z = last_tracker_cmd->position.z;
+    3311           0 :   reference_request.reference.heading    = pirouette_initial_heading_ + pirouette_iterator_ * pirouette_step_size;
+    3312             : 
+    3313             :   // enable the callbacks for the active tracker
+    3314             :   {
+    3315           0 :     std::scoped_lock lock(mutex_tracker_list_);
+    3316             : 
+    3317           0 :     std_srvs::SetBoolRequest req_enable_callbacks;
+    3318           0 :     req_enable_callbacks.data = true;
+    3319             : 
+    3320           0 :     tracker_list_[active_tracker_idx_]->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    3321             : 
+    3322           0 :     callbacks_enabled_ = true;
+    3323             :   }
+    3324             : 
+    3325           0 :   setReference(reference_request);
+    3326             : 
+    3327             :   {
+    3328           0 :     std::scoped_lock lock(mutex_tracker_list_);
+    3329             : 
+    3330             :     // disable the callbacks for the active tracker
+    3331           0 :     std_srvs::SetBoolRequest req_enable_callbacks;
+    3332           0 :     req_enable_callbacks.data = false;
+    3333             : 
+    3334           0 :     tracker_list_[active_tracker_idx_]->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    3335             : 
+    3336           0 :     callbacks_enabled_ = false;
+    3337             :   }
+    3338             : }
+    3339             : 
+    3340             : //}
+    3341             : 
+    3342             : // --------------------------------------------------------------
+    3343             : // |                           asyncs                           |
+    3344             : // --------------------------------------------------------------
+    3345             : 
+    3346             : /* asyncControl() //{ */
+    3347             : 
+    3348       87207 : void ControlManager::asyncControl(void) {
+    3349             : 
+    3350       87207 :   if (!is_initialized_)
+    3351           0 :     return;
+    3352             : 
+    3353      174414 :   mrs_lib::AtomicScopeFlag unset_running(running_async_control_);
+    3354             : 
+    3355      261621 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("asyncControl");
+    3356      261621 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::asyncControl", scope_timer_logger_, scope_timer_enabled_);
+    3357             : 
+    3358             :   // copy member variables
+    3359      174414 :   auto uav_state           = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    3360       87207 :   auto current_constraints = mrs_lib::get_mutexed(mutex_constraints_, current_constraints_);
+    3361             : 
+    3362       87207 :   if (!failsafe_triggered_) {  // when failsafe is triggered, updateControllers() and publish() is called in timerFailsafe()
+    3363             : 
+    3364             :     // run the safety timer
+    3365             :     // in the case of large control errors, the safety mechanisms will be triggered before the controllers and trackers are updated...
+    3366       77973 :     while (running_safety_timer_) {
+    3367             : 
+    3368         722 :       ROS_DEBUG("[ControlManager]: waiting for safety timer to finish");
+    3369         722 :       ros::Duration wait(0.001);
+    3370         722 :       wait.sleep();
+    3371             : 
+    3372         722 :       if (!running_safety_timer_) {
+    3373         717 :         ROS_DEBUG("[ControlManager]: safety timer finished");
+    3374         717 :         break;
+    3375             :       }
+    3376             :     }
+    3377             : 
+    3378       77968 :     ros::TimerEvent safety_timer_event;
+    3379       77968 :     timerSafety(safety_timer_event);
+    3380             : 
+    3381       77966 :     updateTrackers();
+    3382             : 
+    3383       77966 :     updateControllers(uav_state);
+    3384             : 
+    3385       77966 :     if (got_constraints_) {
+    3386             : 
+    3387             :       // update the constraints to trackers, if need to
+    3388       77486 :       auto enforce = enforceControllersConstraints(current_constraints);
+    3389             : 
+    3390       77486 :       if (enforce && !constraints_being_enforced_) {
+    3391             : 
+    3392          39 :         setConstraintsToTrackers(enforce.value());
+    3393          39 :         mrs_lib::set_mutexed(mutex_constraints_, enforce.value(), sanitized_constraints_);
+    3394             : 
+    3395          39 :         constraints_being_enforced_ = true;
+    3396             : 
+    3397          39 :         auto active_controller_idx = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    3398             : 
+    3399          39 :         ROS_WARN_THROTTLE(1.0, "[ControlManager]: the controller '%s' is enforcing constraints over the ConstraintManager",
+    3400             :                           _controller_names_[active_controller_idx].c_str());
+    3401             : 
+    3402       77447 :       } else if (!enforce && constraints_being_enforced_) {
+    3403             : 
+    3404          37 :         ROS_INFO_THROTTLE(1.0, "[ControlManager]: constraint values returned to original values");
+    3405             : 
+    3406          37 :         constraints_being_enforced_ = false;
+    3407             : 
+    3408          37 :         mrs_lib::set_mutexed(mutex_constraints_, current_constraints, sanitized_constraints_);
+    3409             : 
+    3410          37 :         setConstraintsToTrackers(current_constraints);
+    3411             :       }
+    3412             :     }
+    3413             : 
+    3414       77966 :     publish();
+    3415             :   }
+    3416             : 
+    3417             :   // if odometry switch happened, we finish it here and turn the safety timer back on
+    3418       87205 :   if (odometry_switch_in_progress_) {
+    3419             : 
+    3420           4 :     ROS_DEBUG("[ControlManager]: starting safety timer");
+    3421           4 :     timer_safety_.start();
+    3422           4 :     ROS_DEBUG("[ControlManager]: safety timer started");
+    3423           4 :     odometry_switch_in_progress_ = false;
+    3424             : 
+    3425             :     {
+    3426           8 :       std::scoped_lock lock(mutex_uav_state_);
+    3427             : 
+    3428           4 :       ROS_INFO("[ControlManager]: odometry after switch: x=%.2f, y=%.2f, z=%.2f, heading=%.2f", uav_state.pose.position.x, uav_state.pose.position.y,
+    3429             :                uav_state.pose.position.z, uav_heading_);
+    3430             :     }
+    3431             :   }
+    3432             : }
+    3433             : 
+    3434             : //}
+    3435             : 
+    3436             : // --------------------------------------------------------------
+    3437             : // |                          callbacks                         |
+    3438             : // --------------------------------------------------------------
+    3439             : 
+    3440             : // | --------------------- topic callbacks -------------------- |
+    3441             : 
+    3442             : /* //{ callbackOdometry() */
+    3443             : 
+    3444           0 : void ControlManager::callbackOdometry(const nav_msgs::Odometry::ConstPtr msg) {
+    3445             : 
+    3446           0 :   if (!is_initialized_)
+    3447           0 :     return;
+    3448             : 
+    3449           0 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackOdometry");
+    3450           0 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackOdometry", scope_timer_logger_, scope_timer_enabled_);
+    3451             : 
+    3452           0 :   nav_msgs::OdometryConstPtr odom = msg;
+    3453             : 
+    3454             :   // | ------------------ check for time stamp ------------------ |
+    3455             : 
+    3456             :   {
+    3457           0 :     std::scoped_lock lock(mutex_uav_state_);
+    3458             : 
+    3459           0 :     if (uav_state_.header.stamp == odom->header.stamp) {
+    3460           0 :       return;
+    3461             :     }
+    3462             :   }
+    3463             : 
+    3464             :   // | --------------------- check for nans --------------------- |
+    3465             : 
+    3466           0 :   if (!validateOdometry(*odom, "ControlManager", "odometry")) {
+    3467           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: incoming 'odometry' contains invalid values, throwing it away");
+    3468           0 :     return;
+    3469             :   }
+    3470             : 
+    3471             :   // | ---------------------- frame switch ---------------------- |
+    3472             : 
+    3473             :   /* Odometry frame switch //{ */
+    3474             : 
+    3475             :   // | -- prepare an OdometryConstPtr for trackers & controllers -- |
+    3476             : 
+    3477           0 :   mrs_msgs::UavState uav_state_odom;
+    3478             : 
+    3479           0 :   uav_state_odom.header   = odom->header;
+    3480           0 :   uav_state_odom.pose     = odom->pose.pose;
+    3481           0 :   uav_state_odom.velocity = odom->twist.twist;
+    3482             : 
+    3483             :   // | ----- check for change in odometry frame of reference ---- |
+    3484             : 
+    3485           0 :   if (got_uav_state_) {
+    3486             : 
+    3487           0 :     if (odom->header.frame_id != uav_state_.header.frame_id) {
+    3488             : 
+    3489           0 :       ROS_INFO("[ControlManager]: detecting switch of odometry frame");
+    3490             :       {
+    3491           0 :         std::scoped_lock lock(mutex_uav_state_);
+    3492             : 
+    3493           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,
+    3494             :                  uav_state_.pose.position.z, uav_heading_);
+    3495             :       }
+    3496             : 
+    3497           0 :       odometry_switch_in_progress_ = true;
+    3498             : 
+    3499             :       // we have to stop safety timer, otherwise it will interfere
+    3500           0 :       ROS_DEBUG("[ControlManager]: stopping the safety timer");
+    3501           0 :       timer_safety_.stop();
+    3502           0 :       ROS_DEBUG("[ControlManager]: safety timer stopped");
+    3503             : 
+    3504             :       // wait for the safety timer to stop if its running
+    3505           0 :       while (running_safety_timer_) {
+    3506             : 
+    3507           0 :         ROS_DEBUG("[ControlManager]: waiting for safety timer to finish");
+    3508           0 :         ros::Duration wait(0.001);
+    3509           0 :         wait.sleep();
+    3510             : 
+    3511           0 :         if (!running_safety_timer_) {
+    3512           0 :           ROS_DEBUG("[ControlManager]: safety timer finished");
+    3513           0 :           break;
+    3514             :         }
+    3515             :       }
+    3516             : 
+    3517             :       // we have to also for the oneshot control timer to finish
+    3518           0 :       while (running_async_control_) {
+    3519             : 
+    3520           0 :         ROS_DEBUG("[ControlManager]: waiting for control timer to finish");
+    3521           0 :         ros::Duration wait(0.001);
+    3522           0 :         wait.sleep();
+    3523             : 
+    3524           0 :         if (!running_async_control_) {
+    3525           0 :           ROS_DEBUG("[ControlManager]: control timer finished");
+    3526           0 :           break;
+    3527             :         }
+    3528             :       }
+    3529             : 
+    3530             :       {
+    3531           0 :         std::scoped_lock lock(mutex_controller_list_, mutex_tracker_list_);
+    3532             : 
+    3533           0 :         tracker_list_[active_tracker_idx_]->switchOdometrySource(uav_state_odom);
+    3534           0 :         controller_list_[active_controller_idx_]->switchOdometrySource(uav_state_odom);
+    3535             :       }
+    3536             :     }
+    3537             :   }
+    3538             : 
+    3539             :   //}
+    3540             : 
+    3541             :   // | ----------- copy the odometry to the uav_state ----------- |
+    3542             : 
+    3543             :   {
+    3544           0 :     std::scoped_lock lock(mutex_uav_state_);
+    3545             : 
+    3546           0 :     previous_uav_state_ = uav_state_;
+    3547             : 
+    3548           0 :     uav_state_ = mrs_msgs::UavState();
+    3549             : 
+    3550           0 :     uav_state_.header           = odom->header;
+    3551           0 :     uav_state_.pose             = odom->pose.pose;
+    3552           0 :     uav_state_.velocity.angular = odom->twist.twist.angular;
+    3553             : 
+    3554             :     // transform the twist into the header's frame
+    3555             :     {
+    3556             :       // the velocity from the odometry
+    3557           0 :       geometry_msgs::Vector3Stamped speed_child_frame;
+    3558           0 :       speed_child_frame.header.frame_id = odom->child_frame_id;
+    3559           0 :       speed_child_frame.header.stamp    = odom->header.stamp;
+    3560           0 :       speed_child_frame.vector.x        = odom->twist.twist.linear.x;
+    3561           0 :       speed_child_frame.vector.y        = odom->twist.twist.linear.y;
+    3562           0 :       speed_child_frame.vector.z        = odom->twist.twist.linear.z;
+    3563             : 
+    3564           0 :       auto res = transformer_->transformSingle(speed_child_frame, odom->header.frame_id);
+    3565             : 
+    3566           0 :       if (res) {
+    3567           0 :         uav_state_.velocity.linear.x = res.value().vector.x;
+    3568           0 :         uav_state_.velocity.linear.y = res.value().vector.y;
+    3569           0 :         uav_state_.velocity.linear.z = res.value().vector.z;
+    3570             :       } else {
+    3571           0 :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: could not transform the odometry speed from '%s' to '%s'", odom->child_frame_id.c_str(),
+    3572             :                            odom->header.frame_id.c_str());
+    3573           0 :         return;
+    3574             :       }
+    3575             :     }
+    3576             : 
+    3577             :     // calculate the euler angles
+    3578           0 :     std::tie(uav_roll_, uav_pitch_, uav_yaw_) = mrs_lib::AttitudeConverter(odom->pose.pose.orientation);
+    3579             : 
+    3580             :     try {
+    3581           0 :       uav_heading_ = mrs_lib::AttitudeConverter(odom->pose.pose.orientation).getHeading();
+    3582             :     }
+    3583           0 :     catch (...) {
+    3584           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: could not calculate UAV heading");
+    3585             :     }
+    3586             : 
+    3587           0 :     transformer_->setDefaultFrame(odom->header.frame_id);
+    3588             : 
+    3589           0 :     got_uav_state_ = true;
+    3590             :   }
+    3591             : 
+    3592             :   // run the control loop asynchronously in an OneShotTimer
+    3593             :   // but only if its not already running
+    3594           0 :   if (!running_async_control_) {
+    3595             : 
+    3596           0 :     running_async_control_ = true;
+    3597             : 
+    3598           0 :     async_control_result_ = std::async(std::launch::async, &ControlManager::asyncControl, this);
+    3599             :   }
+    3600             : }
+    3601             : 
+    3602             : //}
+    3603             : 
+    3604             : /* //{ callbackUavState() */
+    3605             : 
+    3606      109105 : void ControlManager::callbackUavState(const mrs_msgs::UavState::ConstPtr msg) {
+    3607             : 
+    3608      109105 :   if (!is_initialized_)
+    3609       21277 :     return;
+    3610             : 
+    3611      218210 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackUavState");
+    3612      218210 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackUavState", scope_timer_logger_, scope_timer_enabled_);
+    3613             : 
+    3614      109105 :   mrs_msgs::UavStateConstPtr uav_state = msg;
+    3615             : 
+    3616             :   // | ------------------ check for time stamp ------------------ |
+    3617             : 
+    3618             :   {
+    3619      109105 :     std::scoped_lock lock(mutex_uav_state_);
+    3620             : 
+    3621      109105 :     if (uav_state_.header.stamp == uav_state->header.stamp) {
+    3622       21277 :       return;
+    3623             :     }
+    3624             :   }
+    3625             : 
+    3626             :   // | --------------------- check for nans --------------------- |
+    3627             : 
+    3628       87828 :   if (!validateUavState(*uav_state, "ControlManager", "uav_state")) {
+    3629           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: incoming 'uav_state' contains invalid values, throwing it away");
+    3630           0 :     return;
+    3631             :   }
+    3632             : 
+    3633             :   // | -------------------- check for hiccups ------------------- |
+    3634             : 
+    3635             :   /* hickup detection //{ */
+    3636             : 
+    3637       87828 :   double alpha               = 0.99;
+    3638       87828 :   double alpha2              = 0.666;
+    3639       87828 :   double uav_state_count_lim = 1000;
+    3640             : 
+    3641       87828 :   double uav_state_dt = (ros::Time::now() - previous_uav_state_.header.stamp).toSec();
+    3642             : 
+    3643             :   // belive only reasonable numbers
+    3644       87828 :   if (uav_state_dt <= 1.0) {
+    3645             : 
+    3646       87698 :     uav_state_avg_dt_ = alpha * uav_state_avg_dt_ + (1 - alpha) * uav_state_dt;
+    3647             : 
+    3648       87698 :     if (uav_state_count_ < uav_state_count_lim) {
+    3649       52514 :       uav_state_count_++;
+    3650             :     }
+    3651             :   }
+    3652             : 
+    3653       87828 :   if (uav_state_count_ == uav_state_count_lim) {
+    3654             : 
+    3655             :     /* ROS_INFO_STREAM("[ControlManager]: uav_state_dt = " << uav_state_dt); */
+    3656             : 
+    3657       35226 :     if (uav_state_dt < uav_state_avg_dt_ && uav_state_dt > 0.0001) {
+    3658             : 
+    3659       13607 :       uav_state_hiccup_factor_ = alpha2 * uav_state_hiccup_factor_ + (1 - alpha2) * (uav_state_avg_dt_ / uav_state_dt);
+    3660             : 
+    3661       21619 :     } else if (uav_state_avg_dt_ > 0.0001) {
+    3662             : 
+    3663       21619 :       uav_state_hiccup_factor_ = alpha2 * uav_state_hiccup_factor_ + (1 - alpha2) * (uav_state_dt / uav_state_avg_dt_);
+    3664             :     }
+    3665             : 
+    3666       35226 :     if (uav_state_hiccup_factor_ > 3.141592653) {
+    3667             : 
+    3668             :       /* ROS_ERROR_STREAM_THROTTLE(0.1, "[ControlManager]: hiccup factor = " << uav_state_hiccup_factor_); */
+    3669             : 
+    3670           0 :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: ");
+    3671           0 :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: // | ------------------------- WARNING ------------------------ |");
+    3672           0 :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: // |                                                            |");
+    3673           0 :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: // |            UAV_STATE has a large hiccup factor!            |");
+    3674           0 :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: // |           hint, hint: you are probably rosbagging          |");
+    3675           0 :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: // |           lot of data or publishing lot of large           |");
+    3676           0 :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: // |          messages without mutual nodelet managers.         |");
+    3677           0 :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: // |                                                            |");
+    3678           0 :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: // | ------------------------- WARNING ------------------------ |");
+    3679           0 :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: ");
+    3680             :     }
+    3681             :   }
+    3682             : 
+    3683             :   //}
+    3684             : 
+    3685             :   // | ---------------------- frame switch ---------------------- |
+    3686             : 
+    3687             :   /* frame switch //{ */
+    3688             : 
+    3689             :   // | ----- check for change in odometry frame of reference ---- |
+    3690             : 
+    3691       87828 :   if (got_uav_state_) {
+    3692             : 
+    3693       87763 :     if (uav_state->estimator_iteration != uav_state_.estimator_iteration) {
+    3694             : 
+    3695           4 :       ROS_INFO("[ControlManager]: detecting switch of odometry frame");
+    3696             :       {
+    3697           8 :         std::scoped_lock lock(mutex_uav_state_);
+    3698             : 
+    3699           4 :         ROS_INFO("[ControlManager]: odometry before switch: x=%.2f, y=%.2f, z=%.2f, heading=%.2f", uav_state_.pose.position.x, uav_state_.pose.position.y,
+    3700             :                  uav_state_.pose.position.z, uav_heading_);
+    3701             :       }
+    3702             : 
+    3703           4 :       odometry_switch_in_progress_ = true;
+    3704             : 
+    3705             :       // we have to stop safety timer, otherwise it will interfere
+    3706           4 :       ROS_DEBUG("[ControlManager]: stopping the safety timer");
+    3707           4 :       timer_safety_.stop();
+    3708           4 :       ROS_DEBUG("[ControlManager]: safety timer stopped");
+    3709             : 
+    3710             :       // wait for the safety timer to stop if its running
+    3711           4 :       while (running_safety_timer_) {
+    3712             : 
+    3713           2 :         ROS_DEBUG("[ControlManager]: waiting for safety timer to finish");
+    3714           2 :         ros::Duration wait(0.001);
+    3715           2 :         wait.sleep();
+    3716             : 
+    3717           2 :         if (!running_safety_timer_) {
+    3718           2 :           ROS_DEBUG("[ControlManager]: safety timer finished");
+    3719           2 :           break;
+    3720             :         }
+    3721             :       }
+    3722             : 
+    3723             :       // we have to also for the oneshot control timer to finish
+    3724           4 :       while (running_async_control_) {
+    3725             : 
+    3726           0 :         ROS_DEBUG("[ControlManager]: waiting for control timer to finish");
+    3727           0 :         ros::Duration wait(0.001);
+    3728           0 :         wait.sleep();
+    3729             : 
+    3730           0 :         if (!running_async_control_) {
+    3731           0 :           ROS_DEBUG("[ControlManager]: control timer finished");
+    3732           0 :           break;
+    3733             :         }
+    3734             :       }
+    3735             : 
+    3736             :       {
+    3737           8 :         std::scoped_lock lock(mutex_controller_list_, mutex_tracker_list_);
+    3738             : 
+    3739           4 :         tracker_list_[active_tracker_idx_]->switchOdometrySource(*uav_state);
+    3740           4 :         controller_list_[active_controller_idx_]->switchOdometrySource(*uav_state);
+    3741             :       }
+    3742             :     }
+    3743             :   }
+    3744             : 
+    3745             :   //}
+    3746             : 
+    3747             :   // --------------------------------------------------------------
+    3748             :   // |           copy the UavState message for later use          |
+    3749             :   // --------------------------------------------------------------
+    3750             : 
+    3751             :   {
+    3752       87828 :     std::scoped_lock lock(mutex_uav_state_);
+    3753             : 
+    3754       87828 :     previous_uav_state_ = uav_state_;
+    3755             : 
+    3756       87828 :     uav_state_ = *uav_state;
+    3757             : 
+    3758       87828 :     std::tie(uav_roll_, uav_pitch_, uav_yaw_) = mrs_lib::AttitudeConverter(uav_state_.pose.orientation);
+    3759             : 
+    3760             :     try {
+    3761       87828 :       uav_heading_ = mrs_lib::AttitudeConverter(uav_state_.pose.orientation).getHeading();
+    3762             :     }
+    3763           0 :     catch (...) {
+    3764           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: could not calculate UAV heading, not updating it");
+    3765             :     }
+    3766             : 
+    3767       87828 :     transformer_->setDefaultFrame(uav_state->header.frame_id);
+    3768             : 
+    3769       87828 :     got_uav_state_ = true;
+    3770             :   }
+    3771             : 
+    3772             :   // run the control loop asynchronously in an OneShotTimer
+    3773             :   // but only if its not already running
+    3774       87828 :   if (!running_async_control_) {
+    3775             : 
+    3776       87207 :     running_async_control_ = true;
+    3777             : 
+    3778       87207 :     async_control_result_ = std::async(std::launch::async, &ControlManager::asyncControl, this);
+    3779             :   }
+    3780             : }
+    3781             : 
+    3782             : //}
+    3783             : 
+    3784             : /* //{ callbackGNSS() */
+    3785             : 
+    3786       61042 : void ControlManager::callbackGNSS(const sensor_msgs::NavSatFix::ConstPtr msg) {
+    3787             : 
+    3788       61042 :   if (!is_initialized_)
+    3789          77 :     return;
+    3790             : 
+    3791      182895 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackGNSS");
+    3792      182895 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackGNSS", scope_timer_logger_, scope_timer_enabled_);
+    3793             : 
+    3794       60965 :   transformer_->setLatLon(msg->latitude, msg->longitude);
+    3795             : }
+    3796             : 
+    3797             : //}
+    3798             : 
+    3799             : /* callbackJoystick() //{ */
+    3800             : 
+    3801           0 : void ControlManager::callbackJoystick(const sensor_msgs::Joy::ConstPtr msg) {
+    3802             : 
+    3803           0 :   if (!is_initialized_)
+    3804           0 :     return;
+    3805             : 
+    3806           0 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackJoystick");
+    3807           0 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackJoystick", scope_timer_logger_, scope_timer_enabled_);
+    3808             : 
+    3809             :   // copy member variables
+    3810           0 :   auto active_tracker_idx    = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    3811           0 :   auto active_controller_idx = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    3812             : 
+    3813           0 :   sensor_msgs::JoyConstPtr joystick_data = msg;
+    3814             : 
+    3815             :   // TODO check if the array is smaller than the largest idx
+    3816           0 :   if (joystick_data->buttons.size() == 0 || joystick_data->axes.size() == 0) {
+    3817           0 :     return;
+    3818             :   }
+    3819             : 
+    3820             :   // | ---- switching back to fallback tracker and controller --- |
+    3821             : 
+    3822             :   // if any of the A, B, X, Y buttons are pressed when flying with joystick, switch back to fallback controller and tracker
+    3823           0 :   if ((joystick_data->buttons[_channel_A_] == 1 || joystick_data->buttons[_channel_B_] == 1 || joystick_data->buttons[_channel_X_] == 1 ||
+    3824           0 :        joystick_data->buttons[_channel_Y_] == 1) &&
+    3825           0 :       active_tracker_idx == _joystick_tracker_idx_ && active_controller_idx == _joystick_controller_idx_) {
+    3826             : 
+    3827           0 :     ROS_INFO("[ControlManager]: switching from joystick to normal control");
+    3828             : 
+    3829           0 :     switchTracker(_joystick_fallback_tracker_name_);
+    3830           0 :     switchController(_joystick_fallback_controller_name_);
+    3831             : 
+    3832           0 :     joystick_goto_enabled_ = false;
+    3833             :   }
+    3834             : 
+    3835             :   // | ------- joystick control activation ------- |
+    3836             : 
+    3837             :   // if start button was pressed
+    3838           0 :   if (joystick_data->buttons[_channel_start_] == 1) {
+    3839             : 
+    3840           0 :     if (!joystick_start_pressed_) {
+    3841             : 
+    3842           0 :       ROS_INFO("[ControlManager]: joystick start button pressed");
+    3843             : 
+    3844           0 :       joystick_start_pressed_    = true;
+    3845           0 :       joystick_start_press_time_ = ros::Time::now();
+    3846             :     }
+    3847             : 
+    3848           0 :   } else if (joystick_start_pressed_) {
+    3849             : 
+    3850           0 :     ROS_INFO("[ControlManager]: joystick start button released");
+    3851             : 
+    3852           0 :     joystick_start_pressed_    = false;
+    3853           0 :     joystick_start_press_time_ = ros::Time(0);
+    3854             :   }
+    3855             : 
+    3856             :   // | ---------------- Joystick goto activation ---------------- |
+    3857             : 
+    3858             :   // if back button was pressed
+    3859           0 :   if (joystick_data->buttons[_channel_back_] == 1) {
+    3860             : 
+    3861           0 :     if (!joystick_back_pressed_) {
+    3862             : 
+    3863           0 :       ROS_INFO("[ControlManager]: joystick back button pressed");
+    3864             : 
+    3865           0 :       joystick_back_pressed_    = true;
+    3866           0 :       joystick_back_press_time_ = ros::Time::now();
+    3867             :     }
+    3868             : 
+    3869           0 :   } else if (joystick_back_pressed_) {
+    3870             : 
+    3871           0 :     ROS_INFO("[ControlManager]: joystick back button released");
+    3872             : 
+    3873           0 :     joystick_back_pressed_    = false;
+    3874           0 :     joystick_back_press_time_ = ros::Time(0);
+    3875             :   }
+    3876             : 
+    3877             :   // | ------------------------ Failsafes ----------------------- |
+    3878             : 
+    3879             :   // if LT and RT buttons are both pressed down
+    3880           0 :   if (joystick_data->axes[_channel_LT_] < -0.99 && joystick_data->axes[_channel_RT_] < -0.99) {
+    3881             : 
+    3882           0 :     if (!joystick_failsafe_pressed_) {
+    3883             : 
+    3884           0 :       ROS_INFO("[ControlManager]: joystick Failsafe pressed");
+    3885             : 
+    3886           0 :       joystick_failsafe_pressed_    = true;
+    3887           0 :       joystick_failsafe_press_time_ = ros::Time::now();
+    3888             :     }
+    3889             : 
+    3890           0 :   } else if (joystick_failsafe_pressed_) {
+    3891             : 
+    3892           0 :     ROS_INFO("[ControlManager]: joystick Failsafe released");
+    3893             : 
+    3894           0 :     joystick_failsafe_pressed_    = false;
+    3895           0 :     joystick_failsafe_press_time_ = ros::Time(0);
+    3896             :   }
+    3897             : 
+    3898             :   // if left and right joypads are both pressed down
+    3899           0 :   if (joystick_data->buttons[_channel_L_joy_] == 1 && joystick_data->buttons[_channel_R_joy_] == 1) {
+    3900             : 
+    3901           0 :     if (!joystick_eland_pressed_) {
+    3902             : 
+    3903           0 :       ROS_INFO("[ControlManager]: joystick eland pressed");
+    3904             : 
+    3905           0 :       joystick_eland_pressed_    = true;
+    3906           0 :       joystick_eland_press_time_ = ros::Time::now();
+    3907             :     }
+    3908             : 
+    3909           0 :   } else if (joystick_eland_pressed_) {
+    3910             : 
+    3911           0 :     ROS_INFO("[ControlManager]: joystick eland released");
+    3912             : 
+    3913           0 :     joystick_eland_pressed_    = false;
+    3914           0 :     joystick_eland_press_time_ = ros::Time(0);
+    3915             :   }
+    3916             : }
+    3917             : 
+    3918             : //}
+    3919             : 
+    3920             : /* //{ callbackHwApiStatus() */
+    3921             : 
+    3922      254197 : void ControlManager::callbackHwApiStatus(const mrs_msgs::HwApiStatus::ConstPtr msg) {
+    3923             : 
+    3924      254197 :   if (!is_initialized_)
+    3925         235 :     return;
+    3926             : 
+    3927      761886 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackHwApiStatus");
+    3928      761886 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackHwApiStatus", scope_timer_logger_, scope_timer_enabled_);
+    3929             : 
+    3930      507924 :   mrs_msgs::HwApiStatusConstPtr state = msg;
+    3931             : 
+    3932             :   // | ------ detect and print the changes in offboard mode ----- |
+    3933      253962 :   if (state->offboard) {
+    3934             : 
+    3935      190370 :     if (!offboard_mode_) {
+    3936          59 :       offboard_mode_          = true;
+    3937          59 :       offboard_mode_was_true_ = true;
+    3938          59 :       ROS_INFO("[ControlManager]: detected: OFFBOARD mode ON");
+    3939             :     }
+    3940             : 
+    3941             :   } else {
+    3942             : 
+    3943       63592 :     if (offboard_mode_) {
+    3944           0 :       offboard_mode_ = false;
+    3945           0 :       ROS_INFO("[ControlManager]: detected: OFFBOARD mode OFF");
+    3946             :     }
+    3947             :   }
+    3948             : 
+    3949             :   // | --------- detect and print the changes in arming --------- |
+    3950      253962 :   if (state->armed == true) {
+    3951             : 
+    3952      197846 :     if (!armed_) {
+    3953          64 :       armed_ = true;
+    3954          64 :       ROS_INFO("[ControlManager]: detected: vehicle ARMED");
+    3955             :     }
+    3956             : 
+    3957             :   } else {
+    3958             : 
+    3959       56116 :     if (armed_) {
+    3960          18 :       armed_ = false;
+    3961          18 :       ROS_INFO("[ControlManager]: detected: vehicle DISARMED");
+    3962             :     }
+    3963             :   }
+    3964             : }
+    3965             : 
+    3966             : //}
+    3967             : 
+    3968             : /* //{ callbackRC() */
+    3969             : 
+    3970       17433 : void ControlManager::callbackRC(const mrs_msgs::HwApiRcChannels::ConstPtr msg) {
+    3971             : 
+    3972       17433 :   if (!is_initialized_)
+    3973           0 :     return;
+    3974             : 
+    3975       52299 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackRC");
+    3976       52299 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackRC", scope_timer_logger_, scope_timer_enabled_);
+    3977             : 
+    3978       34866 :   mrs_msgs::HwApiRcChannelsConstPtr rc = msg;
+    3979             : 
+    3980       17433 :   ROS_INFO_ONCE("[ControlManager]: getting RC channels");
+    3981             : 
+    3982             :   // | ------------------- rc joystic control ------------------- |
+    3983             : 
+    3984             :   // when the switch change its position
+    3985       17433 :   if (_rc_goto_enabled_) {
+    3986             : 
+    3987       17433 :     if (_rc_joystick_channel_ >= int(rc->channels.size())) {
+    3988             : 
+    3989           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: RC joystick activation channel number (%d) is out of range [0-%d]", _rc_joystick_channel_,
+    3990             :                          int(rc->channels.size()));
+    3991             : 
+    3992             :     } else {
+    3993             : 
+    3994       17433 :       bool channel_low  = rc->channels[_rc_joystick_channel_] < (0.5 - RC_DEADBAND) ? true : false;
+    3995       17433 :       bool channel_high = rc->channels[_rc_joystick_channel_] > (0.5 + RC_DEADBAND) ? true : false;
+    3996             : 
+    3997       17433 :       if (channel_low) {
+    3998       15643 :         rc_joystick_channel_was_low_ = true;
+    3999             :       }
+    4000             : 
+    4001             :       // rc control activation
+    4002       17433 :       if (!rc_goto_active_) {
+    4003             : 
+    4004       15644 :         if (rc_joystick_channel_last_value_ < (0.5 - RC_DEADBAND) && channel_high) {
+    4005             : 
+    4006           2 :           if (isFlyingNormally()) {
+    4007             : 
+    4008           2 :             ROS_INFO_THROTTLE(1.0, "[ControlManager]: activating RC joystick");
+    4009             : 
+    4010           2 :             callbacks_enabled_ = false;
+    4011             : 
+    4012           2 :             std_srvs::SetBoolRequest req_goto_out;
+    4013           2 :             req_goto_out.data = false;
+    4014             : 
+    4015           2 :             std_srvs::SetBoolRequest req_enable_callbacks;
+    4016           2 :             req_enable_callbacks.data = callbacks_enabled_;
+    4017             : 
+    4018             :             {
+    4019           4 :               std::scoped_lock lock(mutex_tracker_list_);
+    4020             : 
+    4021             :               // disable callbacks of all trackers
+    4022          14 :               for (int i = 0; i < int(tracker_list_.size()); i++) {
+    4023          12 :                 tracker_list_[i]->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    4024             :               }
+    4025             :             }
+    4026             : 
+    4027           2 :             rc_goto_active_ = true;
+    4028             : 
+    4029             :           } else {
+    4030             : 
+    4031           0 :             ROS_WARN_THROTTLE(1.0, "[ControlManager]: can not activate RC joystick, not flying normally");
+    4032           2 :           }
+    4033             : 
+    4034       15642 :         } else if (channel_high && !rc_joystick_channel_was_low_) {
+    4035             : 
+    4036           0 :           ROS_WARN_THROTTLE(1.0, "[ControlManager]: can not activate RC joystick, the switch is ON from the beginning");
+    4037             :         }
+    4038             :       }
+    4039             : 
+    4040             :       // rc control deactivation
+    4041       17433 :       if (rc_goto_active_ && channel_low) {
+    4042             : 
+    4043           1 :         ROS_INFO("[ControlManager]: deactivating RC joystick");
+    4044             : 
+    4045           1 :         callbacks_enabled_ = true;
+    4046             : 
+    4047           1 :         std_srvs::SetBoolRequest req_goto_out;
+    4048           1 :         req_goto_out.data = true;
+    4049             : 
+    4050           1 :         std_srvs::SetBoolRequest req_enable_callbacks;
+    4051           1 :         req_enable_callbacks.data = callbacks_enabled_;
+    4052             : 
+    4053             :         {
+    4054           2 :           std::scoped_lock lock(mutex_tracker_list_);
+    4055             : 
+    4056             :           // enable callbacks of all trackers
+    4057           7 :           for (int i = 0; i < int(tracker_list_.size()); i++) {
+    4058           6 :             tracker_list_[i]->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    4059             :           }
+    4060             :         }
+    4061             : 
+    4062           1 :         rc_goto_active_ = false;
+    4063             :       }
+    4064             : 
+    4065             :       // do not forget to update the last... variable
+    4066             :       // only do that if its out of the deadband
+    4067       17433 :       if (channel_high || channel_low) {
+    4068       17433 :         rc_joystick_channel_last_value_ = rc->channels[_rc_joystick_channel_];
+    4069             :       }
+    4070             :     }
+    4071             :   }
+    4072             : 
+    4073             :   // | ------------------------ rc eland ------------------------ |
+    4074       17433 :   if (_rc_escalating_failsafe_enabled_) {
+    4075             : 
+    4076       17433 :     if (_rc_escalating_failsafe_channel_ >= int(rc->channels.size())) {
+    4077             : 
+    4078           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: RC eland channel number (%d) is out of range [0-%d]", _rc_escalating_failsafe_channel_,
+    4079             :                          int(rc->channels.size()));
+    4080             : 
+    4081             :     } else {
+    4082             : 
+    4083       17433 :       if (rc->channels[_rc_escalating_failsafe_channel_] >= _rc_escalating_failsafe_threshold_) {
+    4084             : 
+    4085         142 :         ROS_WARN_THROTTLE(1.0, "[ControlManager]: triggering escalating failsafe by RC");
+    4086             : 
+    4087         284 :         auto [success, message] = escalatingFailsafe();
+    4088             : 
+    4089         142 :         if (success) {
+    4090           3 :           rc_escalating_failsafe_triggered_ = true;
+    4091             :         }
+    4092             :       }
+    4093             :     }
+    4094             :   }
+    4095             : }
+    4096             : 
+    4097             : //}
+    4098             : 
+    4099             : // | --------------------- topic timeouts --------------------- |
+    4100             : 
+    4101             : /* timeoutUavState() //{ */
+    4102             : 
+    4103           0 : void ControlManager::timeoutUavState(const double& missing_for) {
+    4104             : 
+    4105           0 :   auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    4106             : 
+    4107           0 :   if (output_enabled_ && last_control_output.control_output && !failsafe_triggered_) {
+    4108             : 
+    4109             :     // We need to fire up timerFailsafe, which will regularly trigger the controllers
+    4110             :     // in place of the callbackUavState/callbackOdometry().
+    4111             : 
+    4112           0 :     ROS_ERROR_THROTTLE(0.1, "[ControlManager]: not receiving uav_state/odometry for %.3f s, initiating failsafe land", missing_for);
+    4113             : 
+    4114           0 :     failsafe();
+    4115             :   }
+    4116           0 : }
+    4117             : 
+    4118             : //}
+    4119             : 
+    4120             : // | -------------------- service callbacks ------------------- |
+    4121             : 
+    4122             : /* //{ callbackSwitchTracker() */
+    4123             : 
+    4124         125 : bool ControlManager::callbackSwitchTracker(mrs_msgs::String::Request& req, mrs_msgs::String::Response& res) {
+    4125             : 
+    4126         125 :   if (!is_initialized_)
+    4127           0 :     return false;
+    4128             : 
+    4129         125 :   if (failsafe_triggered_ || eland_triggered_) {
+    4130             : 
+    4131           0 :     std::stringstream ss;
+    4132           0 :     ss << "can not switch tracker, eland or failsafe active";
+    4133             : 
+    4134           0 :     res.message = ss.str();
+    4135           0 :     res.success = false;
+    4136             : 
+    4137           0 :     ROS_WARN_STREAM("[ControlManager]: " << ss.str());
+    4138             : 
+    4139           0 :     return true;
+    4140             :   }
+    4141             : 
+    4142         125 :   auto [success, response] = switchTracker(req.value);
+    4143             : 
+    4144         125 :   res.success = success;
+    4145         125 :   res.message = response;
+    4146             : 
+    4147         125 :   return true;
+    4148             : }
+    4149             : 
+    4150             : //}
+    4151             : 
+    4152             : /* callbackSwitchController() //{ */
+    4153             : 
+    4154         124 : bool ControlManager::callbackSwitchController(mrs_msgs::String::Request& req, mrs_msgs::String::Response& res) {
+    4155             : 
+    4156         124 :   if (!is_initialized_)
+    4157           0 :     return false;
+    4158             : 
+    4159         124 :   if (failsafe_triggered_ || eland_triggered_) {
+    4160             : 
+    4161           0 :     std::stringstream ss;
+    4162           0 :     ss << "can not switch controller, eland or failsafe active";
+    4163             : 
+    4164           0 :     res.message = ss.str();
+    4165           0 :     res.success = false;
+    4166             : 
+    4167           0 :     ROS_WARN_STREAM("[ControlManager]: " << ss.str());
+    4168             : 
+    4169           0 :     return true;
+    4170             :   }
+    4171             : 
+    4172         124 :   auto [success, response] = switchController(req.value);
+    4173             : 
+    4174         124 :   res.success = success;
+    4175         124 :   res.message = response;
+    4176             : 
+    4177         124 :   return true;
+    4178             : }
+    4179             : 
+    4180             : //}
+    4181             : 
+    4182             : /* //{ callbackSwitchTracker() */
+    4183             : 
+    4184           0 : bool ControlManager::callbackTrackerResetStatic([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4185             : 
+    4186           0 :   if (!is_initialized_)
+    4187           0 :     return false;
+    4188             : 
+    4189           0 :   std::stringstream message;
+    4190             : 
+    4191           0 :   if (failsafe_triggered_ || eland_triggered_) {
+    4192             : 
+    4193           0 :     message << "can not reset tracker, eland or failsafe active";
+    4194             : 
+    4195           0 :     res.message = message.str();
+    4196           0 :     res.success = false;
+    4197             : 
+    4198           0 :     ROS_WARN_STREAM("[ControlManager]: " << message.str());
+    4199             : 
+    4200           0 :     return true;
+    4201             :   }
+    4202             : 
+    4203             :   // reactivate the current tracker
+    4204             :   {
+    4205           0 :     std::scoped_lock lock(mutex_tracker_list_);
+    4206             : 
+    4207           0 :     std::string tracker_name = _tracker_names_[active_tracker_idx_];
+    4208             : 
+    4209           0 :     bool succ = tracker_list_[active_tracker_idx_]->resetStatic();
+    4210             : 
+    4211           0 :     if (succ) {
+    4212           0 :       message << "the tracker '" << tracker_name << "' was reset";
+    4213           0 :       ROS_INFO_STREAM("[ControlManager]: " << message.str());
+    4214             :     } else {
+    4215           0 :       message << "the tracker '" << tracker_name << "' reset failed!";
+    4216           0 :       ROS_ERROR_STREAM("[ControlManager]: " << message.str());
+    4217             :     }
+    4218             :   }
+    4219             : 
+    4220           0 :   res.message = message.str();
+    4221           0 :   res.success = true;
+    4222             : 
+    4223           0 :   return true;
+    4224             : }
+    4225             : 
+    4226             : //}
+    4227             : 
+    4228             : /* //{ callbackEHover() */
+    4229             : 
+    4230           0 : bool ControlManager::callbackEHover([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4231             : 
+    4232           0 :   if (!is_initialized_)
+    4233           0 :     return false;
+    4234             : 
+    4235           0 :   if (failsafe_triggered_ || eland_triggered_) {
+    4236             : 
+    4237           0 :     std::stringstream ss;
+    4238           0 :     ss << "can not switch controller, eland or failsafe active";
+    4239             : 
+    4240           0 :     res.message = ss.str();
+    4241           0 :     res.success = false;
+    4242             : 
+    4243           0 :     ROS_WARN_STREAM("[ControlManager]: " << ss.str());
+    4244             : 
+    4245           0 :     return true;
+    4246             :   }
+    4247             : 
+    4248           0 :   ROS_WARN_THROTTLE(1.0, "[ControlManager]: ehover trigger by callback");
+    4249             : 
+    4250           0 :   auto [success, message] = ehover();
+    4251             : 
+    4252           0 :   res.success = success;
+    4253           0 :   res.message = message;
+    4254             : 
+    4255           0 :   return true;
+    4256             : }
+    4257             : 
+    4258             : //}
+    4259             : 
+    4260             : /* callbackFailsafe() //{ */
+    4261             : 
+    4262           4 : bool ControlManager::callbackFailsafe([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4263             : 
+    4264           4 :   if (!is_initialized_)
+    4265           0 :     return false;
+    4266             : 
+    4267           4 :   if (failsafe_triggered_) {
+    4268             : 
+    4269           0 :     std::stringstream ss;
+    4270           0 :     ss << "can not activate failsafe, it is already active";
+    4271             : 
+    4272           0 :     res.message = ss.str();
+    4273           0 :     res.success = false;
+    4274             : 
+    4275           0 :     ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    4276             : 
+    4277           0 :     return true;
+    4278             :   }
+    4279             : 
+    4280           4 :   ROS_WARN_THROTTLE(1.0, "[ControlManager]: failsafe triggered by callback");
+    4281             : 
+    4282           4 :   auto [success, message] = failsafe();
+    4283             : 
+    4284           4 :   res.success = success;
+    4285           4 :   res.message = message;
+    4286             : 
+    4287           4 :   return true;
+    4288             : }
+    4289             : 
+    4290             : //}
+    4291             : 
+    4292             : /* callbackFailsafeEscalating() //{ */
+    4293             : 
+    4294           7 : bool ControlManager::callbackFailsafeEscalating([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4295             : 
+    4296           7 :   if (!is_initialized_)
+    4297           0 :     return false;
+    4298             : 
+    4299           7 :   if (_service_escalating_failsafe_enabled_) {
+    4300             : 
+    4301           7 :     ROS_WARN_THROTTLE(1.0, "[ControlManager]: escalating failsafe triggered by callback");
+    4302             : 
+    4303          14 :     auto [success, message] = escalatingFailsafe();
+    4304             : 
+    4305           7 :     res.success = success;
+    4306           7 :     res.message = message;
+    4307             : 
+    4308             :   } else {
+    4309             : 
+    4310           0 :     std::stringstream ss;
+    4311           0 :     ss << "escalating failsafe is disabled";
+    4312             : 
+    4313           0 :     res.success = false;
+    4314           0 :     res.message = ss.str();
+    4315             : 
+    4316           0 :     ROS_WARN_THROTTLE(1.0, "[ControlManager]: %s", ss.str().c_str());
+    4317             :   }
+    4318             : 
+    4319           7 :   return true;
+    4320             : }
+    4321             : 
+    4322             : //}
+    4323             : 
+    4324             : /* //{ callbackELand() */
+    4325             : 
+    4326           1 : bool ControlManager::callbackEland([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4327             : 
+    4328           1 :   if (!is_initialized_)
+    4329           0 :     return false;
+    4330             : 
+    4331           1 :   ROS_WARN_THROTTLE(1.0, "[ControlManager]: eland triggered by callback");
+    4332             : 
+    4333           1 :   auto [success, message] = eland();
+    4334             : 
+    4335           1 :   res.success = success;
+    4336           1 :   res.message = message;
+    4337             : 
+    4338           1 :   return true;
+    4339             : }
+    4340             : 
+    4341             : //}
+    4342             : 
+    4343             : /* //{ callbackParachute() */
+    4344             : 
+    4345           0 : bool ControlManager::callbackParachute([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4346             : 
+    4347           0 :   if (!is_initialized_)
+    4348           0 :     return false;
+    4349             : 
+    4350           0 :   if (!_parachute_enabled_) {
+    4351             : 
+    4352           0 :     std::stringstream ss;
+    4353           0 :     ss << "parachute disabled";
+    4354           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    4355           0 :     res.message = ss.str();
+    4356           0 :     res.success = false;
+    4357             :   }
+    4358             : 
+    4359           0 :   ROS_WARN_THROTTLE(1.0, "[ControlManager]: parachute triggered by callback");
+    4360             : 
+    4361           0 :   auto [success, message] = deployParachute();
+    4362             : 
+    4363           0 :   res.success = success;
+    4364           0 :   res.message = message;
+    4365             : 
+    4366           0 :   return true;
+    4367             : }
+    4368             : 
+    4369             : //}
+    4370             : 
+    4371             : /* //{ callbackToggleOutput() */
+    4372             : 
+    4373          65 : bool ControlManager::callbackToggleOutput(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res) {
+    4374             : 
+    4375          65 :   if (!is_initialized_)
+    4376           0 :     return false;
+    4377             : 
+    4378          65 :   ROS_INFO("[ControlManager]: toggling output by service");
+    4379             : 
+    4380             :   // copy member variables
+    4381         130 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    4382             : 
+    4383         130 :   std::stringstream ss;
+    4384             : 
+    4385          65 :   bool prereq_check = true;
+    4386             : 
+    4387             :   {
+    4388         130 :     mrs_msgs::ReferenceStamped current_coord;
+    4389          65 :     current_coord.header.frame_id      = uav_state.header.frame_id;
+    4390          65 :     current_coord.reference.position.x = uav_state.pose.position.x;
+    4391          65 :     current_coord.reference.position.y = uav_state.pose.position.y;
+    4392             : 
+    4393          65 :     if (!isPointInSafetyArea2d(current_coord)) {
+    4394           1 :       ss << "cannot toggle output, the UAV is outside of the safety area!";
+    4395           1 :       prereq_check = false;
+    4396             :     }
+    4397             :   }
+    4398             : 
+    4399          65 :   if (req.data && (failsafe_triggered_ || eland_triggered_ || rc_escalating_failsafe_triggered_)) {
+    4400           0 :     ss << "cannot toggle output ON, we landed in emergency";
+    4401           0 :     prereq_check = false;
+    4402             :   }
+    4403             : 
+    4404          65 :   if (!sh_hw_api_status_.hasMsg() || (ros::Time::now() - sh_hw_api_status_.lastMsgTime()).toSec() > 1.0) {
+    4405           0 :     ss << "cannot toggle output ON, missing HW API status!";
+    4406           0 :     prereq_check = false;
+    4407             :   }
+    4408             : 
+    4409          65 :   if (bumper_enabled_ && !sh_bumper_.hasMsg()) {
+    4410           0 :     ss << "cannot toggle output ON, missing bumper data!";
+    4411           0 :     prereq_check = false;
+    4412             :   }
+    4413             : 
+    4414          65 :   if (!prereq_check) {
+    4415             : 
+    4416           1 :     res.message = ss.str();
+    4417           1 :     res.success = false;
+    4418             : 
+    4419           1 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    4420             : 
+    4421           1 :     return false;
+    4422             : 
+    4423             :   } else {
+    4424             : 
+    4425          64 :     toggleOutput(req.data);
+    4426             : 
+    4427          64 :     ss << "Output: " << (output_enabled_ ? "ON" : "OFF");
+    4428          64 :     res.message = ss.str();
+    4429          64 :     res.success = true;
+    4430             : 
+    4431          64 :     ROS_INFO_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    4432             : 
+    4433          64 :     publishDiagnostics();
+    4434             : 
+    4435          64 :     return true;
+    4436             :   }
+    4437             : }
+    4438             : 
+    4439             : //}
+    4440             : 
+    4441             : /* callbackArm() //{ */
+    4442             : 
+    4443           6 : bool ControlManager::callbackArm(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res) {
+    4444             : 
+    4445           6 :   if (!is_initialized_)
+    4446           0 :     return false;
+    4447             : 
+    4448           6 :   ROS_INFO("[ControlManager]: arming by service");
+    4449             : 
+    4450          12 :   std::stringstream ss;
+    4451             : 
+    4452           6 :   if (failsafe_triggered_ || eland_triggered_) {
+    4453             : 
+    4454           0 :     ss << "can not " << (req.data ? "arm" : "disarm") << ", eland or failsafe active";
+    4455             : 
+    4456           0 :     res.message = ss.str();
+    4457           0 :     res.success = false;
+    4458             : 
+    4459           0 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    4460             : 
+    4461           0 :     return true;
+    4462             :   }
+    4463             : 
+    4464           6 :   if (req.data) {
+    4465             : 
+    4466           0 :     ss << "this service is not allowed to arm the UAV";
+    4467           0 :     res.success = false;
+    4468           0 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    4469             : 
+    4470             :   } else {
+    4471             : 
+    4472          12 :     auto [success, message] = arming(false);
+    4473             : 
+    4474           6 :     if (success) {
+    4475             : 
+    4476           6 :       ss << "disarmed";
+    4477           6 :       res.success = true;
+    4478           6 :       ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    4479             : 
+    4480             :     } else {
+    4481             : 
+    4482           0 :       ss << "could not disarm: " << message;
+    4483           0 :       res.success = false;
+    4484           0 :       ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    4485             :     }
+    4486             :   }
+    4487             : 
+    4488           6 :   res.message = ss.str();
+    4489             : 
+    4490           6 :   return true;
+    4491             : }
+    4492             : 
+    4493             : //}
+    4494             : 
+    4495             : /* //{ callbackEnableCallbacks() */
+    4496             : 
+    4497          84 : bool ControlManager::callbackEnableCallbacks(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res) {
+    4498             : 
+    4499          84 :   if (!is_initialized_)
+    4500           0 :     return false;
+    4501             : 
+    4502          84 :   setCallbacks(req.data);
+    4503             : 
+    4504          84 :   std::stringstream ss;
+    4505             : 
+    4506          84 :   ss << "callbacks " << (callbacks_enabled_ ? "enabled" : "disabled");
+    4507             : 
+    4508          84 :   res.message = ss.str();
+    4509          84 :   res.success = true;
+    4510             : 
+    4511          84 :   ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    4512             : 
+    4513          84 :   return true;
+    4514             : }
+    4515             : 
+    4516             : //}
+    4517             : 
+    4518             : /* callbackSetConstraints() //{ */
+    4519             : 
+    4520          65 : bool ControlManager::callbackSetConstraints(mrs_msgs::DynamicsConstraintsSrv::Request& req, mrs_msgs::DynamicsConstraintsSrv::Response& res) {
+    4521             : 
+    4522          65 :   if (!is_initialized_) {
+    4523           0 :     res.message = "not initialized";
+    4524           0 :     res.success = false;
+    4525           0 :     return true;
+    4526             :   }
+    4527             : 
+    4528             :   {
+    4529         130 :     std::scoped_lock lock(mutex_constraints_);
+    4530             : 
+    4531          65 :     current_constraints_ = req;
+    4532             : 
+    4533          65 :     auto enforced = enforceControllersConstraints(current_constraints_);
+    4534             : 
+    4535          65 :     if (enforced) {
+    4536           0 :       sanitized_constraints_      = enforced.value();
+    4537           0 :       constraints_being_enforced_ = true;
+    4538             :     } else {
+    4539          65 :       sanitized_constraints_      = req;
+    4540          65 :       constraints_being_enforced_ = false;
+    4541             :     }
+    4542             : 
+    4543          65 :     got_constraints_ = true;
+    4544             : 
+    4545          65 :     setConstraintsToControllers(current_constraints_);
+    4546          65 :     setConstraintsToTrackers(sanitized_constraints_);
+    4547             :   }
+    4548             : 
+    4549          65 :   res.message = "setting constraints";
+    4550          65 :   res.success = true;
+    4551             : 
+    4552          65 :   return true;
+    4553             : }
+    4554             : 
+    4555             : //}
+    4556             : 
+    4557             : /* //{ callbackEmergencyReference() */
+    4558             : 
+    4559          83 : bool ControlManager::callbackEmergencyReference(mrs_msgs::ReferenceStampedSrv::Request& req, mrs_msgs::ReferenceStampedSrv::Response& res) {
+    4560             : 
+    4561          83 :   if (!is_initialized_)
+    4562           0 :     return false;
+    4563             : 
+    4564         166 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    4565             : 
+    4566          83 :   callbacks_enabled_ = false;
+    4567             : 
+    4568          83 :   mrs_msgs::ReferenceSrvResponse::ConstPtr tracker_response;
+    4569             : 
+    4570         166 :   std::stringstream ss;
+    4571             : 
+    4572             :   // transform the reference to the current frame
+    4573         166 :   mrs_msgs::ReferenceStamped original_reference;
+    4574          83 :   original_reference.header    = req.header;
+    4575          83 :   original_reference.reference = req.reference;
+    4576             : 
+    4577         166 :   auto ret = transformer_->transformSingle(original_reference, uav_state.header.frame_id);
+    4578             : 
+    4579          83 :   if (!ret) {
+    4580             : 
+    4581           0 :     ss << "the emergency reference could not be transformed";
+    4582             : 
+    4583           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    4584           0 :     res.message = ss.str();
+    4585           0 :     res.success = false;
+    4586           0 :     return true;
+    4587             :   }
+    4588             : 
+    4589          83 :   mrs_msgs::ReferenceStamped transformed_reference = ret.value();
+    4590             : 
+    4591          83 :   std_srvs::SetBoolRequest req_enable_callbacks;
+    4592             : 
+    4593          83 :   mrs_msgs::ReferenceSrvRequest req_goto_out;
+    4594          83 :   req_goto_out.reference = transformed_reference.reference;
+    4595             : 
+    4596             :   {
+    4597         166 :     std::scoped_lock lock(mutex_tracker_list_);
+    4598             : 
+    4599             :     // disable callbacks of all trackers
+    4600          83 :     req_enable_callbacks.data = false;
+    4601         581 :     for (int i = 0; i < int(tracker_list_.size()); i++) {
+    4602         498 :       tracker_list_[i]->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    4603             :     }
+    4604             : 
+    4605             :     // enable the callbacks for the active tracker
+    4606          83 :     req_enable_callbacks.data = true;
+    4607          83 :     tracker_list_[active_tracker_idx_]->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    4608             : 
+    4609             :     // call the setReference()
+    4610         249 :     tracker_response = tracker_list_[active_tracker_idx_]->setReference(
+    4611         249 :         mrs_msgs::ReferenceSrvRequest::ConstPtr(std::make_unique<mrs_msgs::ReferenceSrvRequest>(req_goto_out)));
+    4612             : 
+    4613             :     // disable the callbacks back again
+    4614          83 :     req_enable_callbacks.data = false;
+    4615          83 :     tracker_list_[active_tracker_idx_]->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    4616             : 
+    4617          83 :     if (tracker_response != mrs_msgs::ReferenceSrvResponse::Ptr()) {
+    4618          83 :       res.message = tracker_response->message;
+    4619          83 :       res.success = tracker_response->success;
+    4620             :     } else {
+    4621           0 :       ss << "the tracker '" << _tracker_names_[active_tracker_idx_] << "' does not implement the 'setReference()' function!";
+    4622           0 :       res.message = ss.str();
+    4623           0 :       res.success = false;
+    4624             :     }
+    4625             :   }
+    4626             : 
+    4627          83 :   return true;
+    4628             : }
+    4629             : 
+    4630             : //}
+    4631             : 
+    4632             : /* callbackPirouette() //{ */
+    4633             : 
+    4634           0 : bool ControlManager::callbackPirouette([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4635             : 
+    4636           0 :   if (!is_initialized_)
+    4637           0 :     return false;
+    4638             : 
+    4639             :   // copy member variables
+    4640           0 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    4641             : 
+    4642             :   double uav_heading;
+    4643             :   try {
+    4644           0 :     uav_heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+    4645             :   }
+    4646           0 :   catch (...) {
+    4647           0 :     std::stringstream ss;
+    4648           0 :     ss << "could not calculate the UAV heading to initialize the pirouette";
+    4649             : 
+    4650           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    4651             : 
+    4652           0 :     res.message = ss.str();
+    4653           0 :     res.success = false;
+    4654             : 
+    4655           0 :     return false;
+    4656             :   }
+    4657             : 
+    4658           0 :   if (_pirouette_enabled_) {
+    4659           0 :     res.success = false;
+    4660           0 :     res.message = "already active";
+    4661           0 :     return true;
+    4662             :   }
+    4663             : 
+    4664           0 :   if (failsafe_triggered_ || eland_triggered_ || rc_escalating_failsafe_triggered_) {
+    4665             : 
+    4666           0 :     std::stringstream ss;
+    4667           0 :     ss << "can not activate the pirouette, eland or failsafe active";
+    4668             : 
+    4669           0 :     res.message = ss.str();
+    4670           0 :     res.success = false;
+    4671             : 
+    4672           0 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    4673             : 
+    4674           0 :     return true;
+    4675             :   }
+    4676             : 
+    4677           0 :   _pirouette_enabled_ = true;
+    4678             : 
+    4679           0 :   setCallbacks(false);
+    4680             : 
+    4681           0 :   pirouette_initial_heading_ = uav_heading;
+    4682           0 :   pirouette_iterator_        = 0;
+    4683           0 :   timer_pirouette_.start();
+    4684             : 
+    4685           0 :   res.success = true;
+    4686           0 :   res.message = "activated";
+    4687             : 
+    4688           0 :   return true;
+    4689             : }
+    4690             : 
+    4691             : //}
+    4692             : 
+    4693             : /* callbackUseJoystick() //{ */
+    4694             : 
+    4695           0 : bool ControlManager::callbackUseJoystick([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4696             : 
+    4697           0 :   if (!is_initialized_) {
+    4698           0 :     return false;
+    4699             :   }
+    4700             : 
+    4701           0 :   std::stringstream ss;
+    4702             : 
+    4703             :   {
+    4704           0 :     auto [success, response] = switchTracker(_joystick_tracker_name_);
+    4705             : 
+    4706           0 :     if (!success) {
+    4707             : 
+    4708           0 :       ss << "switching to '" << _joystick_tracker_name_ << "' was unsuccessfull: '" << response << "'";
+    4709           0 :       ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    4710             : 
+    4711           0 :       res.success = false;
+    4712           0 :       res.message = ss.str();
+    4713             : 
+    4714           0 :       return true;
+    4715             :     }
+    4716             :   }
+    4717             : 
+    4718           0 :   auto [success, response] = switchController(_joystick_controller_name_);
+    4719             : 
+    4720           0 :   if (!success) {
+    4721             : 
+    4722           0 :     ss << "switching to '" << _joystick_controller_name_ << "' was unsuccessfull: '" << response << "'";
+    4723           0 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    4724             : 
+    4725           0 :     res.success = false;
+    4726           0 :     res.message = ss.str();
+    4727             : 
+    4728             :     // switch back to hover tracker
+    4729           0 :     switchTracker(_ehover_tracker_name_);
+    4730             : 
+    4731             :     // switch back to safety controller
+    4732           0 :     switchController(_eland_controller_name_);
+    4733             : 
+    4734           0 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    4735             : 
+    4736           0 :     return true;
+    4737             :   }
+    4738             : 
+    4739           0 :   ss << "switched to joystick control";
+    4740             : 
+    4741           0 :   res.success = true;
+    4742           0 :   res.message = ss.str();
+    4743             : 
+    4744           0 :   ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    4745             : 
+    4746           0 :   return true;
+    4747             : }
+    4748             : 
+    4749             : //}
+    4750             : 
+    4751             : /* //{ callbackHover() */
+    4752             : 
+    4753           0 : bool ControlManager::callbackHover([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4754             : 
+    4755           0 :   if (!is_initialized_)
+    4756           0 :     return false;
+    4757             : 
+    4758           0 :   auto [success, message] = hover();
+    4759             : 
+    4760           0 :   res.success = success;
+    4761           0 :   res.message = message;
+    4762             : 
+    4763           0 :   return true;
+    4764             : }
+    4765             : 
+    4766             : //}
+    4767             : 
+    4768             : /* //{ callbackStartTrajectoryTracking() */
+    4769             : 
+    4770           1 : bool ControlManager::callbackStartTrajectoryTracking([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4771             : 
+    4772           1 :   if (!is_initialized_)
+    4773           0 :     return false;
+    4774             : 
+    4775           1 :   auto [success, message] = startTrajectoryTracking();
+    4776             : 
+    4777           1 :   res.success = success;
+    4778           1 :   res.message = message;
+    4779             : 
+    4780           1 :   return true;
+    4781             : }
+    4782             : 
+    4783             : //}
+    4784             : 
+    4785             : /* //{ callbackStopTrajectoryTracking() */
+    4786             : 
+    4787           0 : bool ControlManager::callbackStopTrajectoryTracking([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4788             : 
+    4789           0 :   if (!is_initialized_)
+    4790           0 :     return false;
+    4791             : 
+    4792           0 :   auto [success, message] = stopTrajectoryTracking();
+    4793             : 
+    4794           0 :   res.success = success;
+    4795           0 :   res.message = message;
+    4796             : 
+    4797           0 :   return true;
+    4798             : }
+    4799             : 
+    4800             : //}
+    4801             : 
+    4802             : /* //{ callbackResumeTrajectoryTracking() */
+    4803             : 
+    4804           0 : bool ControlManager::callbackResumeTrajectoryTracking([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4805             : 
+    4806           0 :   if (!is_initialized_)
+    4807           0 :     return false;
+    4808             : 
+    4809           0 :   auto [success, message] = resumeTrajectoryTracking();
+    4810             : 
+    4811           0 :   res.success = success;
+    4812           0 :   res.message = message;
+    4813             : 
+    4814           0 :   return true;
+    4815             : }
+    4816             : 
+    4817             : //}
+    4818             : 
+    4819             : /* //{ callbackGotoTrajectoryStart() */
+    4820             : 
+    4821           1 : bool ControlManager::callbackGotoTrajectoryStart([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4822             : 
+    4823           1 :   if (!is_initialized_)
+    4824           0 :     return false;
+    4825             : 
+    4826           1 :   auto [success, message] = gotoTrajectoryStart();
+    4827             : 
+    4828           1 :   res.success = success;
+    4829           1 :   res.message = message;
+    4830             : 
+    4831           1 :   return true;
+    4832             : }
+    4833             : 
+    4834             : //}
+    4835             : 
+    4836             : /* //{ callbackTransformReference() */
+    4837             : 
+    4838           0 : bool ControlManager::callbackTransformReference(mrs_msgs::TransformReferenceSrv::Request& req, mrs_msgs::TransformReferenceSrv::Response& res) {
+    4839             : 
+    4840           0 :   if (!is_initialized_)
+    4841           0 :     return false;
+    4842             : 
+    4843             :   // transform the reference to the current frame
+    4844           0 :   mrs_msgs::ReferenceStamped transformed_reference = req.reference;
+    4845             : 
+    4846           0 :   if (auto ret = transformer_->transformSingle(transformed_reference, req.frame_id)) {
+    4847             : 
+    4848           0 :     res.reference = ret.value();
+    4849           0 :     res.message   = "transformation successful";
+    4850           0 :     res.success   = true;
+    4851           0 :     return true;
+    4852             : 
+    4853             :   } else {
+    4854             : 
+    4855           0 :     res.message = "the reference could not be transformed";
+    4856           0 :     res.success = false;
+    4857           0 :     return true;
+    4858             :   }
+    4859             : 
+    4860             :   return true;
+    4861             : }
+    4862             : 
+    4863             : //}
+    4864             : 
+    4865             : /* //{ callbackTransformPose() */
+    4866             : 
+    4867           0 : bool ControlManager::callbackTransformPose(mrs_msgs::TransformPoseSrv::Request& req, mrs_msgs::TransformPoseSrv::Response& res) {
+    4868             : 
+    4869           0 :   if (!is_initialized_)
+    4870           0 :     return false;
+    4871             : 
+    4872             :   // transform the reference to the current frame
+    4873           0 :   geometry_msgs::PoseStamped transformed_pose = req.pose;
+    4874             : 
+    4875           0 :   if (auto ret = transformer_->transformSingle(transformed_pose, req.frame_id)) {
+    4876             : 
+    4877           0 :     res.pose    = ret.value();
+    4878           0 :     res.message = "transformation successful";
+    4879           0 :     res.success = true;
+    4880           0 :     return true;
+    4881             : 
+    4882             :   } else {
+    4883             : 
+    4884           0 :     res.message = "the pose could not be transformed";
+    4885           0 :     res.success = false;
+    4886           0 :     return true;
+    4887             :   }
+    4888             : 
+    4889             :   return true;
+    4890             : }
+    4891             : 
+    4892             : //}
+    4893             : 
+    4894             : /* //{ callbackTransformVector3() */
+    4895             : 
+    4896           0 : bool ControlManager::callbackTransformVector3(mrs_msgs::TransformVector3Srv::Request& req, mrs_msgs::TransformVector3Srv::Response& res) {
+    4897             : 
+    4898           0 :   if (!is_initialized_)
+    4899           0 :     return false;
+    4900             : 
+    4901             :   // transform the reference to the current frame
+    4902           0 :   geometry_msgs::Vector3Stamped transformed_vector3 = req.vector;
+    4903             : 
+    4904           0 :   if (auto ret = transformer_->transformSingle(transformed_vector3, req.frame_id)) {
+    4905             : 
+    4906           0 :     res.vector  = ret.value();
+    4907           0 :     res.message = "transformation successful";
+    4908           0 :     res.success = true;
+    4909           0 :     return true;
+    4910             : 
+    4911             :   } else {
+    4912             : 
+    4913           0 :     res.message = "the twist could not be transformed";
+    4914           0 :     res.success = false;
+    4915           0 :     return true;
+    4916             :   }
+    4917             : 
+    4918             :   return true;
+    4919             : }
+    4920             : 
+    4921             : //}
+    4922             : 
+    4923             : /* //{ callbackEnableBumper() */
+    4924             : 
+    4925           0 : bool ControlManager::callbackEnableBumper(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res) {
+    4926             : 
+    4927           0 :   if (!is_initialized_)
+    4928           0 :     return false;
+    4929             : 
+    4930           0 :   bumper_enabled_ = req.data;
+    4931             : 
+    4932           0 :   std::stringstream ss;
+    4933             : 
+    4934           0 :   ss << "bumper " << (bumper_enabled_ ? "enalbed" : "disabled");
+    4935             : 
+    4936           0 :   ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    4937             : 
+    4938           0 :   res.success = true;
+    4939           0 :   res.message = ss.str();
+    4940             : 
+    4941           0 :   return true;
+    4942             : }
+    4943             : 
+    4944             : //}
+    4945             : 
+    4946             : /* //{ callbackUseSafetyArea() */
+    4947             : 
+    4948           0 : bool ControlManager::callbackUseSafetyArea(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res) {
+    4949             : 
+    4950           0 :   if (!is_initialized_)
+    4951           0 :     return false;
+    4952             : 
+    4953           0 :   use_safety_area_ = req.data;
+    4954             : 
+    4955           0 :   std::stringstream ss;
+    4956             : 
+    4957           0 :   ss << "safety area " << (use_safety_area_ ? "enabled" : "disabled");
+    4958             : 
+    4959           0 :   ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    4960             : 
+    4961           0 :   res.success = true;
+    4962           0 :   res.message = ss.str();
+    4963             : 
+    4964           0 :   return true;
+    4965             : }
+    4966             : 
+    4967             : //}
+    4968             : 
+    4969             : /* //{ callbackGetMinZ() */
+    4970             : 
+    4971           0 : bool ControlManager::callbackGetMinZ([[maybe_unused]] mrs_msgs::GetFloat64::Request& req, mrs_msgs::GetFloat64::Response& res) {
+    4972             : 
+    4973           0 :   if (!is_initialized_) {
+    4974           0 :     return false;
+    4975             :   }
+    4976             : 
+    4977           0 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    4978             : 
+    4979           0 :   res.success = true;
+    4980           0 :   res.value   = getMinZ(uav_state.header.frame_id);
+    4981             : 
+    4982           0 :   return true;
+    4983             : }
+    4984             : 
+    4985             : //}
+    4986             : 
+    4987             : /* //{ callbackValidateReference() */
+    4988             : 
+    4989           0 : bool ControlManager::callbackValidateReference(mrs_msgs::ValidateReference::Request& req, mrs_msgs::ValidateReference::Response& res) {
+    4990             : 
+    4991           0 :   if (!is_initialized_) {
+    4992           0 :     res.message = "not initialized";
+    4993           0 :     res.success = false;
+    4994           0 :     return true;
+    4995             :   }
+    4996             : 
+    4997           0 :   if (!validateReference(req.reference.reference, "ControlManager", "reference_for_validation")) {
+    4998           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: NaN detected in variable 'req.reference'!!!");
+    4999           0 :     res.message = "NaNs/infs in input!";
+    5000           0 :     res.success = false;
+    5001           0 :     return true;
+    5002             :   }
+    5003             : 
+    5004             :   // copy member variables
+    5005           0 :   auto uav_state        = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    5006           0 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5007             : 
+    5008             :   // transform the reference to the current frame
+    5009           0 :   mrs_msgs::ReferenceStamped original_reference;
+    5010           0 :   original_reference.header    = req.reference.header;
+    5011           0 :   original_reference.reference = req.reference.reference;
+    5012             : 
+    5013           0 :   auto ret = transformer_->transformSingle(original_reference, uav_state.header.frame_id);
+    5014             : 
+    5015           0 :   if (!ret) {
+    5016             : 
+    5017           0 :     ROS_WARN_THROTTLE(1.0, "[ControlManager]: the reference could not be transformed");
+    5018           0 :     res.message = "the reference could not be transformed";
+    5019           0 :     res.success = false;
+    5020           0 :     return true;
+    5021             :   }
+    5022             : 
+    5023           0 :   mrs_msgs::ReferenceStamped transformed_reference = ret.value();
+    5024             : 
+    5025           0 :   if (!isPointInSafetyArea3d(transformed_reference)) {
+    5026           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: reference validation failed, the point is outside of the safety area!");
+    5027           0 :     res.message = "the point is outside of the safety area";
+    5028           0 :     res.success = false;
+    5029           0 :     return true;
+    5030             :   }
+    5031             : 
+    5032           0 :   if (last_tracker_cmd) {
+    5033             : 
+    5034           0 :     mrs_msgs::ReferenceStamped from_point;
+    5035           0 :     from_point.header.frame_id      = uav_state.header.frame_id;
+    5036           0 :     from_point.reference.position.x = last_tracker_cmd->position.x;
+    5037           0 :     from_point.reference.position.y = last_tracker_cmd->position.y;
+    5038           0 :     from_point.reference.position.z = last_tracker_cmd->position.z;
+    5039             : 
+    5040           0 :     if (!isPathToPointInSafetyArea3d(from_point, transformed_reference)) {
+    5041           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: reference validation failed, the path is going outside the safety area!");
+    5042           0 :       res.message = "the path is going outside the safety area";
+    5043           0 :       res.success = false;
+    5044           0 :       return true;
+    5045             :     }
+    5046             :   }
+    5047             : 
+    5048           0 :   res.message = "the reference is ok";
+    5049           0 :   res.success = true;
+    5050           0 :   return true;
+    5051             : }
+    5052             : 
+    5053             : //}
+    5054             : 
+    5055             : /* //{ callbackValidateReference2d() */
+    5056             : 
+    5057        4046 : bool ControlManager::callbackValidateReference2d(mrs_msgs::ValidateReference::Request& req, mrs_msgs::ValidateReference::Response& res) {
+    5058             : 
+    5059        4046 :   if (!is_initialized_) {
+    5060           0 :     res.message = "not initialized";
+    5061           0 :     res.success = false;
+    5062           0 :     return true;
+    5063             :   }
+    5064             : 
+    5065        4046 :   if (!validateReference(req.reference.reference, "ControlManager", "reference_for_validation")) {
+    5066           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: NaN detected in variable 'req.reference'!!!");
+    5067           0 :     res.message = "NaNs/infs in input!";
+    5068           0 :     res.success = false;
+    5069           0 :     return true;
+    5070             :   }
+    5071             : 
+    5072             :   // copy member variables
+    5073        8092 :   auto uav_state        = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    5074        8092 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5075             : 
+    5076             :   // transform the reference to the current frame
+    5077        8092 :   mrs_msgs::ReferenceStamped original_reference;
+    5078        4046 :   original_reference.header    = req.reference.header;
+    5079        4046 :   original_reference.reference = req.reference.reference;
+    5080             : 
+    5081        8092 :   auto ret = transformer_->transformSingle(original_reference, uav_state.header.frame_id);
+    5082             : 
+    5083        4046 :   if (!ret) {
+    5084             : 
+    5085           0 :     ROS_WARN_THROTTLE(1.0, "[ControlManager]: the reference could not be transformed");
+    5086           0 :     res.message = "the reference could not be transformed";
+    5087           0 :     res.success = false;
+    5088           0 :     return true;
+    5089             :   }
+    5090             : 
+    5091        8092 :   mrs_msgs::ReferenceStamped transformed_reference = ret.value();
+    5092             : 
+    5093        4046 :   if (!isPointInSafetyArea2d(transformed_reference)) {
+    5094          73 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: reference validation failed, the point is outside of the safety area!");
+    5095          73 :     res.message = "the point is outside of the safety area";
+    5096          73 :     res.success = false;
+    5097          73 :     return true;
+    5098             :   }
+    5099             : 
+    5100        3973 :   if (last_tracker_cmd) {
+    5101             : 
+    5102          31 :     mrs_msgs::ReferenceStamped from_point;
+    5103          31 :     from_point.header.frame_id      = uav_state.header.frame_id;
+    5104          31 :     from_point.reference.position.x = last_tracker_cmd->position.x;
+    5105          31 :     from_point.reference.position.y = last_tracker_cmd->position.y;
+    5106          31 :     from_point.reference.position.z = last_tracker_cmd->position.z;
+    5107             : 
+    5108          31 :     if (!isPathToPointInSafetyArea2d(from_point, transformed_reference)) {
+    5109           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: reference validation failed, the path is going outside the safety area!");
+    5110           0 :       res.message = "the path is going outside the safety area";
+    5111           0 :       res.success = false;
+    5112           0 :       return true;
+    5113             :     }
+    5114             :   }
+    5115             : 
+    5116        3973 :   res.message = "the reference is ok";
+    5117        3973 :   res.success = true;
+    5118        3973 :   return true;
+    5119             : }
+    5120             : 
+    5121             : //}
+    5122             : 
+    5123             : /* //{ callbackValidateReferenceList() */
+    5124             : 
+    5125           0 : bool ControlManager::callbackValidateReferenceList(mrs_msgs::ValidateReferenceList::Request& req, mrs_msgs::ValidateReferenceList::Response& res) {
+    5126             : 
+    5127           0 :   if (!is_initialized_) {
+    5128           0 :     res.message = "not initialized";
+    5129           0 :     return false;
+    5130             :   }
+    5131             : 
+    5132             :   // copy member variables
+    5133           0 :   auto uav_state        = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    5134           0 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5135             : 
+    5136             :   // get the transformer
+    5137           0 :   auto ret = transformer_->getTransform(uav_state.header.frame_id, req.list.header.frame_id, req.list.header.stamp);
+    5138             : 
+    5139           0 :   if (!ret) {
+    5140             : 
+    5141           0 :     ROS_DEBUG("[ControlManager]: could not find transform for the reference");
+    5142           0 :     res.message = "could not find transform";
+    5143           0 :     return false;
+    5144             :   }
+    5145             : 
+    5146           0 :   geometry_msgs::TransformStamped tf = ret.value();
+    5147             : 
+    5148           0 :   for (int i = 0; i < int(req.list.list.size()); i++) {
+    5149             : 
+    5150           0 :     res.success.push_back(true);
+    5151             : 
+    5152           0 :     mrs_msgs::ReferenceStamped original_reference;
+    5153           0 :     original_reference.header    = req.list.header;
+    5154           0 :     original_reference.reference = req.list.list[i];
+    5155             : 
+    5156           0 :     res.success[i] = validateReference(original_reference.reference, "ControlManager", "reference_list");
+    5157             : 
+    5158           0 :     auto ret = transformer_->transformSingle(original_reference, uav_state.header.frame_id);
+    5159             : 
+    5160           0 :     if (!ret) {
+    5161             : 
+    5162           0 :       ROS_DEBUG("[ControlManager]: the reference could not be transformed");
+    5163           0 :       res.success[i] = false;
+    5164             :     }
+    5165             : 
+    5166           0 :     mrs_msgs::ReferenceStamped transformed_reference = ret.value();
+    5167             : 
+    5168           0 :     if (!isPointInSafetyArea3d(transformed_reference)) {
+    5169           0 :       res.success[i] = false;
+    5170             :     }
+    5171             : 
+    5172           0 :     if (last_tracker_cmd) {
+    5173             : 
+    5174           0 :       mrs_msgs::ReferenceStamped from_point;
+    5175           0 :       from_point.header.frame_id      = uav_state.header.frame_id;
+    5176           0 :       from_point.reference.position.x = last_tracker_cmd->position.x;
+    5177           0 :       from_point.reference.position.y = last_tracker_cmd->position.y;
+    5178           0 :       from_point.reference.position.z = last_tracker_cmd->position.z;
+    5179             : 
+    5180           0 :       if (!isPathToPointInSafetyArea3d(from_point, transformed_reference)) {
+    5181           0 :         res.success[i] = false;
+    5182             :       }
+    5183             :     }
+    5184             :   }
+    5185             : 
+    5186           0 :   res.message = "references were checked";
+    5187           0 :   return true;
+    5188             : }
+    5189             : 
+    5190             : //}
+    5191             : 
+    5192             : // | -------------- setpoint topics and services -------------- |
+    5193             : 
+    5194             : /* //{ callbackReferenceService() */
+    5195             : 
+    5196           0 : bool ControlManager::callbackReferenceService(mrs_msgs::ReferenceStampedSrv::Request& req, mrs_msgs::ReferenceStampedSrv::Response& res) {
+    5197             : 
+    5198           0 :   if (!is_initialized_) {
+    5199           0 :     res.message = "not initialized";
+    5200           0 :     res.success = false;
+    5201           0 :     return true;
+    5202             :   }
+    5203             : 
+    5204           0 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackReferenceService");
+    5205           0 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackReferenceService", scope_timer_logger_, scope_timer_enabled_);
+    5206             : 
+    5207           0 :   mrs_msgs::ReferenceStamped des_reference;
+    5208           0 :   des_reference.header    = req.header;
+    5209           0 :   des_reference.reference = req.reference;
+    5210             : 
+    5211           0 :   auto [success, message] = setReference(des_reference);
+    5212             : 
+    5213           0 :   res.success = success;
+    5214           0 :   res.message = message;
+    5215             : 
+    5216           0 :   return true;
+    5217             : }
+    5218             : 
+    5219             : //}
+    5220             : 
+    5221             : /* //{ callbackReferenceTopic() */
+    5222             : 
+    5223           0 : void ControlManager::callbackReferenceTopic(const mrs_msgs::ReferenceStamped::ConstPtr msg) {
+    5224             : 
+    5225           0 :   if (!is_initialized_)
+    5226           0 :     return;
+    5227             : 
+    5228           0 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackReferenceTopic");
+    5229           0 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackReferenceTopic", scope_timer_logger_, scope_timer_enabled_);
+    5230             : 
+    5231           0 :   setReference(*msg);
+    5232             : }
+    5233             : 
+    5234             : //}
+    5235             : 
+    5236             : /* //{ callbackVelocityReferenceService() */
+    5237             : 
+    5238         471 : bool ControlManager::callbackVelocityReferenceService(mrs_msgs::VelocityReferenceStampedSrv::Request&  req,
+    5239             :                                                       mrs_msgs::VelocityReferenceStampedSrv::Response& res) {
+    5240             : 
+    5241         471 :   if (!is_initialized_) {
+    5242           0 :     res.message = "not initialized";
+    5243           0 :     res.success = false;
+    5244           0 :     return true;
+    5245             :   }
+    5246             : 
+    5247        1413 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackVelocityReferenceService");
+    5248        1413 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackVelocityReferenceService", scope_timer_logger_, scope_timer_enabled_);
+    5249             : 
+    5250         942 :   mrs_msgs::VelocityReferenceStamped des_reference;
+    5251         471 :   des_reference = req.reference;
+    5252             : 
+    5253         471 :   auto [success, message] = setVelocityReference(des_reference);
+    5254             : 
+    5255         471 :   res.success = success;
+    5256         471 :   res.message = message;
+    5257             : 
+    5258         471 :   return true;
+    5259             : }
+    5260             : 
+    5261             : //}
+    5262             : 
+    5263             : /* //{ callbackVelocityReferenceTopic() */
+    5264             : 
+    5265           0 : void ControlManager::callbackVelocityReferenceTopic(const mrs_msgs::VelocityReferenceStamped::ConstPtr msg) {
+    5266             : 
+    5267           0 :   if (!is_initialized_)
+    5268           0 :     return;
+    5269             : 
+    5270           0 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackVelocityReferenceTopic");
+    5271           0 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackVelocityReferenceTopic", scope_timer_logger_, scope_timer_enabled_);
+    5272             : 
+    5273           0 :   setVelocityReference(*msg);
+    5274             : }
+    5275             : 
+    5276             : //}
+    5277             : 
+    5278             : /* //{ callbackTrajectoryReferenceService() */
+    5279             : 
+    5280           4 : bool ControlManager::callbackTrajectoryReferenceService(mrs_msgs::TrajectoryReferenceSrv::Request& req, mrs_msgs::TrajectoryReferenceSrv::Response& res) {
+    5281             : 
+    5282           4 :   if (!is_initialized_) {
+    5283           0 :     res.message = "not initialized";
+    5284           0 :     res.success = false;
+    5285           0 :     return true;
+    5286             :   }
+    5287             : 
+    5288          12 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackTrajectoryReferenceService");
+    5289          12 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackTrajectoryReferenceService", scope_timer_logger_, scope_timer_enabled_);
+    5290             : 
+    5291           8 :   auto [success, message, modified, tracker_names, tracker_successes, tracker_messages] = setTrajectoryReference(req.trajectory);
+    5292             : 
+    5293           4 :   res.success          = success;
+    5294           4 :   res.message          = message;
+    5295           4 :   res.modified         = modified;
+    5296           4 :   res.tracker_names    = tracker_names;
+    5297           4 :   res.tracker_messages = tracker_messages;
+    5298             : 
+    5299          28 :   for (size_t i = 0; i < tracker_successes.size(); i++) {
+    5300          24 :     res.tracker_successes.push_back(tracker_successes[i]);
+    5301             :   }
+    5302             : 
+    5303           4 :   return true;
+    5304             : }
+    5305             : 
+    5306             : //}
+    5307             : 
+    5308             : /* //{ callbackTrajectoryReferenceTopic() */
+    5309             : 
+    5310           0 : void ControlManager::callbackTrajectoryReferenceTopic(const mrs_msgs::TrajectoryReference::ConstPtr msg) {
+    5311             : 
+    5312           0 :   if (!is_initialized_)
+    5313           0 :     return;
+    5314             : 
+    5315           0 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackTrajectoryReferenceTopic");
+    5316           0 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackTrajectoryReferenceTopic", scope_timer_logger_, scope_timer_enabled_);
+    5317             : 
+    5318           0 :   setTrajectoryReference(*msg);
+    5319             : }
+    5320             : 
+    5321             : //}
+    5322             : 
+    5323             : // | ------------- human-callable "goto" services ------------- |
+    5324             : 
+    5325             : /* //{ callbackGoto() */
+    5326             : 
+    5327          25 : bool ControlManager::callbackGoto(mrs_msgs::Vec4::Request& req, mrs_msgs::Vec4::Response& res) {
+    5328             : 
+    5329          25 :   if (!is_initialized_) {
+    5330           0 :     res.message = "not initialized";
+    5331           0 :     res.success = false;
+    5332           0 :     return true;
+    5333             :   }
+    5334             : 
+    5335          75 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackGoto");
+    5336          75 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackGoto", scope_timer_logger_, scope_timer_enabled_);
+    5337             : 
+    5338          50 :   mrs_msgs::ReferenceStamped des_reference;
+    5339          25 :   des_reference.header.frame_id      = "";
+    5340          25 :   des_reference.header.stamp         = ros::Time(0);
+    5341          25 :   des_reference.reference.position.x = req.goal[REF_X];
+    5342          25 :   des_reference.reference.position.y = req.goal[REF_Y];
+    5343          25 :   des_reference.reference.position.z = req.goal[REF_Z];
+    5344          25 :   des_reference.reference.heading    = req.goal[REF_HEADING];
+    5345             : 
+    5346          50 :   auto [success, message] = setReference(des_reference);
+    5347             : 
+    5348          25 :   res.success = success;
+    5349          25 :   res.message = message;
+    5350             : 
+    5351          25 :   return true;
+    5352             : }
+    5353             : 
+    5354             : //}
+    5355             : 
+    5356             : /* //{ callbackGotoFcu() */
+    5357             : 
+    5358           0 : bool ControlManager::callbackGotoFcu(mrs_msgs::Vec4::Request& req, mrs_msgs::Vec4::Response& res) {
+    5359             : 
+    5360           0 :   if (!is_initialized_) {
+    5361           0 :     res.message = "not initialized";
+    5362           0 :     res.success = false;
+    5363           0 :     return true;
+    5364             :   }
+    5365             : 
+    5366           0 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackGotoFcu");
+    5367           0 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackGotoFcu", scope_timer_logger_, scope_timer_enabled_);
+    5368             : 
+    5369           0 :   mrs_msgs::ReferenceStamped des_reference;
+    5370           0 :   des_reference.header.frame_id      = "fcu_untilted";
+    5371           0 :   des_reference.header.stamp         = ros::Time(0);
+    5372           0 :   des_reference.reference.position.x = req.goal[REF_X];
+    5373           0 :   des_reference.reference.position.y = req.goal[REF_Y];
+    5374           0 :   des_reference.reference.position.z = req.goal[REF_Z];
+    5375           0 :   des_reference.reference.heading    = req.goal[REF_HEADING];
+    5376             : 
+    5377           0 :   auto [success, message] = setReference(des_reference);
+    5378             : 
+    5379           0 :   res.success = success;
+    5380           0 :   res.message = message;
+    5381             : 
+    5382           0 :   return true;
+    5383             : }
+    5384             : 
+    5385             : //}
+    5386             : 
+    5387             : /* //{ callbackGotoRelative() */
+    5388             : 
+    5389          16 : bool ControlManager::callbackGotoRelative(mrs_msgs::Vec4::Request& req, mrs_msgs::Vec4::Response& res) {
+    5390             : 
+    5391          16 :   if (!is_initialized_) {
+    5392           0 :     res.message = "not initialized";
+    5393           0 :     res.success = false;
+    5394           0 :     return true;
+    5395             :   }
+    5396             : 
+    5397          48 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackGotoRelative");
+    5398          48 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackGotoRelative", scope_timer_logger_, scope_timer_enabled_);
+    5399             : 
+    5400          32 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5401             : 
+    5402          16 :   if (!last_tracker_cmd) {
+    5403           0 :     res.message = "not flying";
+    5404           0 :     res.success = false;
+    5405           0 :     return true;
+    5406             :   }
+    5407             : 
+    5408          32 :   mrs_msgs::ReferenceStamped des_reference;
+    5409          16 :   des_reference.header.frame_id      = "";
+    5410          16 :   des_reference.header.stamp         = ros::Time(0);
+    5411          16 :   des_reference.reference.position.x = last_tracker_cmd->position.x + req.goal[REF_X];
+    5412          16 :   des_reference.reference.position.y = last_tracker_cmd->position.y + req.goal[REF_Y];
+    5413          16 :   des_reference.reference.position.z = last_tracker_cmd->position.z + req.goal[REF_Z];
+    5414          16 :   des_reference.reference.heading    = last_tracker_cmd->heading + req.goal[REF_HEADING];
+    5415             : 
+    5416          32 :   auto [success, message] = setReference(des_reference);
+    5417             : 
+    5418          16 :   res.success = success;
+    5419          16 :   res.message = message;
+    5420             : 
+    5421          16 :   return true;
+    5422             : }
+    5423             : 
+    5424             : //}
+    5425             : 
+    5426             : /* //{ callbackGotoAltitude() */
+    5427             : 
+    5428           0 : bool ControlManager::callbackGotoAltitude(mrs_msgs::Vec1::Request& req, mrs_msgs::Vec1::Response& res) {
+    5429             : 
+    5430           0 :   if (!is_initialized_) {
+    5431           0 :     res.message = "not initialized";
+    5432           0 :     res.success = false;
+    5433           0 :     return true;
+    5434             :   }
+    5435             : 
+    5436           0 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackGotoAltitude");
+    5437           0 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackGotoAltitude", scope_timer_logger_, scope_timer_enabled_);
+    5438             : 
+    5439           0 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5440             : 
+    5441           0 :   if (!last_tracker_cmd) {
+    5442           0 :     res.message = "not flying";
+    5443           0 :     res.success = false;
+    5444           0 :     return true;
+    5445             :   }
+    5446             : 
+    5447           0 :   mrs_msgs::ReferenceStamped des_reference;
+    5448           0 :   des_reference.header.frame_id      = "";
+    5449           0 :   des_reference.header.stamp         = ros::Time(0);
+    5450           0 :   des_reference.reference.position.x = last_tracker_cmd->position.x;
+    5451           0 :   des_reference.reference.position.y = last_tracker_cmd->position.y;
+    5452           0 :   des_reference.reference.position.z = req.goal;
+    5453           0 :   des_reference.reference.heading    = last_tracker_cmd->heading;
+    5454             : 
+    5455           0 :   auto [success, message] = setReference(des_reference);
+    5456             : 
+    5457           0 :   res.success = success;
+    5458           0 :   res.message = message;
+    5459             : 
+    5460           0 :   return true;
+    5461             : }
+    5462             : 
+    5463             : //}
+    5464             : 
+    5465             : /* //{ callbackSetHeading() */
+    5466             : 
+    5467           0 : bool ControlManager::callbackSetHeading(mrs_msgs::Vec1::Request& req, mrs_msgs::Vec1::Response& res) {
+    5468             : 
+    5469           0 :   if (!is_initialized_) {
+    5470           0 :     res.message = "not initialized";
+    5471           0 :     res.success = false;
+    5472           0 :     return true;
+    5473             :   }
+    5474             : 
+    5475           0 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackSetHeading");
+    5476           0 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackSetHeading", scope_timer_logger_, scope_timer_enabled_);
+    5477             : 
+    5478           0 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5479             : 
+    5480           0 :   if (!last_tracker_cmd) {
+    5481           0 :     res.message = "not flying";
+    5482           0 :     res.success = false;
+    5483           0 :     return true;
+    5484             :   }
+    5485             : 
+    5486           0 :   mrs_msgs::ReferenceStamped des_reference;
+    5487           0 :   des_reference.header.frame_id      = "";
+    5488           0 :   des_reference.header.stamp         = ros::Time(0);
+    5489           0 :   des_reference.reference.position.x = last_tracker_cmd->position.x;
+    5490           0 :   des_reference.reference.position.y = last_tracker_cmd->position.y;
+    5491           0 :   des_reference.reference.position.z = last_tracker_cmd->position.z;
+    5492           0 :   des_reference.reference.heading    = req.goal;
+    5493             : 
+    5494           0 :   auto [success, message] = setReference(des_reference);
+    5495             : 
+    5496           0 :   res.success = success;
+    5497           0 :   res.message = message;
+    5498             : 
+    5499           0 :   return true;
+    5500             : }
+    5501             : 
+    5502             : //}
+    5503             : 
+    5504             : /* //{ callbackSetHeadingRelative() */
+    5505             : 
+    5506           0 : bool ControlManager::callbackSetHeadingRelative(mrs_msgs::Vec1::Request& req, mrs_msgs::Vec1::Response& res) {
+    5507             : 
+    5508           0 :   if (!is_initialized_) {
+    5509           0 :     res.message = "not initialized";
+    5510           0 :     res.success = false;
+    5511           0 :     return true;
+    5512             :   }
+    5513             : 
+    5514           0 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackSetHeadingRelative");
+    5515           0 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackSetHeadingRelative", scope_timer_logger_, scope_timer_enabled_);
+    5516             : 
+    5517           0 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5518             : 
+    5519           0 :   if (!last_tracker_cmd) {
+    5520           0 :     res.message = "not flying";
+    5521           0 :     res.success = false;
+    5522           0 :     return true;
+    5523             :   }
+    5524             : 
+    5525           0 :   mrs_msgs::ReferenceStamped des_reference;
+    5526           0 :   des_reference.header.frame_id      = "";
+    5527           0 :   des_reference.header.stamp         = ros::Time(0);
+    5528           0 :   des_reference.reference.position.x = last_tracker_cmd->position.x;
+    5529           0 :   des_reference.reference.position.y = last_tracker_cmd->position.y;
+    5530           0 :   des_reference.reference.position.z = last_tracker_cmd->position.z;
+    5531           0 :   des_reference.reference.heading    = last_tracker_cmd->heading + req.goal;
+    5532             : 
+    5533           0 :   auto [success, message] = setReference(des_reference);
+    5534             : 
+    5535           0 :   res.success = success;
+    5536           0 :   res.message = message;
+    5537             : 
+    5538           0 :   return true;
+    5539             : }
+    5540             : 
+    5541             : //}
+    5542             : 
+    5543             : // --------------------------------------------------------------
+    5544             : // |                          routines                          |
+    5545             : // --------------------------------------------------------------
+    5546             : 
+    5547             : /* setReference() //{ */
+    5548             : 
+    5549          41 : std::tuple<bool, std::string> ControlManager::setReference(const mrs_msgs::ReferenceStamped reference_in) {
+    5550             : 
+    5551          82 :   std::stringstream ss;
+    5552             : 
+    5553          41 :   if (!callbacks_enabled_) {
+    5554           0 :     ss << "can not set the reference, the callbacks are disabled";
+    5555           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5556           0 :     return std::tuple(false, ss.str());
+    5557             :   }
+    5558             : 
+    5559          41 :   if (!validateReference(reference_in.reference, "ControlManager", "reference")) {
+    5560           0 :     ss << "incoming reference is not finite!!!";
+    5561           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5562           0 :     return std::tuple(false, ss.str());
+    5563             :   }
+    5564             : 
+    5565             :   // copy member variables
+    5566          82 :   auto uav_state        = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    5567          82 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5568             : 
+    5569             :   // transform the reference to the current frame
+    5570          82 :   auto ret = transformer_->transformSingle(reference_in, uav_state.header.frame_id);
+    5571             : 
+    5572          41 :   if (!ret) {
+    5573             : 
+    5574           0 :     ss << "the reference could not be transformed";
+    5575           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5576           0 :     return std::tuple(false, ss.str());
+    5577             :   }
+    5578             : 
+    5579          82 :   mrs_msgs::ReferenceStamped transformed_reference = ret.value();
+    5580             : 
+    5581             :   // safety area check
+    5582          41 :   if (!isPointInSafetyArea3d(transformed_reference)) {
+    5583           0 :     ss << "failed to set the reference, the point is outside of the safety area!";
+    5584           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5585           0 :     return std::tuple(false, ss.str());
+    5586             :   }
+    5587             : 
+    5588          41 :   if (last_tracker_cmd) {
+    5589             : 
+    5590          41 :     mrs_msgs::ReferenceStamped from_point;
+    5591          41 :     from_point.header.frame_id      = uav_state.header.frame_id;
+    5592          41 :     from_point.reference.position.x = last_tracker_cmd->position.x;
+    5593          41 :     from_point.reference.position.y = last_tracker_cmd->position.y;
+    5594          41 :     from_point.reference.position.z = last_tracker_cmd->position.z;
+    5595             : 
+    5596          41 :     if (!isPathToPointInSafetyArea3d(from_point, transformed_reference)) {
+    5597           0 :       ss << "failed to set the reference, the path is going outside the safety area!";
+    5598           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5599           0 :       return std::tuple(false, ss.str());
+    5600             :     }
+    5601             :   }
+    5602             : 
+    5603          41 :   mrs_msgs::ReferenceSrvResponse::ConstPtr tracker_response;
+    5604             : 
+    5605             :   // prepare the message for current tracker
+    5606          41 :   mrs_msgs::ReferenceSrvRequest reference_request;
+    5607          41 :   reference_request.reference = transformed_reference.reference;
+    5608             : 
+    5609             :   {
+    5610          82 :     std::scoped_lock lock(mutex_tracker_list_);
+    5611             : 
+    5612         123 :     tracker_response = tracker_list_[active_tracker_idx_]->setReference(
+    5613         123 :         mrs_msgs::ReferenceSrvRequest::ConstPtr(std::make_unique<mrs_msgs::ReferenceSrvRequest>(reference_request)));
+    5614             : 
+    5615          41 :     if (tracker_response != mrs_msgs::ReferenceSrvResponse::Ptr()) {
+    5616             : 
+    5617          82 :       return std::tuple(tracker_response->success, tracker_response->message);
+    5618             : 
+    5619             :     } else {
+    5620             : 
+    5621           0 :       ss << "the tracker '" << _tracker_names_[active_tracker_idx_] << "' does not implement the 'setReference()' function!";
+    5622           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: failed to set the reference: " << ss.str());
+    5623           0 :       return std::tuple(false, ss.str());
+    5624             :     }
+    5625             :   }
+    5626             : }
+    5627             : 
+    5628             : //}
+    5629             : 
+    5630             : /* setVelocityReference() //{ */
+    5631             : 
+    5632         471 : std::tuple<bool, std::string> ControlManager::setVelocityReference(const mrs_msgs::VelocityReferenceStamped& reference_in) {
+    5633             : 
+    5634         942 :   std::stringstream ss;
+    5635             : 
+    5636         471 :   if (!callbacks_enabled_) {
+    5637           0 :     ss << "can not set the reference, the callbacks are disabled";
+    5638           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5639           0 :     return std::tuple(false, ss.str());
+    5640             :   }
+    5641             : 
+    5642         471 :   if (!validateVelocityReference(reference_in.reference, "ControlManager", "velocity_reference")) {
+    5643           0 :     ss << "velocity command is not valid!";
+    5644           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5645           0 :     return std::tuple(false, ss.str());
+    5646             :   }
+    5647             : 
+    5648             :   {
+    5649         471 :     std::scoped_lock lock(mutex_last_tracker_cmd_);
+    5650             : 
+    5651         471 :     if (!last_tracker_cmd_) {
+    5652           0 :       ss << "could not set velocity command, not flying!";
+    5653           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5654           0 :       return std::tuple(false, ss.str());
+    5655             :     }
+    5656             :   }
+    5657             : 
+    5658             :   // copy member variables
+    5659         942 :   auto uav_state        = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    5660         942 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5661             : 
+    5662             :   // | -- transform the velocity reference to the current frame - |
+    5663             : 
+    5664         942 :   mrs_msgs::VelocityReferenceStamped transformed_reference = reference_in;
+    5665             : 
+    5666         942 :   auto ret = transformer_->getTransform(reference_in.header.frame_id, uav_state.header.frame_id, reference_in.header.stamp);
+    5667             : 
+    5668         942 :   geometry_msgs::TransformStamped tf;
+    5669             : 
+    5670         471 :   if (!ret) {
+    5671           0 :     ss << "could not find tf from " << reference_in.header.frame_id << " to " << uav_state.header.frame_id;
+    5672           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5673           0 :     return std::tuple(false, ss.str());
+    5674             :   } else {
+    5675         471 :     tf = ret.value();
+    5676             :   }
+    5677             : 
+    5678             :   // transform the velocity
+    5679             :   {
+    5680         471 :     geometry_msgs::Vector3Stamped velocity;
+    5681         471 :     velocity.header   = reference_in.header;
+    5682         471 :     velocity.vector.x = reference_in.reference.velocity.x;
+    5683         471 :     velocity.vector.y = reference_in.reference.velocity.y;
+    5684         471 :     velocity.vector.z = reference_in.reference.velocity.z;
+    5685             : 
+    5686         471 :     auto ret = transformer_->transform(velocity, tf);
+    5687             : 
+    5688         471 :     if (!ret) {
+    5689             : 
+    5690           0 :       ss << "the velocity reference could not be transformed";
+    5691           0 :       ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5692           0 :       return std::tuple(false, ss.str());
+    5693             : 
+    5694             :     } else {
+    5695         471 :       transformed_reference.reference.velocity.x = ret->vector.x;
+    5696         471 :       transformed_reference.reference.velocity.y = ret->vector.y;
+    5697         471 :       transformed_reference.reference.velocity.z = ret->vector.z;
+    5698             :     }
+    5699             :   }
+    5700             : 
+    5701             :   // transform the z and the heading
+    5702             :   {
+    5703         471 :     geometry_msgs::PoseStamped pose;
+    5704         471 :     pose.header           = reference_in.header;
+    5705         471 :     pose.pose.position.x  = 0;
+    5706         471 :     pose.pose.position.y  = 0;
+    5707         471 :     pose.pose.position.z  = reference_in.reference.altitude;
+    5708         471 :     pose.pose.orientation = mrs_lib::AttitudeConverter(0, 0, reference_in.reference.heading);
+    5709             : 
+    5710         471 :     auto ret = transformer_->transform(pose, tf);
+    5711             : 
+    5712         471 :     if (!ret) {
+    5713             : 
+    5714           0 :       ss << "the velocity reference could not be transformed";
+    5715           0 :       ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5716           0 :       return std::tuple(false, ss.str());
+    5717             : 
+    5718             :     } else {
+    5719         471 :       transformed_reference.reference.altitude = ret->pose.position.z;
+    5720         471 :       transformed_reference.reference.heading  = mrs_lib::AttitudeConverter(ret->pose.orientation).getHeading();
+    5721             :     }
+    5722             :   }
+    5723             : 
+    5724             :   // the heading rate doees not need to be transformed
+    5725         471 :   transformed_reference.reference.heading_rate = reference_in.reference.heading_rate;
+    5726             : 
+    5727         471 :   transformed_reference.header.stamp    = tf.header.stamp;
+    5728         471 :   transformed_reference.header.frame_id = transformer_->frame_to(tf);
+    5729             : 
+    5730         942 :   mrs_msgs::ReferenceStamped eqivalent_reference = velocityReferenceToReference(transformed_reference);
+    5731             : 
+    5732         471 :   ROS_DEBUG("[ControlManager]: equivalent reference: %.2f, %.2f, %.2f, %.2f", eqivalent_reference.reference.position.x,
+    5733             :             eqivalent_reference.reference.position.y, eqivalent_reference.reference.position.z, eqivalent_reference.reference.heading);
+    5734             : 
+    5735             :   // safety area check
+    5736         471 :   if (!isPointInSafetyArea3d(eqivalent_reference)) {
+    5737           0 :     ss << "failed to set the reference, the point is outside of the safety area!";
+    5738           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5739           0 :     return std::tuple(false, ss.str());
+    5740             :   }
+    5741             : 
+    5742         471 :   if (last_tracker_cmd) {
+    5743             : 
+    5744         471 :     mrs_msgs::ReferenceStamped from_point;
+    5745         471 :     from_point.header.frame_id      = uav_state.header.frame_id;
+    5746         471 :     from_point.reference.position.x = last_tracker_cmd->position.x;
+    5747         471 :     from_point.reference.position.y = last_tracker_cmd->position.y;
+    5748         471 :     from_point.reference.position.z = last_tracker_cmd->position.z;
+    5749             : 
+    5750         471 :     if (!isPathToPointInSafetyArea3d(from_point, eqivalent_reference)) {
+    5751           0 :       ss << "failed to set the reference, the path is going outside the safety area!";
+    5752           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5753           0 :       return std::tuple(false, ss.str());
+    5754             :     }
+    5755             :   }
+    5756             : 
+    5757         471 :   mrs_msgs::VelocityReferenceSrvResponse::ConstPtr tracker_response;
+    5758             : 
+    5759             :   // prepare the message for current tracker
+    5760         471 :   mrs_msgs::VelocityReferenceSrvRequest reference_request;
+    5761         471 :   reference_request.reference = transformed_reference.reference;
+    5762             : 
+    5763             :   {
+    5764         942 :     std::scoped_lock lock(mutex_tracker_list_);
+    5765             : 
+    5766        1413 :     tracker_response = tracker_list_[active_tracker_idx_]->setVelocityReference(
+    5767        1413 :         mrs_msgs::VelocityReferenceSrvRequest::ConstPtr(std::make_unique<mrs_msgs::VelocityReferenceSrvRequest>(reference_request)));
+    5768             : 
+    5769         471 :     if (tracker_response != mrs_msgs::VelocityReferenceSrvResponse::Ptr()) {
+    5770             : 
+    5771         942 :       return std::tuple(tracker_response->success, tracker_response->message);
+    5772             : 
+    5773             :     } else {
+    5774             : 
+    5775           0 :       ss << "the tracker '" << _tracker_names_[active_tracker_idx_] << "' does not implement the 'setVelocityReference()' function!";
+    5776           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: failed to set the velocity reference: " << ss.str());
+    5777           0 :       return std::tuple(false, ss.str());
+    5778             :     }
+    5779             :   }
+    5780             : }
+    5781             : 
+    5782             : //}
+    5783             : 
+    5784             : /* setTrajectoryReference() //{ */
+    5785             : 
+    5786           4 : std::tuple<bool, std::string, bool, std::vector<std::string>, std::vector<bool>, std::vector<std::string>> ControlManager::setTrajectoryReference(
+    5787             :     const mrs_msgs::TrajectoryReference trajectory_in) {
+    5788             : 
+    5789           8 :   auto uav_state        = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    5790           8 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5791             : 
+    5792           8 :   std::stringstream ss;
+    5793             : 
+    5794           4 :   if (!callbacks_enabled_) {
+    5795           0 :     ss << "can not set the reference, the callbacks are disabled";
+    5796           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5797           0 :     return std::tuple(false, ss.str(), false, std::vector<std::string>(), std::vector<bool>(), std::vector<std::string>());
+    5798             :   }
+    5799             : 
+    5800             :   /* validate the size and check for NaNs //{ */
+    5801             : 
+    5802             :   // check for the size 0, which is invalid
+    5803           4 :   if (trajectory_in.points.size() == 0) {
+    5804             : 
+    5805           0 :     ss << "can not load trajectory with size 0";
+    5806           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5807           0 :     return std::tuple(false, ss.str(), false, std::vector<std::string>(), std::vector<bool>(), std::vector<std::string>());
+    5808             :   }
+    5809             : 
+    5810         544 :   for (int i = 0; i < int(trajectory_in.points.size()); i++) {
+    5811             : 
+    5812             :     // check the point for NaN/inf
+    5813         540 :     bool valid = validateReference(trajectory_in.points[i], "ControlManager", "trajectory_in.points[]");
+    5814             : 
+    5815         540 :     if (!valid) {
+    5816             : 
+    5817           0 :       ss << "trajectory contains NaNs/infs.";
+    5818           0 :       ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5819           0 :       return std::tuple(false, ss.str(), false, std::vector<std::string>(), std::vector<bool>(), std::vector<std::string>());
+    5820             :     }
+    5821             :   }
+    5822             : 
+    5823             :   //}
+    5824             : 
+    5825             :   /* publish the debugging topics of the original trajectory //{ */
+    5826             : 
+    5827             :   {
+    5828             : 
+    5829           8 :     geometry_msgs::PoseArray debug_trajectory_out;
+    5830           4 :     debug_trajectory_out.header = trajectory_in.header;
+    5831             : 
+    5832           4 :     debug_trajectory_out.header.frame_id = transformer_->resolveFrame(debug_trajectory_out.header.frame_id);
+    5833             : 
+    5834           4 :     if (debug_trajectory_out.header.stamp == ros::Time(0)) {
+    5835           0 :       debug_trajectory_out.header.stamp = ros::Time::now();
+    5836             :     }
+    5837             : 
+    5838         540 :     for (int i = 0; i < int(trajectory_in.points.size()) - 1; i++) {
+    5839             : 
+    5840         536 :       geometry_msgs::Pose new_pose;
+    5841             : 
+    5842         536 :       new_pose.position.x = trajectory_in.points[i].position.x;
+    5843         536 :       new_pose.position.y = trajectory_in.points[i].position.y;
+    5844         536 :       new_pose.position.z = trajectory_in.points[i].position.z;
+    5845             : 
+    5846         536 :       new_pose.orientation = mrs_lib::AttitudeConverter(0, 0, trajectory_in.points[i].heading);
+    5847             : 
+    5848         536 :       debug_trajectory_out.poses.push_back(new_pose);
+    5849             :     }
+    5850             : 
+    5851           4 :     pub_debug_original_trajectory_poses_.publish(debug_trajectory_out);
+    5852             : 
+    5853           8 :     visualization_msgs::MarkerArray msg_out;
+    5854             : 
+    5855           8 :     visualization_msgs::Marker marker;
+    5856             : 
+    5857           4 :     marker.header = trajectory_in.header;
+    5858             : 
+    5859           4 :     marker.header.frame_id = transformer_->resolveFrame(marker.header.frame_id);
+    5860             : 
+    5861           4 :     if (marker.header.frame_id == "") {
+    5862           0 :       marker.header.frame_id = uav_state.header.frame_id;
+    5863             :     }
+    5864             : 
+    5865           4 :     if (marker.header.stamp == ros::Time(0)) {
+    5866           0 :       marker.header.stamp = ros::Time::now();
+    5867             :     }
+    5868             : 
+    5869           4 :     marker.type             = visualization_msgs::Marker::LINE_LIST;
+    5870           4 :     marker.color.a          = 1;
+    5871           4 :     marker.scale.x          = 0.05;
+    5872           4 :     marker.color.r          = 0;
+    5873           4 :     marker.color.g          = 1;
+    5874           4 :     marker.color.b          = 0;
+    5875           4 :     marker.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    5876             : 
+    5877         540 :     for (int i = 0; i < int(trajectory_in.points.size()) - 1; i++) {
+    5878             : 
+    5879         536 :       geometry_msgs::Point point1;
+    5880             : 
+    5881         536 :       point1.x = trajectory_in.points[i].position.x;
+    5882         536 :       point1.y = trajectory_in.points[i].position.y;
+    5883         536 :       point1.z = trajectory_in.points[i].position.z;
+    5884             : 
+    5885         536 :       marker.points.push_back(point1);
+    5886             : 
+    5887         536 :       geometry_msgs::Point point2;
+    5888             : 
+    5889         536 :       point2.x = trajectory_in.points[i + 1].position.x;
+    5890         536 :       point2.y = trajectory_in.points[i + 1].position.y;
+    5891         536 :       point2.z = trajectory_in.points[i + 1].position.z;
+    5892             : 
+    5893         536 :       marker.points.push_back(point2);
+    5894             :     }
+    5895             : 
+    5896           4 :     msg_out.markers.push_back(marker);
+    5897             : 
+    5898           4 :     pub_debug_original_trajectory_markers_.publish(msg_out);
+    5899             :   }
+    5900             : 
+    5901             :   //}
+    5902             : 
+    5903           8 :   mrs_msgs::TrajectoryReference processed_trajectory = trajectory_in;
+    5904             : 
+    5905           4 :   int trajectory_size = int(processed_trajectory.points.size());
+    5906             : 
+    5907           4 :   bool trajectory_modified = false;
+    5908             : 
+    5909             :   /* safety area check //{ */
+    5910             : 
+    5911           4 :   if (use_safety_area_) {
+    5912             : 
+    5913           4 :     int last_valid_idx    = 0;
+    5914           4 :     int first_invalid_idx = -1;
+    5915             : 
+    5916           4 :     double min_z = getMinZ(processed_trajectory.header.frame_id);
+    5917           4 :     double max_z = getMaxZ(processed_trajectory.header.frame_id);
+    5918             : 
+    5919         544 :     for (int i = 0; i < trajectory_size; i++) {
+    5920             : 
+    5921         540 :       if (_snap_trajectory_to_safety_area_) {
+    5922             : 
+    5923             :         // saturate the trajectory to min and max Z
+    5924           0 :         if (processed_trajectory.points[i].position.z < min_z) {
+    5925             : 
+    5926           0 :           processed_trajectory.points[i].position.z = min_z;
+    5927           0 :           ROS_WARN_THROTTLE(1.0, "[ControlManager]: the trajectory violates the minimum Z!");
+    5928           0 :           trajectory_modified = true;
+    5929             :         }
+    5930             : 
+    5931           0 :         if (processed_trajectory.points[i].position.z > max_z) {
+    5932             : 
+    5933           0 :           processed_trajectory.points[i].position.z = max_z;
+    5934           0 :           ROS_WARN_THROTTLE(1.0, "[ControlManager]: the trajectory violates the maximum Z!");
+    5935           0 :           trajectory_modified = true;
+    5936             :         }
+    5937             :       }
+    5938             : 
+    5939             :       // check the point against the safety area
+    5940         540 :       mrs_msgs::ReferenceStamped des_reference;
+    5941         540 :       des_reference.header    = processed_trajectory.header;
+    5942         540 :       des_reference.reference = processed_trajectory.points[i];
+    5943             : 
+    5944         540 :       if (!isPointInSafetyArea3d(des_reference)) {
+    5945             : 
+    5946           0 :         ROS_WARN_THROTTLE(1.0, "[ControlManager]: the trajectory contains points outside of the safety area!");
+    5947           0 :         trajectory_modified = true;
+    5948             : 
+    5949             :         // the first invalid point
+    5950           0 :         if (first_invalid_idx == -1) {
+    5951             : 
+    5952           0 :           first_invalid_idx = i;
+    5953             : 
+    5954           0 :           last_valid_idx = i - 1;
+    5955             :         }
+    5956             : 
+    5957             :         // the point is ok
+    5958             :       } else {
+    5959             : 
+    5960             :         // we found a point, which is ok, after finding a point which was not ok
+    5961         540 :         if (first_invalid_idx != -1) {
+    5962             : 
+    5963             :           // special case, we had no valid point so far
+    5964           0 :           if (last_valid_idx == -1) {
+    5965             : 
+    5966           0 :             ss << "the trajectory starts outside of the safety area!";
+    5967           0 :             ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5968           0 :             return std::tuple(false, ss.str(), false, std::vector<std::string>(), std::vector<bool>(), std::vector<std::string>());
+    5969             : 
+    5970             :             // we have a valid point in the past
+    5971             :           } else {
+    5972             : 
+    5973           0 :             if (!_snap_trajectory_to_safety_area_) {
+    5974           0 :               break;
+    5975             :             }
+    5976             : 
+    5977           0 :             bool interpolation_success = true;
+    5978             : 
+    5979             :             // iterpolate between the last valid point and this new valid point
+    5980           0 :             double angle = atan2((processed_trajectory.points[i].position.y - processed_trajectory.points[last_valid_idx].position.y),
+    5981           0 :                                  (processed_trajectory.points[i].position.x - processed_trajectory.points[last_valid_idx].position.x));
+    5982             : 
+    5983             :             double dist_two_points =
+    5984           0 :                 mrs_lib::geometry::dist(vec2_t(processed_trajectory.points[i].position.x, processed_trajectory.points[i].position.y),
+    5985           0 :                                         vec2_t(processed_trajectory.points[last_valid_idx].position.x, processed_trajectory.points[last_valid_idx].position.y));
+    5986           0 :             double step = dist_two_points / (i - last_valid_idx);
+    5987             : 
+    5988           0 :             for (int j = last_valid_idx; j < i; j++) {
+    5989             : 
+    5990           0 :               mrs_msgs::ReferenceStamped temp_point;
+    5991           0 :               temp_point.header.frame_id      = processed_trajectory.header.frame_id;
+    5992           0 :               temp_point.reference.position.x = processed_trajectory.points[last_valid_idx].position.x + (j - last_valid_idx) * cos(angle) * step;
+    5993           0 :               temp_point.reference.position.y = processed_trajectory.points[last_valid_idx].position.y + (j - last_valid_idx) * sin(angle) * step;
+    5994             : 
+    5995           0 :               if (!isPointInSafetyArea2d(temp_point)) {
+    5996             : 
+    5997           0 :                 interpolation_success = false;
+    5998           0 :                 break;
+    5999             : 
+    6000             :               } else {
+    6001             : 
+    6002           0 :                 processed_trajectory.points[j].position.x = temp_point.reference.position.x;
+    6003           0 :                 processed_trajectory.points[j].position.y = temp_point.reference.position.y;
+    6004             :               }
+    6005             :             }
+    6006             : 
+    6007           0 :             if (!interpolation_success) {
+    6008           0 :               break;
+    6009             :             }
+    6010             :           }
+    6011             : 
+    6012           0 :           first_invalid_idx = -1;
+    6013             :         }
+    6014             :       }
+    6015             :     }
+    6016             : 
+    6017             :     // special case, the trajectory does not end with a valid point
+    6018           4 :     if (first_invalid_idx != -1) {
+    6019             : 
+    6020             :       // super special case, the whole trajectory is invalid
+    6021           0 :       if (first_invalid_idx == 0) {
+    6022             : 
+    6023           0 :         ss << "the whole trajectory is outside of the safety area!";
+    6024           0 :         ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    6025           0 :         return std::tuple(false, ss.str(), false, std::vector<std::string>(), std::vector<bool>(), std::vector<std::string>());
+    6026             : 
+    6027             :         // there is a good portion of the trajectory in the beginning
+    6028             :       } else {
+    6029             : 
+    6030           0 :         trajectory_size = last_valid_idx + 1;
+    6031           0 :         processed_trajectory.points.resize(trajectory_size);
+    6032           0 :         trajectory_modified = true;
+    6033             :       }
+    6034             :     }
+    6035             :   }
+    6036             : 
+    6037           4 :   if (trajectory_size == 0) {
+    6038             : 
+    6039           0 :     ss << "the trajectory happened to be empty after all the checks! This message should not appear!";
+    6040           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    6041           0 :     return std::tuple(false, ss.str(), false, std::vector<std::string>(), std::vector<bool>(), std::vector<std::string>());
+    6042             :   }
+    6043             : 
+    6044             :   //}
+    6045             : 
+    6046             :   /* transform the trajectory to the current control frame //{ */
+    6047             : 
+    6048           4 :   std::optional<geometry_msgs::TransformStamped> tf_traj_state;
+    6049             : 
+    6050           4 :   if (processed_trajectory.header.stamp > ros::Time::now()) {
+    6051           0 :     tf_traj_state = transformer_->getTransform(processed_trajectory.header.frame_id, "", processed_trajectory.header.stamp);
+    6052             :   } else {
+    6053           4 :     tf_traj_state = transformer_->getTransform(processed_trajectory.header.frame_id, "", uav_state_.header.stamp);
+    6054             :   }
+    6055             : 
+    6056           4 :   if (!tf_traj_state) {
+    6057           0 :     ss << "could not create TF transformer for the trajectory";
+    6058           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    6059           0 :     return std::tuple(false, ss.str(), false, std::vector<std::string>(), std::vector<bool>(), std::vector<std::string>());
+    6060             :   }
+    6061             : 
+    6062           4 :   processed_trajectory.header.frame_id = transformer_->frame_to(*tf_traj_state);
+    6063             : 
+    6064         544 :   for (int i = 0; i < trajectory_size; i++) {
+    6065             : 
+    6066         540 :     mrs_msgs::ReferenceStamped trajectory_point;
+    6067         540 :     trajectory_point.header    = processed_trajectory.header;
+    6068         540 :     trajectory_point.reference = processed_trajectory.points[i];
+    6069             : 
+    6070         540 :     auto ret = transformer_->transform(trajectory_point, *tf_traj_state);
+    6071             : 
+    6072         540 :     if (!ret) {
+    6073             : 
+    6074           0 :       ss << "trajectory cannnot be transformed";
+    6075           0 :       ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    6076           0 :       return std::tuple(false, ss.str(), false, std::vector<std::string>(), std::vector<bool>(), std::vector<std::string>());
+    6077             : 
+    6078             :     } else {
+    6079             : 
+    6080             :       // transform the points in the trajectory to the current frame
+    6081         540 :       processed_trajectory.points[i] = ret.value().reference;
+    6082             :     }
+    6083             :   }
+    6084             : 
+    6085             :   //}
+    6086             : 
+    6087           4 :   mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr response;
+    6088           8 :   mrs_msgs::TrajectoryReferenceSrvRequest            request;
+    6089             : 
+    6090             :   // check for empty trajectory
+    6091           4 :   if (processed_trajectory.points.size() == 0) {
+    6092           0 :     ss << "reference trajectory was processing and it is now empty, this should not happen!";
+    6093           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    6094           0 :     return std::tuple(false, ss.str(), false, std::vector<std::string>(), std::vector<bool>(), std::vector<std::string>());
+    6095             :   }
+    6096             : 
+    6097             :   // prepare the message for current tracker
+    6098           4 :   request.trajectory = processed_trajectory;
+    6099             : 
+    6100             :   bool                     success;
+    6101           8 :   std::string              message;
+    6102             :   bool                     modified;
+    6103           8 :   std::vector<std::string> tracker_names;
+    6104           8 :   std::vector<bool>        tracker_successes;
+    6105           8 :   std::vector<std::string> tracker_messages;
+    6106             : 
+    6107             :   {
+    6108           8 :     std::scoped_lock lock(mutex_tracker_list_);
+    6109             : 
+    6110             :     // set the trajectory to the currently active tracker
+    6111          12 :     response = tracker_list_[active_tracker_idx_]->setTrajectoryReference(
+    6112          12 :         mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr(std::make_unique<mrs_msgs::TrajectoryReferenceSrvRequest>(request)));
+    6113             : 
+    6114           4 :     tracker_names.push_back(_tracker_names_[active_tracker_idx_]);
+    6115             : 
+    6116           4 :     if (response != mrs_msgs::TrajectoryReferenceSrvResponse::Ptr()) {
+    6117             : 
+    6118           3 :       success  = response->success;
+    6119           3 :       message  = response->message;
+    6120           3 :       modified = response->modified || trajectory_modified;
+    6121           3 :       tracker_successes.push_back(response->success);
+    6122           3 :       tracker_messages.push_back(response->message);
+    6123             : 
+    6124             :     } else {
+    6125             : 
+    6126           1 :       ss << "the active tracker '" << _tracker_names_[active_tracker_idx_] << "' does not implement the 'setTrajectoryReference()' function!";
+    6127           1 :       ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    6128             : 
+    6129           1 :       success  = true;
+    6130           1 :       message  = ss.str();
+    6131           1 :       modified = false;
+    6132           1 :       tracker_successes.push_back(false);
+    6133           1 :       tracker_messages.push_back(ss.str());
+    6134             :     }
+    6135             : 
+    6136             :     // set the trajectory to the non-active trackers
+    6137          28 :     for (size_t i = 0; i < tracker_list_.size(); i++) {
+    6138             : 
+    6139          24 :       if (i != active_tracker_idx_) {
+    6140             : 
+    6141          20 :         tracker_names.push_back(_tracker_names_[i]);
+    6142             : 
+    6143          60 :         response = tracker_list_[i]->setTrajectoryReference(
+    6144          60 :             mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr(std::make_unique<mrs_msgs::TrajectoryReferenceSrvRequest>(request)));
+    6145             : 
+    6146          20 :         if (response != mrs_msgs::TrajectoryReferenceSrvResponse::Ptr()) {
+    6147             : 
+    6148           1 :           tracker_successes.push_back(response->success);
+    6149           1 :           tracker_messages.push_back(response->message);
+    6150             : 
+    6151           1 :           if (response->success) {
+    6152           2 :             std::stringstream ss;
+    6153           1 :             ss << "trajectory loaded to non-active tracker '" << _tracker_names_[i];
+    6154           1 :             ROS_INFO_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    6155             :           }
+    6156             : 
+    6157             :         } else {
+    6158             : 
+    6159          19 :           std::stringstream ss;
+    6160          19 :           ss << "the tracker \"" << _tracker_names_[i] << "\" does not implement setTrajectoryReference()";
+    6161          19 :           tracker_successes.push_back(false);
+    6162          19 :           tracker_messages.push_back(ss.str());
+    6163             :         }
+    6164             :       }
+    6165             :     }
+    6166             :   }
+    6167             : 
+    6168           4 :   return std::tuple(success, message, modified, tracker_names, tracker_successes, tracker_messages);
+    6169             : }
+    6170             : 
+    6171             : //}
+    6172             : 
+    6173             : /* isOffboard() //{ */
+    6174             : 
+    6175          16 : bool ControlManager::isOffboard(void) {
+    6176             : 
+    6177          16 :   if (!sh_hw_api_status_.hasMsg()) {
+    6178           0 :     return false;
+    6179             :   }
+    6180             : 
+    6181          16 :   mrs_msgs::HwApiStatusConstPtr hw_api_status = sh_hw_api_status_.getMsg();
+    6182             : 
+    6183          16 :   return hw_api_status->connected && hw_api_status->offboard;
+    6184             : }
+    6185             : 
+    6186             : //}
+    6187             : 
+    6188             : /* setCallbacks() //{ */
+    6189             : 
+    6190          84 : void ControlManager::setCallbacks(bool in) {
+    6191             : 
+    6192          84 :   callbacks_enabled_ = in;
+    6193             : 
+    6194          84 :   std_srvs::SetBoolRequest req_enable_callbacks;
+    6195          84 :   req_enable_callbacks.data = callbacks_enabled_;
+    6196             : 
+    6197             :   {
+    6198         168 :     std::scoped_lock lock(mutex_tracker_list_);
+    6199             : 
+    6200             :     // set callbacks to all trackers
+    6201         588 :     for (int i = 0; i < int(tracker_list_.size()); i++) {
+    6202         504 :       tracker_list_[i]->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    6203             :     }
+    6204             :   }
+    6205          84 : }
+    6206             : 
+    6207             : //}
+    6208             : 
+    6209             : /* publishDiagnostics() //{ */
+    6210             : 
+    6211       11145 : void ControlManager::publishDiagnostics(void) {
+    6212             : 
+    6213       11145 :   if (!is_initialized_) {
+    6214           0 :     return;
+    6215             :   }
+    6216             : 
+    6217       33435 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("publishDiagnostics");
+    6218       33435 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::publishDiagnostics", scope_timer_logger_, scope_timer_enabled_);
+    6219             : 
+    6220       22290 :   std::scoped_lock lock(mutex_diagnostics_);
+    6221             : 
+    6222       22290 :   mrs_msgs::ControlManagerDiagnostics diagnostics_msg;
+    6223             : 
+    6224       11145 :   diagnostics_msg.stamp    = ros::Time::now();
+    6225       11145 :   diagnostics_msg.uav_name = _uav_name_;
+    6226             : 
+    6227       11145 :   diagnostics_msg.desired_uav_state_rate = desired_uav_state_rate_;
+    6228             : 
+    6229       11145 :   diagnostics_msg.output_enabled = output_enabled_;
+    6230             : 
+    6231       11145 :   diagnostics_msg.rc_mode = rc_goto_active_;
+    6232             : 
+    6233             :   {
+    6234       11145 :     std::scoped_lock lock(mutex_tracker_list_, mutex_controller_list_);
+    6235             : 
+    6236       11145 :     diagnostics_msg.flying_normally = isFlyingNormally();
+    6237             :   }
+    6238             : 
+    6239             :   // | ----------------- fill the tracker status ---------------- |
+    6240             : 
+    6241             :   {
+    6242       22290 :     std::scoped_lock lock(mutex_tracker_list_);
+    6243             : 
+    6244       11145 :     mrs_msgs::TrackerStatus tracker_status;
+    6245             : 
+    6246       11145 :     diagnostics_msg.active_tracker = _tracker_names_[active_tracker_idx_];
+    6247       11145 :     diagnostics_msg.tracker_status = tracker_list_[active_tracker_idx_]->getStatus();
+    6248             :   }
+    6249             : 
+    6250             :   // | --------------- fill the controller status --------------- |
+    6251             : 
+    6252             :   {
+    6253       22290 :     std::scoped_lock lock(mutex_controller_list_);
+    6254             : 
+    6255       11145 :     mrs_msgs::ControllerStatus controller_status;
+    6256             : 
+    6257       11145 :     diagnostics_msg.active_controller = _controller_names_[active_controller_idx_];
+    6258       11145 :     diagnostics_msg.controller_status = controller_list_[active_controller_idx_]->getStatus();
+    6259             :   }
+    6260             : 
+    6261             :   // | ------------ fill in the available controllers ----------- |
+    6262             : 
+    6263       66870 :   for (int i = 0; i < int(_controller_names_.size()); i++) {
+    6264       55725 :     if ((_controller_names_[i] != _failsafe_controller_name_) && (_controller_names_[i] != _eland_controller_name_)) {
+    6265       33435 :       diagnostics_msg.available_controllers.push_back(_controller_names_[i]);
+    6266       33435 :       diagnostics_msg.human_switchable_controllers.push_back(controllers_.at(_controller_names_[i]).human_switchable);
+    6267             :     }
+    6268             :   }
+    6269             : 
+    6270             :   // | ------------- fill in the available trackers ------------- |
+    6271             : 
+    6272       78236 :   for (int i = 0; i < int(_tracker_names_.size()); i++) {
+    6273       67091 :     if (_tracker_names_[i] != _null_tracker_name_) {
+    6274       55946 :       diagnostics_msg.available_trackers.push_back(_tracker_names_[i]);
+    6275       55946 :       diagnostics_msg.human_switchable_trackers.push_back(trackers_.at(_tracker_names_[i]).human_switchable);
+    6276             :     }
+    6277             :   }
+    6278             : 
+    6279             :   // | ------------------------- publish ------------------------ |
+    6280             : 
+    6281       11145 :   ph_diagnostics_.publish(diagnostics_msg);
+    6282             : }
+    6283             : 
+    6284             : //}
+    6285             : 
+    6286             : /* setConstraintsToTrackers() //{ */
+    6287             : 
+    6288         206 : void ControlManager::setConstraintsToTrackers(const mrs_msgs::DynamicsConstraintsSrvRequest& constraints) {
+    6289             : 
+    6290         618 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("setConstraintsToTrackers");
+    6291         618 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::setConstraintsToTrackers", scope_timer_logger_, scope_timer_enabled_);
+    6292             : 
+    6293         206 :   mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr response;
+    6294             : 
+    6295             :   {
+    6296         412 :     std::scoped_lock lock(mutex_tracker_list_);
+    6297             : 
+    6298             :     // for each tracker
+    6299        1445 :     for (int i = 0; i < int(tracker_list_.size()); i++) {
+    6300             : 
+    6301             :       // if it is the active one, update and retrieve the command
+    6302        3717 :       response = tracker_list_[i]->setConstraints(
+    6303        3717 :           mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr(std::make_unique<mrs_msgs::DynamicsConstraintsSrvRequest>(constraints)));
+    6304             :     }
+    6305             :   }
+    6306         206 : }
+    6307             : 
+    6308             : //}
+    6309             : 
+    6310             : /* setConstraintsToControllers() //{ */
+    6311             : 
+    6312         253 : void ControlManager::setConstraintsToControllers(const mrs_msgs::DynamicsConstraintsSrvRequest& constraints) {
+    6313             : 
+    6314         759 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("setConstraintsToControllers");
+    6315         759 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::setConstraintsToControllers", scope_timer_logger_, scope_timer_enabled_);
+    6316             : 
+    6317         253 :   mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr response;
+    6318             : 
+    6319             :   {
+    6320         506 :     std::scoped_lock lock(mutex_controller_list_);
+    6321             : 
+    6322             :     // for each controller
+    6323        1518 :     for (int i = 0; i < int(controller_list_.size()); i++) {
+    6324             : 
+    6325             :       // if it is the active one, update and retrieve the command
+    6326        3795 :       response = controller_list_[i]->setConstraints(
+    6327        3795 :           mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr(std::make_unique<mrs_msgs::DynamicsConstraintsSrvRequest>(constraints)));
+    6328             :     }
+    6329             :   }
+    6330         253 : }
+    6331             : 
+    6332             : //}
+    6333             : 
+    6334             : /* setConstraints() //{ */
+    6335             : 
+    6336          65 : void ControlManager::setConstraints(const mrs_msgs::DynamicsConstraintsSrvRequest& constraints) {
+    6337             : 
+    6338         195 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("setConstraints");
+    6339         195 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::setConstraints", scope_timer_logger_, scope_timer_enabled_);
+    6340             : 
+    6341          65 :   mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr response;
+    6342             : 
+    6343          65 :   setConstraintsToTrackers(constraints);
+    6344             : 
+    6345          65 :   setConstraintsToControllers(constraints);
+    6346          65 : }
+    6347             : 
+    6348             : //}
+    6349             : 
+    6350             : 
+    6351             : /* enforceControllerConstraints() //{ */
+    6352             : 
+    6353       77551 : std::optional<mrs_msgs::DynamicsConstraintsSrvRequest> ControlManager::enforceControllersConstraints(
+    6354             :     const mrs_msgs::DynamicsConstraintsSrvRequest& constraints) {
+    6355             : 
+    6356             :   // copy member variables
+    6357      155102 :   auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    6358             : 
+    6359       77551 :   if (!last_control_output.control_output || !last_control_output.diagnostics.controller_enforcing_constraints) {
+    6360       63730 :     return {};
+    6361             :   }
+    6362             : 
+    6363       13821 :   bool enforcing = false;
+    6364             : 
+    6365       13821 :   auto constraints_out = constraints;
+    6366             : 
+    6367       27642 :   std::scoped_lock lock(mutex_tracker_list_);
+    6368             : 
+    6369             :   // enforce horizontal speed
+    6370       13821 :   if (last_control_output.diagnostics.horizontal_speed_constraint < constraints.constraints.horizontal_speed) {
+    6371       10575 :     constraints_out.constraints.horizontal_speed = last_control_output.diagnostics.horizontal_speed_constraint;
+    6372             : 
+    6373       10575 :     enforcing = true;
+    6374             :   }
+    6375             : 
+    6376             :   // enforce horizontal acceleration
+    6377       13821 :   if (last_control_output.diagnostics.horizontal_acc_constraint < constraints.constraints.horizontal_acceleration) {
+    6378       13199 :     constraints_out.constraints.horizontal_acceleration = last_control_output.diagnostics.horizontal_acc_constraint;
+    6379             : 
+    6380       13199 :     enforcing = true;
+    6381             :   }
+    6382             : 
+    6383             :   // enforce vertical ascending speed
+    6384       13821 :   if (last_control_output.diagnostics.vertical_asc_speed_constraint < constraints.constraints.vertical_ascending_speed) {
+    6385       10575 :     constraints_out.constraints.vertical_ascending_speed = last_control_output.diagnostics.vertical_asc_speed_constraint;
+    6386             : 
+    6387       10575 :     enforcing = true;
+    6388             :   }
+    6389             : 
+    6390             :   // enforce vertical ascending acceleration
+    6391       13821 :   if (last_control_output.diagnostics.vertical_asc_acc_constraint < constraints.constraints.vertical_ascending_acceleration) {
+    6392           0 :     constraints_out.constraints.vertical_ascending_acceleration = last_control_output.diagnostics.vertical_asc_acc_constraint;
+    6393             : 
+    6394           0 :     enforcing = true;
+    6395             :   }
+    6396             : 
+    6397             :   // enforce vertical descending speed
+    6398       13821 :   if (last_control_output.diagnostics.vertical_desc_speed_constraint < constraints.constraints.vertical_descending_speed) {
+    6399       10575 :     constraints_out.constraints.vertical_descending_speed = last_control_output.diagnostics.vertical_desc_speed_constraint;
+    6400             : 
+    6401       10575 :     enforcing = true;
+    6402             :   }
+    6403             : 
+    6404             :   // enforce vertical descending acceleration
+    6405       13821 :   if (last_control_output.diagnostics.vertical_desc_acc_constraint < constraints.constraints.vertical_descending_acceleration) {
+    6406           0 :     constraints_out.constraints.vertical_descending_acceleration = last_control_output.diagnostics.vertical_desc_acc_constraint;
+    6407             : 
+    6408           0 :     enforcing = true;
+    6409             :   }
+    6410             : 
+    6411       13821 :   if (enforcing) {
+    6412       13199 :     return {constraints_out};
+    6413             :   } else {
+    6414         622 :     return {};
+    6415             :   }
+    6416             : }
+    6417             : 
+    6418             : //}
+    6419             : 
+    6420             : /* isFlyingNormally() //{ */
+    6421             : 
+    6422       11147 : bool ControlManager::isFlyingNormally(void) {
+    6423             : 
+    6424        9032 :   return callbacks_enabled_ && (output_enabled_) && (offboard_mode_) && (armed_) &&
+    6425        6217 :          (((active_tracker_idx_ != _ehover_tracker_idx_) && (active_controller_idx_ != _eland_controller_idx_) &&
+    6426        6217 :            (active_controller_idx_ != _failsafe_controller_idx_)) ||
+    6427       21651 :           _controller_names_.size() == 1) &&
+    6428       15892 :          (((active_tracker_idx_ != _null_tracker_idx_) && (active_tracker_idx_ != _landoff_tracker_idx_)) || _tracker_names_.size() == 1);
+    6429             : }
+    6430             : 
+    6431             : //}
+    6432             : 
+    6433             : /* //{ getMass() */
+    6434             : 
+    6435         337 : double ControlManager::getMass(void) {
+    6436             : 
+    6437         674 :   auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    6438             : 
+    6439         337 :   if (last_control_output.diagnostics.mass_estimator) {
+    6440          12 :     return _uav_mass_ + last_control_output.diagnostics.mass_difference;
+    6441             :   } else {
+    6442         325 :     return _uav_mass_;
+    6443             :   }
+    6444             : }
+    6445             : 
+    6446             : //}
+    6447             : 
+    6448             : /* loadConfigFile() //{ */
+    6449             : 
+    6450           0 : bool ControlManager::loadConfigFile(const std::string& file_path, const std::string ns) {
+    6451             : 
+    6452           0 :   const std::string name_space = nh_.getNamespace() + "/" + ns;
+    6453             : 
+    6454           0 :   ROS_INFO("[ControlManager]: loading '%s' under the namespace '%s'", file_path.c_str(), name_space.c_str());
+    6455             : 
+    6456             :   // load the user-requested file
+    6457             :   {
+    6458           0 :     std::string command = "rosparam load " + file_path + " " + name_space;
+    6459           0 :     int         result  = std::system(command.c_str());
+    6460             : 
+    6461           0 :     if (result != 0) {
+    6462           0 :       ROS_ERROR("[ControlManager]: failed to load '%s'", file_path.c_str());
+    6463           0 :       return false;
+    6464             :     }
+    6465             :   }
+    6466             : 
+    6467             :   // load the platform config
+    6468           0 :   if (_platform_config_ != "") {
+    6469           0 :     std::string command = "rosparam load " + _platform_config_ + " " + name_space;
+    6470           0 :     int         result  = std::system(command.c_str());
+    6471             : 
+    6472           0 :     if (result != 0) {
+    6473           0 :       ROS_ERROR("[ControlManager]: failed to load the platform config file '%s'", _platform_config_.c_str());
+    6474           0 :       return false;
+    6475             :     }
+    6476             :   }
+    6477             : 
+    6478             :   // load the custom config
+    6479           0 :   if (_custom_config_ != "") {
+    6480           0 :     std::string command = "rosparam load " + _custom_config_ + " " + name_space;
+    6481           0 :     int         result  = std::system(command.c_str());
+    6482             : 
+    6483           0 :     if (result != 0) {
+    6484           0 :       ROS_ERROR("[ControlManager]: failed to load the custom config file '%s'", _custom_config_.c_str());
+    6485           0 :       return false;
+    6486             :     }
+    6487             :   }
+    6488             : 
+    6489           0 :   return true;
+    6490             : }
+    6491             : 
+    6492             : //}
+    6493             : 
+    6494             : // | ----------------------- safety area ---------------------- |
+    6495             : 
+    6496             : /* //{ isPointInSafetyArea3d() */
+    6497             : 
+    6498        1114 : bool ControlManager::isPointInSafetyArea3d(const mrs_msgs::ReferenceStamped& point) {
+    6499             : 
+    6500        1114 :   if (!use_safety_area_) {
+    6501         481 :     return true;
+    6502             :   }
+    6503             : 
+    6504        1266 :   auto tfed_horizontal = transformer_->transformSingle(point, _safety_area_horizontal_frame_);
+    6505             : 
+    6506         633 :   if (!tfed_horizontal) {
+    6507           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: SafetyArea: Could not transform the point to the safety area horizontal frame");
+    6508           0 :     return false;
+    6509             :   }
+    6510             : 
+    6511         633 :   if (!safety_zone_->isPointValid(tfed_horizontal->reference.position.x, tfed_horizontal->reference.position.y)) {
+    6512           0 :     return false;
+    6513             :   }
+    6514             : 
+    6515         633 :   if (point.reference.position.z < getMinZ(point.header.frame_id) || point.reference.position.z > getMaxZ(point.header.frame_id)) {
+    6516           0 :     return false;
+    6517             :   }
+    6518             : 
+    6519         633 :   return true;
+    6520             : }
+    6521             : 
+    6522             : //}
+    6523             : 
+    6524             : /* //{ isPointInSafetyArea2d() */
+    6525             : 
+    6526        4173 : bool ControlManager::isPointInSafetyArea2d(const mrs_msgs::ReferenceStamped& point) {
+    6527             : 
+    6528        4173 :   if (!use_safety_area_) {
+    6529         487 :     return true;
+    6530             :   }
+    6531             : 
+    6532        7372 :   auto tfed_horizontal = transformer_->transformSingle(point, _safety_area_horizontal_frame_);
+    6533             : 
+    6534        3686 :   if (!tfed_horizontal) {
+    6535           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: SafetyArea: Could not transform the point to the safety area horizontal frame");
+    6536           0 :     return false;
+    6537             :   }
+    6538             : 
+    6539        3686 :   if (!safety_zone_->isPointValid(tfed_horizontal->reference.position.x, tfed_horizontal->reference.position.y)) {
+    6540          74 :     return false;
+    6541             :   }
+    6542             : 
+    6543        3612 :   return true;
+    6544             : }
+    6545             : 
+    6546             : //}
+    6547             : 
+    6548             : /* //{ isPathToPointInSafetyArea3d() */
+    6549             : 
+    6550         512 : bool ControlManager::isPathToPointInSafetyArea3d(const mrs_msgs::ReferenceStamped& start, const mrs_msgs::ReferenceStamped& end) {
+    6551             : 
+    6552         512 :   if (!use_safety_area_) {
+    6553         481 :     return true;
+    6554             :   }
+    6555             : 
+    6556          31 :   if (!isPointInSafetyArea3d(start) || !isPointInSafetyArea3d(end)) {
+    6557           0 :     return false;
+    6558             :   }
+    6559             : 
+    6560          62 :   mrs_msgs::ReferenceStamped start_transformed, end_transformed;
+    6561             : 
+    6562             :   {
+    6563          31 :     auto ret = transformer_->transformSingle(start, _safety_area_horizontal_frame_);
+    6564             : 
+    6565          31 :     if (!ret) {
+    6566             : 
+    6567           0 :       ROS_ERROR("[ControlManager]: SafetyArea: Could not transform the first point in the path");
+    6568             : 
+    6569           0 :       return false;
+    6570             :     }
+    6571             : 
+    6572          31 :     start_transformed = ret.value();
+    6573             :   }
+    6574             : 
+    6575             :   {
+    6576          31 :     auto ret = transformer_->transformSingle(end, _safety_area_horizontal_frame_);
+    6577             : 
+    6578          31 :     if (!ret) {
+    6579             : 
+    6580           0 :       ROS_ERROR("[ControlManager]: SafetyArea: Could not transform the first point in the path");
+    6581             : 
+    6582           0 :       return false;
+    6583             :     }
+    6584             : 
+    6585          31 :     end_transformed = ret.value();
+    6586             :   }
+    6587             : 
+    6588          31 :   return safety_zone_->isPathValid(start_transformed.reference.position.x, start_transformed.reference.position.y, end_transformed.reference.position.x,
+    6589          31 :                                    end_transformed.reference.position.y);
+    6590             : }
+    6591             : 
+    6592             : //}
+    6593             : 
+    6594             : /* //{ isPathToPointInSafetyArea2d() */
+    6595             : 
+    6596          31 : bool ControlManager::isPathToPointInSafetyArea2d(const mrs_msgs::ReferenceStamped& start, const mrs_msgs::ReferenceStamped& end) {
+    6597          31 :   if (!use_safety_area_) {
+    6598           0 :     return true;
+    6599             :   }
+    6600             : 
+    6601          62 :   mrs_msgs::ReferenceStamped start_transformed, end_transformed;
+    6602             : 
+    6603          31 :   if (!isPointInSafetyArea2d(start) || !isPointInSafetyArea2d(end)) {
+    6604           0 :     return false;
+    6605             :   }
+    6606             : 
+    6607             :   {
+    6608          31 :     auto ret = transformer_->transformSingle(start, _safety_area_horizontal_frame_);
+    6609             : 
+    6610          31 :     if (!ret) {
+    6611             : 
+    6612           0 :       ROS_ERROR("[ControlManager]: SafetyArea: Could not transform the first point in the path");
+    6613             : 
+    6614           0 :       return false;
+    6615             :     }
+    6616             : 
+    6617          31 :     start_transformed = ret.value();
+    6618             :   }
+    6619             : 
+    6620             :   {
+    6621          31 :     auto ret = transformer_->transformSingle(end, _safety_area_horizontal_frame_);
+    6622             : 
+    6623          31 :     if (!ret) {
+    6624             : 
+    6625           0 :       ROS_ERROR("[ControlManager]: SafetyArea: Could not transform the first point in the path");
+    6626             : 
+    6627           0 :       return false;
+    6628             :     }
+    6629             : 
+    6630          31 :     end_transformed = ret.value();
+    6631             :   }
+    6632             : 
+    6633          31 :   return safety_zone_->isPathValid(start_transformed.reference.position.x, start_transformed.reference.position.y, end_transformed.reference.position.x,
+    6634          31 :                                    end_transformed.reference.position.y);
+    6635             : }
+    6636             : 
+    6637             : //}
+    6638             : 
+    6639             : /* //{ getMaxZ() */
+    6640             : 
+    6641        8030 : double ControlManager::getMaxZ(const std::string& frame_id) {
+    6642             : 
+    6643             :   // | ------- first, calculate max_z from the safety area ------ |
+    6644             : 
+    6645        8030 :   double safety_area_max_z = std::numeric_limits<float>::max();
+    6646             : 
+    6647             :   {
+    6648             : 
+    6649       16060 :     geometry_msgs::PointStamped point;
+    6650             : 
+    6651        8030 :     point.header.frame_id = _safety_area_vertical_frame_;
+    6652        8030 :     point.point.x         = 0;
+    6653        8030 :     point.point.y         = 0;
+    6654        8030 :     point.point.z         = _safety_area_max_z_;
+    6655             : 
+    6656        8030 :     auto ret = transformer_->transformSingle(point, frame_id);
+    6657             : 
+    6658        8030 :     if (!ret) {
+    6659           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: SafetyArea: Could not transform safety area's max_z to '%s'", frame_id.c_str());
+    6660             :     }
+    6661             : 
+    6662        8030 :     safety_area_max_z = ret->point.z;
+    6663             :   }
+    6664             : 
+    6665             :   // | ------------ overwrite from estimation manager ----------- |
+    6666             : 
+    6667        8030 :   double estimation_manager_max_z = std::numeric_limits<float>::max();
+    6668             : 
+    6669             :   {
+    6670             :     // if possible, override it with max z from the estimation manager
+    6671        8030 :     if (sh_max_z_.hasMsg()) {
+    6672             : 
+    6673       16032 :       auto msg = sh_max_z_.getMsg();
+    6674             : 
+    6675             :       // transform it into the safety area frame
+    6676       16032 :       geometry_msgs::PointStamped point;
+    6677        8016 :       point.header  = msg->header;
+    6678        8016 :       point.point.x = 0;
+    6679        8016 :       point.point.y = 0;
+    6680        8016 :       point.point.z = msg->value;
+    6681             : 
+    6682        8016 :       auto ret = transformer_->transformSingle(point, frame_id);
+    6683             : 
+    6684        8016 :       if (!ret) {
+    6685           0 :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: SafetyArea: Could not transform estimation manager's max_z to the current control frame");
+    6686             :       }
+    6687             : 
+    6688        8016 :       estimation_manager_max_z = ret->point.z;
+    6689             :     }
+    6690             :   }
+    6691             : 
+    6692        8030 :   if (estimation_manager_max_z < safety_area_max_z) {
+    6693        7646 :     return estimation_manager_max_z;
+    6694             :   } else {
+    6695         384 :     return safety_area_max_z;
+    6696             :   }
+    6697             : }
+    6698             : 
+    6699             : //}
+    6700             : 
+    6701             : /* //{ getMinZ() */
+    6702             : 
+    6703       62462 : double ControlManager::getMinZ(const std::string& frame_id) {
+    6704             : 
+    6705       62462 :   if (!use_safety_area_) {
+    6706        9306 :     return std::numeric_limits<double>::lowest();
+    6707             :   }
+    6708             : 
+    6709      106312 :   geometry_msgs::PointStamped point;
+    6710             : 
+    6711       53155 :   point.header.frame_id = _safety_area_vertical_frame_;
+    6712       53156 :   point.point.x         = 0;
+    6713       53156 :   point.point.y         = 0;
+    6714       53156 :   point.point.z         = _safety_area_min_z_;
+    6715             : 
+    6716      106312 :   auto ret = transformer_->transformSingle(point, frame_id);
+    6717             : 
+    6718       53156 :   if (!ret) {
+    6719           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: SafetyArea: Could not transform safety area's min_z to '%s'", frame_id.c_str());
+    6720           0 :     return std::numeric_limits<double>::lowest();
+    6721             :   }
+    6722             : 
+    6723       53156 :   return ret->point.z;
+    6724             : }
+    6725             : 
+    6726             : //}
+    6727             : 
+    6728             : // | --------------------- obstacle bumper -------------------- |
+    6729             : 
+    6730             : /* bumperPushFromObstacle() //{ */
+    6731             : 
+    6732           0 : bool ControlManager::bumperPushFromObstacle(void) {
+    6733           0 :   if (!bumper_enabled_) {
+    6734           0 :     return true;
+    6735             :   }
+    6736             : 
+    6737           0 :   if (!sh_bumper_.hasMsg()) {
+    6738           0 :     return true;
+    6739             :   }
+    6740             : 
+    6741             :   // copy member variables
+    6742           0 :   mrs_msgs::ObstacleSectorsConstPtr bumper_data = sh_bumper_.getMsg();
+    6743           0 :   auto                              uav_state   = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    6744             : 
+    6745           0 :   double sector_size = TAU / double(bumper_data->n_horizontal_sectors);
+    6746             : 
+    6747           0 :   double direction                     = 0;
+    6748           0 :   double repulsion_distance            = std::numeric_limits<double>::max();
+    6749           0 :   bool   horizontal_collision_detected = false;
+    6750             : 
+    6751           0 :   bool vertical_collision_detected = false;
+    6752             : 
+    6753           0 :   for (int i = 0; i < int(bumper_data->n_horizontal_sectors); i++) {
+    6754             : 
+    6755           0 :     if (bumper_data->sectors[i] < 0) {
+    6756           0 :       continue;
+    6757             :     }
+    6758             : 
+    6759           0 :     bool wall_locked_horizontal = false;
+    6760             : 
+    6761             :     // if the sector is under critical distance
+    6762           0 :     if (bumper_data->sectors[i] <= _bumper_horizontal_distance_ && bumper_data->sectors[i] < repulsion_distance) {
+    6763             : 
+    6764             :       // check for locking between the oposite walls
+    6765             :       // get the desired direction of motion
+    6766           0 :       double oposite_direction  = double(i) * sector_size + M_PI;
+    6767           0 :       int    oposite_sector_idx = bumperGetSectorId(cos(oposite_direction), sin(oposite_direction), 0);
+    6768             : 
+    6769           0 :       if (bumper_data->sectors[oposite_sector_idx] > 0 &&
+    6770           0 :           ((bumper_data->sectors[i] + bumper_data->sectors[oposite_sector_idx]) <= (2 * _bumper_horizontal_distance_ + 2 * _bumper_horizontal_overshoot_))) {
+    6771             : 
+    6772           0 :         wall_locked_horizontal = true;
+    6773             : 
+    6774           0 :         if (fabs(bumper_data->sectors[i] - bumper_data->sectors[oposite_sector_idx]) <= 2 * _bumper_horizontal_overshoot_) {
+    6775             : 
+    6776           0 :           ROS_INFO_THROTTLE(1.0, "[ControlManager]: Bumper: locked between two walls");
+    6777           0 :           continue;
+    6778             :         }
+    6779             :       }
+    6780             : 
+    6781             :       // get the id of the oposite sector
+    6782           0 :       direction = oposite_direction;
+    6783             : 
+    6784             :       /* int oposite_sector_idx = (i + bumper_data->n_horizontal_sectors / 2) % bumper_data->n_horizontal_sectors; */
+    6785             : 
+    6786           0 :       ROS_WARN_THROTTLE(1.0, "[ControlManager]: Bumper: found potential collision (sector %d vs. %d), obstacle distance: %.2f, repulsing", i,
+    6787             :                         oposite_sector_idx, bumper_data->sectors[i]);
+    6788             : 
+    6789           0 :       ROS_INFO_THROTTLE(1.0, "[ControlManager]: Bumper: oposite direction: %.2f", oposite_direction);
+    6790             : 
+    6791           0 :       if (wall_locked_horizontal) {
+    6792           0 :         if (bumper_data->sectors[i] < bumper_data->sectors[oposite_sector_idx]) {
+    6793           0 :           repulsion_distance = _bumper_horizontal_overshoot_;
+    6794             :         } else {
+    6795           0 :           repulsion_distance = -_bumper_horizontal_overshoot_;
+    6796             :         }
+    6797             :       } else {
+    6798           0 :         repulsion_distance = _bumper_horizontal_distance_ + _bumper_horizontal_overshoot_ - bumper_data->sectors[i];
+    6799             :       }
+    6800             : 
+    6801           0 :       horizontal_collision_detected = true;
+    6802             :     }
+    6803             :   }
+    6804             : 
+    6805           0 :   bool   collision_above             = false;
+    6806           0 :   bool   collision_below             = false;
+    6807           0 :   double vertical_repulsion_distance = 0;
+    6808             : 
+    6809             :   // check for vertical collision down
+    6810           0 :   if (bumper_data->sectors[bumper_data->n_horizontal_sectors] > 0 && bumper_data->sectors[bumper_data->n_horizontal_sectors] <= _bumper_vertical_distance_) {
+    6811             : 
+    6812           0 :     ROS_INFO_THROTTLE(1.0, "[ControlManager]: Bumper: potential collision below");
+    6813           0 :     collision_above             = true;
+    6814           0 :     vertical_collision_detected = true;
+    6815           0 :     vertical_repulsion_distance = _bumper_vertical_distance_ - bumper_data->sectors[bumper_data->n_horizontal_sectors];
+    6816             :   }
+    6817             : 
+    6818             :   // check for vertical collision up
+    6819           0 :   if (bumper_data->sectors[bumper_data->n_horizontal_sectors + 1] > 0 &&
+    6820           0 :       bumper_data->sectors[bumper_data->n_horizontal_sectors + 1] <= _bumper_vertical_distance_) {
+    6821             : 
+    6822           0 :     ROS_INFO_THROTTLE(1.0, "[ControlManager]: Bumper: potential collision above");
+    6823           0 :     collision_below             = true;
+    6824           0 :     vertical_collision_detected = true;
+    6825           0 :     vertical_repulsion_distance = -(_bumper_vertical_distance_ - bumper_data->sectors[bumper_data->n_horizontal_sectors + 1]);
+    6826             :   }
+    6827             : 
+    6828             :   // check the up/down wall locking
+    6829           0 :   if (collision_above && collision_below) {
+    6830             : 
+    6831           0 :     if (((bumper_data->sectors[bumper_data->n_horizontal_sectors] + bumper_data->sectors[bumper_data->n_horizontal_sectors + 1]) <=
+    6832           0 :          (2 * _bumper_vertical_distance_ + 2 * _bumper_vertical_overshoot_))) {
+    6833             : 
+    6834           0 :       vertical_repulsion_distance =
+    6835           0 :           (-bumper_data->sectors[bumper_data->n_horizontal_sectors] + bumper_data->sectors[bumper_data->n_horizontal_sectors + 1]) / 2.0;
+    6836             : 
+    6837           0 :       if (fabs(bumper_data->sectors[bumper_data->n_horizontal_sectors] - bumper_data->sectors[bumper_data->n_horizontal_sectors + 1]) <=
+    6838           0 :           2 * _bumper_vertical_overshoot_) {
+    6839             : 
+    6840           0 :         ROS_INFO_THROTTLE(1.0, "[ControlManager]: Bumper: locked between the floor and ceiling");
+    6841           0 :         vertical_collision_detected = false;
+    6842             :       }
+    6843             :     }
+    6844             :   }
+    6845             : 
+    6846             :   // if potential collision was detected and we should start the repulsing_
+    6847           0 :   if (horizontal_collision_detected || vertical_collision_detected) {
+    6848             : 
+    6849           0 :     ROS_WARN_THROTTLE(1.0, "[ControlManager]: Bumper: repulsion was initiated");
+    6850             : 
+    6851           0 :     if (!repulsing_) {
+    6852             : 
+    6853           0 :       if (_bumper_switch_tracker_) {
+    6854             : 
+    6855           0 :         auto        active_tracker_idx  = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    6856           0 :         std::string active_tracker_name = _tracker_names_[active_tracker_idx];
+    6857             : 
+    6858             :         // remember the previously active tracker
+    6859           0 :         bumper_previous_tracker_ = active_tracker_name;
+    6860             : 
+    6861           0 :         if (active_tracker_name != _bumper_tracker_name_) {
+    6862             : 
+    6863           0 :           switchTracker(_bumper_tracker_name_);
+    6864             :         }
+    6865             :       }
+    6866             : 
+    6867           0 :       if (_bumper_switch_controller_) {
+    6868             : 
+    6869           0 :         auto        active_controller_idx  = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    6870           0 :         std::string active_controller_name = _controller_names_[active_controller_idx];
+    6871             : 
+    6872             :         // remember the previously active controller
+    6873           0 :         bumper_previous_controller_ = active_controller_name;
+    6874             : 
+    6875           0 :         if (active_controller_name != _bumper_controller_name_) {
+    6876             : 
+    6877           0 :           switchController(_bumper_controller_name_);
+    6878             :         }
+    6879             :       }
+    6880             :     }
+    6881             : 
+    6882           0 :     repulsing_ = true;
+    6883             : 
+    6884           0 :     mrs_msgs::BumperStatus bumper_status;
+    6885           0 :     bumper_status.repulsing = repulsing_;
+    6886             : 
+    6887           0 :     ph_bumper_status_.publish(bumper_status);
+    6888             : 
+    6889           0 :     callbacks_enabled_ = false;
+    6890             : 
+    6891           0 :     mrs_msgs::ReferenceSrvResponse::ConstPtr tracker_response;
+    6892             : 
+    6893           0 :     std_srvs::SetBoolRequest req_enable_callbacks;
+    6894             : 
+    6895             :     // create the reference in the fcu_untilted frame
+    6896           0 :     mrs_msgs::ReferenceStamped reference_fcu_untilted;
+    6897             : 
+    6898           0 :     reference_fcu_untilted.header.frame_id = "fcu_untilted";
+    6899             : 
+    6900           0 :     if (horizontal_collision_detected) {
+    6901           0 :       reference_fcu_untilted.reference.position.x = cos(direction) * repulsion_distance;
+    6902           0 :       reference_fcu_untilted.reference.position.y = sin(direction) * repulsion_distance;
+    6903             :     } else {
+    6904           0 :       reference_fcu_untilted.reference.position.x = 0;
+    6905           0 :       reference_fcu_untilted.reference.position.y = 0;
+    6906             :     }
+    6907             : 
+    6908           0 :     reference_fcu_untilted.reference.heading = 0;
+    6909             : 
+    6910           0 :     if (vertical_collision_detected) {
+    6911           0 :       reference_fcu_untilted.reference.position.z = vertical_repulsion_distance;
+    6912             :     } else {
+    6913           0 :       reference_fcu_untilted.reference.position.z = 0;
+    6914             :     }
+    6915             : 
+    6916             :     {
+    6917           0 :       std::scoped_lock lock(mutex_tracker_list_);
+    6918             : 
+    6919             :       // transform the reference into the currently used frame
+    6920             :       // this is under the mutex_tracker_list since we don't won't the odometry switch to happen
+    6921             :       // to the tracker before we actually call the goto service
+    6922             : 
+    6923           0 :       auto ret = transformer_->transformSingle(reference_fcu_untilted, uav_state.header.frame_id);
+    6924             : 
+    6925           0 :       if (!ret) {
+    6926             : 
+    6927           0 :         ROS_WARN_THROTTLE(1.0, "[ControlManager]: Bumper: bumper reference could not be transformed");
+    6928           0 :         return false;
+    6929             :       }
+    6930             : 
+    6931           0 :       reference_fcu_untilted = ret.value();
+    6932             : 
+    6933             :       // copy the reference into the service type message
+    6934           0 :       mrs_msgs::ReferenceSrvRequest req_goto_out;
+    6935           0 :       req_goto_out.reference = reference_fcu_untilted.reference;
+    6936             : 
+    6937             :       // disable callbacks of all trackers
+    6938           0 :       req_enable_callbacks.data = false;
+    6939           0 :       for (int i = 0; i < int(tracker_list_.size()); i++) {
+    6940           0 :         tracker_list_[i]->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    6941             :       }
+    6942             : 
+    6943             :       // enable the callbacks for the active tracker
+    6944           0 :       req_enable_callbacks.data = true;
+    6945           0 :       tracker_list_[active_tracker_idx_]->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    6946             : 
+    6947             :       // call the goto
+    6948           0 :       tracker_response = tracker_list_[active_tracker_idx_]->setReference(
+    6949           0 :           mrs_msgs::ReferenceSrvRequest::ConstPtr(std::make_unique<mrs_msgs::ReferenceSrvRequest>(req_goto_out)));
+    6950             : 
+    6951             :       // disable the callbacks back again
+    6952           0 :       req_enable_callbacks.data = false;
+    6953           0 :       tracker_list_[active_tracker_idx_]->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    6954             :     }
+    6955             :   }
+    6956             : 
+    6957             :   // if repulsing_ and the distance is safe once again
+    6958           0 :   if ((repulsing_ && !horizontal_collision_detected && !vertical_collision_detected)) {
+    6959             : 
+    6960           0 :     ROS_INFO_THROTTLE(1.0, "[ControlManager]: Bumper: repulsion was stopped");
+    6961             : 
+    6962           0 :     if (_bumper_switch_tracker_) {
+    6963             : 
+    6964           0 :       auto        active_tracker_idx  = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    6965           0 :       std::string active_tracker_name = _tracker_names_[active_tracker_idx];
+    6966             : 
+    6967           0 :       if (active_tracker_name != bumper_previous_tracker_) {
+    6968             : 
+    6969           0 :         switchTracker(bumper_previous_tracker_);
+    6970             :       }
+    6971             :     }
+    6972             : 
+    6973           0 :     if (_bumper_switch_controller_) {
+    6974             : 
+    6975           0 :       auto        active_controller_idx  = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    6976           0 :       std::string active_controller_name = _controller_names_[active_controller_idx];
+    6977             : 
+    6978           0 :       if (active_controller_name != bumper_previous_controller_) {
+    6979             : 
+    6980           0 :         switchController(bumper_previous_controller_);
+    6981             :       }
+    6982             :     }
+    6983             : 
+    6984           0 :     std_srvs::SetBoolRequest req_enable_callbacks;
+    6985             : 
+    6986             :     {
+    6987           0 :       std::scoped_lock lock(mutex_tracker_list_);
+    6988             : 
+    6989             :       // enable callbacks of all trackers
+    6990           0 :       req_enable_callbacks.data = true;
+    6991           0 :       for (int i = 0; i < int(tracker_list_.size()); i++) {
+    6992           0 :         tracker_list_[i]->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    6993             :       }
+    6994             :     }
+    6995             : 
+    6996           0 :     callbacks_enabled_ = true;
+    6997             : 
+    6998           0 :     repulsing_ = false;
+    6999             :   }
+    7000             : 
+    7001           0 :   return false;
+    7002             : }
+    7003             : 
+    7004             : //}
+    7005             : 
+    7006             : /* bumperGetSectorId() //{ */
+    7007             : 
+    7008           0 : int ControlManager::bumperGetSectorId(const double& x, const double& y, [[maybe_unused]] const double& z) {
+    7009             :   // copy member variables
+    7010           0 :   mrs_msgs::ObstacleSectorsConstPtr bumper_data = sh_bumper_.getMsg();
+    7011             : 
+    7012             :   // heading of the point in drone frame
+    7013           0 :   double point_heading_horizontal = atan2(y, x);
+    7014             : 
+    7015           0 :   point_heading_horizontal += TAU;
+    7016             : 
+    7017             :   // if point_heading_horizontal is greater then 2*M_PI mod it
+    7018           0 :   if (fabs(point_heading_horizontal) >= TAU) {
+    7019           0 :     point_heading_horizontal = fmod(point_heading_horizontal, TAU);
+    7020             :   }
+    7021             : 
+    7022             :   // heading of the right edge of the first sector
+    7023           0 :   double sector_size = TAU / double(bumper_data->n_horizontal_sectors);
+    7024             : 
+    7025             :   // calculate the idx
+    7026           0 :   int idx = floor((point_heading_horizontal + (sector_size / 2.0)) / sector_size);
+    7027             : 
+    7028           0 :   if (idx > int(bumper_data->n_horizontal_sectors) - 1) {
+    7029           0 :     idx -= bumper_data->n_horizontal_sectors;
+    7030             :   }
+    7031             : 
+    7032           0 :   return idx;
+    7033             : }
+    7034             : 
+    7035             : //}
+    7036             : 
+    7037             : // | ------------------------- safety ------------------------- |
+    7038             : 
+    7039             : /* //{ changeLandingState() */
+    7040             : 
+    7041           8 : void ControlManager::changeLandingState(LandingStates_t new_state) {
+    7042             :   // copy member variables
+    7043          16 :   auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    7044             : 
+    7045             :   {
+    7046           8 :     std::scoped_lock lock(mutex_landing_state_machine_);
+    7047             : 
+    7048           8 :     previous_state_landing_ = current_state_landing_;
+    7049           8 :     current_state_landing_  = new_state;
+    7050             :   }
+    7051             : 
+    7052           8 :   switch (current_state_landing_) {
+    7053             : 
+    7054           3 :     case IDLE_STATE:
+    7055           3 :       break;
+    7056           5 :     case LANDING_STATE: {
+    7057             : 
+    7058           5 :       ROS_DEBUG("[ControlManager]: starting eland timer");
+    7059           5 :       timer_eland_.start();
+    7060           5 :       ROS_DEBUG("[ControlManager]: eland timer started");
+    7061           5 :       eland_triggered_ = true;
+    7062           5 :       bumper_enabled_  = false;
+    7063             : 
+    7064           5 :       landing_uav_mass_ = getMass();
+    7065             :     }
+    7066             : 
+    7067           5 :     break;
+    7068             :   }
+    7069             : 
+    7070           8 :   ROS_INFO("[ControlManager]: switching emergency landing state %s -> %s", state_names[previous_state_landing_], state_names[current_state_landing_]);
+    7071           8 : }
+    7072             : 
+    7073             : //}
+    7074             : 
+    7075             : /* hover() //{ */
+    7076             : 
+    7077           0 : std::tuple<bool, std::string> ControlManager::hover(void) {
+    7078           0 :   if (!is_initialized_)
+    7079           0 :     return std::tuple(false, "the ControlManager is not initialized");
+    7080             : 
+    7081           0 :   if (eland_triggered_)
+    7082           0 :     return std::tuple(false, "cannot hover, eland already triggered");
+    7083             : 
+    7084           0 :   if (failsafe_triggered_)
+    7085           0 :     return std::tuple(false, "cannot hover, failsafe already triggered");
+    7086             : 
+    7087             :   {
+    7088           0 :     std::scoped_lock lock(mutex_tracker_list_);
+    7089             : 
+    7090           0 :     std_srvs::TriggerResponse::ConstPtr response;
+    7091           0 :     std_srvs::TriggerRequest            request;
+    7092             : 
+    7093           0 :     response = tracker_list_[active_tracker_idx_]->hover(std_srvs::TriggerRequest::ConstPtr(std::make_unique<std_srvs::TriggerRequest>(request)));
+    7094             : 
+    7095           0 :     if (response != std_srvs::TriggerResponse::Ptr()) {
+    7096             : 
+    7097           0 :       return std::tuple(response->success, response->message);
+    7098             : 
+    7099             :     } else {
+    7100             : 
+    7101           0 :       std::stringstream ss;
+    7102           0 :       ss << "the tracker '" << _tracker_names_[active_tracker_idx_] << "' does not implement the 'hover()' function!";
+    7103             : 
+    7104           0 :       return std::tuple(false, ss.str());
+    7105             :     }
+    7106             :   }
+    7107             : }
+    7108             : 
+    7109             : //}
+    7110             : 
+    7111             : /* //{ ehover() */
+    7112             : 
+    7113           2 : std::tuple<bool, std::string> ControlManager::ehover(void) {
+    7114           2 :   if (!is_initialized_)
+    7115           0 :     return std::tuple(false, "the ControlManager is not initialized");
+    7116             : 
+    7117           2 :   if (eland_triggered_)
+    7118           0 :     return std::tuple(false, "cannot ehover, eland already triggered");
+    7119             : 
+    7120           2 :   if (failsafe_triggered_)
+    7121           0 :     return std::tuple(false, "cannot ehover, failsafe already triggered");
+    7122             : 
+    7123             :   // copy the member variables
+    7124           4 :   auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    7125           4 :   auto last_tracker_cmd    = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    7126           2 :   auto active_tracker_idx  = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    7127             : 
+    7128           2 :   if (active_tracker_idx == _null_tracker_idx_) {
+    7129             : 
+    7130           0 :     std::stringstream ss;
+    7131           0 :     ss << "can not trigger ehover while not flying";
+    7132           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7133             : 
+    7134           0 :     return std::tuple(false, ss.str());
+    7135             :   }
+    7136             : 
+    7137           2 :   ungripSrv();
+    7138             : 
+    7139             :   {
+    7140             : 
+    7141           2 :     auto [success, message] = switchTracker(_ehover_tracker_name_);
+    7142             : 
+    7143             :     // check if the tracker was successfully switched
+    7144             :     // this is vital, that is the core of the hover
+    7145           2 :     if (!success) {
+    7146             : 
+    7147           0 :       std::stringstream ss;
+    7148           0 :       ss << "error during switching to ehover tracker: '" << message << "'";
+    7149           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7150             : 
+    7151           0 :       return std::tuple(success, ss.str());
+    7152             :     }
+    7153             :   }
+    7154             : 
+    7155             :   {
+    7156           4 :     auto [success, message] = switchController(_eland_controller_name_);
+    7157             : 
+    7158             :     // check if the controller was successfully switched
+    7159             :     // this is not vital, we can continue without that
+    7160           2 :     if (!success) {
+    7161             : 
+    7162           0 :       std::stringstream ss;
+    7163           0 :       ss << "error during switching to ehover controller: '" << message << "'";
+    7164           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7165             :     }
+    7166             :   }
+    7167             : 
+    7168           2 :   std::stringstream ss;
+    7169           2 :   ss << "ehover activated";
+    7170           2 :   ROS_INFO_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7171             : 
+    7172           2 :   callbacks_enabled_ = false;
+    7173             : 
+    7174           2 :   return std::tuple(true, ss.str());
+    7175             : }
+    7176             : 
+    7177             : //}
+    7178             : 
+    7179             : /* eland() //{ */
+    7180             : 
+    7181           5 : std::tuple<bool, std::string> ControlManager::eland(void) {
+    7182           5 :   if (!is_initialized_)
+    7183           0 :     return std::tuple(false, "the ControlManager is not initialized");
+    7184             : 
+    7185           5 :   if (eland_triggered_)
+    7186           0 :     return std::tuple(false, "cannot eland, eland already triggered");
+    7187             : 
+    7188           5 :   if (failsafe_triggered_)
+    7189           0 :     return std::tuple(false, "cannot eland, failsafe already triggered");
+    7190             : 
+    7191             :   // copy member variables
+    7192          10 :   auto last_tracker_cmd    = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    7193          10 :   auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    7194           5 :   auto active_tracker_idx  = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    7195             : 
+    7196           5 :   if (active_tracker_idx == _null_tracker_idx_) {
+    7197             : 
+    7198           0 :     std::stringstream ss;
+    7199           0 :     ss << "can not trigger eland while not flying";
+    7200           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7201             : 
+    7202           0 :     return std::tuple(false, ss.str());
+    7203             :   }
+    7204             : 
+    7205           5 :   if (_rc_emergency_handoff_) {
+    7206             : 
+    7207           0 :     toggleOutput(false);
+    7208             : 
+    7209           0 :     return std::tuple(true, "RC emergency handoff is ON, disabling output");
+    7210             :   }
+    7211             : 
+    7212             :   {
+    7213           5 :     auto [success, message] = switchTracker(_ehover_tracker_name_);
+    7214             : 
+    7215             :     // check if the tracker was successfully switched
+    7216             :     // this is vital
+    7217           5 :     if (!success) {
+    7218             : 
+    7219           0 :       std::stringstream ss;
+    7220           0 :       ss << "error during switching to eland tracker: '" << message << "'";
+    7221           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7222             : 
+    7223           0 :       return std::tuple(success, ss.str());
+    7224             :     }
+    7225             :   }
+    7226             : 
+    7227             :   {
+    7228          10 :     auto [success, message] = switchController(_eland_controller_name_);
+    7229             : 
+    7230             :     // check if the controller was successfully switched
+    7231             :     // this is not vital, we can continue without it
+    7232           5 :     if (!success) {
+    7233             : 
+    7234           0 :       std::stringstream ss;
+    7235           0 :       ss << "error during switching to eland controller: '" << message << "'";
+    7236           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7237             :     }
+    7238             :   }
+    7239             : 
+    7240             :   // | ----------------- call the eland service ----------------- |
+    7241             : 
+    7242           5 :   std::stringstream ss;
+    7243             :   bool              success;
+    7244             : 
+    7245           5 :   if (elandSrv()) {
+    7246             : 
+    7247           5 :     changeLandingState(LANDING_STATE);
+    7248             : 
+    7249           5 :     odometryCallbacksSrv(false);
+    7250             : 
+    7251           5 :     ss << "eland activated";
+    7252           5 :     ROS_INFO_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7253             : 
+    7254           5 :     success = true;
+    7255             : 
+    7256           5 :     callbacks_enabled_ = false;
+    7257             : 
+    7258             :   } else {
+    7259             : 
+    7260           0 :     ss << "error during activation of eland";
+    7261           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7262             : 
+    7263           0 :     success = false;
+    7264             :   }
+    7265             : 
+    7266          10 :   return std::tuple(success, ss.str());
+    7267             : }
+    7268             : 
+    7269             : //}
+    7270             : 
+    7271             : /* failsafe() //{ */
+    7272             : 
+    7273           7 : std::tuple<bool, std::string> ControlManager::failsafe(void) {
+    7274             : 
+    7275             :   // copy member variables
+    7276          14 :   auto last_control_output   = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    7277          14 :   auto last_tracker_cmd      = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    7278           7 :   auto active_controller_idx = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    7279           7 :   auto active_tracker_idx    = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    7280             : 
+    7281           7 :   if (!is_initialized_) {
+    7282           0 :     return std::tuple(false, "the ControlManager is not initialized");
+    7283             :   }
+    7284             : 
+    7285           7 :   if (failsafe_triggered_) {
+    7286           0 :     return std::tuple(false, "cannot, failsafe already triggered");
+    7287             :   }
+    7288             : 
+    7289           7 :   if (active_tracker_idx == _null_tracker_idx_) {
+    7290             : 
+    7291           0 :     std::stringstream ss;
+    7292           0 :     ss << "can not trigger failsafe while not flying";
+    7293           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7294           0 :     return std::tuple(false, ss.str());
+    7295             :   }
+    7296             : 
+    7297           7 :   if (_rc_emergency_handoff_) {
+    7298             : 
+    7299           0 :     toggleOutput(false);
+    7300             : 
+    7301           0 :     return std::tuple(true, "RC emergency handoff is ON, disabling output");
+    7302             :   }
+    7303             : 
+    7304           7 :   if (getLowestOuput(_hw_api_inputs_) == POSITION) {
+    7305           0 :     return eland();
+    7306             :   }
+    7307             : 
+    7308           7 :   if (_parachute_enabled_) {
+    7309             : 
+    7310           0 :     auto [success, message] = deployParachute();
+    7311             : 
+    7312           0 :     if (success) {
+    7313             : 
+    7314           0 :       std::stringstream ss;
+    7315           0 :       ss << "failsafe activated (parachute): '" << message << "'";
+    7316           0 :       ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    7317             : 
+    7318           0 :       return std::tuple(true, ss.str());
+    7319             : 
+    7320             :     } else {
+    7321             : 
+    7322           0 :       std::stringstream ss;
+    7323           0 :       ss << "could not deploy parachute: '" << message << "', continuing with normal failsafe";
+    7324           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7325             :     }
+    7326             :   }
+    7327             : 
+    7328           7 :   if (_failsafe_controller_idx_ != active_controller_idx) {
+    7329             : 
+    7330             :     try {
+    7331             : 
+    7332          14 :       std::scoped_lock lock(mutex_controller_list_);
+    7333             : 
+    7334           7 :       ROS_INFO("[ControlManager]: activating the controller '%s'", _failsafe_controller_name_.c_str());
+    7335           7 :       controller_list_[_failsafe_controller_idx_]->activate(last_control_output);
+    7336             : 
+    7337             :       {
+    7338          14 :         std::scoped_lock lock(mutex_controller_tracker_switch_time_);
+    7339             : 
+    7340             :         // update the time (used in failsafe)
+    7341           7 :         controller_tracker_switch_time_ = ros::Time::now();
+    7342             :       }
+    7343             : 
+    7344           7 :       failsafe_triggered_ = true;
+    7345           7 :       ROS_DEBUG("[ControlManager]: stopping eland timer");
+    7346           7 :       timer_eland_.stop();
+    7347           7 :       ROS_DEBUG("[ControlManager]: eland timer stopped");
+    7348             : 
+    7349           7 :       landing_uav_mass_ = getMass();
+    7350             : 
+    7351           7 :       eland_triggered_ = false;
+    7352           7 :       ROS_DEBUG("[ControlManager]: starting failsafe timer");
+    7353           7 :       timer_failsafe_.start();
+    7354           7 :       ROS_DEBUG("[ControlManager]: failsafe timer started");
+    7355             : 
+    7356           7 :       bumper_enabled_ = false;
+    7357             : 
+    7358           7 :       odometryCallbacksSrv(false);
+    7359             : 
+    7360           7 :       callbacks_enabled_ = false;
+    7361             : 
+    7362           7 :       ROS_INFO_THROTTLE(1.0, "[ControlManager]: the controller '%s' was activated", _failsafe_controller_name_.c_str());
+    7363             : 
+    7364             :       // super important, switch the active controller idx
+    7365             :       try {
+    7366           7 :         controller_list_[active_controller_idx_]->deactivate();
+    7367           7 :         active_controller_idx_ = _failsafe_controller_idx_;
+    7368             :       }
+    7369           0 :       catch (std::runtime_error& exrun) {
+    7370           0 :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: could not deactivate the controller '%s'", _controller_names_[active_controller_idx_].c_str());
+    7371             :       }
+    7372             :     }
+    7373           0 :     catch (std::runtime_error& exrun) {
+    7374           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: error during activation of the controller '%s'", _failsafe_controller_name_.c_str());
+    7375           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: exception: '%s'", exrun.what());
+    7376             :     }
+    7377             :   }
+    7378             : 
+    7379          14 :   return std::tuple(true, "failsafe activated");
+    7380             : }
+    7381             : 
+    7382             : //}
+    7383             : 
+    7384             : /* escalatingFailsafe() //{ */
+    7385             : 
+    7386         149 : std::tuple<bool, std::string> ControlManager::escalatingFailsafe(void) {
+    7387         298 :   std::stringstream ss;
+    7388             : 
+    7389         149 :   if ((ros::Time::now() - escalating_failsafe_time_).toSec() < _escalating_failsafe_timeout_) {
+    7390             : 
+    7391         141 :     ss << "too soon for escalating failsafe";
+    7392         141 :     ROS_WARN_STREAM_THROTTLE(0.1, "[ControlManager]: " << ss.str());
+    7393             : 
+    7394         141 :     return std::tuple(false, ss.str());
+    7395             :   }
+    7396             : 
+    7397           8 :   if (!output_enabled_) {
+    7398             : 
+    7399           0 :     ss << "not escalating failsafe, output is disabled";
+    7400           0 :     ROS_WARN_STREAM_THROTTLE(0.1, "[ControlManager]: " << ss.str());
+    7401             : 
+    7402           0 :     return std::tuple(false, ss.str());
+    7403             :   }
+    7404             : 
+    7405           8 :   ROS_WARN("[ControlManager]: escalating failsafe triggered");
+    7406             : 
+    7407           8 :   auto active_tracker_idx    = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    7408           8 :   auto active_controller_idx = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    7409             : 
+    7410          16 :   std::string active_tracker_name    = _tracker_names_[active_tracker_idx];
+    7411          16 :   std::string active_controller_name = _controller_names_[active_controller_idx];
+    7412             : 
+    7413           8 :   EscalatingFailsafeStates_t next_state = getNextEscFailsafeState();
+    7414             : 
+    7415           8 :   escalating_failsafe_time_ = ros::Time::now();
+    7416             : 
+    7417           8 :   switch (next_state) {
+    7418             : 
+    7419           0 :     case ESC_NONE_STATE: {
+    7420             : 
+    7421           0 :       ss << "escalating failsafe has run to impossible situation";
+    7422           0 :       ROS_ERROR_STREAM_THROTTLE(0.1, "[ControlManager]: " << ss.str());
+    7423             : 
+    7424           0 :       return std::tuple(false, "escalating failsafe has run to impossible situation");
+    7425             : 
+    7426             :       break;
+    7427             :     }
+    7428             : 
+    7429           2 :     case ESC_EHOVER_STATE: {
+    7430             : 
+    7431           2 :       ss << "escalating failsafe escalates to ehover";
+    7432           2 :       ROS_WARN_STREAM_THROTTLE(0.1, "[ControlManager]: " << ss.str());
+    7433             : 
+    7434           4 :       auto [success, message] = ehover();
+    7435             : 
+    7436           2 :       if (success) {
+    7437           2 :         state_escalating_failsafe_ = ESC_EHOVER_STATE;
+    7438             :       }
+    7439             : 
+    7440           2 :       return {success, message};
+    7441             : 
+    7442             :       break;
+    7443             :     }
+    7444             : 
+    7445           2 :     case ESC_ELAND_STATE: {
+    7446             : 
+    7447           2 :       ss << "escalating failsafe escalates to eland";
+    7448           2 :       ROS_WARN_STREAM_THROTTLE(0.1, "[ControlManager]: " << ss.str());
+    7449             : 
+    7450           4 :       auto [success, message] = eland();
+    7451             : 
+    7452           2 :       if (success) {
+    7453           2 :         state_escalating_failsafe_ = ESC_ELAND_STATE;
+    7454             :       }
+    7455             : 
+    7456           2 :       return {success, message};
+    7457             : 
+    7458             :       break;
+    7459             :     }
+    7460             : 
+    7461           2 :     case ESC_FAILSAFE_STATE: {
+    7462             : 
+    7463           2 :       escalating_failsafe_time_ = ros::Time::now();
+    7464             : 
+    7465           2 :       ss << "escalating failsafe escalates to failsafe";
+    7466           2 :       ROS_WARN_STREAM_THROTTLE(0.1, "[ControlManager]: " << ss.str());
+    7467             : 
+    7468           4 :       auto [success, message] = failsafe();
+    7469             : 
+    7470           2 :       if (success) {
+    7471           2 :         state_escalating_failsafe_ = ESC_FINISHED_STATE;
+    7472             :       }
+    7473             : 
+    7474           2 :       return {success, message};
+    7475             : 
+    7476             :       break;
+    7477             :     }
+    7478             : 
+    7479           2 :     case ESC_FINISHED_STATE: {
+    7480             : 
+    7481           2 :       escalating_failsafe_time_ = ros::Time::now();
+    7482             : 
+    7483           2 :       ss << "escalating failsafe has nothing more to do";
+    7484           2 :       ROS_WARN_STREAM_THROTTLE(0.1, "[ControlManager]: " << ss.str());
+    7485             : 
+    7486           4 :       return std::tuple(false, "escalating failsafe has nothing more to do");
+    7487             : 
+    7488             :       break;
+    7489             :     }
+    7490             : 
+    7491           0 :     default: {
+    7492             : 
+    7493           0 :       break;
+    7494             :     }
+    7495             :   }
+    7496             : 
+    7497           0 :   ROS_ERROR("[ControlManager]: escalatingFailsafe() reached the final return, this should not happen!");
+    7498             : 
+    7499           0 :   return std::tuple(false, "escalating failsafe exception");
+    7500             : }
+    7501             : 
+    7502             : //}
+    7503             : 
+    7504             : /* getNextEscFailsafeState() //{ */
+    7505             : 
+    7506           8 : EscalatingFailsafeStates_t ControlManager::getNextEscFailsafeState(void) {
+    7507           8 :   EscalatingFailsafeStates_t current_state = state_escalating_failsafe_;
+    7508             : 
+    7509           8 :   switch (current_state) {
+    7510             : 
+    7511           2 :     case ESC_FINISHED_STATE: {
+    7512             : 
+    7513           2 :       return ESC_FINISHED_STATE;
+    7514             : 
+    7515             :       break;
+    7516             :     }
+    7517             : 
+    7518           2 :     case ESC_NONE_STATE: {
+    7519             : 
+    7520           2 :       if (_escalating_failsafe_ehover_) {
+    7521           2 :         return ESC_EHOVER_STATE;
+    7522           0 :       } else if (_escalating_failsafe_eland_) {
+    7523           0 :         return ESC_ELAND_STATE;
+    7524           0 :       } else if (_escalating_failsafe_failsafe_) {
+    7525           0 :         return ESC_FAILSAFE_STATE;
+    7526             :       } else {
+    7527           0 :         return ESC_FINISHED_STATE;
+    7528             :       }
+    7529             : 
+    7530             :       break;
+    7531             :     }
+    7532             : 
+    7533           2 :     case ESC_EHOVER_STATE: {
+    7534             : 
+    7535           2 :       if (_escalating_failsafe_eland_) {
+    7536           2 :         return ESC_ELAND_STATE;
+    7537           0 :       } else if (_escalating_failsafe_failsafe_) {
+    7538           0 :         return ESC_FAILSAFE_STATE;
+    7539             :       } else {
+    7540           0 :         return ESC_FINISHED_STATE;
+    7541             :       }
+    7542             : 
+    7543             :       break;
+    7544             :     }
+    7545             : 
+    7546           2 :     case ESC_ELAND_STATE: {
+    7547             : 
+    7548           2 :       if (_escalating_failsafe_failsafe_) {
+    7549           2 :         return ESC_FAILSAFE_STATE;
+    7550             :       } else {
+    7551           0 :         return ESC_FINISHED_STATE;
+    7552             :       }
+    7553             : 
+    7554             :       break;
+    7555             :     }
+    7556             : 
+    7557           0 :     case ESC_FAILSAFE_STATE: {
+    7558             : 
+    7559           0 :       return ESC_FINISHED_STATE;
+    7560             : 
+    7561             :       break;
+    7562             :     }
+    7563             :   }
+    7564             : 
+    7565           0 :   ROS_ERROR("[ControlManager]: getNextEscFailsafeState() reached the final return, this should not happen!");
+    7566             : 
+    7567           0 :   return ESC_NONE_STATE;
+    7568             : }
+    7569             : 
+    7570             : //}
+    7571             : 
+    7572             : // | ------------------- trajectory tracking ------------------ |
+    7573             : 
+    7574             : /* startTrajectoryTracking() //{ */
+    7575             : 
+    7576           1 : std::tuple<bool, std::string> ControlManager::startTrajectoryTracking(void) {
+    7577           1 :   if (!is_initialized_)
+    7578           0 :     return std::tuple(false, "the ControlManager is not initialized");
+    7579             : 
+    7580             :   {
+    7581           2 :     std::scoped_lock lock(mutex_tracker_list_);
+    7582             : 
+    7583           1 :     std_srvs::TriggerResponse::ConstPtr response;
+    7584           1 :     std_srvs::TriggerRequest            request;
+    7585             : 
+    7586             :     response =
+    7587           1 :         tracker_list_[active_tracker_idx_]->startTrajectoryTracking(std_srvs::TriggerRequest::ConstPtr(std::make_unique<std_srvs::TriggerRequest>(request)));
+    7588             : 
+    7589           1 :     if (response != std_srvs::TriggerResponse::Ptr()) {
+    7590             : 
+    7591           2 :       return std::tuple(response->success, response->message);
+    7592             : 
+    7593             :     } else {
+    7594             : 
+    7595           0 :       std::stringstream ss;
+    7596           0 :       ss << "the tracker '" << _tracker_names_[active_tracker_idx_] << "' does not implement the 'startTrajectoryTracking()' function!";
+    7597             : 
+    7598           0 :       return std::tuple(false, ss.str());
+    7599             :     }
+    7600             :   }
+    7601             : }
+    7602             : 
+    7603             : //}
+    7604             : 
+    7605             : /* stopTrajectoryTracking() //{ */
+    7606             : 
+    7607           0 : std::tuple<bool, std::string> ControlManager::stopTrajectoryTracking(void) {
+    7608           0 :   if (!is_initialized_)
+    7609           0 :     return std::tuple(false, "the ControlManager is not initialized");
+    7610             : 
+    7611             :   {
+    7612           0 :     std::scoped_lock lock(mutex_tracker_list_);
+    7613             : 
+    7614           0 :     std_srvs::TriggerResponse::ConstPtr response;
+    7615           0 :     std_srvs::TriggerRequest            request;
+    7616             : 
+    7617             :     response =
+    7618           0 :         tracker_list_[active_tracker_idx_]->stopTrajectoryTracking(std_srvs::TriggerRequest::ConstPtr(std::make_unique<std_srvs::TriggerRequest>(request)));
+    7619             : 
+    7620           0 :     if (response != std_srvs::TriggerResponse::Ptr()) {
+    7621             : 
+    7622           0 :       return std::tuple(response->success, response->message);
+    7623             : 
+    7624             :     } else {
+    7625             : 
+    7626           0 :       std::stringstream ss;
+    7627           0 :       ss << "the tracker '" << _tracker_names_[active_tracker_idx_] << "' does not implement the 'stopTrajectoryTracking()' function!";
+    7628             : 
+    7629           0 :       return std::tuple(false, ss.str());
+    7630             :     }
+    7631             :   }
+    7632             : }
+    7633             : 
+    7634             : //}
+    7635             : 
+    7636             : /* resumeTrajectoryTracking() //{ */
+    7637             : 
+    7638           0 : std::tuple<bool, std::string> ControlManager::resumeTrajectoryTracking(void) {
+    7639           0 :   if (!is_initialized_)
+    7640           0 :     return std::tuple(false, "the ControlManager is not initialized");
+    7641             : 
+    7642             :   {
+    7643           0 :     std::scoped_lock lock(mutex_tracker_list_);
+    7644             : 
+    7645           0 :     std_srvs::TriggerResponse::ConstPtr response;
+    7646           0 :     std_srvs::TriggerRequest            request;
+    7647             : 
+    7648             :     response =
+    7649           0 :         tracker_list_[active_tracker_idx_]->resumeTrajectoryTracking(std_srvs::TriggerRequest::ConstPtr(std::make_unique<std_srvs::TriggerRequest>(request)));
+    7650             : 
+    7651           0 :     if (response != std_srvs::TriggerResponse::Ptr()) {
+    7652             : 
+    7653           0 :       return std::tuple(response->success, response->message);
+    7654             : 
+    7655             :     } else {
+    7656             : 
+    7657           0 :       std::stringstream ss;
+    7658           0 :       ss << "the tracker '" << _tracker_names_[active_tracker_idx_] << "' does not implement the 'resumeTrajectoryTracking()' function!";
+    7659             : 
+    7660           0 :       return std::tuple(false, ss.str());
+    7661             :     }
+    7662             :   }
+    7663             : }
+    7664             : 
+    7665             : //}
+    7666             : 
+    7667             : /* gotoTrajectoryStart() //{ */
+    7668             : 
+    7669           1 : std::tuple<bool, std::string> ControlManager::gotoTrajectoryStart(void) {
+    7670           1 :   if (!is_initialized_)
+    7671           0 :     return std::tuple(false, "the ControlManager is not initialized");
+    7672             : 
+    7673             :   {
+    7674           2 :     std::scoped_lock lock(mutex_tracker_list_);
+    7675             : 
+    7676           1 :     std_srvs::TriggerResponse::ConstPtr response;
+    7677           1 :     std_srvs::TriggerRequest            request;
+    7678             : 
+    7679           1 :     response = tracker_list_[active_tracker_idx_]->gotoTrajectoryStart(std_srvs::TriggerRequest::ConstPtr(std::make_unique<std_srvs::TriggerRequest>(request)));
+    7680             : 
+    7681           1 :     if (response != std_srvs::TriggerResponse::Ptr()) {
+    7682             : 
+    7683           2 :       return std::tuple(response->success, response->message);
+    7684             : 
+    7685             :     } else {
+    7686             : 
+    7687           0 :       std::stringstream ss;
+    7688           0 :       ss << "the tracker '" << _tracker_names_[active_tracker_idx_] << "' does not implement the 'gotoTrajectoryStart()' function!";
+    7689             : 
+    7690           0 :       return std::tuple(false, ss.str());
+    7691             :     }
+    7692             :   }
+    7693             : }
+    7694             : 
+    7695             : //}
+    7696             : 
+    7697             : // | ----------------- service client wrappers ---------------- |
+    7698             : 
+    7699             : /* arming() //{ */
+    7700             : 
+    7701          16 : std::tuple<bool, std::string> ControlManager::arming(const bool input) {
+    7702          32 :   std::stringstream ss;
+    7703             : 
+    7704          16 :   if (input) {
+    7705             : 
+    7706           0 :     ss << "not allowed to arm using the ControlManager, maybe later when we don't do bugs";
+    7707           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7708           0 :     return std::tuple(false, ss.str());
+    7709             :   }
+    7710             : 
+    7711          16 :   if (!input && !isOffboard()) {
+    7712             : 
+    7713           0 :     ss << "can not disarm, not in OFFBOARD mode";
+    7714           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7715           0 :     return std::tuple(false, ss.str());
+    7716             :   }
+    7717             : 
+    7718          16 :   if (!input && _rc_emergency_handoff_) {
+    7719             : 
+    7720           0 :     toggleOutput(false);
+    7721             : 
+    7722           0 :     return std::tuple(true, "RC emergency handoff is ON, disabling output");
+    7723             :   }
+    7724             : 
+    7725          16 :   std_srvs::SetBool srv_out;
+    7726             : 
+    7727          16 :   srv_out.request.data = input ? 1 : 0;  // arm or disarm?
+    7728             : 
+    7729          16 :   ROS_INFO("[ControlManager]: calling for %s", input ? "arming" : "disarming");
+    7730             : 
+    7731          16 :   if (sch_arming_.call(srv_out)) {
+    7732             : 
+    7733          16 :     if (srv_out.response.success) {
+    7734             : 
+    7735          16 :       ss << "service call for " << (input ? "arming" : "disarming") << " was successful";
+    7736          16 :       ROS_INFO_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7737             : 
+    7738          16 :       if (!input) {
+    7739             : 
+    7740          16 :         toggleOutput(false);
+    7741             : 
+    7742          16 :         ROS_DEBUG("[ControlManager]: stopping failsafe timer");
+    7743          16 :         timer_failsafe_.stop();
+    7744          16 :         ROS_DEBUG("[ControlManager]: failsafe timer stopped");
+    7745             : 
+    7746          16 :         ROS_DEBUG("[ControlManager]: stopping the eland timer");
+    7747          16 :         timer_eland_.stop();
+    7748          16 :         ROS_DEBUG("[ControlManager]: eland timer stopped");
+    7749             :       }
+    7750             : 
+    7751             :     } else {
+    7752           0 :       ss << "service call for " << (input ? "arming" : "disarming") << " failed";
+    7753           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7754             :     }
+    7755             : 
+    7756             :   } else {
+    7757           0 :     ss << "calling for " << (input ? "arming" : "disarming") << " resulted in failure: '" << srv_out.response.message << "'";
+    7758           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7759             :   }
+    7760             : 
+    7761          32 :   return std::tuple(srv_out.response.success, ss.str());
+    7762             : }
+    7763             : 
+    7764             : //}
+    7765             : 
+    7766             : /* odometryCallbacksSrv() //{ */
+    7767             : 
+    7768          12 : void ControlManager::odometryCallbacksSrv(const bool input) {
+    7769          12 :   ROS_INFO("[ControlManager]: switching odometry callbacks to %s", input ? "ON" : "OFF");
+    7770             : 
+    7771          24 :   std_srvs::SetBool srv;
+    7772             : 
+    7773          12 :   srv.request.data = input;
+    7774             : 
+    7775          12 :   bool res = sch_set_odometry_callbacks_.call(srv);
+    7776             : 
+    7777          12 :   if (res) {
+    7778             : 
+    7779          12 :     if (!srv.response.success) {
+    7780           0 :       ROS_WARN("[ControlManager]: service call for toggle odometry callbacks returned: '%s'", srv.response.message.c_str());
+    7781             :     }
+    7782             : 
+    7783             :   } else {
+    7784           0 :     ROS_ERROR("[ControlManager]: service call for toggle odometry callbacks failed!");
+    7785             :   }
+    7786          12 : }
+    7787             : 
+    7788             : //}
+    7789             : 
+    7790             : /* elandSrv() //{ */
+    7791             : 
+    7792           5 : bool ControlManager::elandSrv(void) {
+    7793           5 :   ROS_INFO("[ControlManager]: calling for eland");
+    7794             : 
+    7795          10 :   std_srvs::Trigger srv;
+    7796             : 
+    7797           5 :   bool res = sch_eland_.call(srv);
+    7798             : 
+    7799           5 :   if (res) {
+    7800             : 
+    7801           5 :     if (!srv.response.success) {
+    7802           0 :       ROS_WARN("[ControlManager]: service call for eland returned: '%s'", srv.response.message.c_str());
+    7803             :     }
+    7804             : 
+    7805           5 :     return srv.response.success;
+    7806             : 
+    7807             :   } else {
+    7808             : 
+    7809           0 :     ROS_ERROR("[ControlManager]: service call for eland failed!");
+    7810             : 
+    7811           0 :     return false;
+    7812             :   }
+    7813             : }
+    7814             : 
+    7815             : //}
+    7816             : 
+    7817             : /* parachuteSrv() //{ */
+    7818             : 
+    7819           0 : bool ControlManager::parachuteSrv(void) {
+    7820           0 :   ROS_INFO("[ControlManager]: calling for parachute deployment");
+    7821             : 
+    7822           0 :   std_srvs::Trigger srv;
+    7823             : 
+    7824           0 :   bool res = sch_parachute_.call(srv);
+    7825             : 
+    7826           0 :   if (res) {
+    7827             : 
+    7828           0 :     if (!srv.response.success) {
+    7829           0 :       ROS_WARN("[ControlManager]: service call for parachute deployment returned: '%s'", srv.response.message.c_str());
+    7830             :     }
+    7831             : 
+    7832           0 :     return srv.response.success;
+    7833             : 
+    7834             :   } else {
+    7835             : 
+    7836           0 :     ROS_ERROR("[ControlManager]: service call for parachute deployment failed!");
+    7837             : 
+    7838           0 :     return false;
+    7839             :   }
+    7840             : }
+    7841             : 
+    7842             : //}
+    7843             : 
+    7844             : /* ungripSrv() //{ */
+    7845             : 
+    7846         409 : void ControlManager::ungripSrv(void) {
+    7847         818 :   std_srvs::Trigger srv;
+    7848             : 
+    7849         409 :   bool res = sch_ungrip_.call(srv);
+    7850             : 
+    7851         409 :   if (res) {
+    7852             : 
+    7853           0 :     if (!srv.response.success) {
+    7854           0 :       ROS_DEBUG_THROTTLE(1.0, "[ControlManager]: service call for ungripping payload returned: '%s'", srv.response.message.c_str());
+    7855             :     }
+    7856             : 
+    7857             :   } else {
+    7858         409 :     ROS_DEBUG_THROTTLE(1.0, "[ControlManager]: service call for ungripping payload failed!");
+    7859             :   }
+    7860         409 : }
+    7861             : 
+    7862             : //}
+    7863             : 
+    7864             : // | ------------------------ routines ------------------------ |
+    7865             : 
+    7866             : /* toggleOutput() //{ */
+    7867             : 
+    7868          83 : void ControlManager::toggleOutput(const bool& input) {
+    7869             : 
+    7870          83 :   if (input == output_enabled_) {
+    7871           5 :     ROS_WARN_THROTTLE(0.1, "[ControlManager]: output is already %s", input ? "ON" : "OFF");
+    7872           5 :     return;
+    7873             :   }
+    7874             : 
+    7875          78 :   ROS_INFO("[ControlManager]: switching output %s", input ? "ON" : "OFF");
+    7876             : 
+    7877          78 :   output_enabled_ = input;
+    7878             : 
+    7879             :   // if switching output off, switch to NullTracker
+    7880          78 :   if (!output_enabled_) {
+    7881             : 
+    7882          17 :     ROS_INFO("[ControlManager]: switching to 'NullTracker' after switching output off");
+    7883             : 
+    7884          17 :     switchTracker(_null_tracker_name_);
+    7885             : 
+    7886          17 :     ROS_INFO_STREAM("[ControlManager]: switching to the controller '" << _eland_controller_name_ << "' after switching output off");
+    7887             : 
+    7888          17 :     switchController(_eland_controller_name_);
+    7889             : 
+    7890             :     // | --------- deactivate all trackers and controllers -------- |
+    7891             : 
+    7892         119 :     for (int i = 0; i < int(tracker_list_.size()); i++) {
+    7893             : 
+    7894         102 :       std::map<std::string, TrackerParams>::iterator it;
+    7895         102 :       it = trackers_.find(_tracker_names_[i]);
+    7896             : 
+    7897             :       try {
+    7898         102 :         ROS_INFO("[ControlManager]: deactivating the tracker '%s'", it->second.address.c_str());
+    7899         102 :         tracker_list_[i]->deactivate();
+    7900             :       }
+    7901           0 :       catch (std::runtime_error& ex) {
+    7902           0 :         ROS_ERROR("[ControlManager]: exception caught during tracker deactivation: '%s'", ex.what());
+    7903             :       }
+    7904             :     }
+    7905             : 
+    7906         102 :     for (int i = 0; i < int(controller_list_.size()); i++) {
+    7907             : 
+    7908          85 :       std::map<std::string, ControllerParams>::iterator it;
+    7909          85 :       it = controllers_.find(_controller_names_[i]);
+    7910             : 
+    7911             :       try {
+    7912          85 :         ROS_INFO("[ControlManager]: deactivating the controller '%s'", it->second.address.c_str());
+    7913          85 :         controller_list_[i]->deactivate();
+    7914             :       }
+    7915           0 :       catch (std::runtime_error& ex) {
+    7916           0 :         ROS_ERROR("[ControlManager]: exception caught during controller deactivation: '%s'", ex.what());
+    7917             :       }
+    7918             :     }
+    7919             : 
+    7920          17 :     timer_failsafe_.stop();
+    7921          17 :     timer_eland_.stop();
+    7922          17 :     timer_pirouette_.stop();
+    7923             : 
+    7924          17 :     offboard_mode_was_true_ = false;
+    7925             :   }
+    7926             : }
+    7927             : 
+    7928             : //}
+    7929             : 
+    7930             : /* switchTracker() //{ */
+    7931             : 
+    7932         149 : std::tuple<bool, std::string> ControlManager::switchTracker(const std::string& tracker_name) {
+    7933         447 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("switchTracker");
+    7934         447 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::switchTracker", scope_timer_logger_, scope_timer_enabled_);
+    7935             : 
+    7936             :   // copy member variables
+    7937         298 :   auto last_tracker_cmd   = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    7938         149 :   auto active_tracker_idx = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    7939             : 
+    7940         298 :   std::stringstream ss;
+    7941             : 
+    7942         149 :   if (!got_uav_state_) {
+    7943             : 
+    7944           0 :     ss << "can not switch tracker, missing odometry!";
+    7945           0 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    7946           0 :     return std::tuple(false, ss.str());
+    7947             :   }
+    7948             : 
+    7949         149 :   if (_state_input_ == INPUT_UAV_STATE && _odometry_innovation_check_enabled_ && !sh_odometry_innovation_.hasMsg()) {
+    7950             : 
+    7951           0 :     ss << "can not switch tracker, missing odometry innovation!";
+    7952           0 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    7953           0 :     return std::tuple(false, ss.str());
+    7954             :   }
+    7955             : 
+    7956         149 :   auto new_tracker_idx = idxInVector(tracker_name, _tracker_names_);
+    7957             : 
+    7958             :   // check if the tracker exists
+    7959         149 :   if (!new_tracker_idx) {
+    7960           1 :     ss << "the tracker '" << tracker_name << "' does not exist!";
+    7961           1 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    7962           1 :     return std::tuple(false, ss.str());
+    7963             :   }
+    7964             : 
+    7965             :   // check if the tracker is already active
+    7966         148 :   if (new_tracker_idx.value() == active_tracker_idx) {
+    7967           9 :     ss << "not switching, the tracker '" << tracker_name << "' is already active!";
+    7968           9 :     ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    7969           9 :     return std::tuple(true, ss.str());
+    7970             :   }
+    7971             : 
+    7972             :   {
+    7973         139 :     std::scoped_lock lock(mutex_tracker_list_);
+    7974             : 
+    7975             :     try {
+    7976             : 
+    7977         139 :       ROS_INFO("[ControlManager]: activating the tracker '%s'", _tracker_names_[new_tracker_idx.value()].c_str());
+    7978             : 
+    7979         139 :       auto [success, message] = tracker_list_[new_tracker_idx.value()]->activate(last_tracker_cmd);
+    7980             : 
+    7981         139 :       if (!success) {
+    7982             : 
+    7983           0 :         ss << "the tracker '" << tracker_name << "' could not be activated: '" << message << "'";
+    7984           0 :         ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    7985           0 :         return std::tuple(false, ss.str());
+    7986             : 
+    7987             :       } else {
+    7988             : 
+    7989         139 :         ss << "the tracker '" << tracker_name << "' was activated";
+    7990         139 :         ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    7991             : 
+    7992             :         {
+    7993         278 :           std::scoped_lock lock(mutex_controller_tracker_switch_time_);
+    7994             : 
+    7995             :           // update the time (used in failsafe)
+    7996         139 :           controller_tracker_switch_time_ = ros::Time::now();
+    7997             :         }
+    7998             : 
+    7999             :         // super important, switch the active tracker idx
+    8000             :         try {
+    8001             : 
+    8002         139 :           ROS_INFO("[ControlManager]: deactivating '%s'", _tracker_names_[active_tracker_idx_].c_str());
+    8003         139 :           tracker_list_[active_tracker_idx_]->deactivate();
+    8004             : 
+    8005             :           // if switching from null tracker, re-activate the already active the controller
+    8006         139 :           if (active_tracker_idx_ == _null_tracker_idx_) {
+    8007             : 
+    8008          58 :             ROS_INFO("[ControlManager]: reactivating '%s' due to switching from 'NullTracker'", _controller_names_[active_controller_idx_].c_str());
+    8009             :             {
+    8010         116 :               std::scoped_lock lock(mutex_controller_list_);
+    8011             : 
+    8012          58 :               initializeControlOutput();
+    8013             : 
+    8014         116 :               auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    8015             : 
+    8016          58 :               controller_list_[active_controller_idx_]->activate(last_control_output);
+    8017             : 
+    8018             :               {
+    8019         116 :                 std::scoped_lock lock(mutex_controller_tracker_switch_time_);
+    8020             : 
+    8021             :                 // update the time (used in failsafe)
+    8022          58 :                 controller_tracker_switch_time_ = ros::Time::now();
+    8023             :               }
+    8024             :             }
+    8025             : 
+    8026             :             // if switching to null tracker, deactivate the active controller
+    8027          81 :           } else if (new_tracker_idx == _null_tracker_idx_) {
+    8028             : 
+    8029          15 :             ROS_INFO("[ControlManager]: deactivating '%s' due to switching to 'NullTracker'", _controller_names_[active_controller_idx_].c_str());
+    8030             :             {
+    8031          30 :               std::scoped_lock lock(mutex_controller_list_);
+    8032             : 
+    8033          15 :               controller_list_[active_controller_idx_]->deactivate();
+    8034             :             }
+    8035             : 
+    8036             :             {
+    8037          15 :               std::scoped_lock lock(mutex_last_tracker_cmd_);
+    8038             : 
+    8039          15 :               last_tracker_cmd_ = {};
+    8040             :             }
+    8041             : 
+    8042          15 :             initializeControlOutput();
+    8043             :           }
+    8044             : 
+    8045         139 :           active_tracker_idx_ = new_tracker_idx.value();
+    8046             :         }
+    8047           0 :         catch (std::runtime_error& exrun) {
+    8048           0 :           ROS_ERROR("[ControlManager]: could not deactivate the tracker '%s'", _tracker_names_[active_tracker_idx_].c_str());
+    8049             :         }
+    8050             :       }
+    8051             :     }
+    8052           0 :     catch (std::runtime_error& exrun) {
+    8053           0 :       ROS_ERROR("[ControlManager]: error during activation of the tracker '%s'", tracker_name.c_str());
+    8054           0 :       ROS_ERROR("[ControlManager]: exception: '%s'", exrun.what());
+    8055             :     }
+    8056             :   }
+    8057             : 
+    8058         139 :   return std::tuple(true, ss.str());
+    8059             : }
+    8060             : 
+    8061             : //}
+    8062             : 
+    8063             : /* switchController() //{ */
+    8064             : 
+    8065         148 : std::tuple<bool, std::string> ControlManager::switchController(const std::string& controller_name) {
+    8066         444 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("switchController");
+    8067         444 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::switchController", scope_timer_logger_, scope_timer_enabled_);
+    8068             : 
+    8069             :   // copy member variables
+    8070         296 :   auto last_control_output   = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    8071         296 :   auto last_tracker_cmd      = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    8072         148 :   auto active_controller_idx = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    8073             : 
+    8074         296 :   std::stringstream ss;
+    8075             : 
+    8076         148 :   if (!got_uav_state_) {
+    8077             : 
+    8078           0 :     ss << "can not switch controller, missing odometry!";
+    8079           0 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    8080           0 :     return std::tuple(false, ss.str());
+    8081             :   }
+    8082             : 
+    8083         148 :   if (_state_input_ == INPUT_UAV_STATE && _odometry_innovation_check_enabled_ && !sh_odometry_innovation_.hasMsg()) {
+    8084             : 
+    8085           0 :     ss << "can not switch controller, missing odometry innovation!";
+    8086           0 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    8087           0 :     return std::tuple(false, ss.str());
+    8088             :   }
+    8089             : 
+    8090         148 :   auto new_controller_idx = idxInVector(controller_name, _controller_names_);
+    8091             : 
+    8092             :   // check if the controller exists
+    8093         148 :   if (!new_controller_idx) {
+    8094           1 :     ss << "the controller '" << controller_name << "' does not exist!";
+    8095           1 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    8096           1 :     return std::tuple(false, ss.str());
+    8097             :   }
+    8098             : 
+    8099             :   // check if the controller is not active
+    8100         147 :   if (new_controller_idx.value() == active_controller_idx) {
+    8101             : 
+    8102          24 :     ss << "not switching, the controller '" << controller_name << "' is already active!";
+    8103          24 :     ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    8104          24 :     return std::tuple(true, ss.str());
+    8105             :   }
+    8106             : 
+    8107             :   {
+    8108         123 :     std::scoped_lock lock(mutex_controller_list_);
+    8109             : 
+    8110             :     try {
+    8111             : 
+    8112         123 :       ROS_INFO("[ControlManager]: activating the controller '%s'", _controller_names_[new_controller_idx.value()].c_str());
+    8113         123 :       if (!controller_list_[new_controller_idx.value()]->activate(last_control_output)) {
+    8114             : 
+    8115           0 :         ss << "the controller '" << controller_name << "' was not activated";
+    8116           0 :         ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    8117           0 :         return std::tuple(false, ss.str());
+    8118             : 
+    8119             :       } else {
+    8120             : 
+    8121         123 :         ss << "the controller '" << controller_name << "' was activated";
+    8122         123 :         ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    8123             : 
+    8124         123 :         ROS_INFO("[ControlManager]: triggering hover after switching to '%s', re-activating '%s'", _controller_names_[new_controller_idx.value()].c_str(),
+    8125             :                  _tracker_names_[active_tracker_idx_].c_str());
+    8126             : 
+    8127             :         // reactivate the current tracker
+    8128             :         // TODO this is not the most elegant way to restart the tracker after a controller switch
+    8129             :         // but it serves the purpose
+    8130             :         {
+    8131         123 :           std::scoped_lock lock(mutex_tracker_list_);
+    8132             : 
+    8133         123 :           tracker_list_[active_tracker_idx_]->deactivate();
+    8134         123 :           tracker_list_[active_tracker_idx_]->activate({});
+    8135             :         }
+    8136             : 
+    8137             :         {
+    8138         246 :           std::scoped_lock lock(mutex_controller_tracker_switch_time_);
+    8139             : 
+    8140             :           // update the time (used in failsafe)
+    8141         123 :           controller_tracker_switch_time_ = ros::Time::now();
+    8142             :         }
+    8143             : 
+    8144             :         // super important, switch the active controller idx
+    8145             :         try {
+    8146             : 
+    8147         123 :           controller_list_[active_controller_idx_]->deactivate();
+    8148         123 :           active_controller_idx_ = new_controller_idx.value();
+    8149             :         }
+    8150           0 :         catch (std::runtime_error& exrun) {
+    8151           0 :           ROS_ERROR("[ControlManager]: could not deactivate controller '%s'", _controller_names_[active_controller_idx_].c_str());
+    8152             :         }
+    8153             :       }
+    8154             :     }
+    8155           0 :     catch (std::runtime_error& exrun) {
+    8156           0 :       ROS_ERROR("[ControlManager]: error during activation of controller '%s'", controller_name.c_str());
+    8157           0 :       ROS_ERROR("[ControlManager]: exception: '%s'", exrun.what());
+    8158             :     }
+    8159             :   }
+    8160             : 
+    8161         123 :   mrs_msgs::DynamicsConstraintsSrvRequest sanitized_constraints;
+    8162             : 
+    8163             :   {
+    8164         123 :     std::scoped_lock lock(mutex_constraints_);
+    8165             : 
+    8166         123 :     sanitized_constraints_ = current_constraints_;
+    8167         123 :     sanitized_constraints  = sanitized_constraints_;
+    8168             :   }
+    8169             : 
+    8170         123 :   setConstraintsToControllers(sanitized_constraints);
+    8171             : 
+    8172         123 :   return std::tuple(true, ss.str());
+    8173             : }
+    8174             : 
+    8175             : //}
+    8176             : 
+    8177             : /* updateTrackers() //{ */
+    8178             : 
+    8179       77966 : void ControlManager::updateTrackers(void) {
+    8180      155932 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("updateTrackers");
+    8181      155932 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::updateTrackers", scope_timer_logger_, scope_timer_enabled_);
+    8182             : 
+    8183             :   // copy member variables
+    8184       77966 :   auto uav_state           = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    8185       77966 :   auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    8186       77966 :   auto active_tracker_idx  = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    8187             : 
+    8188             :   // --------------------------------------------------------------
+    8189             :   // |                     Update the trackers                    |
+    8190             :   // --------------------------------------------------------------
+    8191             : 
+    8192           0 :   std::optional<mrs_msgs::TrackerCommand> tracker_command;
+    8193             : 
+    8194             :   // for each tracker
+    8195      547475 :   for (size_t i = 0; i < tracker_list_.size(); i++) {
+    8196             : 
+    8197      469509 :     if (i == active_tracker_idx) {
+    8198             : 
+    8199             :       try {
+    8200       77966 :         std::scoped_lock lock(mutex_tracker_list_);
+    8201             : 
+    8202             :         // active tracker => update and retrieve the command
+    8203       77966 :         tracker_command = tracker_list_[i]->update(uav_state, last_control_output);
+    8204             :       }
+    8205           0 :       catch (std::runtime_error& exrun) {
+    8206             : 
+    8207           0 :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: exception while updating the active tracker (%s)", _tracker_names_[active_tracker_idx].c_str());
+    8208           0 :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: exception: '%s'", exrun.what());
+    8209           0 :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: triggering eland due to an exception in the active tracker");
+    8210             : 
+    8211           0 :         eland();
+    8212             :       }
+    8213             : 
+    8214             :     } else {
+    8215             : 
+    8216             :       try {
+    8217      391543 :         std::scoped_lock lock(mutex_tracker_list_);
+    8218             : 
+    8219             :         // nonactive tracker => just update without retrieving the command
+    8220      391543 :         tracker_list_[i]->update(uav_state, last_control_output);
+    8221             :       }
+    8222           0 :       catch (std::runtime_error& exrun) {
+    8223             : 
+    8224           0 :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: exception while updating the tracker '%s'", _tracker_names_[i].c_str());
+    8225           0 :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: exception: '%s'", exrun.what());
+    8226           0 :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: triggering eland due to an exception in the tracker");
+    8227             : 
+    8228           0 :         eland();
+    8229             :       }
+    8230             :     }
+    8231             :   }
+    8232             : 
+    8233       77966 :   if (active_tracker_idx == _null_tracker_idx_) {
+    8234       16428 :     return;
+    8235             :   }
+    8236             : 
+    8237       61538 :   if (validateTrackerCommand(tracker_command, "ControlManager", "tracker_command")) {
+    8238             : 
+    8239      123076 :     std::scoped_lock lock(mutex_last_tracker_cmd_);
+    8240             : 
+    8241       61538 :     last_tracker_cmd_ = tracker_command;
+    8242             : 
+    8243             :     // | --------- fill in the potentially missing header --------- |
+    8244             : 
+    8245       61538 :     if (last_tracker_cmd_->header.frame_id == "") {
+    8246           0 :       last_tracker_cmd_->header.frame_id = uav_state.header.frame_id;
+    8247             :     }
+    8248             : 
+    8249       61538 :     if (last_tracker_cmd_->header.stamp == ros::Time(0)) {
+    8250           0 :       last_tracker_cmd_->header.stamp = ros::Time::now();
+    8251             :     }
+    8252             : 
+    8253             :   } else {
+    8254             : 
+    8255           0 :     if (active_tracker_idx != _null_tracker_idx_) {
+    8256             : 
+    8257           0 :       if (active_tracker_idx == _ehover_tracker_idx_) {
+    8258             : 
+    8259           0 :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: the ehover tracker '%s' returned empty or invalid command!", _tracker_names_[active_tracker_idx].c_str());
+    8260             : 
+    8261           0 :         failsafe();
+    8262             : 
+    8263             :       } else {
+    8264             : 
+    8265           0 :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: the tracker '%s' returned empty or invalid command!", _tracker_names_[active_tracker_idx].c_str());
+    8266             : 
+    8267           0 :         if (_tracker_error_action_ == ELAND_STR) {
+    8268           0 :           eland();
+    8269           0 :         } else if (_tracker_error_action_ == EHOVER_STR) {
+    8270           0 :           ehover();
+    8271             :         } else {
+    8272           0 :           failsafe();
+    8273             :         }
+    8274             :       }
+    8275             : 
+    8276             :     } else {
+    8277             : 
+    8278           0 :       std::scoped_lock lock(mutex_last_tracker_cmd_);
+    8279             : 
+    8280           0 :       last_tracker_cmd_ = tracker_command;
+    8281             :     }
+    8282             :   }
+    8283             : }
+    8284             : 
+    8285             : //}
+    8286             : 
+    8287             : /* updateControllers() //{ */
+    8288             : 
+    8289       87676 : void ControlManager::updateControllers(const mrs_msgs::UavState& uav_state) {
+    8290      175352 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("updateControllers");
+    8291      175352 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::updateControllers", scope_timer_logger_, scope_timer_enabled_);
+    8292             : 
+    8293             :   // copy member variables
+    8294       87676 :   auto last_tracker_cmd      = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    8295       87676 :   auto active_controller_idx = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    8296             : 
+    8297             :   // | ----------------- update the controllers ----------------- |
+    8298             : 
+    8299             :   // the trackers are not running
+    8300       87676 :   if (!last_tracker_cmd) {
+    8301             : 
+    8302       16428 :     ROS_DEBUG_THROTTLE(1.0, "[ControlManager]: tracker command is empty, giving controller just the uav_state");
+    8303             : 
+    8304             :     // give the controllers current uav state
+    8305             :     {
+    8306       32856 :       std::scoped_lock lock(mutex_controller_list_);
+    8307             : 
+    8308             :       // nonactive controller => just update without retrieving the command
+    8309       98568 :       for (int i = 0; i < int(controller_list_.size()); i++) {
+    8310       82140 :         controller_list_[i]->updateInactive(uav_state, last_tracker_cmd);
+    8311             :       }
+    8312             :     }
+    8313             : 
+    8314       16428 :     return;
+    8315             :   }
+    8316             : 
+    8317      142496 :   Controller::ControlOutput control_output;
+    8318             : 
+    8319             :   // for each controller
+    8320      427488 :   for (size_t i = 0; i < controller_list_.size(); i++) {
+    8321             : 
+    8322      356240 :     if (i == active_controller_idx) {
+    8323             : 
+    8324             :       try {
+    8325       71248 :         std::scoped_lock lock(mutex_controller_list_);
+    8326             : 
+    8327             :         // active controller => update and retrieve the command
+    8328       71248 :         control_output = controller_list_[active_controller_idx]->updateActive(uav_state, last_tracker_cmd.value());
+    8329             :       }
+    8330           0 :       catch (std::runtime_error& exrun) {
+    8331             : 
+    8332           0 :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: exception while updating the active controller (%s)", _controller_names_[active_controller_idx].c_str());
+    8333           0 :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: exception: '%s'", exrun.what());
+    8334             : 
+    8335           0 :         if (eland_triggered_) {
+    8336             : 
+    8337           0 :           ROS_ERROR_THROTTLE(1.0, "[ControlManager]: triggering failsafe due to an exception in the active controller (eland is already active)");
+    8338           0 :           failsafe();
+    8339             : 
+    8340             :         } else {
+    8341             : 
+    8342           0 :           ROS_ERROR_THROTTLE(1.0, "[ControlManager]: triggering eland due to an exception in the active controller");
+    8343           0 :           eland();
+    8344             :         }
+    8345             :       }
+    8346             : 
+    8347             :     } else {
+    8348             : 
+    8349             :       try {
+    8350      569984 :         std::scoped_lock lock(mutex_controller_list_);
+    8351             : 
+    8352             :         // nonactive controller => just update without retrieving the command
+    8353      284992 :         controller_list_[i]->updateInactive(uav_state, last_tracker_cmd);
+    8354             :       }
+    8355           0 :       catch (std::runtime_error& exrun) {
+    8356             : 
+    8357           0 :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: exception while updating the controller '%s'", _controller_names_[i].c_str());
+    8358           0 :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: exception: '%s'", exrun.what());
+    8359           0 :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: triggering eland (somebody should notice this)");
+    8360             : 
+    8361           0 :         eland();
+    8362             :       }
+    8363             :     }
+    8364             :   }
+    8365             : 
+    8366             :   // normally, the active controller returns a valid command
+    8367       71248 :   if (validateControlOutput(control_output, _hw_api_inputs_, "ControlManager", "control_output")) {
+    8368             : 
+    8369       71248 :     mrs_lib::set_mutexed(mutex_last_control_output_, control_output, last_control_output_);
+    8370             : 
+    8371             :     // but it can return an empty command, due to some critical internal error
+    8372             :     // which means we should trigger the failsafe landing
+    8373             :   } else {
+    8374             : 
+    8375             :     // only if the controller is still active, trigger escalating failsafe
+    8376             :     // if not active, we don't care, we should not ask the controller for
+    8377             :     // the result anyway -> this could mean a race condition occured
+    8378             :     // like it once happend during landing
+    8379           0 :     bool controller_status = false;
+    8380             : 
+    8381             :     {
+    8382           0 :       std::scoped_lock lock(mutex_controller_list_);
+    8383             : 
+    8384           0 :       controller_status = controller_list_[active_controller_idx]->getStatus().active;
+    8385             :     }
+    8386             : 
+    8387           0 :     if (controller_status) {
+    8388             : 
+    8389           0 :       if (active_controller_idx_ == _failsafe_controller_idx_) {
+    8390             : 
+    8391           0 :         ROS_ERROR("[ControlManager]: failsafe controller returned empty command, disabling control");
+    8392             : 
+    8393           0 :         toggleOutput(false);
+    8394             : 
+    8395           0 :       } else if (active_controller_idx_ == _eland_controller_idx_) {
+    8396             : 
+    8397           0 :         ROS_ERROR("[ControlManager]: triggering failsafe, the emergency controller returned empty or invalid command");
+    8398             : 
+    8399           0 :         failsafe();
+    8400             : 
+    8401             :       } else {
+    8402             : 
+    8403           0 :         ROS_ERROR("[ControlManager]: triggering eland, the controller returned empty or invalid command");
+    8404             : 
+    8405           0 :         eland();
+    8406             :       }
+    8407             :     }
+    8408             :   }
+    8409             : }
+    8410             : 
+    8411             : //}
+    8412             : 
+    8413             : /* publish() //{ */
+    8414             : 
+    8415       87676 : void ControlManager::publish(void) {
+    8416      175352 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("publish");
+    8417      175352 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::publish", scope_timer_logger_, scope_timer_enabled_);
+    8418             : 
+    8419             :   // copy member variables
+    8420       87676 :   auto last_control_output   = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    8421       87676 :   auto last_tracker_cmd      = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    8422       87676 :   auto active_tracker_idx    = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    8423       87676 :   auto active_controller_idx = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    8424       87676 :   auto uav_state             = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    8425             : 
+    8426       87676 :   publishControlReferenceOdom(last_tracker_cmd, last_control_output);
+    8427             : 
+    8428             :   // --------------------------------------------------------------
+    8429             :   // |                 Publish the control command                |
+    8430             :   // --------------------------------------------------------------
+    8431             : 
+    8432       87676 :   mrs_msgs::HwApiAttitudeCmd attitude_target;
+    8433       87676 :   attitude_target.stamp = ros::Time::now();
+    8434             : 
+    8435       87676 :   mrs_msgs::HwApiAttitudeRateCmd attitude_rate_target;
+    8436       87676 :   attitude_rate_target.stamp = ros::Time::now();
+    8437             : 
+    8438       87676 :   if (!output_enabled_) {
+    8439             : 
+    8440        7113 :     ROS_WARN_THROTTLE(1.0, "[ControlManager]: output is disabled");
+    8441             : 
+    8442       80563 :   } else if (active_tracker_idx == _null_tracker_idx_) {
+    8443             : 
+    8444        9318 :     ROS_WARN_THROTTLE(5.0, "[ControlManager]: 'NullTracker' is active, not controlling");
+    8445             : 
+    8446             :     Controller::HwApiOutputVariant output =
+    8447       18636 :         initializeDefaultOutput(_hw_api_inputs_, uav_state, _min_throttle_null_tracker_, common_handlers_->throttle_model.n_motors);
+    8448             : 
+    8449             :     {
+    8450       18636 :       std::scoped_lock lock(mutex_last_control_output_);
+    8451             : 
+    8452        9318 :       last_control_output_.control_output = output;
+    8453             :     }
+    8454             : 
+    8455        9318 :     control_output_publisher_.publish(output);
+    8456             : 
+    8457       71245 :   } else if (active_tracker_idx != _null_tracker_idx_ && !last_control_output.control_output) {
+    8458             : 
+    8459           0 :     ROS_WARN_THROTTLE(1.0, "[ControlManager]: the controller '%s' returned nil command, not publishing anything",
+    8460             :                       _controller_names_[active_controller_idx].c_str());
+    8461             : 
+    8462             :     Controller::HwApiOutputVariant output =
+    8463           0 :         initializeDefaultOutput(_hw_api_inputs_, uav_state, _min_throttle_null_tracker_, common_handlers_->throttle_model.n_motors);
+    8464             : 
+    8465           0 :     control_output_publisher_.publish(output);
+    8466             : 
+    8467       71245 :   } else if (last_control_output.control_output) {
+    8468             : 
+    8469       71245 :     if (validateHwApiAttitudeCmd(attitude_target, "ControlManager", "last_control_output.control_output")) {
+    8470       71245 :       control_output_publisher_.publish(last_control_output.control_output.value());
+    8471             :     } else {
+    8472           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: the attitude cmd is not valid just before publishing!");
+    8473           0 :       return;
+    8474             :     }
+    8475             : 
+    8476             :   } else {
+    8477           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: not publishing a control command");
+    8478             :   }
+    8479             : 
+    8480             :   // | ----------- publish the controller diagnostics ----------- |
+    8481             : 
+    8482       87676 :   ph_controller_diagnostics_.publish(last_control_output.diagnostics);
+    8483             : 
+    8484             :   // | --------- publish the applied throttle and thrust -------- |
+    8485             : 
+    8486       87676 :   auto throttle = extractThrottle(last_control_output);
+    8487             : 
+    8488       87676 :   if (throttle) {
+    8489             : 
+    8490             :     {
+    8491       77228 :       std_msgs::Float64 msg;
+    8492       77228 :       msg.data = throttle.value();
+    8493       77228 :       ph_throttle_.publish(msg);
+    8494             :     }
+    8495             : 
+    8496       77228 :     double thrust = mrs_lib::quadratic_throttle_model::throttleToForce(common_handlers_->throttle_model, throttle.value());
+    8497             : 
+    8498             :     {
+    8499       77228 :       std_msgs::Float64 msg;
+    8500       77228 :       msg.data = thrust;
+    8501       77228 :       ph_thrust_.publish(msg);
+    8502             :     }
+    8503             :   }
+    8504             : 
+    8505             :   // | ----------------- publish tracker command ---------------- |
+    8506             : 
+    8507       87676 :   if (last_tracker_cmd) {
+    8508       71245 :     ph_tracker_cmd_.publish(last_tracker_cmd.value());
+    8509             :   }
+    8510             : 
+    8511             :   // | --------------- publish the odometry input --------------- |
+    8512             : 
+    8513       87676 :   if (last_control_output.control_output) {
+    8514             : 
+    8515      161426 :     mrs_msgs::EstimatorInput msg;
+    8516             : 
+    8517       80713 :     msg.header.frame_id = _uav_name_ + "/fcu";
+    8518       80713 :     msg.header.stamp    = ros::Time::now();
+    8519             : 
+    8520       80713 :     if (last_control_output.desired_unbiased_acceleration) {
+    8521       59896 :       msg.control_acceleration.x = last_control_output.desired_unbiased_acceleration.value()[0];
+    8522       59896 :       msg.control_acceleration.y = last_control_output.desired_unbiased_acceleration.value()[1];
+    8523       59896 :       msg.control_acceleration.z = last_control_output.desired_unbiased_acceleration.value()[2];
+    8524             :     }
+    8525             : 
+    8526       80713 :     if (last_control_output.desired_heading_rate) {
+    8527       56712 :       msg.control_hdg_rate = last_control_output.desired_heading_rate.value();
+    8528             :     }
+    8529             : 
+    8530       80713 :     if (last_control_output.desired_unbiased_acceleration) {
+    8531       59896 :       ph_mrs_odom_input_.publish(msg);
+    8532             :     }
+    8533             :   }
+    8534             : }
+    8535             : 
+    8536             : //}
+    8537             : 
+    8538             : /* deployParachute() //{ */
+    8539             : 
+    8540           0 : std::tuple<bool, std::string> ControlManager::deployParachute(void) {
+    8541             :   // if not enabled, return false
+    8542           0 :   if (!_parachute_enabled_) {
+    8543             : 
+    8544           0 :     std::stringstream ss;
+    8545           0 :     ss << "can not deploy parachute, it is disabled";
+    8546           0 :     return std::tuple(false, ss.str());
+    8547             :   }
+    8548             : 
+    8549             :   // we can not disarm if the drone is not in offboard mode
+    8550             :   // this is super important!
+    8551           0 :   if (!isOffboard()) {
+    8552             : 
+    8553           0 :     std::stringstream ss;
+    8554           0 :     ss << "can not deploy parachute, not in offboard mode";
+    8555           0 :     return std::tuple(false, ss.str());
+    8556             :   }
+    8557             : 
+    8558             :   // call the parachute service
+    8559           0 :   bool succ = parachuteSrv();
+    8560             : 
+    8561             :   // if the deployment was successful,
+    8562           0 :   if (succ) {
+    8563             : 
+    8564           0 :     arming(false);
+    8565             : 
+    8566           0 :     std::stringstream ss;
+    8567           0 :     ss << "parachute deployed";
+    8568             : 
+    8569           0 :     return std::tuple(true, ss.str());
+    8570             : 
+    8571             :   } else {
+    8572             : 
+    8573           0 :     std::stringstream ss;
+    8574           0 :     ss << "error during deployment of parachute";
+    8575             : 
+    8576           0 :     return std::tuple(false, ss.str());
+    8577             :   }
+    8578             : }
+    8579             : 
+    8580             : //}
+    8581             : 
+    8582             : /* velocityReferenceToReference() //{ */
+    8583             : 
+    8584         471 : mrs_msgs::ReferenceStamped ControlManager::velocityReferenceToReference(const mrs_msgs::VelocityReferenceStamped& vel_reference) {
+    8585         942 :   auto last_tracker_cmd    = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    8586         942 :   auto uav_state           = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    8587         471 :   auto current_constraints = mrs_lib::get_mutexed(mutex_constraints_, current_constraints_);
+    8588             : 
+    8589         471 :   mrs_msgs::ReferenceStamped reference_out;
+    8590             : 
+    8591         471 :   reference_out.header = vel_reference.header;
+    8592             : 
+    8593         471 :   if (vel_reference.reference.use_heading) {
+    8594           0 :     reference_out.reference.heading = vel_reference.reference.heading;
+    8595         471 :   } else if (vel_reference.reference.use_heading_rate) {
+    8596         471 :     reference_out.reference.heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading() + vel_reference.reference.use_heading_rate;
+    8597             :   } else {
+    8598           0 :     reference_out.reference.heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+    8599             :   }
+    8600             : 
+    8601         471 :   if (vel_reference.reference.use_altitude) {
+    8602           0 :     reference_out.reference.position.z = vel_reference.reference.altitude;
+    8603             :   } else {
+    8604             : 
+    8605         471 :     double stopping_time_z = 0;
+    8606             : 
+    8607         471 :     if (vel_reference.reference.velocity.x >= 0) {
+    8608         242 :       stopping_time_z = 1.5 * (fabs(vel_reference.reference.velocity.z) / current_constraints.constraints.vertical_ascending_acceleration) + 1.0;
+    8609             :     } else {
+    8610         229 :       stopping_time_z = 1.5 * (fabs(vel_reference.reference.velocity.z) / current_constraints.constraints.vertical_descending_acceleration) + 1.0;
+    8611             :     }
+    8612             : 
+    8613         471 :     reference_out.reference.position.z = last_tracker_cmd->position.z + vel_reference.reference.velocity.z * stopping_time_z;
+    8614             :   }
+    8615             : 
+    8616             :   {
+    8617         471 :     double stopping_time_x = 1.5 * (fabs(vel_reference.reference.velocity.x) / current_constraints.constraints.horizontal_acceleration) + 1.0;
+    8618         471 :     double stopping_time_y = 1.5 * (fabs(vel_reference.reference.velocity.y) / current_constraints.constraints.horizontal_acceleration) + 1.0;
+    8619             : 
+    8620         471 :     reference_out.reference.position.x = last_tracker_cmd->position.x + vel_reference.reference.velocity.x * stopping_time_x;
+    8621         471 :     reference_out.reference.position.y = last_tracker_cmd->position.y + vel_reference.reference.velocity.y * stopping_time_y;
+    8622             :   }
+    8623             : 
+    8624         942 :   return reference_out;
+    8625             : }
+    8626             : 
+    8627             : //}
+    8628             : 
+    8629             : /* publishControlReferenceOdom() //{ */
+    8630             : 
+    8631       87676 : void ControlManager::publishControlReferenceOdom([[maybe_unused]] const std::optional<mrs_msgs::TrackerCommand>& tracker_command,
+    8632             :                                                  [[maybe_unused]] const Controller::ControlOutput&               control_output) {
+    8633       87676 :   if (!tracker_command || !control_output.control_output) {
+    8634       16431 :     return;
+    8635             :   }
+    8636             : 
+    8637      142490 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    8638             : 
+    8639      142490 :   nav_msgs::Odometry msg;
+    8640             : 
+    8641       71245 :   msg.header = tracker_command->header;
+    8642             : 
+    8643       71245 :   if (tracker_command->use_position_horizontal) {
+    8644       71245 :     msg.pose.pose.position.x = tracker_command->position.x;
+    8645       71245 :     msg.pose.pose.position.y = tracker_command->position.y;
+    8646             :   } else {
+    8647           0 :     msg.pose.pose.position.x = uav_state.pose.position.x;
+    8648           0 :     msg.pose.pose.position.y = uav_state.pose.position.y;
+    8649             :   }
+    8650             : 
+    8651       71245 :   if (tracker_command->use_position_vertical) {
+    8652       71245 :     msg.pose.pose.position.z = tracker_command->position.z;
+    8653             :   } else {
+    8654           0 :     msg.pose.pose.position.z = uav_state.pose.position.z;
+    8655             :   }
+    8656             : 
+    8657             :   // transform the velocity in the reference to the child_frame
+    8658       71245 :   if (tracker_command->use_velocity_horizontal || tracker_command->use_velocity_vertical) {
+    8659             : 
+    8660       71245 :     msg.child_frame_id = _uav_name_ + "/" + _body_frame_;
+    8661             : 
+    8662      142490 :     geometry_msgs::Vector3Stamped velocity;
+    8663       71245 :     velocity.header = tracker_command->header;
+    8664             : 
+    8665       71245 :     if (tracker_command->use_velocity_horizontal) {
+    8666       71245 :       velocity.vector.x = tracker_command->velocity.x;
+    8667       71245 :       velocity.vector.y = tracker_command->velocity.y;
+    8668             :     }
+    8669             : 
+    8670       71245 :     if (tracker_command->use_velocity_vertical) {
+    8671       71245 :       velocity.vector.z = tracker_command->velocity.z;
+    8672             :     }
+    8673             : 
+    8674      142490 :     auto res = transformer_->transformSingle(velocity, msg.child_frame_id);
+    8675             : 
+    8676       71245 :     if (res) {
+    8677       71245 :       msg.twist.twist.linear.x = res.value().vector.x;
+    8678       71245 :       msg.twist.twist.linear.y = res.value().vector.y;
+    8679       71245 :       msg.twist.twist.linear.z = res.value().vector.z;
+    8680             :     } else {
+    8681           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: could not transform the reference speed from '%s' to '%s'", velocity.header.frame_id.c_str(),
+    8682             :                          msg.child_frame_id.c_str());
+    8683             :     }
+    8684             :   }
+    8685             : 
+    8686             :   // fill in the orientation or heading
+    8687       71245 :   if (control_output.desired_orientation) {
+    8688       57857 :     msg.pose.pose.orientation = mrs_lib::AttitudeConverter(control_output.desired_orientation.value());
+    8689       13388 :   } else if (tracker_command->use_heading) {
+    8690       13388 :     msg.pose.pose.orientation = mrs_lib::AttitudeConverter(0, 0, tracker_command->heading);
+    8691             :   }
+    8692             : 
+    8693             :   // fill in the attitude rate
+    8694       71245 :   if (std::holds_alternative<mrs_msgs::HwApiAttitudeRateCmd>(control_output.control_output.value())) {
+    8695             : 
+    8696       52387 :     auto attitude_cmd = std::get<mrs_msgs::HwApiAttitudeRateCmd>(control_output.control_output.value());
+    8697             : 
+    8698       52387 :     msg.twist.twist.angular.x = attitude_cmd.body_rate.x;
+    8699       52387 :     msg.twist.twist.angular.y = attitude_cmd.body_rate.y;
+    8700       52387 :     msg.twist.twist.angular.z = attitude_cmd.body_rate.z;
+    8701             :   }
+    8702             : 
+    8703       71245 :   ph_control_reference_odom_.publish(msg);
+    8704             : }
+    8705             : 
+    8706             : //}
+    8707             : 
+    8708             : /* initializeControlOutput() //{ */
+    8709             : 
+    8710         138 : void ControlManager::initializeControlOutput(void) {
+    8711         138 :   Controller::ControlOutput controller_output;
+    8712             : 
+    8713         138 :   controller_output.diagnostics.total_mass       = _uav_mass_;
+    8714         138 :   controller_output.diagnostics.mass_difference  = 0.0;
+    8715         138 :   controller_output.diagnostics.disturbance_bx_b = _initial_body_disturbance_x_;
+    8716         138 :   controller_output.diagnostics.disturbance_by_b = _initial_body_disturbance_y_;
+    8717         138 :   controller_output.diagnostics.disturbance_wx_w = 0.0;
+    8718         138 :   controller_output.diagnostics.disturbance_wy_w = 0.0;
+    8719         138 :   controller_output.diagnostics.disturbance_bx_w = 0.0;
+    8720         138 :   controller_output.diagnostics.disturbance_by_w = 0.0;
+    8721         138 :   controller_output.diagnostics.controller       = "none";
+    8722             : 
+    8723         138 :   mrs_lib::set_mutexed(mutex_last_control_output_, controller_output, last_control_output_);
+    8724         138 : }
+    8725             : 
+    8726             : //}
+    8727             : 
+    8728             : }  // namespace control_manager
+    8729             : 
+    8730             : }  // namespace mrs_uav_managers
+    8731             : 
+    8732             : #include <pluginlib/class_list_macros.h>
+    8733          65 : 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..1cbcecda2f --- /dev/null +++ b/mrs_uav_managers/src/control_manager/control_manager.cpp.gcov.overview.html @@ -0,0 +1,2204 @@ + + + + + + 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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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:2024-01-20 21:44:18Functions: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&)65
mrs_uav_managers::control_manager::OutputPublisher::OutputPublisher()65
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)451
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)482
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)504
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)1023
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)1025
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)3767
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)3768
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)7838
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)61705
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&)80563
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Generated by: LCOV version 1.14
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LCOV - code coverage report
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Current view:top level - mrs_uav_managers/src/control_manager - output_publisher.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:4343100.0 %
Date:2024-01-20 21:44:18Functions:1212100.0 %
Legend: Lines: + hit + not hit +
+
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)3768
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)7838
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)482
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)451
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)61705
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)3767
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)1025
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)504
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)1023
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&)80563
mrs_uav_managers::control_manager::OutputPublisher::OutputPublisher(ros::NodeHandle&)65
mrs_uav_managers::control_manager::OutputPublisher::OutputPublisher()65
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LCOV - code coverage report
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Current view:top level - mrs_uav_managers/src/control_manager - output_publisher.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:4343100.0 %
Date:2024-01-20 21:44:18Functions: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          65 : OutputPublisher::OutputPublisher() {
+      10          65 : }
+      11             : 
+      12          65 : OutputPublisher::OutputPublisher(ros::NodeHandle& nh) {
+      13             : 
+      14          65 :   ph_hw_api_actuator_cmd_              = mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd>(nh, "hw_api_actuator_cmd_out", 1);
+      15          65 :   ph_hw_api_control_group_cmd_         = mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd>(nh, "hw_api_control_group_cmd_out", 1);
+      16          65 :   ph_hw_api_attitude_rate_cmd_         = mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd>(nh, "hw_api_attitude_rate_cmd_out", 1);
+      17          65 :   ph_hw_api_attitude_cmd_              = mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd>(nh, "hw_api_attitude_cmd_out", 1);
+      18          65 :   ph_hw_api_acceleration_hdg_rate_cmd_ = mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd>(nh, "hw_api_acceleration_hdg_rate_cmd_out", 1);
+      19          65 :   ph_hw_api_acceleration_hdg_cmd_      = mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd>(nh, "hw_api_acceleration_hdg_cmd_out", 1);
+      20          65 :   ph_hw_api_velocity_hdg_rate_cmd_     = mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd>(nh, "hw_api_velocity_hdg_rate_cmd_out", 1);
+      21          65 :   ph_hw_api_velocity_hdg_cmd_          = mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd>(nh, "hw_api_velocity_hdg_cmd_out", 1);
+      22          65 :   ph_hw_api_position_cmd_              = mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd>(nh, "hw_api_position_cmd_out", 1);
+      23          65 : }
+      24             : 
+      25       80563 : void OutputPublisher::publish(const Controller::HwApiOutputVariant& control_output) {
+      26             : 
+      27       80563 :   std::visit(OutputPublisher::PublisherVisitor(this), control_output);
+      28       80563 : }
+      29             : 
+      30             : // | ------------------------- private ------------------------ |
+      31             : 
+      32        3768 : void OutputPublisher::publish(const mrs_msgs::HwApiActuatorCmd& msg) {
+      33        3768 :   ph_hw_api_actuator_cmd_.publish(msg);
+      34        3768 : }
+      35             : 
+      36        3767 : void OutputPublisher::publish(const mrs_msgs::HwApiControlGroupCmd& msg) {
+      37        3767 :   ph_hw_api_control_group_cmd_.publish(msg);
+      38        3767 : }
+      39             : 
+      40       61705 : void OutputPublisher::publish(const mrs_msgs::HwApiAttitudeRateCmd& msg) {
+      41       61705 :   ph_hw_api_attitude_rate_cmd_.publish(msg);
+      42       61705 : }
+      43             : 
+      44        7838 : void OutputPublisher::publish(const mrs_msgs::HwApiAttitudeCmd& msg) {
+      45        7838 :   ph_hw_api_attitude_cmd_.publish(msg);
+      46        7838 : }
+      47             : 
+      48        1023 : void OutputPublisher::publish(const mrs_msgs::HwApiAccelerationHdgRateCmd& msg) {
+      49        1023 :   ph_hw_api_acceleration_hdg_rate_cmd_.publish(msg);
+      50        1023 : }
+      51             : 
+      52        1025 : void OutputPublisher::publish(const mrs_msgs::HwApiAccelerationHdgCmd& msg) {
+      53        1025 :   ph_hw_api_acceleration_hdg_cmd_.publish(msg);
+      54        1025 : }
+      55             : 
+      56         504 : void OutputPublisher::publish(const mrs_msgs::HwApiVelocityHdgRateCmd& msg) {
+      57         504 :   ph_hw_api_velocity_hdg_rate_cmd_.publish(msg);
+      58         504 : }
+      59             : 
+      60         451 : void OutputPublisher::publish(const mrs_msgs::HwApiVelocityHdgCmd& msg) {
+      61         451 :   ph_hw_api_velocity_hdg_cmd_.publish(msg);
+      62         451 : }
+      63             : 
+      64         482 : void OutputPublisher::publish(const mrs_msgs::HwApiPositionCmd& msg) {
+      65         482 :   ph_hw_api_position_cmd_.publish(msg);
+      66         482 : }
+      67             : 
+      68             : }  // namespace control_manager
+      69             : 
+      70             : }  // namespace mrs_uav_managers
+
+
+
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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:36552869.1 %
Date:2024-01-20 21:44:18Functions:212487.5 %
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::switchToHealthyEstimator()0
mrs_uav_managers::estimation_manager::StateMachine::changeToPreSwitchState()4
mrs_uav_managers::estimation_manager::EstimationManager::switchToEstimator(boost::shared_ptr<mrs_uav_managers::StateEstimator> const&)4
mrs_uav_managers::estimation_manager::EstimationManager::callbackChangeEstimator(mrs_msgs::StringRequest_<std::allocator<void> >&, mrs_msgs::StringResponse_<std::allocator<void> >&)4
(anonymous namespace)::ProxyExec0::ProxyExec0()65
mrs_uav_managers::estimation_manager::StateMachine::StateMachine(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)65
mrs_uav_managers::estimation_manager::EstimationManager::timerInitialization(ros::TimerEvent const&)65
mrs_uav_managers::estimation_manager::EstimationManager::onInit()65
mrs_uav_managers::estimation_manager::EstimationManager::EstimationManager()65
mrs_uav_managers::estimation_manager::EstimationManager::callbackToggleServiceCallbacks(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)88
mrs_uav_managers::estimation_manager::StateMachine::changeState(mrs_uav_managers::estimation_manager::StateMachine::SMState_t const&)176
mrs_uav_managers::estimation_manager::StateMachine::getPrintName[abi:cxx11]() const176
mrs_uav_managers::estimation_manager::StateMachine::getStateAsString[abi:cxx11](mrs_uav_managers::estimation_manager::StateMachine::SMState_t const&) const352
mrs_uav_managers::estimation_manager::EstimationManager::getName[abi:cxx11]() const1936
mrs_uav_managers::estimation_manager::StateMachine::getCurrentStateString[abi:cxx11]() const11183
mrs_uav_managers::estimation_manager::EstimationManager::timerPublishDiagnostics(ros::TimerEvent const&)11855
mrs_uav_managers::estimation_manager::EstimationManager::timerPublish(ros::TimerEvent const&)121622
mrs_uav_managers::estimation_manager::StateMachine::isInTheAir() const121623
mrs_uav_managers::estimation_manager::EstimationManager::timerCheckHealth(ros::TimerEvent const&)121626
mrs_uav_managers::estimation_manager::StateMachine::isInPublishableState() const133472
mrs_uav_managers::estimation_manager::StateMachine::isInitialized() const255120
mrs_uav_managers::estimation_manager::StateMachine::isInState(mrs_uav_managers::estimation_manager::StateMachine::SMState_t const&) const1118314
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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..3ae2828ba7 --- /dev/null +++ b/mrs_uav_managers/src/estimation_manager/estimation_manager.cpp.func.html @@ -0,0 +1,176 @@ + + + + + + + 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:36552869.1 %
Date:2024-01-20 21:44:18Functions:212487.5 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()65
mrs_uav_managers::estimation_manager::StateMachine::changeState(mrs_uav_managers::estimation_manager::StateMachine::SMState_t const&)176
mrs_uav_managers::estimation_manager::StateMachine::changeToPreSwitchState()4
mrs_uav_managers::estimation_manager::StateMachine::StateMachine(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)65
mrs_uav_managers::estimation_manager::EstimationManager::timerPublish(ros::TimerEvent const&)121622
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&)121626
mrs_uav_managers::estimation_manager::EstimationManager::switchToEstimator(boost::shared_ptr<mrs_uav_managers::StateEstimator> const&)4
mrs_uav_managers::estimation_manager::EstimationManager::callFailsafeService()0
mrs_uav_managers::estimation_manager::EstimationManager::timerInitialization(ros::TimerEvent const&)65
mrs_uav_managers::estimation_manager::EstimationManager::callbackChangeEstimator(mrs_msgs::StringRequest_<std::allocator<void> >&, mrs_msgs::StringResponse_<std::allocator<void> >&)4
mrs_uav_managers::estimation_manager::EstimationManager::timerPublishDiagnostics(ros::TimerEvent const&)11855
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> >&)88
mrs_uav_managers::estimation_manager::EstimationManager::onInit()65
mrs_uav_managers::estimation_manager::EstimationManager::EstimationManager()65
mrs_uav_managers::estimation_manager::StateMachine::isInTheAir() const121623
mrs_uav_managers::estimation_manager::StateMachine::getPrintName[abi:cxx11]() const176
mrs_uav_managers::estimation_manager::StateMachine::isInitialized() const255120
mrs_uav_managers::estimation_manager::StateMachine::getStateAsString[abi:cxx11](mrs_uav_managers::estimation_manager::StateMachine::SMState_t const&) const352
mrs_uav_managers::estimation_manager::StateMachine::isInPublishableState() const133472
mrs_uav_managers::estimation_manager::StateMachine::getCurrentStateString[abi:cxx11]() const11183
mrs_uav_managers::estimation_manager::StateMachine::isInState(mrs_uav_managers::estimation_manager::StateMachine::SMState_t const&) const1118314
mrs_uav_managers::estimation_manager::EstimationManager::getName[abi:cxx11]() const1936
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+ + + diff --git a/mrs_uav_managers/src/estimation_manager/estimation_manager.cpp.gcov.frameset.html b/mrs_uav_managers/src/estimation_manager/estimation_manager.cpp.gcov.frameset.html new file mode 100644 index 0000000000..0e76ed7e74 --- /dev/null +++ b/mrs_uav_managers/src/estimation_manager/estimation_manager.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/estimation_manager/estimation_manager.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_managers/src/estimation_manager/estimation_manager.cpp.gcov.html b/mrs_uav_managers/src/estimation_manager/estimation_manager.cpp.gcov.html new file mode 100644 index 0000000000..0d0aa24ffa --- /dev/null +++ b/mrs_uav_managers/src/estimation_manager/estimation_manager.cpp.gcov.html @@ -0,0 +1,1313 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/estimation_manager/estimation_manager.cpp + + + + + + + + + + + + + + +
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:36552869.1 %
Date:2024-01-20 21:44:18Functions:212487.5 %
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_TAKEOFF_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         910 :   StateMachine(const std::string& nodelet_name) : nodelet_name_(nodelet_name) {
+      77          65 :   }
+      78             : 
+      79     1118314 :   bool isInState(const SMState_t& state) const {
+      80     1118314 :     return mrs_lib::get_mutexed(mtx_state_, current_state_) == state;
+      81             :   }
+      82             : 
+      83      255120 :   bool isInitialized() const {
+      84      255120 :     return mrs_lib::get_mutexed(mtx_state_, current_state_) != UNINITIALIZED_STATE;
+      85             :   }
+      86             : 
+      87      133472 :   bool isInPublishableState() const {
+      88      133472 :     const SMState_t current_state = mrs_lib::get_mutexed(mtx_state_, current_state_);
+      89       46903 :     return current_state == READY_FOR_TAKEOFF_STATE || current_state == TAKING_OFF_STATE || current_state == HOVER_STATE || current_state == FLYING_STATE ||
+      90      180376 :            current_state == LANDING_STATE || current_state == DUMMY_STATE || current_state == FAILSAFE_STATE;
+      91             :   }
+      92             : 
+      93      121623 :   bool isInTheAir() const {
+      94      121623 :     const SMState_t current_state = mrs_lib::get_mutexed(mtx_state_, current_state_);
+      95      121623 :     return current_state == TAKING_OFF_STATE || current_state == HOVER_STATE || current_state == FLYING_STATE || current_state == LANDING_STATE;
+      96             :   }
+      97             : 
+      98             :   SMState_t getCurrentState() const {
+      99             :     return mrs_lib::get_mutexed(mtx_state_, current_state_);
+     100             :   }
+     101             : 
+     102       11183 :   std::string getCurrentStateString() const {
+     103       11183 :     return mrs_lib::get_mutexed(mtx_state_, sm_state_names_[current_state_]);
+     104             :   }
+     105             : 
+     106         352 :   std::string getStateAsString(const SMState_t& state) const {
+     107         352 :     return sm_state_names_[state];
+     108             :   }
+     109             : 
+     110             :   /*//{ changeState() */
+     111         176 :   bool changeState(const SMState_t& target_state) {
+     112             : 
+     113         176 :     if (target_state == current_state_) {
+     114             : 
+     115           0 :       ROS_WARN("[%s]: requested change to same state %s -> %s", getPrintName().c_str(), getStateAsString(current_state_).c_str(),
+     116             :                getStateAsString(target_state).c_str());
+     117           0 :       return true;
+     118             :     }
+     119             : 
+     120         176 :     switch (target_state) {
+     121             : 
+     122           0 :       case UNINITIALIZED_STATE: {
+     123           0 :         ROS_ERROR_THROTTLE(1.0, "[%s]: transition to %s is not possible from any state", getPrintName().c_str(), getStateAsString(UNINITIALIZED_STATE).c_str());
+     124           0 :         return false;
+     125             :         break;
+     126             :       }
+     127             : 
+     128          65 :       case INITIALIZED_STATE: {
+     129          65 :         if (current_state_ != UNINITIALIZED_STATE) {
+     130           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: transition to %s is possible only from %s", getPrintName().c_str(), getStateAsString(INITIALIZED_STATE).c_str(),
+     131             :                              getStateAsString(UNINITIALIZED_STATE).c_str());
+     132           0 :           return false;
+     133             :         }
+     134          65 :         break;
+     135             :       }
+     136             : 
+     137          65 :       case READY_FOR_TAKEOFF_STATE: {
+     138          65 :         if (current_state_ != INITIALIZED_STATE && current_state_ != LANDED_STATE) {
+     139           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: transition to %s is possible only from %s or %s", getPrintName().c_str(),
+     140             :                              getStateAsString(READY_FOR_TAKEOFF_STATE).c_str(), getStateAsString(INITIALIZED_STATE).c_str(),
+     141             :                              getStateAsString(LANDED_STATE).c_str());
+     142           0 :           return false;
+     143             :         }
+     144          65 :         break;
+     145             :       }
+     146             : 
+     147          19 :       case TAKING_OFF_STATE: {
+     148          19 :         if (current_state_ != READY_FOR_TAKEOFF_STATE) {
+     149           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: transition to %s is possible only from %s", getPrintName().c_str(), getStateAsString(TAKING_OFF_STATE).c_str(),
+     150             :                              getStateAsString(READY_FOR_TAKEOFF_STATE).c_str());
+     151           0 :           return false;
+     152             :         }
+     153          19 :         break;
+     154             :       }
+     155             : 
+     156          23 :       case FLYING_STATE: {
+     157          23 :         if (current_state_ != TAKING_OFF_STATE && current_state_ != HOVER_STATE && current_state_ != ESTIMATOR_SWITCHING_STATE) {
+     158           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(),
+     159             :                              getStateAsString(TAKING_OFF_STATE).c_str(), getStateAsString(HOVER_STATE).c_str(),
+     160             :                              getStateAsString(ESTIMATOR_SWITCHING_STATE).c_str());
+     161           0 :           return false;
+     162             :         }
+     163          23 :         break;
+     164             :       }
+     165             : 
+     166           0 :       case HOVER_STATE: {
+     167           0 :         if (current_state_ != FLYING_STATE) {
+     168           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: transition to %s is possible only from %s", getPrintName().c_str(), getStateAsString(HOVER_STATE).c_str(),
+     169             :                              getStateAsString(FLYING_STATE).c_str());
+     170           0 :           return false;
+     171             :         }
+     172           0 :         break;
+     173             :       }
+     174             : 
+     175           4 :       case ESTIMATOR_SWITCHING_STATE: {
+     176           4 :         if (current_state_ != FLYING_STATE && current_state_ != HOVER_STATE) {
+     177           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: transition to %s is possible only from %s or %s", getPrintName().c_str(),
+     178             :                              getStateAsString(ESTIMATOR_SWITCHING_STATE).c_str(), getStateAsString(FLYING_STATE).c_str(),
+     179             :                              getStateAsString(HOVER_STATE).c_str());
+     180           0 :           return false;
+     181             :         }
+     182           4 :         pre_switch_state_ = current_state_;
+     183           4 :         break;
+     184             :       }
+     185             : 
+     186           0 :       case LANDING_STATE: {
+     187           0 :         if (current_state_ != FLYING_STATE && current_state_ != HOVER_STATE) {
+     188           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: transition to %s is possible only from %s or %s", getPrintName().c_str(), getStateAsString(LANDING_STATE).c_str(),
+     189             :                              getStateAsString(FLYING_STATE).c_str(), getStateAsString(HOVER_STATE).c_str());
+     190           0 :           return false;
+     191             :         }
+     192           0 :         break;
+     193             :       }
+     194             : 
+     195           0 :       case LANDED_STATE: {
+     196           0 :         if (current_state_ != LANDING_STATE) {
+     197           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: transition to %s is possible only from %s", getPrintName().c_str(), getStateAsString(LANDED_STATE).c_str(),
+     198             :                              getStateAsString(LANDING_STATE).c_str());
+     199           0 :           return false;
+     200             :         }
+     201           0 :         break;
+     202             :       }
+     203             : 
+     204           0 :       case DUMMY_STATE: {
+     205           0 :         if (current_state_ != INITIALIZED_STATE) {
+     206           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: transition to %s is possible only from %s", getPrintName().c_str(), getStateAsString(DUMMY_STATE).c_str(),
+     207             :                              getStateAsString(INITIALIZED_STATE).c_str());
+     208           0 :           return false;
+     209             :         }
+     210           0 :         break;
+     211             :       }
+     212           0 :       case EMERGENCY_STATE: {
+     213           0 :         ROS_WARN("[%s]: transition to %s", getPrintName().c_str(), getStateAsString(EMERGENCY_STATE).c_str());
+     214           0 :         break;
+     215             :       }
+     216             : 
+     217           0 :       case ERROR_STATE: {
+     218           0 :         ROS_WARN("[%s]: transition to %s", getPrintName().c_str(), getStateAsString(ERROR_STATE).c_str());
+     219           0 :         break;
+     220             :       }
+     221             : 
+     222           0 :       case FAILSAFE_STATE: {
+     223           0 :         ROS_WARN("[%s]: transition to %s", getPrintName().c_str(), getStateAsString(FAILSAFE_STATE).c_str());
+     224           0 :         break;
+     225             :       }
+     226             : 
+     227           0 :       default: {
+     228           0 :         ROS_ERROR_THROTTLE(1.0, "[%s]: rejected transition to unknown state id %d", getPrintName().c_str(), target_state);
+     229           0 :         return false;
+     230             :         break;
+     231             :       }
+     232             :     }
+     233             : 
+     234         176 :     std::scoped_lock lock(mtx_state_);
+     235             :     {
+     236         176 :       previous_state_ = current_state_;
+     237         176 :       current_state_  = target_state;
+     238             :     }
+     239             : 
+     240         176 :     ROS_INFO("[%s]: successfully changed states %s -> %s", getPrintName().c_str(), getStateAsString(previous_state_).c_str(),
+     241             :              getStateAsString(current_state_).c_str());
+     242             : 
+     243         176 :     return true;
+     244             :   }
+     245             :   /*//}*/
+     246             : 
+     247             :   /*//{ changeToPreSwitchState() */
+     248           4 :   void changeToPreSwitchState() {
+     249           4 :     changeState(pre_switch_state_);
+     250           4 :   }
+     251             :   /*//}*/
+     252             : 
+     253             : private:
+     254             :   const std::string name_ = "StateMachine";
+     255             :   const std::string nodelet_name_;
+     256             : 
+     257             :   SMState_t current_state_    = UNINITIALIZED_STATE;
+     258             :   SMState_t previous_state_   = UNINITIALIZED_STATE;
+     259             :   SMState_t pre_switch_state_ = UNINITIALIZED_STATE;
+     260             : 
+     261             :   mutable std::mutex mtx_state_;
+     262             : 
+     263             :   std::string getName() const {
+     264             :     return name_;
+     265             :   }
+     266             : 
+     267         176 :   std::string getPrintName() const {
+     268         352 :     return nodelet_name_ + "/" + name_;
+     269             :   }
+     270             : 
+     271             :   // clang-format off
+     272             :   const std::vector<std::string> sm_state_names_ = {
+     273             :   "UNINITIALIZED_STATE",
+     274             :   "INITIALIZED_STATE",
+     275             :   "READY_FOR_TAKEOFF_STATE",
+     276             :   "TAKING_OFF_STATE",
+     277             :   "FLYING_STATE",
+     278             :   "HOVER_STATE",
+     279             :   "LANDING_STATE",
+     280             :   "LANDED_STATE",
+     281             :   "ESTIMATOR_SWITCHING_STATE",
+     282             :   "DUMMY_STATE",
+     283             :   "EMERGENCY_STATE",
+     284             :   "FAILSAFE_STATE",
+     285             :   "ERROR_STATE"
+     286             :   };
+     287             :   // clang-format on
+     288             : };
+     289             : /*//}*/
+     290             : 
+     291             : /*//{ class EstimationManager */
+     292             : class EstimationManager : public nodelet::Nodelet {
+     293             : 
+     294             : private:
+     295             :   const std::string nodelet_name_ = "EstimationManager";
+     296             :   const std::string package_name_ = "mrs_uav_managers";
+     297             : 
+     298             :   ros::NodeHandle nh_;
+     299             : 
+     300             :   std::string _custom_config_;
+     301             :   std::string _platform_config_;
+     302             :   std::string _world_config_;
+     303             : 
+     304             :   std::shared_ptr<CommonHandlers_t> ch_;
+     305             : 
+     306             :   std::shared_ptr<StateMachine> sm_;
+     307             : 
+     308             :   mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics> sh_control_manager_diag_;
+     309             :   mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput>            sh_control_input_;
+     310             : 
+     311             :   mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics> ph_diagnostics_;
+     312             :   mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>        ph_max_flight_z_;
+     313             :   mrs_lib::PublisherHandler<mrs_msgs::UavState>              ph_uav_state_;
+     314             :   mrs_lib::PublisherHandler<nav_msgs::Odometry>              ph_odom_main_;
+     315             :   mrs_lib::PublisherHandler<nav_msgs::Odometry>              ph_odom_slow_;  // use topic throttler instead?
+     316             :   mrs_lib::PublisherHandler<nav_msgs::Odometry>              ph_innovation_;
+     317             : 
+     318             :   mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped> ph_altitude_amsl_;
+     319             :   mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped> ph_altitude_agl_;
+     320             : 
+     321             :   mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped> ph_orientation_;
+     322             : 
+     323             :   ros::Timer timer_publish_;
+     324             :   void       timerPublish(const ros::TimerEvent& event);
+     325             : 
+     326             :   ros::Timer timer_publish_diagnostics_;
+     327             :   void       timerPublishDiagnostics(const ros::TimerEvent& event);
+     328             : 
+     329             :   ros::Timer timer_check_health_;
+     330             :   void       timerCheckHealth(const ros::TimerEvent& event);
+     331             : 
+     332             :   ros::Timer timer_initialization_;
+     333             :   void       timerInitialization(const ros::TimerEvent& event);
+     334             : 
+     335             :   ros::ServiceServer srvs_change_estimator_;
+     336             :   bool               callbackChangeEstimator(mrs_msgs::String::Request& req, mrs_msgs::String::Response& res);
+     337             :   int                estimator_switch_count_ = 0;
+     338             : 
+     339             : 
+     340             :   ros::ServiceServer srvs_toggle_callbacks_;
+     341             :   bool               callbackToggleServiceCallbacks(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res);
+     342             :   bool               callbacks_enabled_             = false;
+     343             :   bool               callbacks_disabled_by_service_ = false;
+     344             : 
+     345             :   bool                                             callFailsafeService();
+     346             :   mrs_lib::ServiceClientHandler<std_srvs::Trigger> srvch_failsafe_;
+     347             :   bool                                             failsafe_call_succeeded_ = false;
+     348             : 
+     349             :   // TODO service clients
+     350             :   /* mrs_lib::ServiceClientHandler<std_srvs::Trigger> srvc_hover_; */
+     351             :   /* mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv> srvc_reference_; */
+     352             :   /* mrs_lib::ServiceClientHandler<std_srvs::Trigger> srvc_ehover_; */
+     353             :   /* mrs_lib::ServiceClientHandler<std_srvs::SetBool> srvc_enable_callbacks_; */
+     354             : 
+     355             :   // | ------------- dynamic loading of estimators ------------- |
+     356             :   std::unique_ptr<pluginlib::ClassLoader<mrs_uav_managers::StateEstimator>> state_estimator_loader_;  // pluginlib loader of dynamically loaded estimators
+     357             :   std::vector<std::string>                                                  estimator_names_;         // list of estimator names
+     358             :   std::vector<boost::shared_ptr<mrs_uav_managers::StateEstimator>>          estimator_list_;          // list of estimators
+     359             :   std::mutex                                                                mutex_estimator_list_;
+     360             :   std::vector<std::string>                                                  switchable_estimator_names_;
+     361             :   std::mutex                                                                mutex_switchable_estimator_names_;
+     362             :   std::string                                                               initial_estimator_name_ = "UNDEFINED_INITIAL_ESTIMATOR";
+     363             :   boost::shared_ptr<mrs_uav_managers::StateEstimator>                       initial_estimator_;
+     364             :   boost::shared_ptr<mrs_uav_managers::StateEstimator>                       active_estimator_;
+     365             :   std::mutex                                                                mutex_active_estimator_;
+     366             : 
+     367             :   std::unique_ptr<pluginlib::ClassLoader<mrs_uav_managers::AglEstimator>> agl_estimator_loader_;  // pluginlib loader of dynamically loaded estimators
+     368             :   std::string                                                             est_alt_agl_name_ = "UNDEFINED_AGL_ESTIMATOR";
+     369             :   boost::shared_ptr<mrs_uav_managers::AglEstimator>                       est_alt_agl_;
+     370             :   bool                                                                    is_using_agl_estimator_;
+     371             : 
+     372             :   double max_flight_z_;
+     373             : 
+     374             :   bool switchToHealthyEstimator();
+     375             :   void switchToEstimator(const boost::shared_ptr<mrs_uav_managers::StateEstimator>& target_estimator);
+     376             : 
+     377             :   bool loadConfigFile(const std::string& file_path);
+     378             : 
+     379             : public:
+     380          65 :   EstimationManager() {
+     381          65 :   }
+     382             : 
+     383             :   void onInit();
+     384             : 
+     385             :   std::string getName() const;
+     386             : };
+     387             : /*//}*/
+     388             : 
+     389             : /*//{ onInit() */
+     390          65 : void EstimationManager::onInit() {
+     391             : 
+     392          65 :   nh_ = nodelet::Nodelet::getMTPrivateNodeHandle();
+     393             : 
+     394          65 :   ros::Time::waitForValid();
+     395             : 
+     396          65 :   ROS_INFO("[%s]: initializing", getName().c_str());
+     397             : 
+     398          65 :   sm_ = std::make_shared<StateMachine>(nodelet_name_);
+     399             : 
+     400          65 :   ch_ = std::make_shared<CommonHandlers_t>();
+     401             : 
+     402          65 :   ch_->nodelet_name = nodelet_name_;
+     403          65 :   ch_->package_name = package_name_;
+     404             : 
+     405             :   // finish initialization in a oneshot timer, so that we don't block loading of other nodelets by the nodelet manager
+     406          65 :   timer_initialization_ = nh_.createTimer(ros::Rate(1.0), &EstimationManager::timerInitialization, this, true, true);
+     407          65 : }
+     408             : /*//}*/
+     409             : 
+     410             : // --------------------------------------------------------------
+     411             : // |                          callbacks                         |
+     412             : // --------------------------------------------------------------
+     413             : 
+     414             : // | --------------------- timer callbacks -------------------- |
+     415             : 
+     416             : /*//{ timerPublish() */
+     417      121622 : void EstimationManager::timerPublish([[maybe_unused]] const ros::TimerEvent& event) {
+     418             : 
+     419      121622 :   if (!sm_->isInitialized()) {
+     420       12486 :     return;
+     421             :   }
+     422             : 
+     423      243238 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("EstimationManager::timerPublish", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     424             : 
+     425      121619 :   if (sm_->isInState(StateMachine::ESTIMATOR_SWITCHING_STATE)) {
+     426           0 :     ROS_WARN("[%s]: Not publishing during estimator switching.", getName().c_str());
+     427           0 :     return;
+     428             :   }
+     429             : 
+     430      121619 :   if (!sm_->isInPublishableState()) {
+     431       12483 :     ROS_WARN_THROTTLE(1.0, "[%s]: not publishing uav state in %s", getName().c_str(), sm_->getCurrentStateString().c_str());
+     432       12483 :     return;
+     433             :   }
+     434             : 
+     435      109136 :   mrs_msgs::UavState uav_state;
+     436      109136 :   auto               ret = active_estimator_->getUavState();
+     437      109136 :   if (ret) {
+     438      109136 :     uav_state = ret.value();
+     439             :   } else {
+     440           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: Active estimator did not provide uav_state.", getName().c_str());
+     441           0 :     return;
+     442             :   }
+     443             : 
+     444      109136 :   if (!Support::noNans(uav_state.pose.orientation)) {
+     445           0 :     ROS_ERROR("[%s]: nan in uav state orientation", getName().c_str());
+     446           0 :     return;
+     447             :   }
+     448             : 
+     449             : 
+     450      109136 :   if (active_estimator_->isMitigatingJump()) {
+     451           0 :     estimator_switch_count_++;
+     452             :   }
+     453      109136 :   uav_state.estimator_iteration = estimator_switch_count_;
+     454             : 
+     455      109136 :   scope_timer.checkpoint("get uav state");
+     456             :   // TODO state health checks
+     457             : 
+     458      109136 :   ph_uav_state_.publish(uav_state);
+     459             : 
+     460      109136 :   scope_timer.checkpoint("pub uav state");
+     461      218272 :   nav_msgs::Odometry odom_main = Support::uavStateToOdom(uav_state);
+     462             : 
+     463      109136 :   scope_timer.checkpoint("uav state to odom");
+     464      218272 :   const std::vector<double> pose_covariance = active_estimator_->getPoseCovariance();
+     465     4038033 :   for (size_t i = 0; i < pose_covariance.size(); i++) {
+     466     3928894 :     odom_main.pose.covariance[i] = pose_covariance[i];
+     467             :   }
+     468             : 
+     469      218272 :   const std::vector<double> twist_covariance = active_estimator_->getTwistCovariance();
+     470     4038033 :   for (size_t i = 0; i < twist_covariance.size(); i++) {
+     471     3928894 :     odom_main.twist.covariance[i] = twist_covariance[i];
+     472             :   }
+     473             : 
+     474      109136 :   scope_timer.checkpoint("get covariance");
+     475      109136 :   ph_odom_main_.publish(odom_main);
+     476             : 
+     477      218272 :   nav_msgs::Odometry innovation = active_estimator_->getInnovation();
+     478      109136 :   ph_innovation_.publish(innovation);
+     479             : 
+     480             : 
+     481      218272 :   mrs_msgs::Float64Stamped agl_height;
+     482             : 
+     483      109136 :   if (is_using_agl_estimator_) {
+     484       89851 :     agl_height = est_alt_agl_->getUavAglHeight();
+     485       89851 :     ph_altitude_agl_.publish(agl_height);
+     486             :   }
+     487             : }
+     488             : /*//}*/
+     489             : 
+     490             : /*//{ timerPublishDiagnostics() */
+     491       11855 : void EstimationManager::timerPublishDiagnostics([[maybe_unused]] const ros::TimerEvent& event) {
+     492             : 
+     493       11855 :   if (!sm_->isInitialized()) {
+     494        1172 :     return;
+     495             :   }
+     496             : 
+     497       23710 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("EstimationManager::timerPublishDiagnostics", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     498             : 
+     499       11855 :   if (sm_->isInState(StateMachine::ESTIMATOR_SWITCHING_STATE)) {
+     500           0 :     ROS_WARN("[%s]: Not publishing diagnostics during estimator switching.", getName().c_str());
+     501           0 :     return;
+     502             :   }
+     503             : 
+     504       11855 :   if (!sm_->isInPublishableState()) {
+     505        1172 :     ROS_WARN_THROTTLE(1.0, "[%s]: not publishing uav state in %s", getName().c_str(), sm_->getCurrentStateString().c_str());
+     506        1172 :     return;
+     507             :   }
+     508             : 
+     509       10683 :   mrs_msgs::UavState uav_state;
+     510       10683 :   auto               ret = active_estimator_->getUavState();
+     511       10683 :   if (ret) {
+     512       10683 :     uav_state = ret.value();
+     513             :   } else {
+     514           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: Active estimator did not provide uav_state.", getName().c_str());
+     515           0 :     return;
+     516             :   }
+     517             : 
+     518       10683 :   if (!Support::noNans(uav_state.pose.orientation)) {
+     519           0 :     ROS_ERROR("[%s]: nan in uav state orientation", getName().c_str());
+     520           0 :     return;
+     521             :   }
+     522             : 
+     523       21366 :   mrs_msgs::Float64Stamped agl_height;
+     524             : 
+     525       10683 :   if (is_using_agl_estimator_) {
+     526        8754 :     agl_height = est_alt_agl_->getUavAglHeight();
+     527        8754 :     ph_altitude_agl_.publish(agl_height);
+     528             :   }
+     529             : 
+     530       21366 :   mrs_msgs::Float64Stamped max_flight_z_msg;
+     531       10683 :   max_flight_z_msg.header.stamp = ros::Time::now();
+     532       10683 :   if (active_estimator_ && active_estimator_->isInitialized()) {
+     533       10683 :     max_flight_z_msg.header.frame_id = active_estimator_->getFrameId();
+     534       10683 :     max_flight_z_msg.value           = active_estimator_->getMaxFlightZ();
+     535             :   }
+     536       10683 :   max_flight_z_ = max_flight_z_msg.value;
+     537       10683 :   ph_max_flight_z_.publish(max_flight_z_msg);
+     538             : 
+     539             :   // publish diagnostics
+     540       21366 :   mrs_msgs::EstimationDiagnostics diagnostics;
+     541             : 
+     542       10683 :   diagnostics.header.stamp   = uav_state.header.stamp;
+     543       10683 :   diagnostics.child_frame_id = uav_state.child_frame_id;
+     544             : 
+     545       10683 :   diagnostics.pose         = uav_state.pose;
+     546       10683 :   diagnostics.velocity     = uav_state.velocity;
+     547       10683 :   diagnostics.acceleration = uav_state.acceleration;
+     548             : 
+     549       10683 :   diagnostics.sm_state                 = sm_->getCurrentStateString();
+     550       10683 :   diagnostics.max_flight_z             = max_flight_z_msg.value;
+     551       10683 :   diagnostics.estimator_iteration      = estimator_switch_count_;
+     552       10683 :   diagnostics.estimation_rate          = ch_->desired_uav_state_rate;
+     553       10683 :   diagnostics.running_state_estimators = estimator_names_;
+     554             : 
+     555             :   {
+     556       21366 :     std::scoped_lock lock(mutex_switchable_estimator_names_);
+     557       10683 :     diagnostics.switchable_state_estimators = switchable_estimator_names_;
+     558             :   }
+     559             : 
+     560             : 
+     561       10683 :   if (active_estimator_ && active_estimator_->isInitialized()) {
+     562       10683 :     diagnostics.header.frame_id         = active_estimator_->getFrameId();
+     563       10683 :     diagnostics.current_state_estimator = active_estimator_->getName();
+     564             :   } else {
+     565           0 :     diagnostics.header.frame_id         = "";
+     566           0 :     diagnostics.current_state_estimator = "";
+     567             :   }
+     568             : 
+     569       10683 :   diagnostics.estimator_horizontal = uav_state.estimator_horizontal;
+     570       10683 :   diagnostics.estimator_vertical   = uav_state.estimator_vertical;
+     571       10683 :   diagnostics.estimator_heading    = uav_state.estimator_heading;
+     572             : 
+     573       10683 :   if (is_using_agl_estimator_) {
+     574        8754 :     diagnostics.estimator_agl_height = est_alt_agl_name_;
+     575        8754 :     diagnostics.agl_height           = agl_height.value;
+     576             :   } else {
+     577        1929 :     diagnostics.estimator_agl_height = "NOT_USED";
+     578        1929 :     diagnostics.agl_height           = std::nanf("");
+     579             :   }
+     580             : 
+     581       10683 :   diagnostics.platform_config = _platform_config_;
+     582       10683 :   diagnostics.custom_config   = _custom_config_;
+     583             : 
+     584       10683 :   ph_diagnostics_.publish(diagnostics);
+     585             : 
+     586       10683 :   ROS_INFO_THROTTLE(5.0, "[%s]: %s. pos: [%.2f, %.2f, %.2f] m. Estimator: %s. Max. z.: %.2f m. Estimator switches: %d.", getName().c_str(),
+     587             :                     sm_->getCurrentStateString().c_str(), uav_state.pose.position.x, uav_state.pose.position.y, uav_state.pose.position.z,
+     588             :                     active_estimator_->getName().c_str(), max_flight_z_, estimator_switch_count_);
+     589             : }
+     590             : /*//}*/
+     591             : 
+     592             : /*//{ timerCheckHealth() */
+     593      121626 : void EstimationManager::timerCheckHealth([[maybe_unused]] const ros::TimerEvent& event) {
+     594             : 
+     595      121626 :   if (!sm_->isInitialized()) {
+     596           3 :     return;
+     597             :   }
+     598             : 
+     599      364869 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("EstimationManager::timerCheckHealth", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     600             : 
+     601             :   /*//{ start ready estimators, check switchable estimators */
+     602      243246 :   std::vector<std::string> switchable_estimator_names;
+     603      263595 :   for (auto estimator : estimator_list_) {
+     604             : 
+     605      141972 :     if (estimator->isReady()) {
+     606             :       try {
+     607        4366 :         ROS_INFO_THROTTLE(1.0, "[%s]: starting the estimator '%s'", getName().c_str(), estimator->getName().c_str());
+     608        4366 :         estimator->start();
+     609             :       }
+     610           0 :       catch (std::runtime_error& ex) {
+     611           0 :         ROS_ERROR("[%s]: exception caught during estimator starting: '%s'", getName().c_str(), ex.what());
+     612           0 :         ros::shutdown();
+     613             :       }
+     614             :     }
+     615             : 
+     616      141972 :     if (estimator->isRunning() && estimator->getName() != "dummy" && estimator->getName() != "ground_truth") {
+     617      136819 :       switchable_estimator_names.push_back(estimator->getName());
+     618             :     }
+     619             :   }
+     620             : 
+     621             :   {
+     622      243246 :     std::scoped_lock lock(mutex_switchable_estimator_names_);
+     623      121623 :     switchable_estimator_names_ = switchable_estimator_names;
+     624             :   }
+     625             : 
+     626      121623 :   if (is_using_agl_estimator_ && est_alt_agl_->isReady()) {
+     627          55 :     est_alt_agl_->start();
+     628             :   }
+     629             : 
+     630             :   /*//}*/
+     631             : 
+     632      215681 :   if (!callbacks_disabled_by_service_ &&
+     633      215681 :       (sm_->isInState(StateMachine::FLYING_STATE) || sm_->isInState(StateMachine::HOVER_STATE) || sm_->isInState(StateMachine::READY_FOR_TAKEOFF_STATE))) {
+     634       80727 :     callbacks_enabled_ = true;
+     635             :   } else {
+     636       40896 :     callbacks_enabled_ = false;
+     637             :   }
+     638             : 
+     639             :   // TODO fuj if, zmenit na switch
+     640             :   // activate initial estimator
+     641      121623 :   if (sm_->isInState(StateMachine::INITIALIZED_STATE) && initial_estimator_->isRunning()) {
+     642       14942 :     std::scoped_lock lock(mutex_active_estimator_);
+     643        7471 :     ROS_INFO_THROTTLE(1.0, "[%s]: activating the initial estimator %s", getName().c_str(), initial_estimator_->getName().c_str());
+     644        7471 :     active_estimator_ = initial_estimator_;
+     645        7471 :     if (active_estimator_->getName() == "dummy") {
+     646           0 :       sm_->changeState(StateMachine::DUMMY_STATE);
+     647             :     } else {
+     648        7471 :       if (!is_using_agl_estimator_ || est_alt_agl_->isRunning()) {
+     649          65 :         sm_->changeState(StateMachine::READY_FOR_TAKEOFF_STATE);
+     650             :       } else {
+     651        7406 :         ROS_INFO_THROTTLE(1.0, "[%s]: %s agl estimator: %s to be running", getName().c_str(), Support::waiting_for_string.c_str(),
+     652             :                           est_alt_agl_->getName().c_str());
+     653             :       }
+     654             :     }
+     655             :   }
+     656             : 
+     657             :   // active estimator is in faulty state, we need to switch to healthy estimator
+     658      121623 :   if (sm_->isInTheAir() && active_estimator_->isError()) {
+     659           0 :     sm_->changeState(StateMachine::ESTIMATOR_SWITCHING_STATE);
+     660             :   }
+     661             : 
+     662      121623 :   if (sm_->isInState(StateMachine::ESTIMATOR_SWITCHING_STATE)) {
+     663           0 :     if (switchToHealthyEstimator()) {
+     664           0 :       sm_->changeToPreSwitchState();
+     665             :     } else {  // cannot switch to healthy estimator - failsafe necessary
+     666           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: Cannot switch to any healthy estimator. Triggering failsafe.", getName().c_str());
+     667           0 :       sm_->changeState(StateMachine::FAILSAFE_STATE);
+     668             :     }
+     669             :   }
+     670             : 
+     671      121623 :   if (sm_->isInState(StateMachine::FAILSAFE_STATE)) {
+     672           0 :     if (!failsafe_call_succeeded_ && callFailsafeService()) {
+     673           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: failsafe called successfully", getName().c_str());
+     674           0 :       failsafe_call_succeeded_ = true;
+     675             :     }
+     676           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: we are in failsafe state", getName().c_str());
+     677             :   }
+     678             : 
+     679      121623 :   if (sm_->isInState(StateMachine::READY_FOR_TAKEOFF_STATE)) {
+     680       78973 :     if (sh_control_manager_diag_.hasMsg() && sh_control_manager_diag_.getMsg()->active_tracker == "LandoffTracker") {
+     681          19 :       sm_->changeState(StateMachine::TAKING_OFF_STATE);
+     682             :     }
+     683             :   }
+     684             : 
+     685      121623 :   if (sm_->isInState(StateMachine::TAKING_OFF_STATE)) {
+     686       13919 :     if (sh_control_manager_diag_.hasMsg() && sh_control_manager_diag_.getMsg()->active_tracker != "LandoffTracker") {
+     687          19 :       sm_->changeState(StateMachine::FLYING_STATE);
+     688             :     }
+     689             :   }
+     690             : 
+     691      121623 :   if (sm_->isInState(StateMachine::FLYING_STATE)) {
+     692       16332 :     if ((ros::Time::now() - sh_control_input_.lastMsgTime()).toSec() > 0.1) {
+     693         269 :       ROS_WARN_THROTTLE(1.0, "[%s]: not received control input for %.4fs, estimation suboptimal, potentially unstable", getName().c_str(),
+     694             :                         (ros::Time::now() - sh_control_input_.lastMsgTime()).toSec());
+     695             :     }
+     696             :   }
+     697             : }
+     698             : /*//}*/
+     699             : 
+     700             : /*//{ timerInitialization() */
+     701          65 : void EstimationManager::timerInitialization([[maybe_unused]] const ros::TimerEvent& event) {
+     702             : 
+     703         130 :   mrs_lib::ParamLoader param_loader(nh_, getName());
+     704             : 
+     705          65 :   param_loader.loadParam("custom_config", _custom_config_);
+     706          65 :   param_loader.loadParam("platform_config", _platform_config_);
+     707          65 :   param_loader.loadParam("world_config", _world_config_);
+     708             : 
+     709          65 :   if (_custom_config_ != "") {
+     710          65 :     param_loader.addYamlFile(_custom_config_);
+     711             :   }
+     712             : 
+     713          65 :   if (_platform_config_ != "") {
+     714          65 :     param_loader.addYamlFile(_platform_config_);
+     715             :   }
+     716             : 
+     717          65 :   if (_world_config_ != "") {
+     718          65 :     param_loader.addYamlFile(_world_config_);
+     719             :   }
+     720             : 
+     721          65 :   param_loader.addYamlFileFromParam("private_config");
+     722          65 :   param_loader.addYamlFileFromParam("public_config");
+     723          65 :   param_loader.addYamlFileFromParam("estimators_config");
+     724          65 :   param_loader.addYamlFileFromParam("active_estimators_config");
+     725             : 
+     726          65 :   param_loader.loadParam("uav_name", ch_->uav_name);
+     727             : 
+     728             :   /*//{ load world_origin parameters */
+     729             : 
+     730         130 :   std::string world_origin_units;
+     731          65 :   bool        is_origin_param_ok = true;
+     732          65 :   double      world_origin_x     = 0;
+     733          65 :   double      world_origin_y     = 0;
+     734             : 
+     735          65 :   param_loader.loadParam("world_origin/units", world_origin_units);
+     736             : 
+     737          65 :   if (Support::toLowercase(world_origin_units) == "utm") {
+     738           0 :     ROS_INFO("[%s]: Loading world origin in UTM units.", getName().c_str());
+     739           0 :     is_origin_param_ok &= param_loader.loadParam("world_origin/origin_x", world_origin_x);
+     740           0 :     is_origin_param_ok &= param_loader.loadParam("world_origin/origin_y", world_origin_y);
+     741             : 
+     742          65 :   } else if (Support::toLowercase(world_origin_units) == "latlon") {
+     743             :     double lat, lon;
+     744          65 :     ROS_INFO("[%s]: Loading world origin in LatLon units.", getName().c_str());
+     745          65 :     is_origin_param_ok &= param_loader.loadParam("world_origin/origin_x", lat);
+     746          65 :     is_origin_param_ok &= param_loader.loadParam("world_origin/origin_y", lon);
+     747          65 :     mrs_lib::UTM(lat, lon, &world_origin_x, &world_origin_y);
+     748          65 :     ROS_INFO("[%s]: Converted to UTM x: %f, y: %f.", getName().c_str(), world_origin_x, world_origin_y);
+     749             : 
+     750             :   } else {
+     751           0 :     ROS_ERROR("[%s]: world_origin_units must be (\"UTM\"|\"LATLON\"). Got '%s'", getName().c_str(), world_origin_units.c_str());
+     752           0 :     ros::shutdown();
+     753             :   }
+     754             : 
+     755          65 :   ch_->world_origin.x = world_origin_x;
+     756          65 :   ch_->world_origin.y = world_origin_y;
+     757             : 
+     758          65 :   if (!is_origin_param_ok) {
+     759           0 :     ROS_ERROR("[%s]: Could not load all mandatory parameters from world file. Please check your world file.", getName().c_str());
+     760           0 :     ros::shutdown();
+     761             :   }
+     762             :   /*//}*/
+     763             : 
+     764          65 :   param_loader.setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/");
+     765             : 
+     766             :   /*//{ load parameters into common handlers */
+     767          65 :   param_loader.loadParam("frame_id/fcu", ch_->frames.fcu);
+     768          65 :   ch_->frames.ns_fcu = ch_->uav_name + "/" + ch_->frames.fcu;
+     769             : 
+     770          65 :   param_loader.loadParam("frame_id/fcu_untilted", ch_->frames.fcu_untilted);
+     771          65 :   ch_->frames.ns_fcu_untilted = ch_->uav_name + "/" + ch_->frames.fcu_untilted;
+     772             : 
+     773          65 :   param_loader.loadParam("frame_id/rtk_antenna", ch_->frames.rtk_antenna);
+     774          65 :   ch_->frames.ns_rtk_antenna = ch_->uav_name + "/" + ch_->frames.rtk_antenna;
+     775             : 
+     776          65 :   ch_->transformer = std::make_shared<mrs_lib::Transformer>(nh_, getName());
+     777          65 :   ch_->transformer->retryLookupNewest(true);
+     778             : 
+     779          65 :   param_loader.loadParam("rate/diagnostics", ch_->desired_diagnostics_rate);
+     780             : 
+     781             :   /*//}*/
+     782             : 
+     783             :   /*//{ load parameters */
+     784             : 
+     785             :   /*//{ publish debug topics parameters */
+     786          65 :   param_loader.loadParam("debug_topics/input", ch_->debug_topics.input);
+     787          65 :   param_loader.loadParam("debug_topics/output", ch_->debug_topics.output);
+     788          65 :   param_loader.loadParam("debug_topics/state", ch_->debug_topics.state);
+     789          65 :   param_loader.loadParam("debug_topics/covariance", ch_->debug_topics.covariance);
+     790          65 :   param_loader.loadParam("debug_topics/innovation", ch_->debug_topics.innovation);
+     791          65 :   param_loader.loadParam("debug_topics/diagnostics", ch_->debug_topics.diag);
+     792          65 :   param_loader.loadParam("debug_topics/correction", ch_->debug_topics.correction);
+     793          65 :   param_loader.loadParam("debug_topics/correction_delay", ch_->debug_topics.corr_delay);
+     794             :   /*//}*/
+     795             : 
+     796             :   /*//}*/
+     797             : 
+     798         130 :   mrs_lib::SubscribeHandlerOptions shopts;
+     799          65 :   shopts.nh                 = nh_;
+     800          65 :   shopts.node_name          = getName();
+     801          65 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     802          65 :   shopts.threadsafe         = true;
+     803          65 :   shopts.autostart          = true;
+     804          65 :   shopts.queue_size         = 10;
+     805          65 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     806             : 
+     807             :   /*//{ wait for hw api message */
+     808             : 
+     809             :   mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities> sh_hw_api_capabilities_ =
+     810         195 :       mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities>(shopts, "hw_api_capabilities_in");
+     811         131 :   while (!sh_hw_api_capabilities_.hasMsg()) {
+     812          66 :     ROS_INFO("[%s]: %s hw_api_capabilities message at topic: %s", getName().c_str(), Support::waiting_for_string.c_str(),
+     813             :              sh_hw_api_capabilities_.topicName().c_str());
+     814          66 :     ros::Duration(1.0).sleep();
+     815             :   }
+     816             : 
+     817         130 :   mrs_msgs::HwApiCapabilitiesConstPtr hw_api_capabilities = sh_hw_api_capabilities_.getMsg();
+     818             :   /*//}*/
+     819             : 
+     820             :   /*//{ wait for desired uav_state rate */
+     821          65 :   sh_control_manager_diag_ = mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics>(shopts, "control_manager_diagnostics_in");
+     822         138 :   while (!sh_control_manager_diag_.hasMsg()) {
+     823          73 :     ROS_INFO("[%s]: %s control_manager_diagnostics message at topic: %s", getName().c_str(), Support::waiting_for_string.c_str(),
+     824             :              sh_control_manager_diag_.topicName().c_str());
+     825          73 :     ros::Duration(1.0).sleep();
+     826             :   }
+     827             : 
+     828         130 :   mrs_msgs::ControlManagerDiagnosticsConstPtr control_manager_diag_msg = sh_control_manager_diag_.getMsg();
+     829          65 :   ch_->desired_uav_state_rate                                          = control_manager_diag_msg->desired_uav_state_rate;
+     830          65 :   ROS_INFO("[%s]: The estimation is running at: %.2f Hz", getName().c_str(), ch_->desired_uav_state_rate);
+     831             :   /*//}*/
+     832             : 
+     833             :   /*//{ initialize subscribers */
+     834             : 
+     835          65 :   sh_control_input_ = mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput>(shopts, "control_input_in");
+     836             : 
+     837             :   /*//}*/
+     838             : 
+     839             :   /*//{ load state estimator plugins */
+     840          65 :   param_loader.loadParam("state_estimators", estimator_names_);
+     841             : 
+     842          65 :   state_estimator_loader_ = std::make_unique<pluginlib::ClassLoader<mrs_uav_managers::StateEstimator>>("mrs_uav_managers", "mrs_uav_managers::StateEstimator");
+     843             : 
+     844         135 :   for (size_t i = 0; i < estimator_names_.size(); i++) {
+     845             : 
+     846         140 :     const std::string estimator_name = estimator_names_[i];
+     847             : 
+     848             :     // load the estimator parameters
+     849         140 :     std::string address;
+     850          70 :     param_loader.loadParam(estimator_name + "/address", address);
+     851             : 
+     852             :     try {
+     853          70 :       ROS_INFO("[%s]: loading the estimator '%s'", getName().c_str(), address.c_str());
+     854          70 :       estimator_list_.push_back(state_estimator_loader_->createInstance(address.c_str()));
+     855             :     }
+     856           0 :     catch (pluginlib::CreateClassException& ex1) {
+     857           0 :       ROS_ERROR("[%s]: CreateClassException for the estimator '%s'", getName().c_str(), address.c_str());
+     858           0 :       ROS_ERROR("[%s]: Error: %s", getName().c_str(), ex1.what());
+     859           0 :       ros::shutdown();
+     860             :     }
+     861           0 :     catch (pluginlib::PluginlibException& ex) {
+     862           0 :       ROS_ERROR("[%s]: PluginlibException for the estimator '%s'", getName().c_str(), address.c_str());
+     863           0 :       ROS_ERROR("[%s]: Error: %s", getName().c_str(), ex.what());
+     864           0 :       ros::shutdown();
+     865             :     }
+     866             :   }
+     867             : 
+     868             :   /*//{ load agl estimator plugins */
+     869          65 :   param_loader.loadParam("agl_height_estimator", est_alt_agl_name_);
+     870          65 :   is_using_agl_estimator_ = est_alt_agl_name_ != "";
+     871          65 :   ROS_WARN_COND(!is_using_agl_estimator_, "[%s]: not using AGL estimator for min height safe checking", getName().c_str());
+     872             : 
+     873             : 
+     874          65 :   if (is_using_agl_estimator_) {
+     875             : 
+     876          55 :     agl_estimator_loader_ = std::make_unique<pluginlib::ClassLoader<mrs_uav_managers::AglEstimator>>("mrs_uav_managers", "mrs_uav_managers::AglEstimator");
+     877             : 
+     878             :     // load the estimator parameters
+     879         110 :     std::string address;
+     880          55 :     param_loader.loadParam(est_alt_agl_name_ + "/address", address);
+     881             : 
+     882             :     try {
+     883          55 :       ROS_INFO("[%s]: loading the estimator '%s'", getName().c_str(), address.c_str());
+     884          55 :       est_alt_agl_ = agl_estimator_loader_->createInstance(address.c_str());
+     885             :     }
+     886           0 :     catch (pluginlib::CreateClassException& ex1) {
+     887           0 :       ROS_ERROR("[%s]: CreateClassException for the estimator '%s'", getName().c_str(), address.c_str());
+     888           0 :       ROS_ERROR("[%s]: Error: %s", getName().c_str(), ex1.what());
+     889           0 :       ros::shutdown();
+     890             :     }
+     891           0 :     catch (pluginlib::PluginlibException& ex) {
+     892           0 :       ROS_ERROR("[%s]: PluginlibException for the estimator '%s'", getName().c_str(), address.c_str());
+     893           0 :       ROS_ERROR("[%s]: Error: %s", getName().c_str(), ex.what());
+     894           0 :       ros::shutdown();
+     895             :     }
+     896             :   }
+     897             :   /*//}*/
+     898             : 
+     899          65 :   ROS_INFO("[%s]: estimators were loaded", getName().c_str());
+     900             :   /*//}*/
+     901             : 
+     902             :   /*//{ check whether initial estimator was loaded */
+     903          65 :   param_loader.loadParam("initial_state_estimator", initial_estimator_name_);
+     904          65 :   bool initial_estimator_found = false;
+     905          65 :   for (auto estimator : estimator_list_) {
+     906          65 :     if (estimator->getName() == initial_estimator_name_) {
+     907          65 :       initial_estimator_      = estimator;
+     908          65 :       initial_estimator_found = true;
+     909          65 :       break;
+     910             :     }
+     911             :   }
+     912             : 
+     913          65 :   if (!initial_estimator_found) {
+     914           0 :     ROS_ERROR("[%s]: initial estimator %s could not be found among loaded estimators. shutting down", getName().c_str(), initial_estimator_name_.c_str());
+     915           0 :     ros::shutdown();
+     916             :   }
+     917             :   /*//}*/
+     918             : 
+     919             :   /*//{ initialize estimators */
+     920         135 :   for (auto estimator : estimator_list_) {
+     921             : 
+     922             :     // create private handlers
+     923         140 :     std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> ph = std::make_shared<mrs_uav_managers::estimation_manager::PrivateHandlers_t>();
+     924             : 
+     925          70 :     ph->loadConfigFile = boost::bind(&EstimationManager::loadConfigFile, this, _1);
+     926          70 :     ph->param_loader   = std::make_shared<mrs_lib::ParamLoader>(ros::NodeHandle(nh_, estimator->getName()), "EstimationManager/" + estimator->getName());
+     927             : 
+     928          70 :     if (_custom_config_ != "") {
+     929          70 :       ph->param_loader->addYamlFile(_custom_config_);
+     930             :     }
+     931             : 
+     932          70 :     if (_platform_config_ != "") {
+     933          70 :       ph->param_loader->addYamlFile(_platform_config_);
+     934             :     }
+     935             : 
+     936          70 :     if (_world_config_ != "") {
+     937          70 :       ph->param_loader->addYamlFile(_world_config_);
+     938             :     }
+     939             : 
+     940             :     try {
+     941          70 :       ROS_INFO("[%s]: initializing the estimator '%s'", getName().c_str(), estimator->getName().c_str());
+     942          70 :       estimator->initialize(nh_, ch_, ph);
+     943             :     }
+     944           0 :     catch (std::runtime_error& ex) {
+     945           0 :       ROS_ERROR("[%s]: exception caught during estimator initialization: '%s'", getName().c_str(), ex.what());
+     946           0 :       ros::shutdown();
+     947             :     }
+     948             : 
+     949          70 :     if (!estimator->isCompatibleWithHwApi(hw_api_capabilities)) {
+     950           0 :       ROS_ERROR("[%s]: estimator %s is not compatible with the hw api. Shutting down.", getName().c_str(), estimator->getName().c_str());
+     951           0 :       ros::shutdown();
+     952             :     }
+     953             :   }
+     954             : 
+     955             :   // | ----------- agl height estimator initialization ---------- |
+     956          65 :   if (is_using_agl_estimator_) {
+     957             : 
+     958         110 :     std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> ph = std::make_shared<mrs_uav_managers::estimation_manager::PrivateHandlers_t>();
+     959             : 
+     960          55 :     ph->loadConfigFile = boost::bind(&EstimationManager::loadConfigFile, this, _1);
+     961          55 :     ph->param_loader   = std::make_shared<mrs_lib::ParamLoader>(ros::NodeHandle(nh_, est_alt_agl_->getName()), "EstimationManager/" + est_alt_agl_->getName());
+     962             : 
+     963          55 :     if (_custom_config_ != "") {
+     964          55 :       ph->param_loader->addYamlFile(_custom_config_);
+     965             :     }
+     966             : 
+     967          55 :     if (_platform_config_ != "") {
+     968          55 :       ph->param_loader->addYamlFile(_platform_config_);
+     969             :     }
+     970             : 
+     971          55 :     if (_world_config_ != "") {
+     972          55 :       ph->param_loader->addYamlFile(_world_config_);
+     973             :     }
+     974             : 
+     975             :     try {
+     976          55 :       ROS_INFO("[%s]: initializing the estimator '%s'", getName().c_str(), est_alt_agl_->getName().c_str());
+     977          55 :       est_alt_agl_->initialize(nh_, ch_, ph);
+     978             :     }
+     979           0 :     catch (std::runtime_error& ex) {
+     980           0 :       ROS_ERROR("[%s]: exception caught during estimator initialization: '%s'", getName().c_str(), ex.what());
+     981           0 :       ros::shutdown();
+     982             :     }
+     983             : 
+     984          55 :     if (!est_alt_agl_->isCompatibleWithHwApi(hw_api_capabilities)) {
+     985           0 :       ROS_ERROR("[%s]: estimator %s is not compatible with the hw api. Shutting down.", getName().c_str(), est_alt_agl_->getName().c_str());
+     986           0 :       ros::shutdown();
+     987             :     }
+     988             :   }
+     989             : 
+     990          65 :   ROS_INFO("[%s]: estimators were initialized", getName().c_str());
+     991             : 
+     992             :   /*//}*/
+     993             : 
+     994             :   /*//{ initialize publishers */
+     995          65 :   ph_uav_state_    = mrs_lib::PublisherHandler<mrs_msgs::UavState>(nh_, "uav_state_out", 10);
+     996          65 :   ph_odom_main_    = mrs_lib::PublisherHandler<nav_msgs::Odometry>(nh_, "odom_main_out", 10);
+     997          65 :   ph_innovation_   = mrs_lib::PublisherHandler<nav_msgs::Odometry>(nh_, "innovation_out", 10);
+     998          65 :   ph_diagnostics_  = mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics>(nh_, "diagnostics_out", 10);
+     999          65 :   ph_max_flight_z_ = mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>(nh_, "max_flight_z_agl_out", 10);
+    1000          65 :   ph_altitude_agl_ = mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>(nh_, "height_agl_out", 10);
+    1001             : 
+    1002             :   /*//}*/
+    1003             : 
+    1004             :   /*//{ initialize timers */
+    1005          65 :   timer_publish_ = nh_.createTimer(ros::Rate(ch_->desired_uav_state_rate), &EstimationManager::timerPublish, this);
+    1006             : 
+    1007          65 :   timer_publish_diagnostics_ = nh_.createTimer(ros::Rate(ch_->desired_diagnostics_rate), &EstimationManager::timerPublishDiagnostics, this);
+    1008             : 
+    1009          65 :   timer_check_health_ = nh_.createTimer(ros::Rate(ch_->desired_uav_state_rate), &EstimationManager::timerCheckHealth, this);
+    1010             :   /*//}*/
+    1011             : 
+    1012             :   /*//{ initialize service clients */
+    1013             : 
+    1014          65 :   srvch_failsafe_.initialize(nh_, "failsafe_out");
+    1015             : 
+    1016             :   /*//}*/
+    1017             : 
+    1018             :   /*//{ initialize service servers */
+    1019          65 :   srvs_change_estimator_ = nh_.advertiseService("change_estimator_in", &EstimationManager::callbackChangeEstimator, this);
+    1020          65 :   srvs_toggle_callbacks_ = nh_.advertiseService("toggle_service_callbacks_in", &EstimationManager::callbackToggleServiceCallbacks, this);
+    1021             :   /*//}*/
+    1022             : 
+    1023             :   /*//{ initialize scope timer */
+    1024          65 :   param_loader.loadParam("scope_timer/enabled", ch_->scope_timer.enabled);
+    1025         130 :   std::string       filepath;
+    1026         130 :   const std::string time_logger_filepath = ros::package::getPath(package_name_) + "/scope_timer/scope_timer.txt";
+    1027          65 :   ch_->scope_timer.logger                = std::make_shared<mrs_lib::ScopeTimerLogger>(time_logger_filepath, ch_->scope_timer.enabled);
+    1028             :   /*//}*/
+    1029             : 
+    1030          65 :   if (!param_loader.loadedSuccessfully()) {
+    1031           0 :     ROS_ERROR("[%s]: Could not load all non-optional parameters. Shutting down.", getName().c_str());
+    1032           0 :     ros::shutdown();
+    1033             :   }
+    1034             : 
+    1035          65 :   sm_->changeState(StateMachine::INITIALIZED_STATE);
+    1036             : 
+    1037          65 :   ROS_INFO("[%s]: initialized", getName().c_str());
+    1038          65 : }
+    1039             : /*//}*/
+    1040             : 
+    1041             : // | -------------------- service callbacks ------------------- |
+    1042             : 
+    1043             : /*//{ callbackChangeEstimator() */
+    1044           4 : bool EstimationManager::callbackChangeEstimator(mrs_msgs::String::Request& req, mrs_msgs::String::Response& res) {
+    1045             : 
+    1046           4 :   if (!sm_->isInitialized()) {
+    1047           0 :     return false;
+    1048             :   }
+    1049             : 
+    1050           4 :   if (!callbacks_enabled_) {
+    1051           0 :     res.success = false;
+    1052           0 :     res.message = ("Service callbacks are disabled");
+    1053           0 :     ROS_WARN("[%s]: Ignoring service call. Callbacks are disabled.", getName().c_str());
+    1054           0 :     return true;
+    1055             :   }
+    1056             : 
+    1057           4 :   if (req.value == "dummy" || req.value == "ground_truth") {
+    1058           0 :     res.success = false;
+    1059           0 :     std::stringstream ss;
+    1060           0 :     ss << "Switching to " << req.value << " estimator is not allowed.";
+    1061           0 :     res.message = ss.str();
+    1062           0 :     ROS_WARN("[%s]: Switching to %s estimator is not allowed.", getName().c_str(), req.value.c_str());
+    1063           0 :     return true;
+    1064             :   }
+    1065             : 
+    1066             :   // we do not want the switch to be disturbed by a service call
+    1067           4 :   callbacks_enabled_ = false;
+    1068             : 
+    1069           4 :   bool                                                target_estimator_found = false;
+    1070           4 :   boost::shared_ptr<mrs_uav_managers::StateEstimator> target_estimator;
+    1071          10 :   for (auto estimator : estimator_list_) {
+    1072          10 :     if (estimator->getName() == req.value) {
+    1073           4 :       target_estimator       = estimator;
+    1074           4 :       target_estimator_found = true;
+    1075           4 :       break;
+    1076             :     }
+    1077             :   }
+    1078             : 
+    1079           4 :   if (target_estimator_found) {
+    1080             : 
+    1081           4 :     if (target_estimator->isRunning()) {
+    1082           4 :       sm_->changeState(StateMachine::ESTIMATOR_SWITCHING_STATE);
+    1083           4 :       switchToEstimator(target_estimator);
+    1084           4 :       sm_->changeToPreSwitchState();
+    1085             :     } else {
+    1086           0 :       ROS_WARN("[%s]: Switch to not running estimator %s requested", getName().c_str(), req.value.c_str());
+    1087           0 :       res.success = false;
+    1088           0 :       res.message = ("Requested estimator is not running");
+    1089           0 :       return true;
+    1090             :     }
+    1091             : 
+    1092             :   } else {
+    1093           0 :     ROS_WARN("[%s]: Switch to invalid estimator %s requested", getName().c_str(), req.value.c_str());
+    1094           0 :     res.success = false;
+    1095           0 :     res.message = ("Not a valid estimator type");
+    1096           0 :     return true;
+    1097             :   }
+    1098             : 
+    1099           4 :   res.success = true;
+    1100           4 :   res.message = "Estimator switch successful";
+    1101             : 
+    1102             :   // allow service calllbacks after switch again
+    1103           4 :   callbacks_enabled_ = true;
+    1104             : 
+    1105           4 :   return true;
+    1106             : }
+    1107             : /*//}*/
+    1108             : 
+    1109             : /* //{ callbackToggleServiceCallbacks() */
+    1110          88 : bool EstimationManager::callbackToggleServiceCallbacks(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res) {
+    1111             : 
+    1112          88 :   if (!sm_->isInitialized()) {
+    1113           0 :     ROS_ERROR("[%s]: service for toggling callbacks is not available before initialization.", getName().c_str());
+    1114           0 :     return false;
+    1115             :   }
+    1116             : 
+    1117          88 :   callbacks_disabled_by_service_ = !req.data;
+    1118             : 
+    1119          88 :   res.success = true;
+    1120          88 :   res.message = (callbacks_disabled_by_service_ ? "Service callbacks disabled" : "Service callbacks enabled");
+    1121             : 
+    1122          88 :   if (callbacks_disabled_by_service_) {
+    1123             : 
+    1124          31 :     ROS_INFO("[%s]: Service callbacks disabled.", getName().c_str());
+    1125             : 
+    1126             :   } else {
+    1127             : 
+    1128          57 :     ROS_INFO("[%s]: Service callbacks enabled", getName().c_str());
+    1129             :   }
+    1130             : 
+    1131          88 :   return true;
+    1132             : }
+    1133             : 
+    1134             : //}
+    1135             : 
+    1136             : 
+    1137             : // --------------------------------------------------------------
+    1138             : // |                        other methods                       |
+    1139             : // --------------------------------------------------------------
+    1140             : //
+    1141             : /*//{ switchToHealthyEstimator() */
+    1142           0 : bool EstimationManager::switchToHealthyEstimator() {
+    1143             : 
+    1144             :   // available estimators should be specified in decreasing priority order in config file
+    1145           0 :   for (auto estimator : estimator_list_) {
+    1146           0 :     if (estimator->isRunning()) {
+    1147           0 :       switchToEstimator(estimator);
+    1148           0 :       return true;
+    1149             :     }
+    1150             :   }
+    1151           0 :   return false;  // no other estimator is running
+    1152             : }
+    1153             : /*//}*/
+    1154             : 
+    1155             : /*//{ switchToEstimator() */
+    1156           4 : void EstimationManager::switchToEstimator(const boost::shared_ptr<mrs_uav_managers::StateEstimator>& target_estimator) {
+    1157             : 
+    1158           4 :   std::scoped_lock lock(mutex_active_estimator_);
+    1159           4 :   ROS_INFO("[%s]: switching estimator from %s to %s", getName().c_str(), active_estimator_->getName().c_str(), target_estimator->getName().c_str());
+    1160           4 :   active_estimator_ = target_estimator;
+    1161           4 :   estimator_switch_count_++;
+    1162           4 : }
+    1163             : /*//}*/
+    1164             : 
+    1165             : /*//{ callFailsafeService() */
+    1166           0 : bool EstimationManager::callFailsafeService() {
+    1167           0 :   std_srvs::Trigger srv_out;
+    1168           0 :   return srvch_failsafe_.call(srv_out);
+    1169             : }
+    1170             : /*//}*/
+    1171             : 
+    1172             : /*//{ getName() */
+    1173        1936 : std::string EstimationManager::getName() const {
+    1174        1936 :   return nodelet_name_;
+    1175             : }
+    1176             : /*//}*/
+    1177             : 
+    1178             : /* loadConfigFile() //{ */
+    1179             : 
+    1180           0 : bool EstimationManager::loadConfigFile(const std::string& file_path) {
+    1181             : 
+    1182           0 :   const std::string name_space = nh_.getNamespace() + "/";
+    1183             : 
+    1184           0 :   ROS_INFO("[%s]: loading '%s' under the namespace '%s'", getName().c_str(), file_path.c_str(), name_space.c_str());
+    1185             : 
+    1186             :   // load the user-requested file
+    1187             :   {
+    1188           0 :     std::string command = "rosparam load " + file_path + " " + name_space;
+    1189           0 :     int         result  = std::system(command.c_str());
+    1190             : 
+    1191           0 :     if (result != 0) {
+    1192           0 :       ROS_ERROR("[%s]: failed to load '%s'", getName().c_str(), file_path.c_str());
+    1193           0 :       return false;
+    1194             :     }
+    1195             :   }
+    1196             : 
+    1197             :   // load the platform config
+    1198           0 :   if (_platform_config_ != "") {
+    1199           0 :     std::string command = "rosparam load " + _platform_config_ + " " + name_space;
+    1200           0 :     int         result  = std::system(command.c_str());
+    1201             : 
+    1202           0 :     if (result != 0) {
+    1203           0 :       ROS_ERROR("[%s]: failed to load the platform config file '%s'", getName().c_str(), _platform_config_.c_str());
+    1204           0 :       return false;
+    1205             :     }
+    1206             :   }
+    1207             : 
+    1208             :   // load the custom config
+    1209           0 :   if (_custom_config_ != "") {
+    1210           0 :     std::string command = "rosparam load " + _custom_config_ + " " + name_space;
+    1211           0 :     int         result  = std::system(command.c_str());
+    1212             : 
+    1213           0 :     if (result != 0) {
+    1214           0 :       ROS_ERROR("[%s]: failed to load the custom config file '%s'", getName().c_str(), _custom_config_.c_str());
+    1215           0 :       return false;
+    1216             :     }
+    1217             :   }
+    1218             : 
+    1219           0 :   return true;
+    1220             : }
+    1221             : 
+    1222             : //}
+    1223             : 
+    1224             : }  // namespace estimation_manager
+    1225             : 
+    1226             : }  // namespace mrs_uav_managers
+    1227             : 
+    1228             : #include <pluginlib/class_list_macros.h>
+    1229          65 : 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..2f21979eca --- /dev/null +++ b/mrs_uav_managers/src/estimation_manager/estimation_manager.cpp.gcov.overview.html @@ -0,0 +1,328 @@ + + + + + + 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 + + +
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LCOV - code coverage report
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Current view:top level - mrs_uav_managers/src/estimation_manager - estimator.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:618571.8 %
Date:2024-01-20 21:44:18Functions:192382.6 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::Estimator::getAccGlobal(boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const> const&, double)0
mrs_uav_managers::Estimator::getHeadingRate(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)0
mrs_uav_managers::Estimator::getType[abi:cxx11]() const0
mrs_uav_managers::Estimator::isStopped() const0
mrs_uav_managers::Estimator::changeState(mrs_uav_managers::estimation_manager::SMStates_t)1548
mrs_uav_managers::Estimator::setCurrentSmState(mrs_uav_managers::estimation_manager::SMStates_t const&)1548
mrs_uav_managers::Estimator::getCurrentSmStateString[abi:cxx11]() const1548
mrs_uav_managers::Estimator::getPrintName[abi:cxx11]() const2289
mrs_uav_managers::Estimator::getSmStateString[abi:cxx11](mrs_uav_managers::estimation_manager::SMStates_t const&) const3096
mrs_uav_managers::Estimator::getMaxFlightZ() const10945
mrs_uav_managers::Estimator::isStarted() const22508
mrs_uav_managers::Estimator::getAccGlobal(geometry_msgs::Vector3Stamped_<std::allocator<void> > const&, double)218019
mrs_uav_managers::Estimator::getAccGlobal(boost::shared_ptr<mrs_msgs::EstimatorInput_<std::allocator<void> > const> const&, double)218202
mrs_uav_managers::Estimator::isReady() const244003
mrs_uav_managers::Estimator::getName[abi:cxx11]() const434930
mrs_uav_managers::Estimator::getFrameId[abi:cxx11]() const491769
mrs_uav_managers::Estimator::isMitigatingJump() const516111
mrs_uav_managers::Estimator::publishDiagnostics() const701022
mrs_uav_managers::Estimator::isError() const844703
mrs_uav_managers::Estimator::isRunning() const1174541
mrs_uav_managers::Estimator::isInitialized() const1780345
mrs_uav_managers::Estimator::isInState(mrs_uav_managers::estimation_manager::SMStates_t const&) const5269511
mrs_uav_managers::Estimator::getCurrentSmState() const5798334
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Generated by: LCOV version 1.14
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+ + + 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..82b410103b --- /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 + + + + + + + + + + + + + + +
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_managers/src/estimation_manager - estimator.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:618571.8 %
Date:2024-01-20 21:44:18Functions:192382.6 %
Legend: Lines: + hit + not hit +
+
+ +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::Estimator::changeState(mrs_uav_managers::estimation_manager::SMStates_t)1548
mrs_uav_managers::Estimator::getAccGlobal(geometry_msgs::Vector3Stamped_<std::allocator<void> > const&, double)218019
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)218202
mrs_uav_managers::Estimator::getHeadingRate(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)0
mrs_uav_managers::Estimator::setCurrentSmState(mrs_uav_managers::estimation_manager::SMStates_t const&)1548
mrs_uav_managers::Estimator::getFrameId[abi:cxx11]() const491769
mrs_uav_managers::Estimator::getPrintName[abi:cxx11]() const2289
mrs_uav_managers::Estimator::getMaxFlightZ() const10945
mrs_uav_managers::Estimator::isInitialized() const1780345
mrs_uav_managers::Estimator::getSmStateString[abi:cxx11](mrs_uav_managers::estimation_manager::SMStates_t const&) const3096
mrs_uav_managers::Estimator::isMitigatingJump() const516111
mrs_uav_managers::Estimator::getCurrentSmState() const5798334
mrs_uav_managers::Estimator::publishDiagnostics() const701022
mrs_uav_managers::Estimator::getCurrentSmStateString[abi:cxx11]() const1548
mrs_uav_managers::Estimator::getName[abi:cxx11]() const434930
mrs_uav_managers::Estimator::getType[abi:cxx11]() const0
mrs_uav_managers::Estimator::isError() const844703
mrs_uav_managers::Estimator::isReady() const244003
mrs_uav_managers::Estimator::isInState(mrs_uav_managers::estimation_manager::SMStates_t const&) const5269511
mrs_uav_managers::Estimator::isRunning() const1174541
mrs_uav_managers::Estimator::isStarted() const22508
mrs_uav_managers::Estimator::isStopped() const0
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Current view:top level - mrs_uav_managers/src/estimation_manager - estimator.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:618571.8 %
Date:2024-01-20 21:44:18Functions:192382.6 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          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        1548 : bool Estimator::changeState(SMStates_t new_state) {
+       9             : 
+      10        1548 :   if (new_state == getCurrentSmState()) {
+      11           0 :     return true;
+      12             :   }
+      13             : 
+      14        1548 :   previous_sm_state_ = getCurrentSmState();
+      15        1548 :   setCurrentSmState(new_state);
+      16             : 
+      17        1548 :   ROS_INFO("[%s]: Switching sm state %s -> %s", getPrintName().c_str(), getSmStateString(previous_sm_state_).c_str(), getCurrentSmStateString().c_str());
+      18        1548 :   return true;
+      19             : }
+      20             : /*//}*/
+      21             : 
+      22             : /*//{ isInState() */
+      23     5269511 : bool Estimator::isInState(const SMStates_t& state_in) const {
+      24     5269511 :   return state_in == getCurrentSmState();
+      25             : }
+      26             : /*//}*/
+      27             : 
+      28             : /*//{ isInitialized() */
+      29     1780345 : bool Estimator::isInitialized() const {
+      30     1780345 :   return !isInState(UNINITIALIZED_STATE);
+      31             : }
+      32             : /*//}*/
+      33             : 
+      34             : /*//{ isReady() */
+      35      244003 : bool Estimator::isReady() const {
+      36      244003 :   return isInState(READY_STATE);
+      37             : }
+      38             : /*//}*/
+      39             : 
+      40             : /*//{ isStarted() */
+      41       22508 : bool Estimator::isStarted() const {
+      42       22508 :   return isInState(STARTED_STATE);
+      43             : }
+      44             : /*//}*/
+      45             : 
+      46             : /*//{ isRunning() */
+      47     1174541 : bool Estimator::isRunning() const {
+      48     1174541 :   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      844703 : bool Estimator::isError() const {
+      60      844703 :   return isInState(ERROR_STATE);
+      61             : }
+      62             : /*//}*/
+      63             : 
+      64             : /*//{ getCurrentSmState() */
+      65     5798334 : SMStates_t Estimator::getCurrentSmState() const {
+      66     5798334 :   return current_sm_state_;
+      67             : }
+      68             : /*//}*/
+      69             : 
+      70             : /*//{ setCurrentSmState() */
+      71        1548 : void Estimator::setCurrentSmState(const SMStates_t& new_state) {
+      72        1548 :   std::scoped_lock lock(mutex_current_state_);
+      73        1548 :   current_sm_state_ = new_state;
+      74        1548 : }
+      75             : /*//}*/
+      76             : 
+      77             : /*//{ getSmStateString() */
+      78        3096 : std::string Estimator::getSmStateString(const SMStates_t& state) const {
+      79        3096 :   return sm::state_names[state];
+      80             : }
+      81             : /*//}*/
+      82             : 
+      83             : /*//{ getCurrentSmStateName() */
+      84        1548 : std::string Estimator::getCurrentSmStateString(void) const {
+      85        3096 :   return getSmStateString(getCurrentSmState());
+      86             : }
+      87             : /*//}*/
+      88             : 
+      89             : /*//{ isMitigatingJump() */
+      90      516111 : bool Estimator::isMitigatingJump(void) const {
+      91      516111 :   return is_mitigating_jump_;
+      92             : }
+      93             : /*//}*/
+      94             : 
+      95             : /*//{ getName() */
+      96      434930 : std::string Estimator::getName(void) const {
+      97      434930 :   return name_;
+      98             : }
+      99             : /*//}*/
+     100             : 
+     101             : /*//{ getPrintName() */
+     102        2289 : std::string Estimator::getPrintName(void) const {
+     103        4578 :   return ch_->nodelet_name + "/" + name_;
+     104             : }
+     105             : /*//}*/
+     106             : 
+     107             : /*//{ getType() */
+     108           0 : std::string Estimator::getType(void) const {
+     109           0 :   return type_;
+     110             : }
+     111             : /*//}*/
+     112             : 
+     113             : /*//{ getFrameId() */
+     114      491769 : std::string Estimator::getFrameId(void) const {
+     115      491769 :   return ns_frame_id_;
+     116             : }
+     117             : /*//}*/
+     118             : 
+     119             : /*//{ getMaxFlightZ() */
+     120       10945 : double Estimator::getMaxFlightZ(void) const {
+     121       10945 :   return max_flight_z_;
+     122             : }
+     123             : /*//}*/
+     124             : 
+     125             : /*//{ publishDiagnostics() */
+     126      701022 : void Estimator::publishDiagnostics() const {
+     127             : 
+     128      701022 :   if (!ch_->debug_topics.diag) {
+     129      700998 :     return;
+     130             :   }
+     131             : 
+     132           0 :   mrs_msgs::EstimatorDiagnostics msg;
+     133           0 :   msg.header.stamp       = ros::Time::now();
+     134           0 :   msg.header.frame_id    = getFrameId();
+     135           0 :   msg.estimator_name     = getName();
+     136           0 :   msg.estimator_type     = getType();
+     137           0 :   msg.estimator_sm_state = getCurrentSmStateString();
+     138             : 
+     139           0 :   ph_diagnostics_.publish(msg);
+     140             : }
+     141             : /*//}*/
+     142             : 
+     143             : /*//{ getAccGlobal() */
+     144           0 : tf2::Vector3 Estimator::getAccGlobal(const sensor_msgs::Imu::ConstPtr& input_msg, const double hdg) {
+     145             : 
+     146           0 :   geometry_msgs::Vector3Stamped acc_stamped;
+     147           0 :   acc_stamped.vector = input_msg->linear_acceleration;
+     148           0 :   acc_stamped.header = input_msg->header;
+     149           0 :   return getAccGlobal(acc_stamped, hdg);
+     150             : }
+     151             : 
+     152      218202 : tf2::Vector3 Estimator::getAccGlobal(const mrs_msgs::EstimatorInput::ConstPtr& input_msg, const double hdg) {
+     153             : 
+     154      433812 :   geometry_msgs::Vector3Stamped acc_stamped;
+     155      217762 :   acc_stamped.vector = input_msg->control_acceleration;
+     156      217692 :   acc_stamped.header = input_msg->header;
+     157      432446 :   return getAccGlobal(acc_stamped, hdg);
+     158             : }
+     159             : 
+     160      218019 : tf2::Vector3 Estimator::getAccGlobal(const geometry_msgs::Vector3Stamped& acc_stamped, const double hdg) {
+     161             : 
+     162             :   // untilt the desired acceleration vector
+     163      434169 :   geometry_msgs::Vector3Stamped des_acc;
+     164      217628 :   geometry_msgs::Vector3        des_acc_untilted;
+     165      217746 :   des_acc.vector.x        = acc_stamped.vector.x;
+     166      217746 :   des_acc.vector.y        = acc_stamped.vector.y;
+     167      217746 :   des_acc.vector.z        = acc_stamped.vector.z;
+     168      217746 :   des_acc.header.frame_id = ch_->frames.ns_fcu;
+     169      217934 :   des_acc.header.stamp    = acc_stamped.header.stamp;
+     170      435640 :   auto response_acc       = ch_->transformer->transformSingle(des_acc, ch_->frames.ns_fcu_untilted);
+     171      218229 :   if (response_acc) {
+     172      218229 :     des_acc_untilted.x = response_acc.value().vector.x;
+     173      218229 :     des_acc_untilted.y = response_acc.value().vector.y;
+     174      218229 :     des_acc_untilted.z = response_acc.value().vector.z;
+     175             :   } else {
+     176           0 :     ROS_WARN_THROTTLE(1.0, "[%s]: Transform from %s to %s failed", getPrintName().c_str(), des_acc.header.frame_id.c_str(),
+     177             :                       ch_->frames.ns_fcu_untilted.c_str());
+     178             :   }
+     179             : 
+     180             :   // rotate the desired acceleration vector to global frame
+     181      218228 :   const tf2::Vector3 des_acc_global = Support::rotateVecByHdg(des_acc_untilted, hdg);
+     182             : 
+     183      432133 :   return des_acc_global;
+     184             : }
+     185             : /*//}*/
+     186             : 
+     187             : /*//{ getHeadingRate() */
+     188           0 : std::optional<double> Estimator::getHeadingRate(const nav_msgs::OdometryConstPtr& odom_msg) {
+     189             : 
+     190             :   double hdg_rate;
+     191             :   try {
+     192           0 :     hdg_rate = mrs_lib::AttitudeConverter(odom_msg->pose.pose.orientation).getHeadingRate(odom_msg->twist.twist.angular);
+     193             :   }
+     194           0 :   catch (...) {
+     195           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: failed getting heading rate", getPrintName().c_str());
+     196           0 :     return {};
+     197             :   }
+     198           0 :   return hdg_rate;
+     199             : }
+     200             : /*//}*/
+     201             : 
+     202             : 
+     203             : /*//}*/
+     204             : 
+     205             : }  // namespace mrs_uav_managers
+     206             : 
+
+
+
+ + + + +
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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..109fe8a5e8 --- /dev/null +++ b/mrs_uav_managers/src/estimation_manager/estimator.cpp.gcov.overview.html @@ -0,0 +1,72 @@ + + + + + + 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 + + +
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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..0542f334157864cbe9b6e41d42d270c218eb0f56 GIT binary patch literal 799 zcmV+)1K|9LP)xi7#@*z z89sxuW_h=)(VdW4bFnr6Yu42TYmzd?nk4gn))ynZL%a3$-(*d2{|MGc*@|M^hbT}} zsBl@R$|bCD`hQ=)mNoD1gFzL!82gfShuMd)ZZ<2Z+1pyMMoiR_NkFAu6cl|k1K=(5 zbeiiB6l$v^TWAd?`navo4GWz02Ka_G63M>dI0|dV*VqYZZP!?`rl}3UT9WK*U!$ZG zYnIahtT|8P5zZ%jcZOUE6AZwb_jPPzvbdgQr`s8}Ss9?6VO@>+8trPJulp{1zpo`n zQb{vYvhMO4gEiytHiuK$OiE@cH6pr_M$Uo}C^V$pJldAB6FWBp-C*CrfCM^C5!lyg zqegCOInWU)&QzuX3Z*s=nX`t-W?VW;dAmyE_2|BN1VOP^^IIN>*|t446Su^2&xj>u zhbmdr>Err^Z%(&(CBZMHkqnFi(dMJ+!-@N3c@BT69la^!cAWfskNMaSvBKlq4Kp~Z z5d!@K%9a`EN1$c+P2iSJ&ZxT~u+UgzJ#bCW(bL@ddoFS0O;6NFN3Qy5pz73K2-Lbv zCnn^y-S|(=H!wfiMhr|TKk#}Fi}3TSi1a0;k>nxFjp|yGiiYk2$LRL@#jq(_#8_Sn zr)PNU$}e)3u|A`#DVUAOUw-QDRWt;`z&3e1m^_T;IYxr1FRbxY&jH`qa*5^jQ_qiZ dVh{3dg + + + + + + 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
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Date:2024-01-20 21:44:18Functions:33100.0 %
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mrs_uav_managers::AglEstimator::isCompatibleWithHwApi(boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const> const&) const55
mrs_uav_managers::AglEstimator::publishAglHeight() const93754
mrs_uav_managers::AglEstimator::publishCovariance() const93754
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mrs_uav_managers::AglEstimator::publishAglHeight() const93754
mrs_uav_managers::AglEstimator::publishCovariance() const93754
mrs_uav_managers::AglEstimator::isCompatibleWithHwApi(boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const> const&) const55
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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       93754 : void AglEstimator::publishAglHeight() const {
+       8       93754 :   ph_agl_height_.publish(mrs_lib::get_mutexed(mtx_agl_height_, agl_height_));
+       9       93754 : }
+      10             : /*//}*/
+      11             : 
+      12             : /*//{ publishCovariance() */
+      13       93754 : void AglEstimator::publishCovariance() const {
+      14             : 
+      15       93754 :   if (!ch_->debug_topics.covariance) {
+      16       93754 :     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          55 : bool AglEstimator::isCompatibleWithHwApi(const mrs_msgs::HwApiCapabilitiesConstPtr& hw_api_capabilities) const {
+      25             : 
+      26          55 :   ph_->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/private/" + getName() + "/" + getName() + ".yaml");
+      27          55 :   ph_->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/public/" + getName() + "/" + getName() + ".yaml");
+      28             : 
+      29          55 :   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          55 :   ph_->param_loader->loadParam("requires/gnss", requires_gnss);
+      35          55 :   ph_->param_loader->loadParam("requires/imu", requires_imu);
+      36          55 :   ph_->param_loader->loadParam("requires/distance_sensor", requires_distance_sensor);
+      37          55 :   ph_->param_loader->loadParam("requires/altitude", requires_altitude);
+      38          55 :   ph_->param_loader->loadParam("requires/magnetometer_heading", requires_magnetometer_heading);
+      39          55 :   ph_->param_loader->loadParam("requires/position", requires_position);
+      40          55 :   ph_->param_loader->loadParam("requires/orientation", requires_orientation);
+      41          55 :   ph_->param_loader->loadParam("requires/velocity", requires_velocity);
+      42          55 :   ph_->param_loader->loadParam("requires/angular_velocity", requires_angular_velocity);
+      43             : 
+      44          55 :   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          55 :   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          55 :   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          55 :   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          55 :   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          55 :   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          55 :   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          55 :   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          55 :   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          55 :   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          55 :   return true;
+      95             : }
+      96             : /*//}*/
+      97             : 
+      98             : }  // namespace mrs_uav_managers
+
+
+
+ + + + +
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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&) const70
mrs_uav_managers::StateEstimator::getInnovation() const109136
mrs_uav_managers::StateEstimator::getPoseCovariance() const109136
mrs_uav_managers::StateEstimator::getTwistCovariance() const109136
mrs_uav_managers::StateEstimator::getUavState()119818
mrs_uav_managers::StateEstimator::publishUavState() const136842
mrs_uav_managers::StateEstimator::publishOdom() const136872
mrs_uav_managers::StateEstimator::publishCovariance() const136873
mrs_uav_managers::StateEstimator::publishInnovation() const136873
mrs_uav_managers::StateEstimator::rotateQuaternionByHeading(geometry_msgs::Quaternion_<std::allocator<void> > const&, double) const275894
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::StateEstimator::getUavState()119818
mrs_uav_managers::StateEstimator::publishOdom() const136872
mrs_uav_managers::StateEstimator::getInnovation() const109136
mrs_uav_managers::StateEstimator::publishUavState() const136842
mrs_uav_managers::StateEstimator::getPoseCovariance() const109136
mrs_uav_managers::StateEstimator::publishCovariance() const136873
mrs_uav_managers::StateEstimator::publishInnovation() const136873
mrs_uav_managers::StateEstimator::getTwistCovariance() const109136
mrs_uav_managers::StateEstimator::isCompatibleWithHwApi(boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const> const&) const70
mrs_uav_managers::StateEstimator::rotateQuaternionByHeading(geometry_msgs::Quaternion_<std::allocator<void> > const&, double) const275894
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Legend: Lines: + hit + not hit +
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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      119818 : std::optional<mrs_msgs::UavState> StateEstimator::getUavState() {
+       9             : 
+      10      119818 :   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      239610 :   return mrs_lib::get_mutexed(mtx_uav_state_, uav_state_);
+      16             : }
+      17             : /*//}*/
+      18             : 
+      19             : /*//{ getInnovation() */
+      20      109136 : nav_msgs::Odometry StateEstimator::getInnovation() const {
+      21      109136 :   return mrs_lib::get_mutexed(mtx_innovation_, innovation_);
+      22             : }
+      23             : /*//}*/
+      24             : 
+      25             : /*//{ getPoseCovariance() */
+      26      109136 : std::vector<double> StateEstimator::getPoseCovariance() const {
+      27      109136 :   return mrs_lib::get_mutexed(mtx_covariance_, pose_covariance_.values);
+      28             : }
+      29             : /*//}*/
+      30             : 
+      31             : /*//{ getTwistCovariance() */
+      32      109136 : std::vector<double> StateEstimator::getTwistCovariance() const {
+      33      109136 :   return mrs_lib::get_mutexed(mtx_covariance_, twist_covariance_.values);
+      34             : }
+      35             : /*//}*/
+      36             : 
+      37             : /*//{ publishUavState() */
+      38      136842 : void StateEstimator::publishUavState() const {
+      39             : 
+      40      136842 :   if (!ch_->debug_topics.state) {
+      41           0 :     return;
+      42             :   }
+      43             : 
+      44      273246 :   auto uav_state = mrs_lib::get_mutexed(mtx_uav_state_, uav_state_);
+      45      136526 :   ph_uav_state_.publish(uav_state);
+      46             : }
+      47             : /*//}*/
+      48             : 
+      49             : /*//{ publishOdom() */
+      50      136872 : void StateEstimator::publishOdom() const {
+      51             : 
+      52      273745 :   auto odom = mrs_lib::get_mutexed(mtx_odom_, odom_);
+      53      136872 :   ph_odom_.publish(odom);
+      54      136873 : }
+      55             : /*//}*/
+      56             : 
+      57             : /*//{ publishCovariance() */
+      58      136873 : void StateEstimator::publishCovariance() const {
+      59             : 
+      60      136873 :   if (!ch_->debug_topics.covariance) {
+      61      136873 :     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      136873 : void StateEstimator::publishInnovation() const {
+      73             : 
+      74      136873 :   if (!ch_->debug_topics.innovation) {
+      75      136873 :     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      275894 : std::optional<geometry_msgs::Quaternion> StateEstimator::rotateQuaternionByHeading(const geometry_msgs::Quaternion& q, const double hdg) const {
+      85             : 
+      86             :   try {
+      87      275894 :     tf2::Quaternion tf2_q = mrs_lib::AttitudeConverter(q);
+      88             : 
+      89             :     // Obtain heading from quaternion
+      90      275434 :     double q_hdg = 0;
+      91      275434 :     q_hdg        = mrs_lib::AttitudeConverter(q).getHeading();
+      92             : 
+      93             :     // Build rotation matrix from difference between new heading and quaternion heading
+      94      275235 :     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      275022 :     geometry_msgs::Quaternion q_new = mrs_lib::AttitudeConverter(tf2::Transform(rot_mat) * tf2_q);
+      98      274407 :     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          70 : bool StateEstimator::isCompatibleWithHwApi(const mrs_msgs::HwApiCapabilitiesConstPtr& hw_api_capabilities) const {
+     109             : 
+     110          70 :   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          70 :   ph_->param_loader->loadParam("requires/gnss", requires_gnss);
+     116          70 :   ph_->param_loader->loadParam("requires/imu", requires_imu);
+     117          70 :   ph_->param_loader->loadParam("requires/distance_sensor", requires_distance_sensor);
+     118          70 :   ph_->param_loader->loadParam("requires/altitude", requires_altitude);
+     119          70 :   ph_->param_loader->loadParam("requires/magnetometer_heading", requires_magnetometer_heading);
+     120          70 :   ph_->param_loader->loadParam("requires/position", requires_position);
+     121          70 :   ph_->param_loader->loadParam("requires/orientation", requires_orientation);
+     122          70 :   ph_->param_loader->loadParam("requires/velocity", requires_velocity);
+     123          70 :   ph_->param_loader->loadParam("requires/angular_velocity", requires_angular_velocity);
+     124             : 
+     125          70 :   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          70 :   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          70 :   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          70 :   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          70 :   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          70 :   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          70 :   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          70 :   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          70 :   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          70 :   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          70 :   return true;
+     176             : }
+     177             : /*//}*/
+     178             : 
+     179             : }  // namespace mrs_uav_managers
+
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::gain_manager::GainManager::callbackSetGains(mrs_msgs::StringRequest_<std::allocator<void> >&, mrs_msgs::StringResponse_<std::allocator<void> >&)0
(anonymous namespace)::ProxyExec0::ProxyExec0()65
mrs_uav_managers::gain_manager::GainManager::onInit()65
mrs_uav_managers::gain_manager::GainManager::setGains(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)65
mrs_uav_managers::gain_manager::GainManager::timerDiagnostics(ros::TimerEvent const&)1367
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&)1434
mrs_uav_managers::gain_manager::GainManager::timerGainManagement(ros::TimerEvent const&)13926
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Test:MRS UAV System - Test coverage reportLines:20325380.2 %
Date:2024-01-20 21:44:18Functions:6785.7 %
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Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()65
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&)1434
mrs_uav_managers::gain_manager::GainManager::callbackSetGains(mrs_msgs::StringRequest_<std::allocator<void> >&, mrs_msgs::StringResponse_<std::allocator<void> >&)0
mrs_uav_managers::gain_manager::GainManager::timerDiagnostics(ros::TimerEvent const&)1367
mrs_uav_managers::gain_manager::GainManager::timerGainManagement(ros::TimerEvent const&)13926
mrs_uav_managers::gain_manager::GainManager::onInit()65
mrs_uav_managers::gain_manager::GainManager::setGains(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)65
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Date:2024-01-20 21:44:18Functions:6785.7 %
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             :   bool            is_initialized_ = false;
+      56             : 
+      57             :   // | ----------------------- parameters ----------------------- |
+      58             : 
+      59             :   std::vector<std::string> _current_state_estimators_;
+      60             : 
+      61             :   std::vector<std::string>       _gain_names_;
+      62             :   std::map<std::string, Gains_t> _gains_;
+      63             : 
+      64             :   std::map<std::string, std::vector<std::string>> _map_type_allowed_gains_;
+      65             :   std::map<std::string, std::string>              _map_type_default_gains_;
+      66             :   ;
+      67             : 
+      68             :   // | --------------------- service clients -------------------- |
+      69             : 
+      70             :   ros::ServiceClient service_client_set_gains_;
+      71             : 
+      72             :   // | ----------------------- subscribers ---------------------- |
+      73             : 
+      74             :   mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics>     sh_estimation_diag_;
+      75             :   mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics> sh_control_manager_diag_;
+      76             : 
+      77             :   // | --------------------- gain management -------------------- |
+      78             : 
+      79             :   bool setGains(std::string gains_name);
+      80             : 
+      81             :   ros::ServiceServer service_server_set_gains_;
+      82             :   bool               callbackSetGains(mrs_msgs::String::Request& req, mrs_msgs::String::Response& res);
+      83             : 
+      84             :   std::string last_estimator_name_;
+      85             :   std::mutex  mutex_last_estimator_name_;
+      86             : 
+      87             :   void       timerGainManagement(const ros::TimerEvent& event);
+      88             :   ros::Timer timer_gain_management_;
+      89             :   double     _gain_management_rate_;
+      90             : 
+      91             :   std::string current_gains_;
+      92             :   std::mutex  mutex_current_gains_;
+      93             : 
+      94             :   // | ------------------ diagnostics publisher ----------------- |
+      95             : 
+      96             :   mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics> ph_diagnostics_;
+      97             : 
+      98             :   void       timerDiagnostics(const ros::TimerEvent& event);
+      99             :   ros::Timer timer_diagnostics_;
+     100             :   double     _diagnostics_rate_;
+     101             : 
+     102             :   // | ------------------------ profiler ------------------------ |
+     103             : 
+     104             :   mrs_lib::Profiler profiler_;
+     105             :   bool              _profiler_enabled_ = false;
+     106             : 
+     107             :   // | ------------------- scope timer logger ------------------- |
+     108             : 
+     109             :   bool                                       scope_timer_enabled_ = false;
+     110             :   std::shared_ptr<mrs_lib::ScopeTimerLogger> scope_timer_logger_;
+     111             : 
+     112             :   // | ------------------------- helpers ------------------------ |
+     113             : 
+     114             :   bool stringInVector(const std::string& value, const std::vector<std::string>& vector);
+     115             : };
+     116             : 
+     117             : //}
+     118             : 
+     119             : /* //{ onInit() */
+     120             : 
+     121          65 : void GainManager::onInit() {
+     122             : 
+     123         130 :   ros::NodeHandle nh_ = nodelet::Nodelet::getMTPrivateNodeHandle();
+     124             : 
+     125          65 :   ros::Time::waitForValid();
+     126             : 
+     127          65 :   ROS_INFO("[GainManager]: initializing");
+     128             : 
+     129             :   // | ------------------------- params ------------------------- |
+     130             : 
+     131         130 :   mrs_lib::ParamLoader param_loader(nh_, "GainManager");
+     132             : 
+     133         130 :   std::string custom_config_path;
+     134         130 :   std::string platform_config_path;
+     135             : 
+     136          65 :   param_loader.loadParam("custom_config", custom_config_path);
+     137          65 :   param_loader.loadParam("platform_config", platform_config_path);
+     138             : 
+     139          65 :   if (custom_config_path != "") {
+     140          65 :     param_loader.addYamlFile(custom_config_path);
+     141             :   }
+     142             : 
+     143          65 :   if (platform_config_path != "") {
+     144          65 :     param_loader.addYamlFile(platform_config_path);
+     145             :   }
+     146             : 
+     147          65 :   param_loader.addYamlFileFromParam("private_config");
+     148          65 :   param_loader.addYamlFileFromParam("public_config");
+     149          65 :   param_loader.addYamlFileFromParam("public_gains");
+     150             : 
+     151         130 :   const std::string yaml_prefix = "mrs_uav_managers/gain_manager/";
+     152             : 
+     153             :   // params passed from the launch file are not prefixed
+     154          65 :   param_loader.loadParam("enable_profiler", _profiler_enabled_);
+     155             : 
+     156          65 :   param_loader.loadParam(yaml_prefix + "gains", _gain_names_);
+     157             : 
+     158          65 :   param_loader.loadParam(yaml_prefix + "estimator_types", _current_state_estimators_);
+     159             : 
+     160          65 :   param_loader.loadParam(yaml_prefix + "rate", _gain_management_rate_);
+     161          65 :   param_loader.loadParam(yaml_prefix + "diagnostics_rate", _diagnostics_rate_);
+     162             : 
+     163             :   // | ------------------- scope timer logger ------------------- |
+     164             : 
+     165          65 :   param_loader.loadParam(yaml_prefix + "scope_timer/enabled", scope_timer_enabled_);
+     166         195 :   const std::string scope_timer_log_filename = param_loader.loadParam2("scope_timer/log_filename", std::string(""));
+     167          65 :   scope_timer_logger_                        = std::make_shared<mrs_lib::ScopeTimerLogger>(scope_timer_log_filename, scope_timer_enabled_);
+     168             : 
+     169          65 :   std::vector<std::string>::iterator it;
+     170             : 
+     171             :   // loading gain_names
+     172         195 :   for (it = _gain_names_.begin(); it != _gain_names_.end(); ++it) {
+     173             : 
+     174         130 :     ROS_INFO_STREAM("[GainManager]: loading gains '" << *it << "'");
+     175             : 
+     176         130 :     Gains_t new_gains;
+     177             : 
+     178         130 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/kp", new_gains.kpxy);
+     179         130 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/kv", new_gains.kvxy);
+     180         130 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/ka", new_gains.kaxy);
+     181         130 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/kib", new_gains.kibxy);
+     182         130 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/kiw", new_gains.kiwxy);
+     183         130 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/kib_lim", new_gains.kibxy_lim);
+     184         130 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/kiw_lim", new_gains.kiwxy_lim);
+     185             : 
+     186         130 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/kp", new_gains.kpz);
+     187         130 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/kv", new_gains.kvz);
+     188         130 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/ka", new_gains.kaz);
+     189             : 
+     190         130 :     param_loader.loadParam(yaml_prefix + *it + "/attitude/kq_roll_pitch", new_gains.kqrp);
+     191         130 :     param_loader.loadParam(yaml_prefix + *it + "/attitude/kq_yaw", new_gains.kqy);
+     192             : 
+     193         130 :     param_loader.loadParam(yaml_prefix + *it + "/mass_estimator/km", new_gains.km);
+     194         130 :     param_loader.loadParam(yaml_prefix + *it + "/mass_estimator/km_lim", new_gains.km_lim);
+     195             : 
+     196         130 :     _gains_.insert(std::pair<std::string, Gains_t>(*it, new_gains));
+     197             :   }
+     198             : 
+     199             :   // loading the allowed gains lists
+     200         520 :   for (it = _current_state_estimators_.begin(); it != _current_state_estimators_.end(); ++it) {
+     201             : 
+     202         455 :     std::vector<std::string> temp_vector;
+     203         455 :     param_loader.loadParam(yaml_prefix + "allowed_gains/" + *it, temp_vector);
+     204             : 
+     205         455 :     std::vector<std::string>::iterator it2;
+     206        1365 :     for (it2 = temp_vector.begin(); it2 != temp_vector.end(); ++it2) {
+     207         910 :       if (!stringInVector(*it2, _gain_names_)) {
+     208           0 :         ROS_ERROR("[GainManager]: the element '%s' of %s/allowed_gains is not a valid gain!", it2->c_str(), it->c_str());
+     209           0 :         ros::shutdown();
+     210             :       }
+     211             :     }
+     212             : 
+     213         455 :     _map_type_allowed_gains_.insert(std::pair<std::string, std::vector<std::string>>(*it, temp_vector));
+     214             :   }
+     215             : 
+     216             :   // loading the default gains
+     217         520 :   for (it = _current_state_estimators_.begin(); it != _current_state_estimators_.end(); ++it) {
+     218             : 
+     219         455 :     std::string temp_str;
+     220         455 :     param_loader.loadParam(yaml_prefix + "default_gains/" + *it, temp_str);
+     221             : 
+     222         455 :     if (!stringInVector(temp_str, _map_type_allowed_gains_.at(*it))) {
+     223           0 :       ROS_ERROR("[GainManager]: the element '%s' of %s/allowed_gains is not a valid gain!", temp_str.c_str(), it->c_str());
+     224           0 :       ros::shutdown();
+     225             :     }
+     226             : 
+     227         455 :     _map_type_default_gains_.insert(std::pair<std::string, std::string>(*it, temp_str));
+     228             :   }
+     229             : 
+     230          65 :   ROS_INFO("[GainManager]: done loading dynamical params");
+     231             : 
+     232          65 :   current_gains_       = "";
+     233          65 :   last_estimator_name_ = "";
+     234             : 
+     235             :   // | ------------------------ services ------------------------ |
+     236             : 
+     237          65 :   service_server_set_gains_ = nh_.advertiseService("set_gains_in", &GainManager::callbackSetGains, this);
+     238             : 
+     239          65 :   service_client_set_gains_ = nh_.serviceClient<dynamic_reconfigure::Reconfigure>("set_gains_out");
+     240             : 
+     241             :   // | ----------------------- subscribers ---------------------- |
+     242             : 
+     243         130 :   mrs_lib::SubscribeHandlerOptions shopts;
+     244          65 :   shopts.nh                 = nh_;
+     245          65 :   shopts.node_name          = "GainManager";
+     246          65 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     247          65 :   shopts.threadsafe         = true;
+     248          65 :   shopts.autostart          = true;
+     249          65 :   shopts.queue_size         = 10;
+     250          65 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     251             : 
+     252          65 :   sh_estimation_diag_      = mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics>(shopts, "estimation_diagnostics_in");
+     253          65 :   sh_control_manager_diag_ = mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics>(shopts, "control_manager_diagnostics_in");
+     254             : 
+     255             :   // | ----------------------- publishers ----------------------- |
+     256             : 
+     257          65 :   ph_diagnostics_ = mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics>(nh_, "diagnostics_out", 1);
+     258             : 
+     259             :   // | ------------------------- timers ------------------------- |
+     260             : 
+     261          65 :   timer_gain_management_ = nh_.createTimer(ros::Rate(_gain_management_rate_), &GainManager::timerGainManagement, this);
+     262          65 :   timer_diagnostics_     = nh_.createTimer(ros::Rate(_diagnostics_rate_), &GainManager::timerDiagnostics, this);
+     263             : 
+     264             :   // | ------------------------ profiler ------------------------ |
+     265             : 
+     266          65 :   profiler_ = mrs_lib::Profiler(nh_, "GainManager", _profiler_enabled_);
+     267             : 
+     268             :   // | ----------------------- finish init ---------------------- |
+     269             : 
+     270          65 :   if (!param_loader.loadedSuccessfully()) {
+     271           0 :     ROS_ERROR("[GainManager]: could not load all parameters!");
+     272           0 :     ros::shutdown();
+     273             :   }
+     274             : 
+     275          65 :   is_initialized_ = true;
+     276             : 
+     277          65 :   ROS_INFO("[GainManager]: initialized");
+     278             : 
+     279          65 :   ROS_DEBUG("[GainManager]: debug output is enabled");
+     280          65 : }
+     281             : 
+     282             : //}
+     283             : 
+     284             : // --------------------------------------------------------------
+     285             : // |                           methods                          |
+     286             : // --------------------------------------------------------------
+     287             : 
+     288             : /* setGains() //{ */
+     289             : 
+     290          65 : bool GainManager::setGains(std::string gains_name) {
+     291             : 
+     292          65 :   std::map<std::string, Gains_t>::iterator it;
+     293          65 :   it = _gains_.find(gains_name);
+     294             : 
+     295          65 :   if (it == _gains_.end()) {
+     296           0 :     ROS_WARN("[GainManager]: can not set gains for '%s', the mode is not on a list!", gains_name.c_str());
+     297           0 :     return false;
+     298             :   }
+     299             : 
+     300         130 :   dynamic_reconfigure::Config          conf;
+     301         130 :   dynamic_reconfigure::DoubleParameter param;
+     302             : 
+     303          65 :   param.name  = "kpxy";
+     304          65 :   param.value = it->second.kpxy;
+     305          65 :   conf.doubles.push_back(param);
+     306             : 
+     307          65 :   param.name  = "kvxy";
+     308          65 :   param.value = it->second.kvxy;
+     309          65 :   conf.doubles.push_back(param);
+     310             : 
+     311          65 :   param.name  = "kaxy";
+     312          65 :   param.value = it->second.kaxy;
+     313          65 :   conf.doubles.push_back(param);
+     314             : 
+     315          65 :   param.name  = "kq_roll_pitch";
+     316          65 :   param.value = it->second.kqrp;
+     317          65 :   conf.doubles.push_back(param);
+     318             : 
+     319          65 :   param.name  = "kibxy";
+     320          65 :   param.value = it->second.kibxy;
+     321          65 :   conf.doubles.push_back(param);
+     322             : 
+     323          65 :   param.name  = "kiwxy";
+     324          65 :   param.value = it->second.kiwxy;
+     325          65 :   conf.doubles.push_back(param);
+     326             : 
+     327          65 :   param.name  = "kibxy_lim";
+     328          65 :   param.value = it->second.kibxy_lim;
+     329          65 :   conf.doubles.push_back(param);
+     330             : 
+     331          65 :   param.name  = "kiwxy_lim";
+     332          65 :   param.value = it->second.kiwxy_lim;
+     333          65 :   conf.doubles.push_back(param);
+     334             : 
+     335          65 :   param.name  = "kpz";
+     336          65 :   param.value = it->second.kpz;
+     337          65 :   conf.doubles.push_back(param);
+     338             : 
+     339          65 :   param.name  = "kvz";
+     340          65 :   param.value = it->second.kvz;
+     341          65 :   conf.doubles.push_back(param);
+     342             : 
+     343          65 :   param.name  = "kaz";
+     344          65 :   param.value = it->second.kaz;
+     345          65 :   conf.doubles.push_back(param);
+     346             : 
+     347          65 :   param.name  = "kq_yaw";
+     348          65 :   param.value = it->second.kqy;
+     349          65 :   conf.doubles.push_back(param);
+     350             : 
+     351          65 :   param.name  = "km";
+     352          65 :   param.value = it->second.km;
+     353          65 :   conf.doubles.push_back(param);
+     354             : 
+     355          65 :   param.name  = "km_lim";
+     356          65 :   param.value = it->second.km_lim;
+     357          65 :   conf.doubles.push_back(param);
+     358             : 
+     359         130 :   dynamic_reconfigure::ReconfigureRequest  srv_req;
+     360         130 :   dynamic_reconfigure::ReconfigureResponse srv_resp;
+     361             : 
+     362          65 :   srv_req.config = conf;
+     363             : 
+     364         130 :   dynamic_reconfigure::Reconfigure reconf;
+     365          65 :   reconf.request = srv_req;
+     366             : 
+     367          65 :   ROS_INFO_THROTTLE(1.0, "[GainManager]: setting up gains for '%s'", gains_name.c_str());
+     368             : 
+     369          65 :   bool res = service_client_set_gains_.call(reconf);
+     370             : 
+     371          65 :   if (!res) {
+     372             : 
+     373           0 :     ROS_WARN_THROTTLE(1.0, "[GainManager]: the service for setting gains has failed!");
+     374           0 :     return false;
+     375             : 
+     376             :   } else {
+     377             : 
+     378          65 :     mrs_lib::set_mutexed(mutex_current_gains_, gains_name, current_gains_);
+     379             : 
+     380          65 :     return true;
+     381             :   }
+     382             : }
+     383             : 
+     384             : //}
+     385             : 
+     386             : // --------------------------------------------------------------
+     387             : // |                          callbacks                         |
+     388             : // --------------------------------------------------------------
+     389             : 
+     390             : // | -------------------- service callbacks ------------------- |
+     391             : 
+     392             : /* //{ callbackSetGains() */
+     393             : 
+     394           0 : bool GainManager::callbackSetGains(mrs_msgs::String::Request& req, mrs_msgs::String::Response& res) {
+     395             : 
+     396           0 :   if (!is_initialized_) {
+     397           0 :     return false;
+     398             :   }
+     399             : 
+     400           0 :   std::stringstream ss;
+     401             : 
+     402           0 :   if (!sh_estimation_diag_.hasMsg()) {
+     403             : 
+     404           0 :     ss << "missing estimation diagnostics";
+     405             : 
+     406           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[GainManager]: " << ss.str());
+     407             : 
+     408           0 :     res.message = ss.str();
+     409           0 :     res.success = false;
+     410           0 :     return true;
+     411             :   }
+     412             : 
+     413           0 :   auto estimation_diagnostics = *sh_estimation_diag_.getMsg();
+     414             : 
+     415           0 :   if (!stringInVector(req.value, _gain_names_)) {
+     416             : 
+     417           0 :     ss << "the gains '" << req.value.c_str() << "' do not exist (in the GainManager's config)";
+     418             : 
+     419           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[GainManager]: " << ss.str());
+     420             : 
+     421           0 :     res.message = ss.str();
+     422           0 :     res.success = false;
+     423           0 :     return true;
+     424             :   }
+     425             : 
+     426           0 :   if (!stringInVector(req.value, _map_type_allowed_gains_.at(estimation_diagnostics.current_state_estimator))) {
+     427             : 
+     428           0 :     ss << "the gains '" << req.value.c_str() << "' are not allowed given the current state estimator";
+     429             : 
+     430           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[GainManager]: " << ss.str());
+     431             : 
+     432           0 :     res.message = ss.str();
+     433           0 :     res.success = false;
+     434           0 :     return true;
+     435             :   }
+     436             : 
+     437             :   // try to set the gains
+     438           0 :   if (!setGains(req.value)) {
+     439             : 
+     440           0 :     ss << "the Se3Controller could not set the gains";
+     441             : 
+     442           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[GainManager]: " << ss.str());
+     443             : 
+     444           0 :     res.message = ss.str();
+     445           0 :     res.success = false;
+     446           0 :     return true;
+     447             : 
+     448             :   } else {
+     449             : 
+     450           0 :     ss << "the gains '" << req.value.c_str() << "' are set";
+     451             : 
+     452           0 :     ROS_INFO_STREAM_THROTTLE(1.0, "[GainManager]: " << ss.str());
+     453             : 
+     454           0 :     res.message = ss.str();
+     455           0 :     res.success = true;
+     456           0 :     return true;
+     457             :   }
+     458             : }
+     459             : 
+     460             : //}
+     461             : 
+     462             : // --------------------------------------------------------------
+     463             : // |                           timers                           |
+     464             : // --------------------------------------------------------------
+     465             : 
+     466             : /* gainManagementTimer() //{ */
+     467             : 
+     468       13926 : void GainManager::timerGainManagement(const ros::TimerEvent& event) {
+     469             : 
+     470       13926 :   if (!is_initialized_) {
+     471        3273 :     return;
+     472             :   }
+     473             : 
+     474       27852 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("gainManagementTimer", _gain_management_rate_, 0.01, event);
+     475       27852 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("GainManager::gainManagementTimer", scope_timer_logger_, scope_timer_enabled_);
+     476             : 
+     477       13926 :   if (!sh_estimation_diag_.hasMsg()) {
+     478        3273 :     return;
+     479             :   }
+     480             : 
+     481       10653 :   auto estimation_diagnostics = *sh_estimation_diag_.getMsg();
+     482             : 
+     483       10653 :   if (!sh_control_manager_diag_.hasMsg()) {
+     484           0 :     return;
+     485             :   }
+     486             : 
+     487       21306 :   auto control_manager_diagnostics = *sh_estimation_diag_.getMsg();
+     488             : 
+     489       21306 :   auto current_gains       = mrs_lib::get_mutexed(mutex_current_gains_, current_gains_);
+     490       10653 :   auto last_estimator_name = mrs_lib::get_mutexed(mutex_last_estimator_name_, last_estimator_name_);
+     491             : 
+     492             :   // | --- automatically set _gains_ when currrent state estimator changes -- |
+     493       10653 :   if (estimation_diagnostics.current_state_estimator != last_estimator_name) {
+     494             : 
+     495          69 :     ROS_INFO_THROTTLE(1.0, "[GainManager]: the state estimator has changed! %s -> %s", last_estimator_name_.c_str(),
+     496             :                       estimation_diagnostics.current_state_estimator.c_str());
+     497             : 
+     498          69 :     std::map<std::string, std::string>::iterator it;
+     499          69 :     it = _map_type_default_gains_.find(estimation_diagnostics.current_state_estimator);
+     500             : 
+     501          69 :     if (it == _map_type_default_gains_.end()) {
+     502             : 
+     503           0 :       ROS_WARN_THROTTLE(1.0, "[GainManager]: the state estimator '%s' was not specified in the gain_manager's config!",
+     504             :                         estimation_diagnostics.current_state_estimator.c_str());
+     505             : 
+     506             :     } else {
+     507             : 
+     508             :       // if the current gains are within the allowed estimator types, do nothing
+     509          69 :       if (stringInVector(current_gains, _map_type_allowed_gains_.at(estimation_diagnostics.current_state_estimator))) {
+     510             : 
+     511           4 :         last_estimator_name = estimation_diagnostics.current_state_estimator;
+     512             : 
+     513             :         // else, try to set the default gains
+     514             :       } else {
+     515             : 
+     516          65 :         ROS_WARN_THROTTLE(1.0, "[GainManager]: the current gains '%s' are not within the allowed gains for '%s'", current_gains.c_str(),
+     517             :                           estimation_diagnostics.current_state_estimator.c_str());
+     518             : 
+     519          65 :         if (setGains(it->second)) {
+     520             : 
+     521          65 :           last_estimator_name = estimation_diagnostics.current_state_estimator;
+     522             : 
+     523          65 :           ROS_INFO_THROTTLE(1.0, "[GainManager]: gains set to default: '%s'", it->second.c_str());
+     524             : 
+     525             :         } else {
+     526             : 
+     527           0 :           ROS_WARN_THROTTLE(1.0, "[GainManager]: could not set gains!");
+     528             :         }
+     529             :       }
+     530             :     }
+     531             :   }
+     532             : 
+     533       10653 :   mrs_lib::set_mutexed(mutex_last_estimator_name_, last_estimator_name, last_estimator_name_);
+     534             : }
+     535             : 
+     536             : //}
+     537             : 
+     538             : /* dignosticsTimer() //{ */
+     539             : 
+     540        1367 : void GainManager::timerDiagnostics(const ros::TimerEvent& event) {
+     541             : 
+     542        1367 :   if (!is_initialized_) {
+     543         318 :     return;
+     544             :   }
+     545             : 
+     546        2734 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerDiagnostics", _diagnostics_rate_, 0.01, event);
+     547        2734 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("GainManager::timerDiagnostics", scope_timer_logger_, scope_timer_enabled_);
+     548             : 
+     549        1367 :   if (!sh_estimation_diag_.hasMsg()) {
+     550         318 :     ROS_WARN_THROTTLE(10.0, "[GainManager]: can not do constraint management, missing estimator diagnostics!");
+     551         318 :     return;
+     552             :   }
+     553             : 
+     554        1049 :   if (!sh_control_manager_diag_.hasMsg()) {
+     555           0 :     ROS_WARN_THROTTLE(10.0, "[GainManager]: can not do constraint management, missing control manager diagnostics!");
+     556           0 :     return;
+     557             :   }
+     558             : 
+     559        2098 :   auto estimation_diagnostics = *sh_estimation_diag_.getMsg();
+     560             : 
+     561        2098 :   auto current_gains = mrs_lib::get_mutexed(mutex_current_gains_, current_gains_);
+     562             : 
+     563        2098 :   mrs_msgs::GainManagerDiagnostics diagnostics;
+     564             : 
+     565        1049 :   diagnostics.stamp        = ros::Time::now();
+     566        1049 :   diagnostics.current_name = current_gains;
+     567        1049 :   diagnostics.loaded       = _gain_names_;
+     568             : 
+     569             :   // get the available gains
+     570             :   {
+     571        1049 :     std::map<std::string, std::vector<std::string>>::iterator it;
+     572        1049 :     it = _map_type_allowed_gains_.find(estimation_diagnostics.current_state_estimator);
+     573             : 
+     574        1049 :     if (it == _map_type_allowed_gains_.end()) {
+     575           0 :       ROS_WARN_THROTTLE(1.0, "[GainManager]: the estimator name '%s' was not specified in the gain_manager's config!",
+     576             :                         estimation_diagnostics.current_state_estimator.c_str());
+     577             :     } else {
+     578        1049 :       diagnostics.available = it->second;
+     579             :     }
+     580             :   }
+     581             : 
+     582             :   // get the current gain values
+     583             :   {
+     584        1049 :     std::map<std::string, Gains_t>::iterator it;
+     585        1049 :     it = _gains_.find(current_gains);
+     586             : 
+     587        1049 :     diagnostics.current_values.kpxy = it->second.kpxy;
+     588        1049 :     diagnostics.current_values.kvxy = it->second.kvxy;
+     589        1049 :     diagnostics.current_values.kaxy = it->second.kaxy;
+     590             : 
+     591        1049 :     diagnostics.current_values.kqrp = it->second.kqrp;
+     592             : 
+     593        1049 :     diagnostics.current_values.kibxy     = it->second.kibxy;
+     594        1049 :     diagnostics.current_values.kibxy_lim = it->second.kibxy_lim;
+     595             : 
+     596        1049 :     diagnostics.current_values.kiwxy     = it->second.kiwxy;
+     597        1049 :     diagnostics.current_values.kiwxy_lim = it->second.kiwxy_lim;
+     598             : 
+     599        1049 :     diagnostics.current_values.kpz = it->second.kpz;
+     600        1049 :     diagnostics.current_values.kvz = it->second.kvz;
+     601        1049 :     diagnostics.current_values.kaz = it->second.kaz;
+     602             : 
+     603        1049 :     diagnostics.current_values.kqy = it->second.kqy;
+     604             : 
+     605        1049 :     diagnostics.current_values.km     = it->second.km;
+     606        1049 :     diagnostics.current_values.km_lim = it->second.km_lim;
+     607             :   }
+     608             : 
+     609        1049 :   ph_diagnostics_.publish(diagnostics);
+     610             : }
+     611             : 
+     612             : //}
+     613             : 
+     614             : // --------------------------------------------------------------
+     615             : // |                          routines                          |
+     616             : // --------------------------------------------------------------
+     617             : 
+     618             : /* stringInVector() //{ */
+     619             : 
+     620        1434 : bool GainManager::stringInVector(const std::string& value, const std::vector<std::string>& vector) {
+     621             : 
+     622        1434 :   if (std::find(vector.begin(), vector.end(), value) == vector.end()) {
+     623          65 :     return false;
+     624             :   } else {
+     625        1369 :     return true;
+     626             :   }
+     627             : }
+     628             : 
+     629             : //}
+     630             : 
+     631             : }  // namespace gain_manager
+     632             : 
+     633             : }  // namespace mrs_uav_managers
+     634             : 
+     635             : #include <pluginlib/class_list_macros.h>
+     636          65 : PLUGINLIB_EXPORT_CLASS(mrs_uav_managers::gain_manager::GainManager, nodelet::Nodelet)
+
+
+
+ + + + +
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gain_manager.cpp +
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uav_manager.cpp +
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65.6%65.6%
+ 		65.6 %149 / 22775.0 %6 / 8
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+ 		80.2 %203 / 25385.7 %6 / 7
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63.9%63.9%
+ 		63.9 %745 / 116592.1 %35 / 38
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constraint_manager.cpp +
65.6%65.6%
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null_tracker.cpp +
69.5%69.5%
+ 		69.5 %41 / 5955.0 %11 / 20
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65.6%65.6%
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gain_manager.cpp +
80.2%80.2%
+ 		80.2 %203 / 25385.7 %6 / 7
null_tracker.cpp +
69.5%69.5%
+ 		69.5 %41 / 5955.0 %11 / 20
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63.9%63.9%
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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:2024-01-20 21:44:18Functions: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&)4
(anonymous namespace)::ProxyExec0::ProxyExec0()65
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>)65
mrs_uav_managers::NullTracker::~NullTracker()65
mrs_uav_managers::NullTracker::~NullTracker().265
mrs_uav_managers::NullTracker::deactivate()149
mrs_uav_managers::NullTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)154
mrs_uav_managers::NullTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)170
mrs_uav_managers::NullTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)206
mrs_uav_managers::NullTracker::getStatus()3552
mrs_uav_managers::NullTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)77966
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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..7befe1422a --- /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:2024-01-20 21:44:18Functions: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()65
mrs_uav_managers::NullTracker::deactivate()149
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>)65
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&)206
mrs_uav_managers::NullTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)170
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&)4
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&)77966
mrs_uav_managers::NullTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)154
mrs_uav_managers::NullTracker::getStatus()3552
mrs_uav_managers::NullTracker::~NullTracker()65
mrs_uav_managers::NullTracker::~NullTracker().265
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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..d698d3448e --- /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:2024-01-20 21:44:18Functions:112055.0 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + +

+
          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         130 :   ~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          65 : 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         130 :   ros::NodeHandle nh_(parent_nh, "null_tracker");
+      59             : 
+      60          65 :   ros::Time::waitForValid();
+      61             : 
+      62          65 :   is_initialized = true;
+      63             : 
+      64          65 :   this->common_handlers = common_handlers;
+      65             : 
+      66          65 :   ROS_INFO("[NullTracker]: initialized");
+      67             : 
+      68         130 :   return true;
+      69             : }
+      70             : 
+      71             : //}
+      72             : 
+      73             : /* //{ activate() */
+      74             : 
+      75         154 : std::tuple<bool, std::string> NullTracker::activate([[maybe_unused]] const std::optional<mrs_msgs::TrackerCommand> &last_tracker_cmd) {
+      76             : 
+      77         154 :   std::stringstream ss;
+      78         154 :   ss << "activated";
+      79             : 
+      80         154 :   ROS_INFO_STREAM("[NullTracker]: " << ss.str());
+      81         154 :   is_active = true;
+      82             : 
+      83         308 :   return std::tuple(true, ss.str());
+      84             : }
+      85             : 
+      86             : //}
+      87             : 
+      88             : /* //{ deactivate() */
+      89             : 
+      90         149 : void NullTracker::deactivate(void) {
+      91             : 
+      92         149 :   ROS_INFO("[NullTracker]: deactivated");
+      93         149 :   is_active = false;
+      94         149 : }
+      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       77966 : 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       77966 :   return {};
+     120             : }
+     121             : 
+     122             : //}
+     123             : 
+     124             : /* //{ getStatus() */
+     125             : 
+     126        3552 : const mrs_msgs::TrackerStatus NullTracker::getStatus() {
+     127             : 
+     128        3552 :   mrs_msgs::TrackerStatus tracker_status;
+     129             : 
+     130        3552 :   tracker_status.active            = is_active;
+     131        3552 :   tracker_status.callbacks_enabled = callbacks_enabled;
+     132             : 
+     133        3552 :   return tracker_status;
+     134             : }
+     135             : 
+     136             : //}
+     137             : 
+     138             : /* //{ enableCallbacks() */
+     139             : 
+     140         170 : const std_srvs::SetBoolResponse::ConstPtr NullTracker::enableCallbacks(const std_srvs::SetBoolRequest::ConstPtr &cmd) {
+     141             : 
+     142         340 :   std_srvs::SetBoolResponse res;
+     143             : 
+     144         170 :   std::stringstream ss;
+     145             : 
+     146         170 :   if (cmd->data != callbacks_enabled) {
+     147             : 
+     148           8 :     callbacks_enabled = cmd->data;
+     149             : 
+     150           8 :     ss << "callbacks " << (callbacks_enabled ? "enabled" : "disabled");
+     151             : 
+     152           8 :     ROS_DEBUG_STREAM("[NullTracker]: " << ss.str());
+     153             : 
+     154             :   } else {
+     155             : 
+     156         162 :     ss << "callbacks were already " << (callbacks_enabled ? "enabled" : "disabled");
+     157             :   }
+     158             : 
+     159         170 :   res.message = ss.str();
+     160         170 :   res.success = true;
+     161             : 
+     162         510 :   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           4 : const mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr NullTracker::setTrajectoryReference([
+     187             :     [maybe_unused]] const mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr &cmd) {
+     188           4 :   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         206 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr NullTracker::setConstraints([
+     238             :     [maybe_unused]] const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &cmd) {
+     239             : 
+     240         206 :   return mrs_msgs::DynamicsConstraintsSrvResponse::Ptr();
+     241             : }
+     242             : 
+     243             : //}
+     244             : 
+     245             : }  // namespace mrs_uav_managers
+     246             : 
+     247             : #include <pluginlib/class_list_macros.h>
+     248          65 : PLUGINLIB_EXPORT_CLASS(mrs_uav_managers::NullTracker, mrs_uav_managers::Tracker)
+
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Current view:top level - mrs_uav_managers/src/transform_managerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:35243680.7 %
Date:2024-01-20 21:44:18Functions:121392.3 %
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transform_manager.cpp +
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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&) const11
(anonymous namespace)::ProxyExec0::ProxyExec0()65
mrs_uav_managers::transform_manager::TransformManager::onInit()65
mrs_uav_managers::transform_manager::TransformManager::TransformManager()65
mrs_uav_managers::transform_manager::TransformManager::getPrintName[abi:cxx11]() const988
mrs_uav_managers::transform_manager::TransformManager::callbackRtkGps(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)3854
mrs_uav_managers::transform_manager::TransformManager::callbackGnss(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)62454
mrs_uav_managers::transform_manager::TransformManager::callbackHeightAgl(boost::shared_ptr<mrs_msgs::Float64Stamped_<std::allocator<void> > const>)98574
mrs_uav_managers::transform_manager::TransformManager::callbackUavState(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>)109105
mrs_uav_managers::transform_manager::TransformManager::callbackAltitudeAmsl(boost::shared_ptr<mrs_msgs::HwApiAltitude_<std::allocator<void> > const>)121636
mrs_uav_managers::transform_manager::TransformManager::publishFcuUntiltedTf(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const> const&)129645
mrs_uav_managers::transform_manager::TransformManager::callbackHwApiOrientation(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>)129645
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Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()65
mrs_uav_managers::transform_manager::TransformManager::callbackGnss(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)62454
mrs_uav_managers::transform_manager::TransformManager::callbackRtkGps(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)3854
mrs_uav_managers::transform_manager::TransformManager::callbackUavState(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>)109105
mrs_uav_managers::transform_manager::TransformManager::callbackHeightAgl(boost::shared_ptr<mrs_msgs::Float64Stamped_<std::allocator<void> > const>)98574
mrs_uav_managers::transform_manager::TransformManager::callbackAltitudeAmsl(boost::shared_ptr<mrs_msgs::HwApiAltitude_<std::allocator<void> > const>)121636
mrs_uav_managers::transform_manager::TransformManager::publishFcuUntiltedTf(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const> const&)129645
mrs_uav_managers::transform_manager::TransformManager::callbackHwApiOrientation(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>)129645
mrs_uav_managers::transform_manager::TransformManager::onInit()65
mrs_uav_managers::transform_manager::TransformManager::TransformManager()65
mrs_uav_managers::transform_manager::TransformManager::getPrintName[abi:cxx11]() const988
mrs_uav_managers::transform_manager::TransformManager::transformRtkToFcu(geometry_msgs::PoseStamped_<std::allocator<void> > const&) const11
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:2024-01-20 21:44:18Functions:121392.3 %
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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          65 :   TransformManager() {
+      50          65 :     ch_ = std::make_shared<estimation_manager::CommonHandlers_t>();
+      51             : 
+      52          65 :     ch_->nodelet_name = nodelet_name_;
+      53          65 :     ch_->package_name = package_name_;
+      54          65 :   }
+      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::Pose pose_fixed_;
+      86             :   geometry_msgs::Pose pose_fixed_diff_;
+      87             : 
+      88             :   std::string ns_amsl_origin_parent_frame_id_;
+      89             :   std::string ns_amsl_origin_child_frame_id_;
+      90             :   bool        publish_amsl_origin_tf_;
+      91             : 
+      92             :   std::string          world_origin_units_;
+      93             :   geometry_msgs::Point world_origin_;
+      94             : 
+      95             :   std::vector<std::string>               tf_source_names_, estimator_names_;
+      96             :   std::vector<std::unique_ptr<TfSource>> tf_sources_;
+      97             : 
+      98             :   std::vector<std::string> utm_source_priority_list_;
+      99             :   std::string              utm_source_name_;
+     100             : 
+     101             :   std::mutex mtx_broadcast_utm_origin_;
+     102             :   std::mutex mtx_broadcast_world_origin_;
+     103             : 
+     104             :   ros::NodeHandle nh_;
+     105             : 
+     106             :   std::shared_ptr<estimation_manager::CommonHandlers_t> ch_;
+     107             : 
+     108             :   std::shared_ptr<mrs_lib::TransformBroadcaster> broadcaster_;
+     109             : 
+     110             :   std::unique_ptr<TfMappingOrigin> tf_mapping_origin_;
+     111             : 
+     112             :   void timeoutCallback(const std::string& topic, const ros::Time& last_msg);
+     113             : 
+     114             :   mrs_lib::SubscribeHandler<mrs_msgs::UavState> sh_uav_state_;
+     115             :   void                                          callbackUavState(const mrs_msgs::UavState::ConstPtr msg);
+     116             :   std::string                                   first_frame_id_;
+     117             :   std::string                                   last_frame_id_;
+     118             :   bool                                          is_first_frame_id_set_ = false;
+     119             : 
+     120             :   mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped> sh_height_agl_;
+     121             :   void                                                callbackHeightAgl(const mrs_msgs::Float64Stamped::ConstPtr msg);
+     122             : 
+     123             :   mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude> sh_altitude_amsl_;
+     124             :   void                                               callbackAltitudeAmsl(const mrs_msgs::HwApiAltitude::ConstPtr msg);
+     125             : 
+     126             :   mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped> sh_hw_api_orientation_;
+     127             :   void                                                        callbackHwApiOrientation(const geometry_msgs::QuaternionStamped::ConstPtr msg);
+     128             : 
+     129             :   mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix> sh_gnss_;
+     130             :   void                                              callbackGnss(const sensor_msgs::NavSatFix::ConstPtr msg);
+     131             :   std::atomic<bool>                                 got_utm_offset_ = false;
+     132             : 
+     133             :   mrs_lib::SubscribeHandler<mrs_msgs::RtkGps> sh_rtk_gps_;
+     134             :   void                                        callbackRtkGps(const mrs_msgs::RtkGps::ConstPtr msg);
+     135             : 
+     136             :   std::optional<geometry_msgs::Pose> transformRtkToFcu(const geometry_msgs::PoseStamped& pose_in) const;
+     137             : 
+     138             :   void publishFcuUntiltedTf(const geometry_msgs::QuaternionStampedConstPtr& msg);
+     139             : };
+     140             : /*//}*/
+     141             : 
+     142             : 
+     143             : /*//{ onInit() */
+     144          65 : void TransformManager::onInit() {
+     145             : 
+     146          65 :   nh_ = nodelet::Nodelet::getMTPrivateNodeHandle();
+     147             : 
+     148          65 :   ros::Time::waitForValid();
+     149             : 
+     150          65 :   ROS_INFO("[%s]: initializing", getPrintName().c_str());
+     151             : 
+     152          65 :   broadcaster_ = std::make_shared<mrs_lib::TransformBroadcaster>();
+     153             : 
+     154          65 :   ch_->transformer = std::make_shared<mrs_lib::Transformer>(nh_, getPrintName());
+     155          65 :   ch_->transformer->retryLookupNewest(true);
+     156             : 
+     157         130 :   mrs_lib::ParamLoader param_loader(nh_, getPrintName());
+     158             : 
+     159          65 :   param_loader.loadParam("custom_config", _custom_config_);
+     160          65 :   param_loader.loadParam("platform_config", _platform_config_);
+     161          65 :   param_loader.loadParam("world_config", _world_config_);
+     162             : 
+     163          65 :   if (_custom_config_ != "") {
+     164          65 :     param_loader.addYamlFile(_custom_config_);
+     165             :   }
+     166             : 
+     167          65 :   if (_platform_config_ != "") {
+     168          65 :     param_loader.addYamlFile(_platform_config_);
+     169             :   }
+     170             : 
+     171          65 :   if (_world_config_ != "") {
+     172          65 :     param_loader.addYamlFile(_world_config_);
+     173             :   }
+     174             : 
+     175          65 :   param_loader.addYamlFileFromParam("private_config");
+     176          65 :   param_loader.addYamlFileFromParam("public_config");
+     177          65 :   param_loader.addYamlFileFromParam("estimators_config");
+     178             : 
+     179         130 :   const std::string yaml_prefix = "mrs_uav_managers/transform_manager/";
+     180             : 
+     181          65 :   param_loader.loadParam("uav_name", ch_->uav_name);
+     182             : 
+     183             :   /*//{ initialize scope timer */
+     184          65 :   param_loader.loadParam(yaml_prefix + "scope_timer/enabled", ch_->scope_timer.enabled);
+     185         130 :   std::string       filepath;
+     186         130 :   const std::string time_logger_filepath = ros::package::getPath(package_name_) + "/scope_timer/transform_manager_scope_timer.txt";
+     187          65 :   ch_->scope_timer.logger                = std::make_shared<mrs_lib::ScopeTimerLogger>(time_logger_filepath, ch_->scope_timer.enabled);
+     188             :   /*//}*/
+     189             : 
+     190             :   /*//{ load world_origin parameters */
+     191             : 
+     192          65 :   bool   is_origin_param_ok = true;
+     193          65 :   double world_origin_x     = 0;
+     194          65 :   double world_origin_y     = 0;
+     195             : 
+     196          65 :   param_loader.loadParam("world_origin/units", world_origin_units_);
+     197             : 
+     198          65 :   if (Support::toLowercase(world_origin_units_) == "utm") {
+     199             : 
+     200           0 :     ROS_INFO("[%s]: Loading world origin in UTM units.", getPrintName().c_str());
+     201             : 
+     202           0 :     is_origin_param_ok &= param_loader.loadParam("world_origin/origin_x", world_origin_x);
+     203           0 :     is_origin_param_ok &= param_loader.loadParam("world_origin/origin_y", world_origin_y);
+     204             : 
+     205          65 :   } else if (Support::toLowercase(world_origin_units_) == "latlon") {
+     206             : 
+     207          65 :     ROS_INFO("[%s]: Loading world origin in LatLon units.", getPrintName().c_str());
+     208             : 
+     209             :     double lat, lon;
+     210          65 :     is_origin_param_ok &= param_loader.loadParam("world_origin/origin_x", lat);
+     211          65 :     is_origin_param_ok &= param_loader.loadParam("world_origin/origin_y", lon);
+     212             : 
+     213          65 :     mrs_lib::UTM(lat, lon, &world_origin_x, &world_origin_y);
+     214             : 
+     215          65 :     ROS_INFO("[%s]: Converted to UTM x: %f, y: %f.", getPrintName().c_str(), world_origin_x, world_origin_y);
+     216             : 
+     217             :   } else {
+     218           0 :     ROS_ERROR("[%s]: world_origin/units must be (\"UTM\"|\"LATLON\"). Got '%s'", getPrintName().c_str(), world_origin_units_.c_str());
+     219           0 :     ros::shutdown();
+     220             :   }
+     221             : 
+     222          65 :   world_origin_.x = world_origin_x;
+     223          65 :   world_origin_.y = world_origin_y;
+     224          65 :   world_origin_.z = 0;
+     225             : 
+     226          65 :   if (!is_origin_param_ok) {
+     227           0 :     ROS_ERROR("[%s]: Could not load all mandatory parameters from world file. Please check your world file.", getPrintName().c_str());
+     228           0 :     ros::shutdown();
+     229             :   }
+     230             : 
+     231             :   /*//}*/
+     232             : 
+     233             :   /*//{ load local_origin parameters */
+     234         130 :   std::string local_origin_parent_frame_id;
+     235          65 :   param_loader.loadParam(yaml_prefix + "local_origin_tf/parent", local_origin_parent_frame_id);
+     236          65 :   ns_local_origin_parent_frame_id_ = ch_->uav_name + "/" + local_origin_parent_frame_id;
+     237             : 
+     238         130 :   std::string local_origin_child_frame_id;
+     239          65 :   param_loader.loadParam(yaml_prefix + "local_origin_tf/child", local_origin_child_frame_id);
+     240          65 :   ns_local_origin_child_frame_id_ = ch_->uav_name + "/" + local_origin_child_frame_id;
+     241             : 
+     242          65 :   param_loader.loadParam(yaml_prefix + "local_origin_tf/enabled", publish_local_origin_tf_);
+     243             :   /*//}*/
+     244             : 
+     245             :   /*//{ load stable_origin parameters */
+     246         130 :   std::string stable_origin_parent_frame_id;
+     247          65 :   param_loader.loadParam(yaml_prefix + "stable_origin_tf/parent", stable_origin_parent_frame_id);
+     248          65 :   ns_stable_origin_parent_frame_id_ = ch_->uav_name + "/" + stable_origin_parent_frame_id;
+     249             : 
+     250         130 :   std::string stable_origin_child_frame_id;
+     251          65 :   param_loader.loadParam(yaml_prefix + "stable_origin_tf/child", stable_origin_child_frame_id);
+     252          65 :   ns_stable_origin_child_frame_id_ = ch_->uav_name + "/" + stable_origin_child_frame_id;
+     253             : 
+     254          65 :   param_loader.loadParam(yaml_prefix + "stable_origin_tf/enabled", publish_stable_origin_tf_);
+     255             :   /*//}*/
+     256             : 
+     257             :   /*//{ load fixed_origin parameters */
+     258         130 :   std::string fixed_origin_parent_frame_id;
+     259          65 :   param_loader.loadParam(yaml_prefix + "fixed_origin_tf/parent", fixed_origin_parent_frame_id);
+     260          65 :   ns_fixed_origin_parent_frame_id_ = ch_->uav_name + "/" + fixed_origin_parent_frame_id;
+     261             : 
+     262         130 :   std::string fixed_origin_child_frame_id;
+     263          65 :   param_loader.loadParam(yaml_prefix + "fixed_origin_tf/child", fixed_origin_child_frame_id);
+     264          65 :   ns_fixed_origin_child_frame_id_ = ch_->uav_name + "/" + fixed_origin_child_frame_id;
+     265             : 
+     266          65 :   param_loader.loadParam(yaml_prefix + "fixed_origin_tf/enabled", publish_fixed_origin_tf_);
+     267             :   /*//}*/
+     268             : 
+     269             :   /*//{ load fcu_untilted parameters */
+     270         130 :   std::string fcu_frame_id;
+     271          65 :   param_loader.loadParam(yaml_prefix + "fcu_untilted_tf/parent", fcu_frame_id);
+     272          65 :   ch_->frames.fcu    = fcu_frame_id;
+     273          65 :   ch_->frames.ns_fcu = ch_->uav_name + "/" + fcu_frame_id;
+     274             : 
+     275         130 :   std::string fcu_untilted_frame_id;
+     276          65 :   param_loader.loadParam(yaml_prefix + "fcu_untilted_tf/child", fcu_untilted_frame_id);
+     277          65 :   ch_->frames.fcu_untilted    = fcu_untilted_frame_id;
+     278          65 :   ch_->frames.ns_fcu_untilted = ch_->uav_name + "/" + fcu_untilted_frame_id;
+     279             : 
+     280          65 :   param_loader.loadParam(yaml_prefix + "fcu_untilted_tf/enabled", publish_fcu_untilted_tf_);
+     281             :   /*//}*/
+     282             : 
+     283             :   /*//{ load amsl_origin parameters*/
+     284         130 :   std::string amsl_parent_frame_id, amsl_child_frame_id;
+     285          65 :   param_loader.loadParam(yaml_prefix + "altitude_amsl_tf/enabled", publish_amsl_origin_tf_);
+     286          65 :   param_loader.loadParam(yaml_prefix + "altitude_amsl_tf/parent", amsl_parent_frame_id);
+     287          65 :   param_loader.loadParam(yaml_prefix + "altitude_amsl_tf/child", amsl_child_frame_id);
+     288          65 :   ch_->frames.amsl                = amsl_child_frame_id;
+     289          65 :   ch_->frames.ns_amsl             = ch_->uav_name + "/" + amsl_child_frame_id;
+     290          65 :   ns_amsl_origin_parent_frame_id_ = ch_->uav_name + "/" + amsl_parent_frame_id;
+     291          65 :   ns_amsl_origin_child_frame_id_  = ch_->uav_name + "/" + amsl_child_frame_id;
+     292             : 
+     293             :   /*//}*/
+     294             : 
+     295          65 :   param_loader.loadParam(yaml_prefix + "rtk_antenna/frame_id", ch_->frames.rtk_antenna);
+     296          65 :   ch_->frames.ns_rtk_antenna = ch_->uav_name + "/" + ch_->frames.rtk_antenna;
+     297             : 
+     298          65 :   param_loader.loadParam("mrs_uav_managers/estimation_manager/state_estimators", estimator_names_);
+     299          65 :   param_loader.loadParam(yaml_prefix + "tf_sources", tf_source_names_);
+     300             : 
+     301          65 :   param_loader.loadParam(yaml_prefix + "utm_source_priority", utm_source_priority_list_);
+     302         196 :   for (auto utm_source : utm_source_priority_list_) {
+     303         195 :     if (Support::isStringInVector(utm_source, estimator_names_)) {
+     304          64 :       ROS_INFO("[%s]: the source for utm_origin and world origin is: %s", getPrintName().c_str(), utm_source.c_str());
+     305          64 :       utm_source_name_ = utm_source;
+     306          64 :       break;
+     307             :     }
+     308             :   }
+     309             : 
+     310             :   /*//{ initialize tf sources */
+     311          65 :   for (size_t i = 0; i < tf_source_names_.size(); i++) {
+     312             : 
+     313           0 :     const std::string tf_source_name = tf_source_names_[i];
+     314           0 :     const bool        is_utm_source  = tf_source_name == utm_source_name_;
+     315             : 
+     316           0 :     ROS_INFO("[%s]: loading tf source: %s", getPrintName().c_str(), tf_source_name.c_str());
+     317             : 
+     318           0 :     auto source_param_loader = std::make_shared<mrs_lib::ParamLoader>(nh_, "TransformManager/" + tf_source_name);
+     319             : 
+     320           0 :     if (_custom_config_ != "") {
+     321           0 :       source_param_loader->addYamlFile(_custom_config_);
+     322             :     }
+     323             : 
+     324           0 :     if (_platform_config_ != "") {
+     325           0 :       source_param_loader->addYamlFile(_platform_config_);
+     326             :     }
+     327             : 
+     328           0 :     if (_world_config_ != "") {
+     329           0 :       source_param_loader->addYamlFile(_world_config_);
+     330             :     }
+     331             : 
+     332           0 :     source_param_loader->addYamlFileFromParam("private_config");
+     333           0 :     source_param_loader->addYamlFileFromParam("public_config");
+     334           0 :     source_param_loader->addYamlFileFromParam("estimators_config");
+     335             : 
+     336           0 :     tf_sources_.push_back(std::make_unique<TfSource>(tf_source_name, nh_, source_param_loader, broadcaster_, ch_, is_utm_source));
+     337             :   }
+     338             : 
+     339             :   // additionally publish tf of all available estimators
+     340         135 :   for (int i = 0; i < int(estimator_names_.size()); i++) {
+     341             : 
+     342         140 :     const std::string estimator_name = estimator_names_[i];
+     343          70 :     const bool        is_utm_source  = estimator_name == utm_source_name_;
+     344          70 :     ROS_INFO("[%s]: loading tf source of estimator: %s", getPrintName().c_str(), estimator_name.c_str());
+     345             : 
+     346          70 :     auto estimator_param_loader = std::make_shared<mrs_lib::ParamLoader>(nh_, "TransformManager/" + estimator_name);
+     347             : 
+     348          70 :     if (_custom_config_ != "") {
+     349          70 :       estimator_param_loader->addYamlFile(_custom_config_);
+     350             :     }
+     351             : 
+     352          70 :     if (_platform_config_ != "") {
+     353          70 :       estimator_param_loader->addYamlFile(_platform_config_);
+     354             :     }
+     355             : 
+     356          70 :     if (_world_config_ != "") {
+     357          70 :       estimator_param_loader->addYamlFile(_world_config_);
+     358             :     }
+     359             : 
+     360          70 :     estimator_param_loader->addYamlFileFromParam("private_config");
+     361          70 :     estimator_param_loader->addYamlFileFromParam("public_config");
+     362          70 :     estimator_param_loader->addYamlFileFromParam("estimators_config");
+     363             : 
+     364          70 :     tf_sources_.push_back(std::make_unique<TfSource>(estimator_name, nh_, estimator_param_loader, broadcaster_, ch_, is_utm_source));
+     365             :   }
+     366             : 
+     367             :   // initialize mapping_origin tf
+     368             :   bool mapping_origin_tf_enabled;
+     369          65 :   param_loader.loadParam(yaml_prefix + "mapping_origin_tf/enabled", mapping_origin_tf_enabled, false);
+     370             : 
+     371          65 :   if (mapping_origin_tf_enabled) {
+     372             : 
+     373           0 :     auto mapping_param_loader = std::make_shared<mrs_lib::ParamLoader>(nh_, "TransformManager/mapping_origin_tf");
+     374             : 
+     375           0 :     if (_custom_config_ != "") {
+     376           0 :       mapping_param_loader->addYamlFile(_custom_config_);
+     377             :     }
+     378             : 
+     379           0 :     if (_platform_config_ != "") {
+     380           0 :       mapping_param_loader->addYamlFile(_platform_config_);
+     381             :     }
+     382             : 
+     383           0 :     if (_world_config_ != "") {
+     384           0 :       mapping_param_loader->addYamlFile(_world_config_);
+     385             :     }
+     386             : 
+     387           0 :     mapping_param_loader->addYamlFileFromParam("private_config");
+     388           0 :     mapping_param_loader->addYamlFileFromParam("public_config");
+     389           0 :     mapping_param_loader->addYamlFileFromParam("estimators_config");
+     390             : 
+     391           0 :     tf_mapping_origin_ = std::make_unique<TfMappingOrigin>(nh_, mapping_param_loader, broadcaster_, ch_);
+     392             :   }
+     393             : 
+     394             :   //}
+     395             : 
+     396             :   /*//{ initialize subscribers */
+     397         130 :   mrs_lib::SubscribeHandlerOptions shopts;
+     398          65 :   shopts.nh                 = nh_;
+     399          65 :   shopts.node_name          = getPrintName();
+     400          65 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     401          65 :   shopts.threadsafe         = true;
+     402          65 :   shopts.autostart          = true;
+     403          65 :   shopts.queue_size         = 10;
+     404          65 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     405             : 
+     406          65 :   sh_uav_state_ = mrs_lib::SubscribeHandler<mrs_msgs::UavState>(shopts, "uav_state_in", &TransformManager::callbackUavState, this);
+     407             : 
+     408          65 :   sh_height_agl_ = mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped>(shopts, "height_agl_in", &TransformManager::callbackHeightAgl, this);
+     409             : 
+     410          65 :   sh_altitude_amsl_ = mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude>(shopts, "altitude_amsl_in", &TransformManager::callbackAltitudeAmsl, this);
+     411             : 
+     412             :   sh_hw_api_orientation_ =
+     413          65 :       mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped>(shopts, "orientation_in", &TransformManager::callbackHwApiOrientation, this);
+     414             : 
+     415          65 :   if (utm_source_name_ == "rtk" || utm_source_name_ == "rtk_garmin") {
+     416           3 :     sh_rtk_gps_ = mrs_lib::SubscribeHandler<mrs_msgs::RtkGps>(shopts, "rtk_gps_in", &TransformManager::callbackRtkGps, this);
+     417             :   } else {
+     418          62 :     sh_gnss_ = mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix>(shopts, "gnss_in", &TransformManager::callbackGnss, this);
+     419             :   }
+     420             :   /*//}*/
+     421             : 
+     422          65 :   if (!param_loader.loadedSuccessfully()) {
+     423           0 :     ROS_ERROR("[%s]: Could not load all non-optional parameters. Shutting down.", getPrintName().c_str());
+     424           0 :     ros::shutdown();
+     425             :   }
+     426             : 
+     427          65 :   is_initialized_ = true;
+     428          65 :   ROS_INFO("[%s]: initialized", getPrintName().c_str());
+     429          65 : }
+     430             : /*//}*/
+     431             : 
+     432             : /*//{ callbackUavState() */
+     433             : 
+     434      109105 : void TransformManager::callbackUavState(const mrs_msgs::UavState::ConstPtr msg) {
+     435             : 
+     436      109105 :   if (!is_initialized_) {
+     437           0 :     return;
+     438             :   }
+     439             : 
+     440      218210 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("TransformManager::publishFcuUntilted", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     441             : 
+     442             :   // obtain first frame_id
+     443      109105 :   if (!is_first_frame_id_set_) {
+     444          65 :     first_frame_id_                = msg->header.frame_id;
+     445          65 :     last_frame_id_                 = msg->header.frame_id;
+     446          65 :     pose_fixed_                    = msg->pose;
+     447          65 :     pose_fixed_diff_.orientation.w = 1;
+     448          65 :     is_first_frame_id_set_         = true;
+     449             :   }
+     450             : 
+     451      109105 :   if (publish_local_origin_tf_) {
+     452             :     /*//{ publish local_origin tf*/
+     453      109105 :     geometry_msgs::TransformStamped tf_msg;
+     454      109105 :     tf_msg.header.stamp    = msg->header.stamp;
+     455      109105 :     tf_msg.header.frame_id = ns_local_origin_parent_frame_id_;
+     456      109105 :     tf_msg.child_frame_id  = ns_local_origin_child_frame_id_;
+     457             : 
+     458             :     // transform pose to first frame_id
+     459      109105 :     geometry_msgs::PoseStamped pose;
+     460      109105 :     pose.header = msg->header;
+     461      109105 :     pose.pose   = msg->pose;
+     462             : 
+     463      109105 :     if (pose.pose.orientation.w == 0 && pose.pose.orientation.z == 0 && pose.pose.orientation.y == 0 && pose.pose.orientation.x == 0) {
+     464           0 :       ROS_WARN_ONCE("[%s]: Uninitialized quaternion detected during publishing stable_origin tf of %s. Setting w=1", getPrintName().c_str(),
+     465             :                     pose.header.frame_id.c_str());
+     466           0 :       pose.pose.orientation.w = 1.0;
+     467             :     }
+     468             : 
+     469      218210 :     auto res = ch_->transformer->transformSingle(pose, first_frame_id_.substr(0, first_frame_id_.find("_origin")) + "_local_origin");
+     470             : 
+     471      109105 :     if (res) {
+     472      109105 :       const tf2::Transform      tf       = Support::tf2FromPose(res->pose);
+     473      109105 :       const tf2::Transform      tf_inv   = tf.inverse();
+     474      109105 :       const geometry_msgs::Pose pose_inv = Support::poseFromTf2(tf_inv);
+     475      109105 :       tf_msg.transform.translation       = Support::pointToVector3(pose_inv.position);
+     476      109105 :       tf_msg.transform.rotation          = pose_inv.orientation;
+     477             : 
+     478      109105 :       if (Support::noNans(tf_msg)) {
+     479             :         try {
+     480      109105 :           broadcaster_->sendTransform(tf_msg);
+     481             :         }
+     482           0 :         catch (...) {
+     483           0 :           ROS_ERROR("exception caught ");
+     484             :         }
+     485             :       } else {
+     486           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(),
+     487             :                           tf_msg.child_frame_id.c_str());
+     488             :       }
+     489      109105 :       ROS_INFO_ONCE("[%s]: Broadcasting transform from parent frame: %s to child frame: %s", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     490             :                     tf_msg.child_frame_id.c_str());
+     491             :     } else {
+     492           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: Could not transform pose to %s. Not publishing local_origin transform.", getPrintName().c_str(), first_frame_id_.c_str());
+     493           0 :       return;
+     494             :     }
+     495             :     /*//}*/
+     496             :   }
+     497             : 
+     498      109105 :   if (publish_stable_origin_tf_) {
+     499             :     /*//{ publish stable_origin tf*/
+     500      109105 :     geometry_msgs::TransformStamped tf_msg;
+     501      109105 :     tf_msg.header.stamp    = msg->header.stamp;
+     502      109105 :     tf_msg.header.frame_id = ns_stable_origin_parent_frame_id_;
+     503      109105 :     tf_msg.child_frame_id  = ns_stable_origin_child_frame_id_;
+     504             : 
+     505             :     // transform pose to first frame_id
+     506      109105 :     geometry_msgs::PoseStamped pose;
+     507      109105 :     pose.header = msg->header;
+     508      109105 :     pose.pose   = msg->pose;
+     509      109105 :     if (pose.pose.orientation.w == 0 && pose.pose.orientation.z == 0 && pose.pose.orientation.y == 0 && pose.pose.orientation.x == 0) {
+     510           0 :       ROS_WARN_ONCE("[%s]: Uninitialized quaternion detected during publishing stable_origin tf of %s. Setting w=1", getPrintName().c_str(),
+     511             :                     pose.header.frame_id.c_str());
+     512           0 :       pose.pose.orientation.w = 1.0;
+     513             :     }
+     514             : 
+     515      109105 :     auto res = ch_->transformer->transformSingle(pose, first_frame_id_);
+     516             : 
+     517      109105 :     if (res) {
+     518      109105 :       const tf2::Transform      tf       = Support::tf2FromPose(res->pose);
+     519      109105 :       const tf2::Transform      tf_inv   = tf.inverse();
+     520      109105 :       const geometry_msgs::Pose pose_inv = Support::poseFromTf2(tf_inv);
+     521      109105 :       tf_msg.transform.translation       = Support::pointToVector3(pose_inv.position);
+     522      109105 :       tf_msg.transform.rotation          = pose_inv.orientation;
+     523             : 
+     524      109105 :       if (Support::noNans(tf_msg)) {
+     525             :         try {
+     526      109105 :           broadcaster_->sendTransform(tf_msg);
+     527             :         }
+     528           0 :         catch (...) {
+     529           0 :           ROS_ERROR("exception caught ");
+     530             :         }
+     531             :       } else {
+     532           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(),
+     533             :                           tf_msg.child_frame_id.c_str());
+     534             :       }
+     535      109105 :       ROS_INFO_ONCE("[%s]: Broadcasting transform from parent frame: %s to child frame: %s", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     536             :                     tf_msg.child_frame_id.c_str());
+     537             :     } else {
+     538           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());
+     539           0 :       return;
+     540             :     }
+     541             :     /*//}*/
+     542             :   }
+     543             : 
+     544      109105 :   if (publish_fixed_origin_tf_) {
+     545             :     /*//{ publish fixed_origin tf*/
+     546      109105 :     if (msg->header.frame_id != last_frame_id_) {
+     547           4 :       ROS_WARN("[%s]: Detected estimator change from %s to %s. Updating offset for fixed origin.", getPrintName().c_str(), last_frame_id_.c_str(),
+     548             :                msg->header.frame_id.c_str());
+     549             : 
+     550           4 :       pose_fixed_diff_ = Support::getPoseDiff(msg->pose, pose_fixed_);
+     551             :     }
+     552             : 
+     553             : 
+     554      109105 :     pose_fixed_ = Support::applyPoseDiff(msg->pose, pose_fixed_diff_);
+     555             : 
+     556      218210 :     geometry_msgs::TransformStamped tf_msg;
+     557      109105 :     tf_msg.header.stamp    = msg->header.stamp;
+     558      109105 :     tf_msg.header.frame_id = ns_fixed_origin_parent_frame_id_;
+     559      109105 :     tf_msg.child_frame_id  = ns_fixed_origin_child_frame_id_;
+     560             : 
+     561      109105 :     const tf2::Transform      tf       = Support::tf2FromPose(pose_fixed_);
+     562      109105 :     const tf2::Transform      tf_inv   = tf.inverse();
+     563      109105 :     const geometry_msgs::Pose pose_inv = Support::poseFromTf2(tf_inv);
+     564      109105 :     tf_msg.transform.translation       = Support::pointToVector3(pose_inv.position);
+     565      109105 :     tf_msg.transform.rotation          = pose_inv.orientation;
+     566             : 
+     567      109105 :     if (Support::noNans(tf_msg)) {
+     568             :       try {
+     569      109105 :         broadcaster_->sendTransform(tf_msg);
+     570             :       }
+     571           0 :       catch (...) {
+     572           0 :         ROS_ERROR("exception caught ");
+     573             :       }
+     574             :     } else {
+     575           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(),
+     576             :                         tf_msg.child_frame_id.c_str());
+     577             :     }
+     578      109105 :     ROS_INFO_ONCE("[%s]: Broadcasting transform from parent frame: %s to child frame: %s", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     579             :                   tf_msg.child_frame_id.c_str());
+     580             :     /*//}*/
+     581             :   }
+     582             : 
+     583             :   /*//{ choose another source of utm and world tfs after estimator switch */
+     584      109105 :   if (msg->header.frame_id != last_frame_id_) {
+     585           8 :     const std::string last_estimator_name    = Support::frameIdToEstimatorName(last_frame_id_);
+     586           8 :     const std::string current_estimator_name = Support::frameIdToEstimatorName(msg->header.frame_id);
+     587             : 
+     588           4 :     ROS_INFO("[%s]: Detected estimator switch: %s -> %s", getPrintName().c_str(), last_estimator_name.c_str(), current_estimator_name.c_str());
+     589             : 
+     590           4 :     bool   valid_utm_source_found = false;
+     591             :     size_t potential_utm_source_index;
+     592             : 
+     593          10 :     for (size_t i = 0; i < tf_sources_.size(); i++) {
+     594             : 
+     595             :       // first check if tf source can publish utm origin and is not the switched-from estimator
+     596          10 :       if (tf_sources_.at(i)->getIsUtmBased() && tf_sources_.at(i)->getName() != last_estimator_name) {
+     597             : 
+     598           7 :         valid_utm_source_found     = true;
+     599           7 :         potential_utm_source_index = i;
+     600             : 
+     601             :         // check if switched-to estimator is utm_based, if so, use it
+     602           7 :         if (tf_sources_.at(i)->getIsUtmBased() && tf_sources_.at(i)->getName() == current_estimator_name) {
+     603           4 :           potential_utm_source_index = i;
+     604           4 :           break;
+     605             :         }
+     606             :       }
+     607             :     }
+     608             : 
+     609             : 
+     610             :     // if we found a valid utm source, use it, otherwise stay with the switched-from estimator
+     611           4 :     if (valid_utm_source_found) {
+     612             : 
+     613             :       // stop all estimators from publishing utm source
+     614          20 :       for (size_t i = 0; i < tf_sources_.size(); i++) {
+     615          16 :         if (tf_sources_.at(i)->getIsUtmSource()) {
+     616           4 :           tf_sources_.at(i)->setIsUtmSource(false);
+     617           4 :           ROS_INFO("[%s]: setting is_utm_source of estimator %s to false", getPrintName().c_str(), last_estimator_name.c_str());
+     618             :         }
+     619             :       }
+     620             : 
+     621           4 :       tf_sources_.at(potential_utm_source_index)->setIsUtmSource(true);
+     622           4 :       ROS_INFO("[%s]: setting is_utm_source of estimator %s to true", getPrintName().c_str(), current_estimator_name.c_str());
+     623             :     }
+     624             :   }
+     625             :   /*//}*/
+     626             : 
+     627      109105 :   last_frame_id_ = msg->header.frame_id;
+     628             : }
+     629             : /*//}*/
+     630             : 
+     631             : /*//{ callbackHeightAgl() */
+     632             : 
+     633       98574 : void TransformManager::callbackHeightAgl(const mrs_msgs::Float64Stamped::ConstPtr msg) {
+     634             : 
+     635       98574 :   if (!is_initialized_) {
+     636           0 :     return;
+     637             :   }
+     638             : 
+     639      295722 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("TransformManager::callbackHeightAgl", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     640             : 
+     641      197148 :   geometry_msgs::TransformStamped tf_msg;
+     642       98574 :   tf_msg.header.stamp    = msg->header.stamp;
+     643       98574 :   tf_msg.header.frame_id = ch_->frames.ns_fcu_untilted;
+     644       98574 :   tf_msg.child_frame_id  = msg->header.frame_id;
+     645             : 
+     646       98574 :   tf_msg.transform.translation.x = 0;
+     647       98574 :   tf_msg.transform.translation.y = 0;
+     648       98574 :   tf_msg.transform.translation.z = -msg->value;
+     649       98574 :   tf_msg.transform.rotation.x    = 0;
+     650       98574 :   tf_msg.transform.rotation.y    = 0;
+     651       98574 :   tf_msg.transform.rotation.z    = 0;
+     652       98574 :   tf_msg.transform.rotation.w    = 1;
+     653             : 
+     654       98574 :   if (Support::noNans(tf_msg)) {
+     655             :     try {
+     656       98574 :       broadcaster_->sendTransform(tf_msg);
+     657             :     }
+     658           0 :     catch (...) {
+     659           0 :       ROS_ERROR("exception caught ");
+     660             :     }
+     661             :   } else {
+     662           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(),
+     663             :                       tf_msg.child_frame_id.c_str());
+     664             :   }
+     665       98574 :   ROS_INFO_ONCE("[%s]: Broadcasting transform from parent frame: %s to child frame: %s", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     666             :                 tf_msg.child_frame_id.c_str());
+     667             : }
+     668             : /*//}*/
+     669             : 
+     670             : /*//{ callbackAltitudeAmsl() */
+     671             : 
+     672      121636 : void TransformManager::callbackAltitudeAmsl(const mrs_msgs::HwApiAltitude::ConstPtr msg) {
+     673             : 
+     674      121636 :   if (!is_initialized_) {
+     675           0 :     return;
+     676             :   }
+     677             : 
+     678      364908 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("TransformManager::callbackAltitudeAmsl", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     679             : 
+     680      243272 :   geometry_msgs::TransformStamped tf_msg;
+     681      121636 :   tf_msg.header.stamp    = msg->stamp;
+     682      121636 :   tf_msg.header.frame_id = ch_->frames.ns_fcu_untilted;
+     683      121636 :   tf_msg.child_frame_id  = ch_->frames.ns_amsl;
+     684             : 
+     685      121636 :   tf_msg.transform.translation.x = 0;
+     686      121636 :   tf_msg.transform.translation.y = 0;
+     687      121636 :   tf_msg.transform.translation.z = -msg->amsl;
+     688      121636 :   tf_msg.transform.rotation.x    = 0;
+     689      121636 :   tf_msg.transform.rotation.y    = 0;
+     690      121636 :   tf_msg.transform.rotation.z    = 0;
+     691      121636 :   tf_msg.transform.rotation.w    = 1;
+     692             : 
+     693      121636 :   if (Support::noNans(tf_msg)) {
+     694             :     try {
+     695      121613 :       broadcaster_->sendTransform(tf_msg);
+     696             :     }
+     697           0 :     catch (...) {
+     698           0 :       ROS_ERROR("exception caught ");
+     699             :     }
+     700             :   } else {
+     701          23 :     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(),
+     702             :                       tf_msg.child_frame_id.c_str());
+     703             :   }
+     704      121636 :   ROS_INFO_ONCE("[%s]: Broadcasting transform from parent frame: %s to child frame: %s", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     705             :                 tf_msg.child_frame_id.c_str());
+     706             : }
+     707             : /*//}*/
+     708             : 
+     709             : /*//{ callbackHwApiOrientation() */
+     710      129645 : void TransformManager::callbackHwApiOrientation(const geometry_msgs::QuaternionStamped::ConstPtr msg) {
+     711             : 
+     712      129645 :   if (!is_initialized_) {
+     713           0 :     return;
+     714             :   }
+     715             : 
+     716      388935 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("TransformManager::publishFcuUntilted", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     717             : 
+     718      129645 :   if (publish_fcu_untilted_tf_) {
+     719      129645 :     publishFcuUntiltedTf(msg);
+     720             :   }
+     721             : }
+     722             : /*//}*/
+     723             : 
+     724             : /*//{ callbackGnss() */
+     725       62454 : void TransformManager::callbackGnss(const sensor_msgs::NavSatFix::ConstPtr msg) {
+     726             : 
+     727       62454 :   if (!is_initialized_) {
+     728       62392 :     return;
+     729             :   }
+     730             : 
+     731       62454 :   if (got_utm_offset_) {
+     732       62392 :     return;
+     733             :   }
+     734             : 
+     735         124 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("TransformManager::callbackGnss", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     736             : 
+     737             :   double out_x;
+     738             :   double out_y;
+     739             : 
+     740          62 :   mrs_lib::UTM(msg->latitude, msg->longitude, &out_x, &out_y);
+     741             : 
+     742          62 :   if (!std::isfinite(out_x)) {
+     743           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in UTM variable \"out_x\"!!!", getPrintName().c_str());
+     744           0 :     return;
+     745             :   }
+     746             : 
+     747          62 :   if (!std::isfinite(out_y)) {
+     748           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in UTM variable \"out_y\"!!!", getPrintName().c_str());
+     749           0 :     return;
+     750             :   }
+     751             : 
+     752          62 :   geometry_msgs::Point utm_origin;
+     753          62 :   utm_origin.x = out_x;
+     754          62 :   utm_origin.y = out_y;
+     755          62 :   utm_origin.z = msg->altitude;
+     756             : 
+     757          62 :   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);
+     758             : 
+     759         126 :   for (size_t i = 0; i < tf_sources_.size(); i++) {
+     760          64 :     tf_sources_[i]->setUtmOrigin(utm_origin);
+     761          64 :     tf_sources_[i]->setWorldOrigin(world_origin_);
+     762             :   }
+     763          62 :   got_utm_offset_ = true;
+     764             : }
+     765             : /*//}*/
+     766             : 
+     767             : /*//{ callbackRtkGps() */
+     768        3854 : void TransformManager::callbackRtkGps(const mrs_msgs::RtkGps::ConstPtr msg) {
+     769             : 
+     770        3854 :   if (!is_initialized_) {
+     771        3851 :     return;
+     772             :   }
+     773             : 
+     774        3854 :   if (got_utm_offset_) {
+     775        3843 :     return;
+     776             :   }
+     777             : 
+     778          22 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("TransformManager::callbackRtkGps", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     779             : 
+     780             :   double out_x;
+     781             :   double out_y;
+     782             : 
+     783          11 :   geometry_msgs::PoseStamped rtk_pos;
+     784             : 
+     785          11 :   if (!std::isfinite(msg->gps.latitude)) {
+     786           0 :     ROS_ERROR_THROTTLE(1.0, "[%s] NaN detected in RTK variable \"msg->latitude\"!!!", getPrintName().c_str());
+     787           0 :     return;
+     788             :   }
+     789             : 
+     790          11 :   if (!std::isfinite(msg->gps.longitude)) {
+     791           0 :     ROS_ERROR_THROTTLE(1.0, "[%s] NaN detected in RTK variable \"msg->longitude\"!!!", getPrintName().c_str());
+     792           0 :     return;
+     793             :   }
+     794             : 
+     795          11 :   if (!std::isfinite(msg->gps.altitude)) {
+     796           0 :     ROS_ERROR_THROTTLE(1.0, "[%s] NaN detected in RTK variable \"msg->altitude\"!!!", getPrintName().c_str());
+     797           0 :     return;
+     798             :   }
+     799             : 
+     800          11 :   if (msg->fix_type.fix_type != mrs_msgs::RtkFixType::RTK_FIX) {
+     801           0 :     ROS_INFO_THROTTLE(1.0, "[%s] %s RTK FIX", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     802           0 :     return;
+     803             :   }
+     804             : 
+     805          11 :   rtk_pos.header = msg->header;
+     806          11 :   mrs_lib::UTM(msg->gps.latitude, msg->gps.longitude, &rtk_pos.pose.position.x, &rtk_pos.pose.position.y);
+     807          11 :   rtk_pos.pose.position.z  = msg->gps.altitude;
+     808          11 :   rtk_pos.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+     809             : 
+     810          11 :   rtk_pos.pose.position.x -= ch_->world_origin.x;
+     811          11 :   rtk_pos.pose.position.y -= ch_->world_origin.y;
+     812             : 
+     813             : 
+     814             :   // transform the RTK position from antenna to FCU
+     815          11 :   auto res = transformRtkToFcu(rtk_pos);
+     816          11 :   if (res) {
+     817           3 :     rtk_pos.pose = res.value();
+     818             :   } else {
+     819           8 :     ROS_ERROR_THROTTLE(1.0, "[%s]: transform to fcu failed", getPrintName().c_str());
+     820           8 :     return;
+     821             :   }
+     822             : 
+     823           3 :   mrs_lib::UTM(msg->gps.latitude, msg->gps.longitude, &out_x, &out_y);
+     824             : 
+     825           3 :   if (!std::isfinite(out_x)) {
+     826           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in UTM variable \"out_x\"!!!", getPrintName().c_str());
+     827           0 :     return;
+     828             :   }
+     829             : 
+     830           3 :   if (!std::isfinite(out_y)) {
+     831           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in UTM variable \"out_y\"!!!", getPrintName().c_str());
+     832           0 :     return;
+     833             :   }
+     834             : 
+     835           3 :   geometry_msgs::Point utm_origin;
+     836           3 :   utm_origin.x = out_x;
+     837           3 :   utm_origin.y = out_y;
+     838           3 :   utm_origin.z = msg->gps.altitude;
+     839             : 
+     840           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);
+     841             : 
+     842           9 :   for (size_t i = 0; i < tf_sources_.size(); i++) {
+     843           6 :     tf_sources_[i]->setUtmOrigin(utm_origin);
+     844           6 :     tf_sources_[i]->setWorldOrigin(world_origin_);
+     845             :   }
+     846           3 :   got_utm_offset_ = true;
+     847             : }
+     848             : /*//}*/
+     849             : 
+     850             : /*//{ publishFcuUntiltedTf() */
+     851      129645 : void TransformManager::publishFcuUntiltedTf(const geometry_msgs::QuaternionStampedConstPtr& msg) {
+     852             : 
+     853      259290 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("TransformManager::publishFcuUntilted", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     854             : 
+     855             :   double heading;
+     856             : 
+     857             :   try {
+     858      129645 :     heading = mrs_lib::AttitudeConverter(msg->quaternion).getHeading();
+     859             :   }
+     860           0 :   catch (...) {
+     861           0 :     ROS_ERROR("[%s]: Exception caught during getting heading", getPrintName().c_str());
+     862           0 :     return;
+     863             :   }
+     864      129645 :   scope_timer.checkpoint("heading");
+     865             : 
+     866      129645 :   const Eigen::Matrix3d odom_pixhawk_R = mrs_lib::AttitudeConverter(msg->quaternion);
+     867      129645 :   const Eigen::Matrix3d undo_heading_R = mrs_lib::AttitudeConverter(Eigen::AngleAxis(-heading, Eigen::Vector3d(0, 0, 1)));
+     868             : 
+     869      129645 :   const tf2::Quaternion q     = mrs_lib::AttitudeConverter(undo_heading_R * odom_pixhawk_R);
+     870      129645 :   const tf2::Quaternion q_inv = q.inverse();
+     871             : 
+     872      129645 :   scope_timer.checkpoint("q inverse");
+     873             : 
+     874      129645 :   geometry_msgs::TransformStamped tf;
+     875      129645 :   tf.header.stamp            = msg->header.stamp;  // TODO(petrlmat) ros::Time::now()?
+     876      129645 :   tf.header.frame_id         = ch_->frames.ns_fcu;
+     877      129645 :   tf.child_frame_id          = ch_->frames.ns_fcu_untilted;
+     878      129645 :   tf.transform.translation.x = 0.0;
+     879      129645 :   tf.transform.translation.y = 0.0;
+     880      129645 :   tf.transform.translation.z = 0.0;
+     881      129645 :   tf.transform.rotation      = mrs_lib::AttitudeConverter(q_inv);
+     882             : 
+     883      129645 :   scope_timer.checkpoint("tf fill");
+     884      129645 :   if (Support::noNans(tf)) {
+     885      129645 :     broadcaster_->sendTransform(tf);
+     886             :   } else {
+     887           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN encountered in fcu_untilted tf", getPrintName().c_str());
+     888             :   }
+     889      129645 :   scope_timer.checkpoint("tf pub");
+     890             : }
+     891             : /*//}*/
+     892             : 
+     893             : /*//{ transformRtkToFcu() */
+     894          11 : std::optional<geometry_msgs::Pose> TransformManager::transformRtkToFcu(const geometry_msgs::PoseStamped& pose_in) const {
+     895             : 
+     896          22 :   geometry_msgs::PoseStamped pose_tmp = pose_in;
+     897             : 
+     898             :   // inject current orientation into rtk pose
+     899          22 :   auto res1 = ch_->transformer->getTransform(ch_->frames.ns_fcu_untilted, ch_->frames.ns_fcu, ros::Time::now());
+     900          11 :   if (res1) {
+     901           3 :     pose_tmp.pose.orientation = res1.value().transform.rotation;
+     902             :   } else {
+     903           8 :     ROS_ERROR_THROTTLE(1.0, "[%s]: Could not obtain transform from %s to %s.", getPrintName().c_str(), ch_->frames.ns_fcu_untilted.c_str(),
+     904             :                        ch_->frames.ns_fcu.c_str());
+     905           8 :     return {};
+     906             :   }
+     907             : 
+     908             :   // invert tf
+     909           3 :   tf2::Transform             tf_utm_to_antenna = Support::tf2FromPose(pose_tmp.pose);
+     910           6 :   geometry_msgs::PoseStamped utm_in_antenna;
+     911           3 :   utm_in_antenna.pose            = Support::poseFromTf2(tf_utm_to_antenna.inverse());
+     912           3 :   utm_in_antenna.header.stamp    = pose_in.header.stamp;
+     913           3 :   utm_in_antenna.header.frame_id = ch_->frames.ns_rtk_antenna;
+     914             : 
+     915             :   // transform to fcu
+     916           6 :   geometry_msgs::PoseStamped utm_in_fcu;
+     917           3 :   utm_in_fcu.header.frame_id = ch_->frames.ns_fcu;
+     918           3 :   utm_in_fcu.header.stamp    = pose_in.header.stamp;
+     919           6 :   auto res2                  = ch_->transformer->transformSingle(utm_in_antenna, ch_->frames.ns_fcu);
+     920             : 
+     921           3 :   if (res2) {
+     922           3 :     utm_in_fcu = res2.value();
+     923             :   } else {
+     924           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: Could not transform RTK pose from %s to %s.", getPrintName().c_str(), utm_in_antenna.header.frame_id.c_str(),
+     925             :                        ch_->frames.ns_fcu.c_str());
+     926           0 :     return {};
+     927             :   }
+     928             : 
+     929             :   // invert tf
+     930           3 :   tf2::Transform      tf_fcu_to_utm = Support::tf2FromPose(utm_in_fcu.pose);
+     931           3 :   geometry_msgs::Pose fcu_in_utm    = Support::poseFromTf2(tf_fcu_to_utm.inverse());
+     932             : 
+     933           3 :   return fcu_in_utm;
+     934             : }
+     935             : /*//}*/
+     936             : 
+     937             : /*//{ getName() */
+     938           0 : std::string TransformManager::getName() const {
+     939           0 :   return name_;
+     940             : }
+     941             : /*//}*/
+     942             : 
+     943             : /*//{ getPrintName() */
+     944         988 : std::string TransformManager::getPrintName() const {
+     945         988 :   return nodelet_name_;
+     946             : }
+     947             : /*//}*/
+     948             : 
+     949             : }  // namespace transform_manager
+     950             : 
+     951             : }  // namespace mrs_uav_managers
+     952             : 
+     953             : #include <pluginlib/class_list_macros.h>
+     954          65 : 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..c43d32dcaf --- /dev/null +++ b/mrs_uav_managers/src/transform_manager/transform_manager.cpp.gcov.overview.html @@ -0,0 +1,259 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/transform_manager/transform_manager.cpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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+ + diff --git a/mrs_uav_managers/src/transform_manager/transform_manager.cpp.gcov.png b/mrs_uav_managers/src/transform_manager/transform_manager.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..34cf73160fffbf6afcbf10dfd311a09e36778f8e GIT binary patch literal 3275 zcmV;+3^enJP)3;FbC}F`p{s`lT4!cGT;WrPVSd>t&zW? z>l^5MlskZ^5xzOt_x+Yh9n}fDQcO!~^Q5(5nil64rMV2WwT)u>Y9f3T=*(RkfkRxa z7Kx8gDGtnCp_mrK?U*t!6oVBy%%xpRQP3EKGxM7T>4@MK=?{~9MlM;pwKSVt3ZtXrr;8Bq$D(5&%K#^&CI}yl@ z`z0@sIxvrDTE;Zo?bVoGcM=z6NJ%M?6XXXgE(0W=h`<~Cq}g@nwn>=ldgmfb6MgB7 zuJg>^8eN+*EL~m0k%uWXkvXC38y$n1TPkuY@7cV~J#POxI23r~e7Brf0vsL_&&a;+ zqKMT*7~5c`$%*=xT4Y}d{$qQE%P97h0?&?USPHKl1==aXrU82?CPrt0&2EY_lIF3j zLi(maGkr?LBa3O5z-Rj6ka(~}7>Vc7OxM7y zm7zu8Cb3$`ns_Rji8Sgu(c^5Y2U;}Eu4X|zBiK*0J#tfVr(yz}$gm&GoCobhx7h(S zHfbpUk@r(%ec)ySk%h5Sd^~tDGG&JuN_$7zzHWxSH)g(@1W2>MAJ_+~w3BS_oxd@LkP~ZtLz_4p z!o#kw+s>r)seP{5khEto7C|1I>yOk&x$D&TJGZX?j~u`2`qa5rc(BfO3C>&&$(j@y zZ9u?2fy2q#HyA-FwpdCaO(;sbb1<}jhxVvPy_LYh%dWv7vu7T)2CQvQVy4ZbLqIZ# z^j>)%p@c>raW> zUXfeL2Z4Aj0k_xjmkGF*h&up{Q5?xhJyX<(vO-;np^akU{s|LXr9C?-CMp|;PX+j3 zd!u3R3uudS?aBjqRGCzH{K3ErdEC;DB6*F+l>jf`QEi}W6}MV}8M-U$Dzs?uj4Nh&=m)ifSF*(t0zx`JXIf$ z&`SzM0euurC$!KPGCd-o)x}xcWIUnOdBnNq3wcyeXmuVj@B$w7R_ZAlz{v`X&^^Zm zQcHWY)6cI5SiRV|)V+X13z;+gSW1qxSjch zZK2vyf2ZwxGIZY|GP7IH8h^=l=JYTQ6o;rrs!sSWN_sXMQzwS8B#k2<8se^^E`SWb-jQ_CZ)^4(ox=)YO>ZZ| zUcq&B4SeD3;O0BOnj>&(joHOf(-eo;wWp}h%e-{$QZ7ghq@f%jOmvE206yT(TyvK-4{Txif}u)xU%ERzy|)g;xS)I75@iGhhC3%s)ST2-~2 zopD*06(DMk6AlJCAnb-5Yn#slT?O1z>Xu^Ct;TQE9&|!R&ClOd`$De{tQ^J-DJQQR5 zpHs^kxD`Y*r2`lkUr~w$NIvE3!!gh=63+7Vh{tA}Jw@HQ!LDoGd7!BdAgJtCxu~n# zK$P3-KKB(5w5aZ;lD2AB+;i;Oze*LDPoFu#fjAAWY1hUz1H?TSRSS9ZST{YRHACix z-itGr_~Id~WmEhUPCcISO$4?@-eXd%F~I3bg^si$a>HV_;P>6IV}Z3BM*iB?hX2D2 zf4wUeei821yGCxl-W4nE*Sls_`+C>VuJ*3y1iA16jgu&&QnxhQVUqnEr<-Rvg-nbH zliatDx+pK^r_jqy3?44}!m9B=Tdw(G^KcL1XG9O@fhJ2j>@@bGhr^Wxiih)EcdhF%eMQx% zhXW^PWNs=$`bPILzjmLE`)G~2mY>yq zv?=a!A6#g^b1;{=j~4LjKI*QQs`0=-Qm#_O!9f;%= zs9*Sc1@oxYk<%j$g`&00_9N7+u|wh1tdjXPrRiSart_IA>zdV4lK1j>_EH$`*1sHP z2KEmIDp<~VL4g|wgV(k4=yIl}AzYbBKchQ+ui5)kg8_y^F{KH(ZA8`8vkSOr3%7qC z?(%rjt9+?#d(m~t&vYoo)G7#L5`eYfJO0LE>a2C2>ofAWx{qUbQrMV!>3?0^@AHVK z;}5yGSrqE-t*bbfl~*XaJ^XO@&v9|`;`wg}^G9Z;danG;59XOhQ9rHi6E+{x;Rsk< zL>HM?+ZzOQY9%0&8c~qBJnUd!5)eGRsxE)B1Fc=#TPjNkH3{*ts9PyaJu}r+0AbXo z3jeb2Y0q`vg9Csbq+|F}4&~ctIL*Rlc~!!xZz%N_22(~NE|}>zLMajc4W*2u{y#z~ zJ({}Ws1nmSEd)4IM)#Zb>W(r3pmTQZF`f*;r)b67I_dgOet+3UvtBaNTwA9Q+(Jk{ zh1&&Y;GV7>_vEQK!=!8Zrs&QiU*$sSkrVO8xoh|}u=zO}n6to_GEyLGvFqx}$Aau& z{nT{P&s+&~!qu4wG&Uv&AOhiC0F7d`x+I`=k1OnZ%HPR~58&Qw0OXy;r?@z^>XV9F zs_i_Y6b>JHWT2H|dJfV(7vyij7bCGL?1s1z6fIx;x}F=k%*-SDZbiBPkHlPau6s_U z1$bMi)Z!$HbNhM!S3RWGQdK-5d6iTx)iy?ZINc#tO`fJuKfn~()YC^Ovdlq&Tjdy& z1$A~n5Dy$ROR+Nc+(;-;9&-Q!mmxnyurt2ySX}y_1)2^T`*NZCnd?5$B|rQSR^kK# z#b@IYgI)W_OBYw1aLxoW(TA|%>ooRisGflD_l0dqf}AeUp*k8F9x>!-&b3h|9`7xQ zS(YlIWpa{Wt{b_OH_r8K1b?F86!MhfaUSC(S=3mdWQuWf%Re(mlRA=|-4_4=002ov JPDHLkV1l40UlafU 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..415e5cb97a --- /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:745116563.9 %
Date:2024-01-20 21:44:18Functions:353892.1 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::uav_manager::UavManager::pirouetteSrv()0
mrs_uav_managers::uav_manager::UavManager::elandSrv()0
mrs_uav_managers::uav_manager::UavManager::ehoverSrv()0
mrs_uav_managers::uav_manager::UavManager::callbackLandHome(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)1
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::callbackLand(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)2
mrs_uav_managers::uav_manager::UavManager::landSrv()4
mrs_uav_managers::uav_manager::UavManager::landImpl[abi:cxx11]()4
mrs_uav_managers::uav_manager::UavManager::ungripSrv()5
mrs_uav_managers::uav_manager::UavManager::disarmSrv()6
mrs_uav_managers::uav_manager::UavManager::landWithDescendImpl[abi:cxx11]()7
mrs_uav_managers::uav_manager::UavManager::takeoffSrv()13
mrs_uav_managers::uav_manager::UavManager::changeLandingState(mrs_uav_managers::uav_manager::LandingStates_t)13
mrs_uav_managers::uav_manager::UavManager::callbackTakeoff(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)15
mrs_uav_managers::uav_manager::UavManager::offboardSrv(bool)45
mrs_uav_managers::uav_manager::UavManager::midairActivationImpl[abi:cxx11]()46
mrs_uav_managers::uav_manager::UavManager::timerMidairActivation(ros::TimerEvent const&)46
mrs_uav_managers::uav_manager::UavManager::callbackMidairActivation(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)46
mrs_uav_managers::uav_manager::UavManager::toggleControlOutput(bool const&)49
(anonymous namespace)::ProxyExec0::ProxyExec0()65
mrs_uav_managers::uav_manager::UavManager::initialize()65
mrs_uav_managers::uav_manager::UavManager::preinitialize()65
mrs_uav_managers::uav_manager::UavManager::onInit()65
mrs_uav_managers::uav_manager::UavManager::timerHwApiCapabilities(ros::TimerEvent const&)67
mrs_uav_managers::uav_manager::UavManager::setOdometryCallbacksSrv(bool const&)76
mrs_uav_managers::uav_manager::UavManager::emergencyReferenceSrv(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)83
mrs_uav_managers::uav_manager::UavManager::setControlCallbacksSrv(bool const&)84
mrs_uav_managers::uav_manager::UavManager::switchControllerSrv(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)124
mrs_uav_managers::uav_manager::UavManager::switchTrackerSrv(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)125
mrs_uav_managers::uav_manager::UavManager::timerFlightTime(ros::TimerEvent const&)194
mrs_uav_managers::uav_manager::UavManager::timerLanding(ros::TimerEvent const&)602
mrs_uav_managers::uav_manager::UavManager::timerTakeoff(ros::TimerEvent const&)621
mrs_uav_managers::uav_manager::UavManager::timerDiagnostics(ros::TimerEvent const&)1293
mrs_uav_managers::uav_manager::UavManager::timerMaxHeight(ros::TimerEvent const&)12940
mrs_uav_managers::uav_manager::UavManager::timerMinHeight(ros::TimerEvent const&)12940
mrs_uav_managers::uav_manager::UavManager::timerMaxthrottle(ros::TimerEvent const&)34064
mrs_uav_managers::uav_manager::UavManager::callbackHwApiGNSS(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)63474
mrs_uav_managers::uav_manager::UavManager::callbackOdometry(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)109096
+
+
+ + + +
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..287839cd8d --- /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:745116563.9 %
Date:2024-01-20 21:44:18Functions:353892.1 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()65
mrs_uav_managers::uav_manager::UavManager::initialize()65
mrs_uav_managers::uav_manager::UavManager::takeoffSrv()13
mrs_uav_managers::uav_manager::UavManager::offboardSrv(bool)45
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::pirouetteSrv()0
mrs_uav_managers::uav_manager::UavManager::timerLanding(ros::TimerEvent const&)602
mrs_uav_managers::uav_manager::UavManager::timerTakeoff(ros::TimerEvent const&)621
mrs_uav_managers::uav_manager::UavManager::preinitialize()65
mrs_uav_managers::uav_manager::UavManager::timerMaxHeight(ros::TimerEvent const&)12940
mrs_uav_managers::uav_manager::UavManager::timerMinHeight(ros::TimerEvent const&)12940
mrs_uav_managers::uav_manager::UavManager::callbackTakeoff(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)15
mrs_uav_managers::uav_manager::UavManager::timerFlightTime(ros::TimerEvent const&)194
mrs_uav_managers::uav_manager::UavManager::callbackLandHome(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)1
mrs_uav_managers::uav_manager::UavManager::callbackOdometry(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)109096
mrs_uav_managers::uav_manager::UavManager::switchTrackerSrv(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)125
mrs_uav_managers::uav_manager::UavManager::timerDiagnostics(ros::TimerEvent const&)1293
mrs_uav_managers::uav_manager::UavManager::timerMaxthrottle(ros::TimerEvent const&)34064
mrs_uav_managers::uav_manager::UavManager::callbackHwApiGNSS(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)63474
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)13
mrs_uav_managers::uav_manager::UavManager::landWithDescendImpl[abi:cxx11]()7
mrs_uav_managers::uav_manager::UavManager::switchControllerSrv(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)124
mrs_uav_managers::uav_manager::UavManager::toggleControlOutput(bool const&)49
mrs_uav_managers::uav_manager::UavManager::midairActivationImpl[abi:cxx11]()46
mrs_uav_managers::uav_manager::UavManager::emergencyReferenceSrv(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)83
mrs_uav_managers::uav_manager::UavManager::timerMidairActivation(ros::TimerEvent const&)46
mrs_uav_managers::uav_manager::UavManager::setControlCallbacksSrv(bool const&)84
mrs_uav_managers::uav_manager::UavManager::timerHwApiCapabilities(ros::TimerEvent const&)67
mrs_uav_managers::uav_manager::UavManager::setOdometryCallbacksSrv(bool const&)76
mrs_uav_managers::uav_manager::UavManager::callbackMidairActivation(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)46
mrs_uav_managers::uav_manager::UavManager::onInit()65
mrs_uav_managers::uav_manager::UavManager::landSrv()4
mrs_uav_managers::uav_manager::UavManager::elandSrv()0
mrs_uav_managers::uav_manager::UavManager::landImpl[abi:cxx11]()4
mrs_uav_managers::uav_manager::UavManager::disarmSrv()6
mrs_uav_managers::uav_manager::UavManager::ehoverSrv()0
mrs_uav_managers::uav_manager::UavManager::ungripSrv()5
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+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_managers/src/uav_manager.cpp.gcov.frameset.html b/mrs_uav_managers/src/uav_manager.cpp.gcov.frameset.html new file mode 100644 index 0000000000..f6c3894100 --- /dev/null +++ b/mrs_uav_managers/src/uav_manager.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/uav_manager.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_managers/src/uav_manager.cpp.gcov.html b/mrs_uav_managers/src/uav_manager.cpp.gcov.html new file mode 100644 index 0000000000..7d04ba2442 --- /dev/null +++ b/mrs_uav_managers/src/uav_manager.cpp.gcov.html @@ -0,0 +1,2754 @@ + + + + + + + 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:745116563.9 %
Date:2024-01-20 21:44:18Functions:353892.1 %
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             : 
+     139             :   // service callbacks
+     140             :   bool callbackTakeoff(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     141             :   bool callbackLand(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     142             :   bool callbackLandHome(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     143             :   bool callbackLandThere(mrs_msgs::ReferenceStampedSrv::Request& req, mrs_msgs::ReferenceStampedSrv::Response& res);
+     144             : 
+     145             :   // service clients
+     146             :   mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>                sch_takeoff_;
+     147             :   mrs_lib::ServiceClientHandler<mrs_msgs::String>              sch_switch_tracker_;
+     148             :   mrs_lib::ServiceClientHandler<mrs_msgs::String>              sch_switch_controller_;
+     149             :   mrs_lib::ServiceClientHandler<std_srvs::Trigger>             sch_land_;
+     150             :   mrs_lib::ServiceClientHandler<std_srvs::Trigger>             sch_eland_;
+     151             :   mrs_lib::ServiceClientHandler<std_srvs::Trigger>             sch_ehover_;
+     152             :   mrs_lib::ServiceClientHandler<std_srvs::SetBool>             sch_control_callbacks_;
+     153             :   mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv> sch_emergency_reference_;
+     154             :   mrs_lib::ServiceClientHandler<std_srvs::SetBool>             sch_arm_;
+     155             :   mrs_lib::ServiceClientHandler<std_srvs::Trigger>             sch_pirouette_;
+     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             :   void pirouetteSrv(void);
+     175             :   bool offboardSrv(const bool in);
+     176             : 
+     177             :   ros::Timer timer_takeoff_;
+     178             :   ros::Timer timer_max_height_;
+     179             :   ros::Timer timer_min_height_;
+     180             :   ros::Timer timer_landing_;
+     181             :   ros::Timer timer_maxthrottle_;
+     182             :   ros::Timer timer_flighttime_;
+     183             :   ros::Timer timer_diagnostics_;
+     184             :   ros::Timer timer_midair_activation_;
+     185             : 
+     186             :   // timer callbacks
+     187             :   void timerLanding(const ros::TimerEvent& event);
+     188             :   void timerTakeoff(const ros::TimerEvent& event);
+     189             :   void timerMaxHeight(const ros::TimerEvent& event);
+     190             :   void timerMinHeight(const ros::TimerEvent& event);
+     191             :   void timerFlightTime(const ros::TimerEvent& event);
+     192             :   void timerMaxthrottle(const ros::TimerEvent& event);
+     193             :   void timerDiagnostics(const ros::TimerEvent& event);
+     194             : 
+     195             :   // publishers
+     196             :   mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics> ph_diag_;
+     197             : 
+     198             :   // max height checking
+     199             :   bool              _max_height_enabled_ = false;
+     200             :   double            _max_height_checking_rate_;
+     201             :   double            _max_height_offset_;
+     202             :   std::atomic<bool> fixing_max_height_ = false;
+     203             : 
+     204             :   // min height checking
+     205             :   bool              _min_height_enabled_ = false;
+     206             :   double            _min_height_checking_rate_;
+     207             :   double            _min_height_offset_;
+     208             :   double            _min_height_;
+     209             :   std::atomic<bool> fixing_min_height_ = false;
+     210             : 
+     211             :   // mass estimation during landing
+     212             :   double    throttle_mass_estimate_;
+     213             :   bool      throttle_under_threshold_ = false;
+     214             :   ros::Time throttle_mass_estimate_first_time_;
+     215             : 
+     216             :   // velocity during landing
+     217             :   bool      velocity_under_threshold_ = false;
+     218             :   ros::Time velocity_under_threshold_first_time_;
+     219             : 
+     220             :   bool _gain_manager_required_       = false;
+     221             :   bool _constraint_manager_required_ = false;
+     222             : 
+     223             :   std::tuple<bool, std::string> landImpl(void);
+     224             :   std::tuple<bool, std::string> landWithDescendImpl(void);
+     225             :   std::tuple<bool, std::string> midairActivationImpl(void);
+     226             : 
+     227             :   // saved takeoff coordinates and allows to land there again
+     228             :   mrs_msgs::ReferenceStamped land_there_reference_;
+     229             :   std::mutex                 mutex_land_there_reference_;
+     230             : 
+     231             :   // to which height to takeoff
+     232             :   double _takeoff_height_;
+     233             : 
+     234             :   std::atomic<bool> takeoff_successful_ = false;
+     235             : 
+     236             :   // names of important trackers
+     237             :   std::string _null_tracker_name_;
+     238             : 
+     239             :   // takeoff timer
+     240             :   double     _takeoff_timer_rate_;
+     241             :   bool       takingoff_            = false;
+     242             :   int        number_of_takeoffs_   = 0;
+     243             :   double     last_mass_difference_ = 0;
+     244             :   std::mutex mutex_last_mass_difference_;
+     245             :   bool       waiting_for_takeoff_ = false;
+     246             : 
+     247             :   // after takeoff
+     248             :   std::string _after_takeoff_tracker_name_;
+     249             :   std::string _after_takeoff_controller_name_;
+     250             :   std::string _takeoff_tracker_name_;
+     251             :   std::string _takeoff_controller_name_;
+     252             :   bool        _after_takeoff_pirouette_ = false;
+     253             : 
+     254             :   // Landing timer
+     255             :   std::string _landing_tracker_name_;
+     256             :   std::string _landing_controller_name_;
+     257             :   double      _landing_cutoff_mass_factor_;
+     258             :   double      _landing_cutoff_mass_timeout_;
+     259             :   double      _landing_timer_rate_;
+     260             :   double      _landing_descend_height_;
+     261             :   bool        landing_ = false;
+     262             :   double      _uav_mass_;
+     263             :   double      _g_;
+     264             :   double      landing_uav_mass_;
+     265             :   bool        _landing_disarm_ = false;
+     266             :   double      _landing_tracking_tolerance_translation_;
+     267             :   double      _landing_tracking_tolerance_heading_;
+     268             : 
+     269             :   // diagnostics timer
+     270             :   double _diagnostics_timer_rate_;
+     271             : 
+     272             :   mrs_lib::quadratic_throttle_model::MotorParams_t _throttle_model_;
+     273             : 
+     274             :   // landing state machine states
+     275             :   LandingStates_t current_state_landing_  = IDLE_STATE;
+     276             :   LandingStates_t previous_state_landing_ = IDLE_STATE;
+     277             : 
+     278             :   // timer for checking max flight time
+     279             :   double     _flighttime_timer_rate_;
+     280             :   double     _flighttime_max_time_;
+     281             :   bool       _flighttime_timer_enabled_ = false;
+     282             :   double     flighttime_                = 0;
+     283             :   std::mutex mutex_flighttime_;
+     284             : 
+     285             :   // timer for checking maximum throttle
+     286             :   bool      _maxthrottle_timer_enabled_ = false;
+     287             :   double    _maxthrottle_timer_rate_;
+     288             :   double    _maxthrottle_max_throttle_;
+     289             :   double    _maxthrottle_eland_timeout_;
+     290             :   double    _maxthrottle_ungrip_timeout_;
+     291             :   bool      maxthrottle_above_threshold_ = false;
+     292             :   ros::Time maxthrottle_first_time_;
+     293             : 
+     294             :   // profiler
+     295             :   mrs_lib::Profiler profiler_;
+     296             :   bool              _profiler_enabled_ = false;
+     297             : 
+     298             :   // midair activation
+     299             :   void      timerMidairActivation(const ros::TimerEvent& event);
+     300             :   bool      callbackMidairActivation(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     301             :   ros::Time midair_activation_started_;
+     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          65 : void UavManager::onInit() {
+     317          65 :   preinitialize();
+     318          65 : }
+     319             : 
+     320             : //}
+     321             : 
+     322             : /* preinitialize() //{ */
+     323             : 
+     324          65 : void UavManager::preinitialize(void) {
+     325             : 
+     326          65 :   nh_ = nodelet::Nodelet::getMTPrivateNodeHandle();
+     327             : 
+     328          65 :   ros::Time::waitForValid();
+     329             : 
+     330          65 :   mrs_lib::SubscribeHandlerOptions shopts;
+     331          65 :   shopts.nh                 = nh_;
+     332          65 :   shopts.node_name          = "ControlManager";
+     333          65 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     334          65 :   shopts.threadsafe         = true;
+     335          65 :   shopts.autostart          = true;
+     336          65 :   shopts.queue_size         = 10;
+     337          65 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     338             : 
+     339          65 :   sh_hw_api_capabilities_ = mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities>(shopts, "hw_api_capabilities_in");
+     340             : 
+     341          65 :   timer_hw_api_capabilities_ = nh_.createTimer(ros::Rate(1.0), &UavManager::timerHwApiCapabilities, this);
+     342          65 : }
+     343             : 
+     344             : //}
+     345             : 
+     346             : /* initialize() //{ */
+     347             : 
+     348          65 : void UavManager::initialize() {
+     349             : 
+     350          65 :   ROS_INFO("[UavManager]: initializing");
+     351             : 
+     352         130 :   mrs_lib::ParamLoader param_loader(nh_, "UavManager");
+     353             : 
+     354         130 :   std::string custom_config_path;
+     355         130 :   std::string platform_config_path;
+     356         130 :   std::string world_config_path;
+     357             : 
+     358          65 :   param_loader.loadParam("custom_config", custom_config_path);
+     359          65 :   param_loader.loadParam("platform_config", platform_config_path);
+     360          65 :   param_loader.loadParam("world_config", world_config_path);
+     361             : 
+     362          65 :   if (custom_config_path != "") {
+     363          65 :     param_loader.addYamlFile(custom_config_path);
+     364             :   }
+     365             : 
+     366          65 :   if (platform_config_path != "") {
+     367          65 :     param_loader.addYamlFile(platform_config_path);
+     368             :   }
+     369             : 
+     370          65 :   if (world_config_path != "") {
+     371          65 :     param_loader.addYamlFile(world_config_path);
+     372             :   }
+     373             : 
+     374          65 :   param_loader.addYamlFileFromParam("private_config");
+     375          65 :   param_loader.addYamlFileFromParam("public_config");
+     376             : 
+     377         130 :   const std::string yaml_prefix = "mrs_uav_managers/uav_manager/";
+     378             : 
+     379             :   // params passed from the launch file are not prefixed
+     380          65 :   param_loader.loadParam("uav_name", _uav_name_);
+     381          65 :   param_loader.loadParam("enable_profiler", _profiler_enabled_);
+     382          65 :   param_loader.loadParam("uav_mass", _uav_mass_);
+     383          65 :   param_loader.loadParam("g", _g_);
+     384             : 
+     385             :   // motor params are also not prefixed, since they are common to more nodes
+     386          65 :   param_loader.loadParam("motor_params/n_motors", _throttle_model_.n_motors);
+     387          65 :   param_loader.loadParam("motor_params/a", _throttle_model_.A);
+     388          65 :   param_loader.loadParam("motor_params/b", _throttle_model_.B);
+     389             : 
+     390          65 :   param_loader.loadParam(yaml_prefix + "null_tracker", _null_tracker_name_);
+     391             : 
+     392          65 :   param_loader.loadParam(yaml_prefix + "takeoff/rate", _takeoff_timer_rate_);
+     393          65 :   param_loader.loadParam(yaml_prefix + "takeoff/after_takeoff/tracker", _after_takeoff_tracker_name_);
+     394          65 :   param_loader.loadParam(yaml_prefix + "takeoff/after_takeoff/controller", _after_takeoff_controller_name_);
+     395          65 :   param_loader.loadParam(yaml_prefix + "takeoff/after_takeoff/pirouette", _after_takeoff_pirouette_);
+     396          65 :   param_loader.loadParam(yaml_prefix + "takeoff/during_takeoff/controller", _takeoff_controller_name_);
+     397          65 :   param_loader.loadParam(yaml_prefix + "takeoff/during_takeoff/tracker", _takeoff_tracker_name_);
+     398          65 :   param_loader.loadParam(yaml_prefix + "takeoff/takeoff_height", _takeoff_height_);
+     399             : 
+     400          65 :   if (_takeoff_height_ < 0.5 || _takeoff_height_ > 10.0) {
+     401           0 :     ROS_ERROR("[UavManager]: the takeoff height (%.2f m) has to be between 0.5 and 10 meters", _takeoff_height_);
+     402           0 :     ros::shutdown();
+     403             :   }
+     404             : 
+     405          65 :   param_loader.loadParam(yaml_prefix + "landing/rate", _landing_timer_rate_);
+     406          65 :   param_loader.loadParam(yaml_prefix + "landing/landing_tracker", _landing_tracker_name_);
+     407          65 :   param_loader.loadParam(yaml_prefix + "landing/landing_controller", _landing_controller_name_);
+     408          65 :   param_loader.loadParam(yaml_prefix + "landing/landing_cutoff_mass_factor", _landing_cutoff_mass_factor_);
+     409          65 :   param_loader.loadParam(yaml_prefix + "landing/landing_cutoff_timeout", _landing_cutoff_mass_timeout_);
+     410          65 :   param_loader.loadParam(yaml_prefix + "landing/disarm", _landing_disarm_);
+     411          65 :   param_loader.loadParam(yaml_prefix + "landing/descend_height", _landing_descend_height_);
+     412          65 :   param_loader.loadParam(yaml_prefix + "landing/tracking_tolerance/translation", _landing_tracking_tolerance_translation_);
+     413          65 :   param_loader.loadParam(yaml_prefix + "landing/tracking_tolerance/heading", _landing_tracking_tolerance_heading_);
+     414             : 
+     415          65 :   param_loader.loadParam(yaml_prefix + "midair_activation/rate", _midair_activation_timer_rate_);
+     416          65 :   param_loader.loadParam(yaml_prefix + "midair_activation/during_activation/controller", _midair_activation_during_controller_);
+     417          65 :   param_loader.loadParam(yaml_prefix + "midair_activation/during_activation/tracker", _midair_activation_during_tracker_);
+     418          65 :   param_loader.loadParam(yaml_prefix + "midair_activation/after_activation/controller", _midair_activation_after_controller_);
+     419          65 :   param_loader.loadParam(yaml_prefix + "midair_activation/after_activation/tracker", _midair_activation_after_tracker_);
+     420             : 
+     421          65 :   param_loader.loadParam(yaml_prefix + "max_height_checking/enabled", _max_height_enabled_);
+     422          65 :   param_loader.loadParam(yaml_prefix + "max_height_checking/rate", _max_height_checking_rate_);
+     423          65 :   param_loader.loadParam(yaml_prefix + "max_height_checking/safety_height_offset", _max_height_offset_);
+     424             : 
+     425          65 :   param_loader.loadParam(yaml_prefix + "min_height_checking/enabled", _min_height_enabled_);
+     426          65 :   param_loader.loadParam(yaml_prefix + "min_height_checking/rate", _min_height_checking_rate_);
+     427          65 :   param_loader.loadParam(yaml_prefix + "min_height_checking/safety_height_offset", _min_height_offset_);
+     428          65 :   param_loader.loadParam(yaml_prefix + "min_height_checking/min_height", _min_height_);
+     429             : 
+     430          65 :   param_loader.loadParam(yaml_prefix + "require_gain_manager", _gain_manager_required_);
+     431          65 :   param_loader.loadParam(yaml_prefix + "require_constraint_manager", _constraint_manager_required_);
+     432             : 
+     433          65 :   param_loader.loadParam(yaml_prefix + "flight_timer/enabled", _flighttime_timer_enabled_);
+     434          65 :   param_loader.loadParam(yaml_prefix + "flight_timer/rate", _flighttime_timer_rate_);
+     435          65 :   param_loader.loadParam(yaml_prefix + "flight_timer/max_time", _flighttime_max_time_);
+     436             : 
+     437          65 :   param_loader.loadParam(yaml_prefix + "max_throttle/enabled", _maxthrottle_timer_enabled_);
+     438          65 :   param_loader.loadParam(yaml_prefix + "max_throttle/rate", _maxthrottle_timer_rate_);
+     439          65 :   param_loader.loadParam(yaml_prefix + "max_throttle/max_throttle", _maxthrottle_max_throttle_);
+     440          65 :   param_loader.loadParam(yaml_prefix + "max_throttle/eland_timeout", _maxthrottle_eland_timeout_);
+     441          65 :   param_loader.loadParam(yaml_prefix + "max_throttle/ungrip_timeout", _maxthrottle_ungrip_timeout_);
+     442             : 
+     443          65 :   param_loader.loadParam(yaml_prefix + "diagnostics/rate", _diagnostics_timer_rate_);
+     444             : 
+     445             :   // | ------------------- scope timer logger ------------------- |
+     446             : 
+     447          65 :   param_loader.loadParam(yaml_prefix + "scope_timer/enabled", scope_timer_enabled_);
+     448         195 :   const std::string scope_timer_log_filename = param_loader.loadParam2("scope_timer/log_filename", std::string(""));
+     449          65 :   scope_timer_logger_                        = std::make_shared<mrs_lib::ScopeTimerLogger>(scope_timer_log_filename, scope_timer_enabled_);
+     450             : 
+     451          65 :   if (!param_loader.loadedSuccessfully()) {
+     452           0 :     ROS_ERROR("[UavManager]: Could not load all parameters!");
+     453           0 :     ros::shutdown();
+     454             :   }
+     455             : 
+     456             :   // | --------------------- tf transformer --------------------- |
+     457             : 
+     458          65 :   transformer_ = std::make_shared<mrs_lib::Transformer>(nh_, "ControlManager");
+     459          65 :   transformer_->setDefaultPrefix(_uav_name_);
+     460          65 :   transformer_->retryLookupNewest(true);
+     461             : 
+     462             :   // | ----------------------- subscribers ---------------------- |
+     463             : 
+     464         130 :   mrs_lib::SubscribeHandlerOptions shopts;
+     465          65 :   shopts.nh                 = nh_;
+     466          65 :   shopts.node_name          = "UavManager";
+     467          65 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     468          65 :   shopts.threadsafe         = true;
+     469          65 :   shopts.autostart          = true;
+     470          65 :   shopts.queue_size         = 10;
+     471          65 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     472             : 
+     473          65 :   sh_controller_diagnostics_ = mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics>(shopts, "controller_diagnostics_in");
+     474          65 :   sh_odometry_               = mrs_lib::SubscribeHandler<nav_msgs::Odometry>(shopts, "odometry_in", &UavManager::callbackOdometry, this);
+     475          65 :   sh_estimation_diagnostics_ = mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics>(shopts, "odometry_diagnostics_in");
+     476          65 :   sh_control_manager_diag_   = mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics>(shopts, "control_manager_diagnostics_in");
+     477          65 :   sh_mass_estimate_          = mrs_lib::SubscribeHandler<std_msgs::Float64>(shopts, "mass_estimate_in");
+     478          65 :   sh_throttle_               = mrs_lib::SubscribeHandler<std_msgs::Float64>(shopts, "throttle_in");
+     479          65 :   sh_height_                 = mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped>(shopts, "height_in");
+     480          65 :   sh_hw_api_status_          = mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus>(shopts, "hw_api_status_in");
+     481          65 :   sh_gains_diag_             = mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics>(shopts, "gain_manager_diagnostics_in");
+     482          65 :   sh_constraints_diag_       = mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics>(shopts, "constraint_manager_diagnostics_in");
+     483          65 :   sh_hw_api_gnss_            = mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix>(shopts, "hw_api_gnss_in", &UavManager::callbackHwApiGNSS, this);
+     484          65 :   sh_max_height_             = mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped>(shopts, "max_height_in");
+     485          65 :   sh_tracker_cmd_            = mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand>(shopts, "tracker_cmd_in");
+     486             : 
+     487             :   // | ----------------------- publishers ----------------------- |
+     488             : 
+     489          65 :   ph_diag_ = mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics>(nh_, "diagnostics_out", 1);
+     490             : 
+     491             :   // | --------------------- service servers -------------------- |
+     492             : 
+     493          65 :   service_server_takeoff_           = nh_.advertiseService("takeoff_in", &UavManager::callbackTakeoff, this);
+     494          65 :   service_server_land_              = nh_.advertiseService("land_in", &UavManager::callbackLand, this);
+     495          65 :   service_server_land_home_         = nh_.advertiseService("land_home_in", &UavManager::callbackLandHome, this);
+     496          65 :   service_server_land_there_        = nh_.advertiseService("land_there_in", &UavManager::callbackLandThere, this);
+     497          65 :   service_server_midair_activation_ = nh_.advertiseService("midair_activation_in", &UavManager::callbackMidairActivation, this);
+     498             : 
+     499             :   // | --------------------- service clients -------------------- |
+     500             : 
+     501          65 :   sch_takeoff_               = mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>(nh_, "takeoff_out");
+     502          65 :   sch_land_                  = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "land_out");
+     503          65 :   sch_eland_                 = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "eland_out");
+     504          65 :   sch_ehover_                = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "ehover_out");
+     505          65 :   sch_switch_tracker_        = mrs_lib::ServiceClientHandler<mrs_msgs::String>(nh_, "switch_tracker_out");
+     506          65 :   sch_switch_controller_     = mrs_lib::ServiceClientHandler<mrs_msgs::String>(nh_, "switch_controller_out");
+     507          65 :   sch_emergency_reference_   = mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>(nh_, "emergency_reference_out");
+     508          65 :   sch_control_callbacks_     = mrs_lib::ServiceClientHandler<std_srvs::SetBool>(nh_, "enable_callbacks_out");
+     509          65 :   sch_arm_                   = mrs_lib::ServiceClientHandler<std_srvs::SetBool>(nh_, "arm_out");
+     510          65 :   sch_pirouette_             = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "pirouette_out");
+     511          65 :   sch_odometry_callbacks_    = mrs_lib::ServiceClientHandler<std_srvs::SetBool>(nh_, "set_odometry_callbacks_out");
+     512          65 :   sch_ungrip_                = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "ungrip_out");
+     513          65 :   sch_toggle_control_output_ = mrs_lib::ServiceClientHandler<std_srvs::SetBool>(nh_, "toggle_control_output_out");
+     514          65 :   sch_offboard_              = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "offboard_out");
+     515             : 
+     516             :   // | ---------------------- state machine --------------------- |
+     517             : 
+     518          65 :   current_state_landing_ = IDLE_STATE;
+     519             : 
+     520             :   // | ------------------------ profiler ------------------------ |
+     521             : 
+     522          65 :   profiler_ = mrs_lib::Profiler(nh_, "UavManager", _profiler_enabled_);
+     523             : 
+     524             :   // | ------------------------- timers ------------------------- |
+     525             : 
+     526          65 :   timer_landing_           = nh_.createTimer(ros::Rate(_landing_timer_rate_), &UavManager::timerLanding, this, false, false);
+     527          65 :   timer_takeoff_           = nh_.createTimer(ros::Rate(_takeoff_timer_rate_), &UavManager::timerTakeoff, this, false, false);
+     528          65 :   timer_flighttime_        = nh_.createTimer(ros::Rate(_flighttime_timer_rate_), &UavManager::timerFlightTime, this, false, false);
+     529          65 :   timer_diagnostics_       = nh_.createTimer(ros::Rate(_diagnostics_timer_rate_), &UavManager::timerDiagnostics, this);
+     530          65 :   timer_midair_activation_ = nh_.createTimer(ros::Rate(_midair_activation_timer_rate_), &UavManager::timerMidairActivation, this, false, false);
+     531         130 :   timer_max_height_        = nh_.createTimer(ros::Rate(_max_height_checking_rate_), &UavManager::timerMaxHeight, this, false,
+     532         130 :                                       _max_height_enabled_ && hw_api_capabilities_.produces_distance_sensor);
+     533         130 :   timer_min_height_        = nh_.createTimer(ros::Rate(_min_height_checking_rate_), &UavManager::timerMinHeight, this, false,
+     534         130 :                                       _min_height_enabled_ && hw_api_capabilities_.produces_distance_sensor);
+     535             : 
+     536          62 :   bool should_check_throttle = hw_api_capabilities_.accepts_actuator_cmd || hw_api_capabilities_.accepts_control_group_cmd ||
+     537         127 :                                hw_api_capabilities_.accepts_attitude_rate_cmd || hw_api_capabilities_.accepts_attitude_cmd;
+     538             : 
+     539             :   timer_maxthrottle_ =
+     540          65 :       nh_.createTimer(ros::Rate(_maxthrottle_timer_rate_), &UavManager::timerMaxthrottle, this, false, _maxthrottle_timer_enabled_ && should_check_throttle);
+     541             : 
+     542             :   // | ----------------------- finish init ---------------------- |
+     543             : 
+     544          65 :   is_initialized_ = true;
+     545             : 
+     546          65 :   ROS_INFO("[UavManager]: initialized");
+     547             : 
+     548          65 :   ROS_DEBUG("[UavManager]: debug output is enabled");
+     549          65 : }
+     550             : 
+     551             : //}
+     552             : 
+     553             : //}
+     554             : 
+     555             : // | ---------------------- state machine --------------------- |
+     556             : 
+     557             : /* //{ changeLandingState() */
+     558             : 
+     559          13 : void UavManager::changeLandingState(LandingStates_t new_state) {
+     560             : 
+     561          13 :   previous_state_landing_ = current_state_landing_;
+     562          13 :   current_state_landing_  = new_state;
+     563             : 
+     564          13 :   switch (current_state_landing_) {
+     565             : 
+     566           4 :     case LANDING_STATE: {
+     567             : 
+     568           4 :       if (sh_mass_estimate_.hasMsg() && (ros::Time::now() - sh_mass_estimate_.lastMsgTime()).toSec() < 1.0) {
+     569             : 
+     570             :         // copy member variables
+     571           4 :         auto mass_esimtate = sh_mass_estimate_.getMsg();
+     572             : 
+     573           4 :         landing_uav_mass_ = mass_esimtate->data;
+     574             :       }
+     575             : 
+     576           4 :       break;
+     577             :     };
+     578             : 
+     579           9 :     default: {
+     580           9 :       break;
+     581             :     }
+     582             :   }
+     583             : 
+     584             :   // just for ROS_INFO
+     585          13 :   ROS_INFO("[UavManager]: Switching landing state %s -> %s", state_names[previous_state_landing_], state_names[current_state_landing_]);
+     586          13 : }
+     587             : 
+     588             : //}
+     589             : 
+     590             : // --------------------------------------------------------------
+     591             : // |                           timers                           |
+     592             : // --------------------------------------------------------------
+     593             : 
+     594             : /* timerHwApiCapabilities() //{ */
+     595             : 
+     596          67 : void UavManager::timerHwApiCapabilities(const ros::TimerEvent& event) {
+     597             : 
+     598         134 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerHwApiCapabilities", 1.0, 1.0, event);
+     599         134 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::timerHwApiCapabilities", scope_timer_logger_, scope_timer_enabled_);
+     600             : 
+     601          67 :   if (!sh_hw_api_capabilities_.hasMsg()) {
+     602           2 :     ROS_INFO_THROTTLE(1.0, "[ControlManager]: waiting for HW API capabilities");
+     603           2 :     return;
+     604             :   }
+     605             : 
+     606          65 :   hw_api_capabilities_ = *sh_hw_api_capabilities_.getMsg();
+     607             : 
+     608          65 :   ROS_INFO("[ControlManager]: got HW API capabilities, initializing");
+     609             : 
+     610          65 :   initialize();
+     611             : 
+     612          65 :   timer_hw_api_capabilities_.stop();
+     613             : }
+     614             : 
+     615             : //}
+     616             : 
+     617             : /* //{ timerLanding() */
+     618             : 
+     619         602 : void UavManager::timerLanding(const ros::TimerEvent& event) {
+     620             : 
+     621         602 :   if (!is_initialized_)
+     622           0 :     return;
+     623             : 
+     624        1204 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerLanding", _landing_timer_rate_, 0.1, event);
+     625        1204 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("UavManager::timerLanding", scope_timer_logger_, scope_timer_enabled_);
+     626             : 
+     627         602 :   auto land_there_reference = mrs_lib::get_mutexed(mutex_land_there_reference_, land_there_reference_);
+     628             : 
+     629             :   // copy member variables
+     630         602 :   auto control_manager_diagnostics = sh_control_manager_diag_.getMsg();
+     631         602 :   auto odometry                    = sh_odometry_.getMsg();
+     632         602 :   auto tracker_cmd                 = sh_tracker_cmd_.getMsg();
+     633             : 
+     634         602 :   std::optional<double> desired_throttle;
+     635             : 
+     636         602 :   if (sh_throttle_.hasMsg() && (ros::Time::now() - sh_throttle_.lastMsgTime()).toSec() < 1.0) {
+     637         602 :     desired_throttle = sh_throttle_.getMsg()->data;
+     638             :   }
+     639             : 
+     640         602 :   auto res = transformer_->transformSingle(land_there_reference, odometry->header.frame_id);
+     641             : 
+     642         602 :   mrs_msgs::ReferenceStamped land_there_current_frame;
+     643             : 
+     644         602 :   if (res) {
+     645         602 :     land_there_current_frame = res.value();
+     646             :   } else {
+     647             : 
+     648           0 :     ROS_ERROR("[UavManager]: could not transform the reference into the current frame! land by yourself pls.");
+     649           0 :     return;
+     650             :   }
+     651             : 
+     652         602 :   if (current_state_landing_ == IDLE_STATE) {
+     653             : 
+     654           0 :     return;
+     655             : 
+     656         602 :   } else if (current_state_landing_ == GOTO_STATE) {
+     657             : 
+     658         262 :     auto [pos_x, pos_y, pos_z] = mrs_lib::getPosition(*tracker_cmd);
+     659         262 :     auto [ref_x, ref_y, ref_z] = mrs_lib::getPosition(land_there_current_frame);
+     660             : 
+     661         262 :     double pos_heading = tracker_cmd->heading;
+     662             : 
+     663         262 :     double ref_heading = 0;
+     664             :     try {
+     665         262 :       ref_heading = mrs_lib::getHeading(land_there_current_frame);
+     666             :     }
+     667           0 :     catch (mrs_lib::AttitudeConverter::GetHeadingException& e) {
+     668           0 :       ROS_ERROR_THROTTLE(1.0, "[UavManager]: exception caught: '%s'", e.what());
+     669           0 :       return;
+     670             :     }
+     671             : 
+     672         267 :     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_ &&
+     673           5 :         fabs(radians::diff(pos_heading, ref_heading)) < _landing_tracking_tolerance_heading_) {
+     674             : 
+     675          10 :       auto [success, message] = landWithDescendImpl();
+     676             : 
+     677           5 :       if (!success) {
+     678             : 
+     679           0 :         ROS_ERROR_THROTTLE(1.0, "[UavManager]: call for landing failed: '%s'", message.c_str());
+     680             :       }
+     681             : 
+     682         257 :     } else if (!control_manager_diagnostics->tracker_status.have_goal && control_manager_diagnostics->flying_normally) {
+     683             : 
+     684           0 :       ROS_WARN_THROTTLE(1.0, "[UavManager]: the tracker does not have a goal while flying home, setting the reference again");
+     685             : 
+     686           0 :       mrs_msgs::ReferenceStamped reference_out;
+     687             : 
+     688             :       {
+     689           0 :         std::scoped_lock lock(mutex_land_there_reference_);
+     690             : 
+     691             :         // get the current altitude in land_there_reference_.header.frame_id;
+     692           0 :         geometry_msgs::PoseStamped current_pose;
+     693           0 :         current_pose.header.stamp     = ros::Time::now();
+     694           0 :         current_pose.header.frame_id  = _uav_name_ + "/fcu";
+     695           0 :         current_pose.pose.position.x  = 0;
+     696           0 :         current_pose.pose.position.y  = 0;
+     697           0 :         current_pose.pose.position.z  = 0;
+     698           0 :         current_pose.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+     699             : 
+     700           0 :         auto response = transformer_->transformSingle(current_pose, land_there_reference_.header.frame_id);
+     701             : 
+     702           0 :         if (response) {
+     703             : 
+     704           0 :           land_there_reference_.reference.position.z = response.value().pose.position.z;
+     705           0 :           ROS_DEBUG("[UavManager]: current altitude is %.2f m", land_there_reference_.reference.position.z);
+     706             : 
+     707             :         } else {
+     708             : 
+     709           0 :           std::stringstream ss;
+     710           0 :           ss << "could not transform current height to " << land_there_reference_.header.frame_id;
+     711           0 :           ROS_ERROR_STREAM("[UavManager]: " << ss.str());
+     712             :         }
+     713             : 
+     714           0 :         reference_out.header.frame_id = land_there_reference_.header.frame_id;
+     715           0 :         reference_out.header.stamp    = ros::Time::now();
+     716           0 :         reference_out.reference       = land_there_reference_.reference;
+     717             :       }
+     718             : 
+     719           0 :       emergencyReferenceSrv(reference_out);
+     720             :     }
+     721             : 
+     722         340 :   } else if (current_state_landing_ == LANDING_STATE) {
+     723             : 
+     724             :     // we should not attempt to finish the landing if some other tracked was activated
+     725         340 :     if (_landing_tracker_name_ == sh_control_manager_diag_.getMsg()->active_tracker) {
+     726             : 
+     727         339 :       if (desired_throttle) {
+     728             : 
+     729             :         // recalculate the mass based on the throttle
+     730         339 :         throttle_mass_estimate_ = mrs_lib::quadratic_throttle_model::throttleToForce(_throttle_model_, desired_throttle.value()) / _g_;
+     731         339 :         ROS_INFO_THROTTLE(1.0, "[UavManager]: landing: initial mass: %.2f throttle_mass_estimate: %.2f", landing_uav_mass_, throttle_mass_estimate_);
+     732             : 
+     733             :         // condition for automatic motor turn off
+     734         339 :         if (((throttle_mass_estimate_ < _landing_cutoff_mass_factor_ * landing_uav_mass_) || desired_throttle < 0.01)) {
+     735             : 
+     736          88 :           if (!throttle_under_threshold_) {
+     737             : 
+     738           4 :             throttle_mass_estimate_first_time_ = ros::Time::now();
+     739           4 :             throttle_under_threshold_          = true;
+     740             :           }
+     741             : 
+     742          88 :           ROS_INFO_THROTTLE(0.5, "[UavManager]: throttle is under cutoff factor for %.2f s", (ros::Time::now() - throttle_mass_estimate_first_time_).toSec());
+     743             : 
+     744             :         } else {
+     745             : 
+     746         251 :           throttle_under_threshold_ = false;
+     747             :         }
+     748             : 
+     749         339 :         if (throttle_under_threshold_ && ((ros::Time::now() - throttle_mass_estimate_first_time_).toSec() > _landing_cutoff_mass_timeout_)) {
+     750             : 
+     751           4 :           switchTrackerSrv(_null_tracker_name_);
+     752             : 
+     753           4 :           setControlCallbacksSrv(true);
+     754             : 
+     755           4 :           if (_landing_disarm_) {
+     756             : 
+     757           4 :             ROS_INFO("[UavManager]: disarming after landing");
+     758             : 
+     759           4 :             disarmSrv();
+     760             :           }
+     761             : 
+     762           4 :           changeLandingState(IDLE_STATE);
+     763             : 
+     764           4 :           ROS_INFO("[UavManager]: landing finished");
+     765             : 
+     766           4 :           timer_landing_.stop();
+     767             :         }
+     768             : 
+     769             :       } else {
+     770             : 
+     771           0 :         auto odometry = sh_odometry_.getMsg();
+     772             : 
+     773           0 :         double z_vel = odometry->twist.twist.linear.z;
+     774             : 
+     775           0 :         ROS_INFO_THROTTLE(1.0, "[UavManager]: landing: z-velocity: %.2f", z_vel);
+     776             : 
+     777             :         // condition for automatic motor turn off
+     778           0 :         if (z_vel > -0.1) {
+     779             : 
+     780           0 :           if (!velocity_under_threshold_) {
+     781             : 
+     782           0 :             velocity_under_threshold_first_time_ = ros::Time::now();
+     783           0 :             velocity_under_threshold_            = true;
+     784             :           }
+     785             : 
+     786           0 :           ROS_INFO_THROTTLE(0.5, "[UavManager]: velocity over threshold for %.2f s", (ros::Time::now() - velocity_under_threshold_first_time_).toSec());
+     787             : 
+     788             :         } else {
+     789             : 
+     790           0 :           velocity_under_threshold_ = false;
+     791             :         }
+     792             : 
+     793           0 :         if (velocity_under_threshold_ && ((ros::Time::now() - velocity_under_threshold_first_time_).toSec() > 3.0)) {
+     794             : 
+     795           0 :           switchTrackerSrv(_null_tracker_name_);
+     796             : 
+     797           0 :           setControlCallbacksSrv(true);
+     798             : 
+     799           0 :           if (_landing_disarm_) {
+     800             : 
+     801           0 :             ROS_INFO("[UavManager]: disarming after landing");
+     802             : 
+     803           0 :             disarmSrv();
+     804             :           }
+     805             : 
+     806           0 :           changeLandingState(IDLE_STATE);
+     807             : 
+     808           0 :           ROS_INFO("[UavManager]: landing finished");
+     809             : 
+     810           0 :           timer_landing_.stop();
+     811             :         }
+     812             :       }
+     813             : 
+     814             :     } else {
+     815             : 
+     816           1 :       ROS_WARN_THROTTLE(1.0, "[UavManager]: incorrect tracker detected during landing!");
+     817             :     }
+     818             :   }
+     819             : }
+     820             : 
+     821             : //}
+     822             : 
+     823             : /* //{ timerTakeoff() */
+     824             : 
+     825         621 : void UavManager::timerTakeoff(const ros::TimerEvent& event) {
+     826             : 
+     827         621 :   if (!is_initialized_)
+     828           1 :     return;
+     829             : 
+     830        1242 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerTakeoff", _takeoff_timer_rate_, 0.1, event);
+     831        1242 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("UavManager::timerTakeoff", scope_timer_logger_, scope_timer_enabled_);
+     832             : 
+     833         621 :   auto control_manager_diagnostics = sh_control_manager_diag_.getMsg();
+     834             : 
+     835         621 :   if (waiting_for_takeoff_) {
+     836             : 
+     837          14 :     if (control_manager_diagnostics->active_tracker == _takeoff_tracker_name_ && control_manager_diagnostics->tracker_status.have_goal) {
+     838             : 
+     839          13 :       waiting_for_takeoff_ = false;
+     840             :     } else {
+     841             : 
+     842           1 :       ROS_WARN_THROTTLE(1.0, "[UavManager]: waiting for takeoff confirmation from the ControlManager");
+     843           1 :       return;
+     844             :     }
+     845             :   }
+     846             : 
+     847         620 :   if (takingoff_) {
+     848             : 
+     849         620 :     if (control_manager_diagnostics->active_tracker != _takeoff_tracker_name_ || !control_manager_diagnostics->tracker_status.have_goal) {
+     850             : 
+     851          13 :       ROS_INFO("[UavManager]: take off finished, switching to %s", _after_takeoff_tracker_name_.c_str());
+     852             : 
+     853          13 :       switchTrackerSrv(_after_takeoff_tracker_name_);
+     854             : 
+     855          13 :       switchControllerSrv(_after_takeoff_controller_name_);
+     856             : 
+     857          13 :       setOdometryCallbacksSrv(true);
+     858             : 
+     859          13 :       if (_after_takeoff_pirouette_) {
+     860             : 
+     861           0 :         pirouetteSrv();
+     862             :       }
+     863             : 
+     864          13 :       timer_takeoff_.stop();
+     865             :     }
+     866             :   }
+     867             : }
+     868             : 
+     869             : //}
+     870             : 
+     871             : /* //{ timerMaxHeight() */
+     872             : 
+     873       12940 : void UavManager::timerMaxHeight(const ros::TimerEvent& event) {
+     874             : 
+     875       12940 :   if (!is_initialized_)
+     876        8076 :     return;
+     877             : 
+     878       25880 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerMaxHeight", _max_height_checking_rate_, 0.1, event);
+     879       25880 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("UavManager::timerMaxHeight", scope_timer_logger_, scope_timer_enabled_);
+     880             : 
+     881       12940 :   if (!sh_max_height_.hasMsg() || !sh_height_.hasMsg() || !sh_odometry_.hasMsg()) {
+     882        4220 :     ROS_WARN_THROTTLE(10.0, "[UavManager]: maxHeightTimer() not spinning, missing data");
+     883        4220 :     return;
+     884             :   }
+     885             : 
+     886        8720 :   auto control_manager_diag = sh_control_manager_diag_.getMsg();
+     887             : 
+     888        8720 :   if (!fixing_max_height_ && !control_manager_diag->flying_normally) {
+     889        3856 :     return;
+     890             :   }
+     891             : 
+     892        4864 :   auto   odometry = sh_odometry_.getMsg();
+     893        4864 :   double height   = sh_height_.getMsg()->value;
+     894             : 
+     895             :   // transform max z to the height frame
+     896        4864 :   geometry_msgs::PointStamped point;
+     897        4864 :   point.header  = sh_max_height_.getMsg()->header;
+     898        4864 :   point.point.z = sh_max_height_.getMsg()->value;
+     899             : 
+     900        4864 :   auto res = transformer_->transformSingle(point, sh_height_.getMsg()->header.frame_id);
+     901             : 
+     902             :   double max_z_in_height;
+     903             : 
+     904        4864 :   if (res) {
+     905        4864 :     max_z_in_height = res->point.z;
+     906             :   } else {
+     907           0 :     ROS_WARN_THROTTLE(1.0, "[UavManager]: timerMaxHeight() not working, cannot transform max z to the height frame");
+     908           0 :     return;
+     909             :   }
+     910             : 
+     911        4864 :   auto [odometry_x, odometry_y, odometry_z] = mrs_lib::getPosition(odometry);
+     912             : 
+     913        4864 :   double odometry_heading = 0;
+     914             :   try {
+     915        4864 :     odometry_heading = mrs_lib::getHeading(odometry);
+     916             :   }
+     917           0 :   catch (mrs_lib::AttitudeConverter::GetHeadingException& e) {
+     918           0 :     ROS_ERROR_THROTTLE(1.0, "[UavManager]: exception caught: '%s'", e.what());
+     919           0 :     return;
+     920             :   }
+     921             : 
+     922        4864 :   if (height > max_z_in_height) {
+     923             : 
+     924          52 :     ROS_WARN_THROTTLE(1.0, "[UavManager]: max height exceeded: %.2f >  %.2f, triggering safety goto", height, max_z_in_height);
+     925             : 
+     926         104 :     mrs_msgs::ReferenceStamped reference_out;
+     927          52 :     reference_out.header.frame_id = odometry->header.frame_id;
+     928          52 :     reference_out.header.stamp    = ros::Time::now();
+     929             : 
+     930          52 :     reference_out.reference.position.x = odometry_x;
+     931          52 :     reference_out.reference.position.y = odometry_y;
+     932          52 :     reference_out.reference.position.z = odometry_z + ((max_z_in_height - _max_height_offset_) - height);
+     933             : 
+     934          52 :     reference_out.reference.heading = odometry_heading;
+     935             : 
+     936          52 :     setControlCallbacksSrv(false);
+     937             : 
+     938          52 :     bool success = emergencyReferenceSrv(reference_out);
+     939             : 
+     940          52 :     if (success) {
+     941             : 
+     942          52 :       ROS_INFO("[UavManager]: descending");
+     943             : 
+     944          52 :       fixing_max_height_ = true;
+     945             : 
+     946             :     } else {
+     947             : 
+     948           0 :       ROS_ERROR_THROTTLE(1.0, "[UavManager]: could not descend");
+     949             : 
+     950           0 :       setControlCallbacksSrv(true);
+     951             :     }
+     952             :   }
+     953             : 
+     954        4864 :   if (fixing_max_height_ && height < max_z_in_height) {
+     955             : 
+     956           1 :     setControlCallbacksSrv(true);
+     957             : 
+     958           1 :     ROS_WARN_THROTTLE(1.0, "[UavManager]: safe height reached");
+     959             : 
+     960           1 :     fixing_max_height_ = false;
+     961             :   }
+     962             : }
+     963             : 
+     964             : //}
+     965             : 
+     966             : /* //{ timerMinHeight() */
+     967             : 
+     968       12940 : void UavManager::timerMinHeight(const ros::TimerEvent& event) {
+     969             : 
+     970       12940 :   if (!is_initialized_)
+     971        8102 :     return;
+     972             : 
+     973       12940 :   ROS_INFO_ONCE("[UavManager]: min height timer spinning");
+     974             : 
+     975       25880 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerMinHeight", _min_height_checking_rate_, 0.1, event);
+     976       25880 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("UavManager::timerMinHeight", scope_timer_logger_, scope_timer_enabled_);
+     977             : 
+     978       12940 :   if (!sh_odometry_.hasMsg() || !sh_height_.hasMsg() || !sh_control_manager_diag_.hasMsg()) {
+     979        4210 :     ROS_WARN_THROTTLE(10.0, "[UavManager]: minHeightTimer() not spinning, missing data");
+     980        4210 :     return;
+     981             :   }
+     982             : 
+     983        8730 :   auto control_manager_diag = sh_control_manager_diag_.getMsg();
+     984             : 
+     985        8730 :   if (!fixing_min_height_ && !control_manager_diag->flying_normally) {
+     986        3892 :     return;
+     987             :   }
+     988             : 
+     989        4838 :   auto   odometry = sh_odometry_.getMsg();
+     990        4838 :   double height   = sh_height_.getMsg()->value;
+     991             : 
+     992        4838 :   auto [odometry_x, odometry_y, odometry_z] = mrs_lib::getPosition(odometry);
+     993             : 
+     994        4838 :   double odometry_heading = 0;
+     995             : 
+     996             :   try {
+     997        4838 :     odometry_heading = mrs_lib::getHeading(odometry);
+     998             :   }
+     999           0 :   catch (mrs_lib::AttitudeConverter::GetHeadingException& e) {
+    1000           0 :     ROS_ERROR_THROTTLE(1.0, "[UavManager]: exception caught: '%s'", e.what());
+    1001           0 :     return;
+    1002             :   }
+    1003             : 
+    1004        4838 :   if (height < _min_height_) {
+    1005             : 
+    1006          26 :     ROS_WARN_THROTTLE(1.0, "[UavManager]: min height breached: %.2f < %.2f, triggering safety goto", height, _min_height_);
+    1007             : 
+    1008          52 :     mrs_msgs::ReferenceStamped reference_out;
+    1009          26 :     reference_out.header.frame_id = odometry->header.frame_id;
+    1010          26 :     reference_out.header.stamp    = ros::Time::now();
+    1011             : 
+    1012          26 :     reference_out.reference.position.x = odometry_x;
+    1013          26 :     reference_out.reference.position.y = odometry_y;
+    1014          26 :     reference_out.reference.position.z = odometry_z + ((_min_height_ + _min_height_offset_) - height);
+    1015             : 
+    1016          26 :     reference_out.reference.heading = odometry_heading;
+    1017             : 
+    1018          26 :     setControlCallbacksSrv(false);
+    1019             : 
+    1020          26 :     bool success = emergencyReferenceSrv(reference_out);
+    1021             : 
+    1022          26 :     if (success) {
+    1023             : 
+    1024          26 :       ROS_INFO("[UavManager]: ascending");
+    1025             : 
+    1026          26 :       fixing_min_height_ = true;
+    1027             : 
+    1028             :     } else {
+    1029             : 
+    1030           0 :       ROS_ERROR_THROTTLE(1.0, "[UavManager]: could not ascend");
+    1031             : 
+    1032           0 :       setControlCallbacksSrv(true);
+    1033             :     }
+    1034             :   }
+    1035             : 
+    1036        4838 :   if (fixing_min_height_ && height > _min_height_) {
+    1037             : 
+    1038           1 :     setControlCallbacksSrv(true);
+    1039             : 
+    1040           1 :     ROS_WARN_THROTTLE(1.0, "[UavManager]: safe height reached");
+    1041             : 
+    1042           1 :     fixing_min_height_ = false;
+    1043             :   }
+    1044             : }
+    1045             : 
+    1046             : //}
+    1047             : 
+    1048             : /* //{ timerFlightTime() */
+    1049             : 
+    1050         194 : void UavManager::timerFlightTime(const ros::TimerEvent& event) {
+    1051             : 
+    1052         194 :   if (!is_initialized_)
+    1053           0 :     return;
+    1054             : 
+    1055         582 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerFlightTime", _flighttime_timer_rate_, 0.1, event);
+    1056         582 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("UavManager::timerFlightTime", scope_timer_logger_, scope_timer_enabled_);
+    1057             : 
+    1058         194 :   auto flighttime = mrs_lib::get_mutexed(mutex_flighttime_, flighttime_);
+    1059             : 
+    1060         194 :   flighttime += 1.0 / _flighttime_timer_rate_;
+    1061             : 
+    1062         194 :   mrs_msgs::Float64 flight_time;
+    1063         194 :   flight_time.value = flighttime;
+    1064             : 
+    1065             :   // if enabled, start the timer for measuring the flight time
+    1066         194 :   if (_flighttime_timer_enabled_) {
+    1067             : 
+    1068           0 :     if (flighttime > _flighttime_max_time_) {
+    1069             : 
+    1070           0 :       flighttime = 0;
+    1071           0 :       timer_flighttime_.stop();
+    1072             : 
+    1073           0 :       ROS_INFO("[UavManager]: max flight time reached, landing");
+    1074             : 
+    1075           0 :       landImpl();
+    1076             :     }
+    1077             :   }
+    1078             : 
+    1079         194 :   mrs_lib::set_mutexed(mutex_flighttime_, flighttime, flighttime_);
+    1080             : }
+    1081             : 
+    1082             : //}
+    1083             : 
+    1084             : /* //{ timerMaxthrottle() */
+    1085             : 
+    1086       34064 : void UavManager::timerMaxthrottle(const ros::TimerEvent& event) {
+    1087             : 
+    1088       34064 :   if (!is_initialized_)
+    1089        8451 :     return;
+    1090             : 
+    1091       34064 :   if (!sh_throttle_.hasMsg() || (ros::Time::now() - sh_throttle_.lastMsgTime()).toSec() > 1.0) {
+    1092        8451 :     return;
+    1093             :   }
+    1094             : 
+    1095       25613 :   ROS_INFO_ONCE("[UavManager]: max throttle timer spinning");
+    1096             : 
+    1097       76839 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerMaxthrottle", _maxthrottle_timer_rate_, 0.03, event);
+    1098       76839 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("UavManager::timerMaxthrottle", scope_timer_logger_, scope_timer_enabled_);
+    1099             : 
+    1100       25613 :   auto desired_throttle = sh_throttle_.getMsg()->data;
+    1101             : 
+    1102       25613 :   if (desired_throttle >= _maxthrottle_max_throttle_) {
+    1103             : 
+    1104           0 :     if (!maxthrottle_above_threshold_) {
+    1105             : 
+    1106           0 :       maxthrottle_first_time_      = ros::Time::now();
+    1107           0 :       maxthrottle_above_threshold_ = true;
+    1108           0 :       ROS_WARN_THROTTLE(1.0, "[UavManager]: max throttle exceeded threshold (%.2f/%.2f)", desired_throttle, _maxthrottle_max_throttle_);
+    1109             : 
+    1110             :     } else {
+    1111             : 
+    1112           0 :       ROS_WARN_THROTTLE(0.1, "[UavManager]: throttle over threshold (%.2f/%.2f) for %.2f s", desired_throttle, _maxthrottle_max_throttle_,
+    1113             :                         (ros::Time::now() - maxthrottle_first_time_).toSec());
+    1114             :     }
+    1115             : 
+    1116             :   } else {
+    1117             : 
+    1118       25613 :     maxthrottle_above_threshold_ = false;
+    1119             :   }
+    1120             : 
+    1121       25613 :   if (maxthrottle_above_threshold_ && (ros::Time::now() - maxthrottle_first_time_).toSec() > _maxthrottle_ungrip_timeout_) {
+    1122             : 
+    1123           0 :     ROS_WARN_THROTTLE(1.0, "[UavManager]: throttle over threshold (%.2f/%.2f) for more than %.2f s, ungripping payload", desired_throttle,
+    1124             :                       _maxthrottle_max_throttle_, _maxthrottle_ungrip_timeout_);
+    1125             : 
+    1126           0 :     ungripSrv();
+    1127             :   }
+    1128             : 
+    1129       25613 :   if (maxthrottle_above_threshold_ && (ros::Time::now() - maxthrottle_first_time_).toSec() > _maxthrottle_eland_timeout_) {
+    1130             : 
+    1131           0 :     timer_maxthrottle_.stop();
+    1132             : 
+    1133           0 :     ROS_ERROR_THROTTLE(1.0, "[UavManager]: throttle over threshold (%.2f/%.2f) for more than %.2f s, calling for emergency landing", desired_throttle,
+    1134             :                        _maxthrottle_max_throttle_, _maxthrottle_eland_timeout_);
+    1135             : 
+    1136           0 :     elandSrv();
+    1137             :   }
+    1138             : }
+    1139             : 
+    1140             : //}
+    1141             : 
+    1142             : /* //{ timerDiagnostics() */
+    1143             : 
+    1144        1293 : void UavManager::timerDiagnostics(const ros::TimerEvent& event) {
+    1145             : 
+    1146        1293 :   if (!is_initialized_)
+    1147           0 :     return;
+    1148             : 
+    1149        3879 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerDiagnostics", _maxthrottle_timer_rate_, 0.03, event);
+    1150        3879 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("UavManager::timerDiagnostics", scope_timer_logger_, scope_timer_enabled_);
+    1151             : 
+    1152        1293 :   bool got_gps_est = false;
+    1153        1293 :   bool got_rtk_est = false;
+    1154             : 
+    1155        1293 :   if (sh_estimation_diagnostics_.hasMsg()) {  // get current position in lat-lon
+    1156             : 
+    1157        2126 :     auto                     estimation_diag  = sh_estimation_diagnostics_.getMsg();
+    1158        1063 :     std::vector<std::string> state_estimators = estimation_diag.get()->switchable_state_estimators;
+    1159             : 
+    1160        1185 :     got_gps_est = std::find(state_estimators.begin(), state_estimators.end(), "gps_garmin") != state_estimators.end() ||
+    1161         122 :                   std::find(state_estimators.begin(), state_estimators.end(), "gps_baro") != state_estimators.end();
+    1162        1063 :     got_rtk_est = std::find(state_estimators.begin(), state_estimators.end(), "rtk") != state_estimators.end();
+    1163             :   }
+    1164             : 
+    1165        2586 :   mrs_msgs::UavManagerDiagnostics diag;
+    1166             : 
+    1167        1293 :   diag.stamp    = ros::Time::now();
+    1168        1293 :   diag.uav_name = _uav_name_;
+    1169             : 
+    1170        1293 :   auto flighttime = mrs_lib::get_mutexed(mutex_flighttime_, flighttime_);
+    1171             : 
+    1172             :   // fill in the acumulated flight time
+    1173        1293 :   diag.flight_time = flighttime;
+    1174             : 
+    1175        1293 :   if (sh_odometry_.hasMsg()) {  // get current position in lat-lon
+    1176             : 
+    1177        1067 :     if (got_gps_est || got_rtk_est) {
+    1178             : 
+    1179        2070 :       nav_msgs::Odometry odom = *sh_odometry_.getMsg();
+    1180             : 
+    1181        2070 :       geometry_msgs::PoseStamped uav_pose;
+    1182        1035 :       uav_pose.pose = mrs_lib::getPose(odom);
+    1183             : 
+    1184        3105 :       auto res = transformer_->transformSingle(uav_pose, "latlon_origin");
+    1185             : 
+    1186        1035 :       if (res) {
+    1187        1035 :         diag.cur_latitude  = res.value().pose.position.x;
+    1188        1035 :         diag.cur_longitude = res.value().pose.position.y;
+    1189             :       }
+    1190             :     }
+    1191             :   }
+    1192             : 
+    1193        1293 :   if (takeoff_successful_) {
+    1194             : 
+    1195         223 :     if (got_gps_est || got_rtk_est) {
+    1196             : 
+    1197         446 :       auto land_there_reference = mrs_lib::get_mutexed(mutex_land_there_reference_, land_there_reference_);
+    1198             : 
+    1199         669 :       auto res = transformer_->transformSingle(land_there_reference, "latlon_origin");
+    1200             : 
+    1201         223 :       if (res) {
+    1202         223 :         diag.home_latitude  = res.value().reference.position.x;
+    1203         223 :         diag.home_longitude = res.value().reference.position.y;
+    1204             :       }
+    1205             :     }
+    1206             :   }
+    1207             : 
+    1208        1293 :   ph_diag_.publish(diag);
+    1209             : }
+    1210             : 
+    1211             : //}
+    1212             : 
+    1213             : /* //{ timerMidairActivation() */
+    1214             : 
+    1215          46 : void UavManager::timerMidairActivation([[maybe_unused]] const ros::TimerEvent& event) {
+    1216             : 
+    1217          46 :   if (!is_initialized_)
+    1218           0 :     return;
+    1219             : 
+    1220          46 :   ROS_INFO_THROTTLE(0.1, "[UavManager]: waiting for OFFBOARD");
+    1221             : 
+    1222          46 :   if (sh_hw_api_status_.getMsg()->offboard) {
+    1223             : 
+    1224          44 :     ROS_INFO("[UavManager]: OFFBOARD detected");
+    1225             : 
+    1226          44 :     setOdometryCallbacksSrv(true);
+    1227             : 
+    1228             :     {
+    1229          44 :       bool controller_switched = switchControllerSrv(_midair_activation_after_controller_);
+    1230             : 
+    1231          44 :       if (!controller_switched) {
+    1232             : 
+    1233           0 :         ROS_ERROR("[UavManager]: could not activate '%s'", _midair_activation_after_controller_.c_str());
+    1234             : 
+    1235           0 :         ehoverSrv();
+    1236             : 
+    1237           0 :         timer_midair_activation_.stop();
+    1238             : 
+    1239           0 :         return;
+    1240             :       }
+    1241             :     }
+    1242             : 
+    1243             :     {
+    1244          44 :       bool tracker_switched = switchTrackerSrv(_midair_activation_after_tracker_);
+    1245             : 
+    1246          44 :       if (!tracker_switched) {
+    1247             : 
+    1248           0 :         ROS_ERROR("[UavManager]: could not activate '%s'", _midair_activation_after_tracker_.c_str());
+    1249             : 
+    1250           0 :         ehoverSrv();
+    1251             : 
+    1252           0 :         timer_midair_activation_.stop();
+    1253             : 
+    1254           0 :         return;
+    1255             :       }
+    1256             :     }
+    1257             : 
+    1258          44 :     timer_midair_activation_.stop();
+    1259             : 
+    1260          44 :     return;
+    1261             :   }
+    1262             : 
+    1263           2 :   if ((ros::Time::now() - midair_activation_started_).toSec() > 0.5) {
+    1264             : 
+    1265           0 :     ROS_ERROR("[UavManager]: waiting for OFFBOARD timeouted, reverting");
+    1266             : 
+    1267           0 :     toggleControlOutput(false);
+    1268             : 
+    1269           0 :     timer_midair_activation_.stop();
+    1270             : 
+    1271           0 :     return;
+    1272             :   }
+    1273             : }
+    1274             : 
+    1275             : //}
+    1276             : 
+    1277             : // --------------------------------------------------------------
+    1278             : // |                          callbacks                         |
+    1279             : // --------------------------------------------------------------
+    1280             : 
+    1281             : // | --------------------- topic callbacks -------------------- |
+    1282             : 
+    1283             : /* //{ callbackHwApiGNSS() */
+    1284             : 
+    1285       63474 : void UavManager::callbackHwApiGNSS(const sensor_msgs::NavSatFix::ConstPtr msg) {
+    1286             : 
+    1287       63474 :   if (!is_initialized_)
+    1288          25 :     return;
+    1289             : 
+    1290      190347 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackHwApiGNSS");
+    1291      190347 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("UavManager::callbackHwApiGNSS", scope_timer_logger_, scope_timer_enabled_);
+    1292             : 
+    1293       63449 :   transformer_->setLatLon(msg->latitude, msg->longitude);
+    1294             : }
+    1295             : 
+    1296             : //}
+    1297             : 
+    1298             : /* //{ callbackOdometry() */
+    1299             : 
+    1300      109096 : void UavManager::callbackOdometry(const nav_msgs::Odometry::ConstPtr msg) {
+    1301             : 
+    1302      109096 :   if (!is_initialized_)
+    1303           0 :     return;
+    1304             : 
+    1305      109096 :   transformer_->setDefaultFrame(msg->header.frame_id);
+    1306             : }
+    1307             : 
+    1308             : //}
+    1309             : 
+    1310             : // | -------------------- service callbacks ------------------- |
+    1311             : 
+    1312             : /* //{ callbackTakeoff() */
+    1313             : 
+    1314          15 : bool UavManager::callbackTakeoff([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    1315             : 
+    1316          15 :   if (!is_initialized_)
+    1317           0 :     return false;
+    1318             : 
+    1319          15 :   ROS_INFO("[UavManager]: takeoff called by service");
+    1320             : 
+    1321             :   /* preconditions //{ */
+    1322             : 
+    1323             :   {
+    1324          15 :     std::stringstream ss;
+    1325             : 
+    1326          15 :     if (!sh_odometry_.hasMsg()) {
+    1327           0 :       ss << "can not takeoff, missing odometry!";
+    1328           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1329           0 :       res.message = ss.str();
+    1330           0 :       res.success = false;
+    1331           0 :       return true;
+    1332             :     }
+    1333             : 
+    1334          15 :     if (!sh_hw_api_status_.hasMsg() || (ros::Time::now() - sh_hw_api_status_.lastMsgTime()).toSec() > 5.0) {
+    1335           0 :       ss << "can not takeoff, missing HW API status!";
+    1336           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1337           0 :       res.message = ss.str();
+    1338           0 :       res.success = false;
+    1339           0 :       return true;
+    1340             :     }
+    1341             : 
+    1342          15 :     if (!sh_hw_api_status_.getMsg()->armed) {
+    1343           0 :       ss << "can not takeoff, UAV not armed!";
+    1344           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1345           0 :       res.message = ss.str();
+    1346           0 :       res.success = false;
+    1347           0 :       return true;
+    1348             :     }
+    1349             : 
+    1350          15 :     if (!sh_hw_api_status_.getMsg()->offboard) {
+    1351           0 :       ss << "can not takeoff, UAV not in offboard mode!";
+    1352           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1353           0 :       res.message = ss.str();
+    1354           0 :       res.success = false;
+    1355           0 :       return true;
+    1356             :     }
+    1357             : 
+    1358             :     {
+    1359          15 :       if (!sh_control_manager_diag_.hasMsg() && (ros::Time::now() - sh_control_manager_diag_.lastMsgTime()).toSec() > 5.0) {
+    1360           0 :         ss << "can not takeoff, missing control manager diagnostics!";
+    1361           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1362           0 :         res.message = ss.str();
+    1363           0 :         res.success = false;
+    1364           0 :         return true;
+    1365             :       }
+    1366             : 
+    1367          15 :       if (_null_tracker_name_ != sh_control_manager_diag_.getMsg()->active_tracker) {
+    1368           0 :         ss << "can not takeoff, need '" << _null_tracker_name_ << "' to be active!";
+    1369           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1370           0 :         res.message = ss.str();
+    1371           0 :         res.success = false;
+    1372           0 :         return true;
+    1373             :       }
+    1374             :     }
+    1375             : 
+    1376          15 :     if (!sh_controller_diagnostics_.hasMsg()) {
+    1377           0 :       ss << "can not takeoff, missing controller diagnostics!";
+    1378           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1379           0 :       res.message = ss.str();
+    1380           0 :       res.success = false;
+    1381           0 :       return true;
+    1382             :     }
+    1383             : 
+    1384          15 :     if (_gain_manager_required_ && (ros::Time::now() - sh_gains_diag_.lastMsgTime()).toSec() > 5.0) {
+    1385           0 :       ss << "can not takeoff, GainManager is not running!";
+    1386           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1387           0 :       res.message = ss.str();
+    1388           0 :       res.success = false;
+    1389           0 :       return true;
+    1390             :     }
+    1391             : 
+    1392          15 :     if (_constraint_manager_required_ && (ros::Time::now() - sh_constraints_diag_.lastMsgTime()).toSec() > 5.0) {
+    1393           0 :       ss << "can not takeoff, ConstraintManager is not running!";
+    1394           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1395           0 :       res.message = ss.str();
+    1396           0 :       res.success = false;
+    1397           0 :       return true;
+    1398             :     }
+    1399             : 
+    1400          15 :     if (!sh_control_manager_diag_.getMsg()->output_enabled) {
+    1401             : 
+    1402           0 :       ss << "can not takeoff, Control Manager's output is disabled!";
+    1403           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1404           0 :       res.message = ss.str();
+    1405           0 :       res.success = false;
+    1406           0 :       return true;
+    1407             :     }
+    1408             : 
+    1409          15 :     if (number_of_takeoffs_ > 0) {
+    1410             : 
+    1411           0 :       auto last_mass_difference = mrs_lib::get_mutexed(mutex_last_mass_difference_, last_mass_difference_);
+    1412             : 
+    1413           0 :       if (last_mass_difference > 1.0) {
+    1414             : 
+    1415           0 :         ss << std::setprecision(2);
+    1416           0 :         ss << "can not takeoff, estimated mass difference is too large: " << _null_tracker_name_ << "!";
+    1417           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1418           0 :         res.message = ss.str();
+    1419           0 :         res.success = false;
+    1420           0 :         return true;
+    1421             :       }
+    1422             :     }
+    1423             :   }
+    1424             : 
+    1425             :   //}
+    1426             : 
+    1427          30 :   auto control_manager_diagnostics = sh_control_manager_diag_.getMsg();
+    1428          30 :   auto odometry                    = sh_odometry_.getMsg();
+    1429          15 :   auto [odom_x, odom_y, odom_z]    = mrs_lib::getPosition(sh_odometry_.getMsg());
+    1430             : 
+    1431             :   double odom_heading;
+    1432             :   try {
+    1433          15 :     odom_heading = mrs_lib::getHeading(sh_odometry_.getMsg());
+    1434             :   }
+    1435           0 :   catch (mrs_lib::AttitudeConverter::GetHeadingException& e) {
+    1436           0 :     ROS_ERROR_THROTTLE(1.0, "[UavManager]: exception caught: '%s'", e.what());
+    1437             : 
+    1438           0 :     std::stringstream ss;
+    1439           0 :     ss << "could not calculate current heading";
+    1440           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1441           0 :     res.message = ss.str();
+    1442           0 :     res.success = false;
+    1443           0 :     return true;
+    1444             :   }
+    1445             : 
+    1446          15 :   ROS_INFO("[UavManager]: taking off");
+    1447             : 
+    1448          15 :   setOdometryCallbacksSrv(false);
+    1449             : 
+    1450             :   // activating the takeoff controller
+    1451             :   {
+    1452          15 :     std::string old_controller      = sh_control_manager_diag_.getMsg()->active_controller;
+    1453          15 :     bool        controller_switched = switchControllerSrv(_takeoff_controller_name_);
+    1454             : 
+    1455             :     // if it fails, activate back the old controller
+    1456             :     // this is no big deal since the control outputs are not used
+    1457             :     // until NullTracker is active
+    1458          15 :     if (!controller_switched) {
+    1459             : 
+    1460           1 :       std::stringstream ss;
+    1461           1 :       ss << "could not activate '" << _takeoff_controller_name_ << "' for takeoff";
+    1462           1 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1463           1 :       res.success = false;
+    1464           1 :       res.message = ss.str();
+    1465             : 
+    1466           1 :       toggleControlOutput(false);
+    1467           1 :       disarmSrv();
+    1468             : 
+    1469           1 :       return true;
+    1470             :     }
+    1471             :   }
+    1472             : 
+    1473             :   // activate the takeoff tracker
+    1474             :   {
+    1475          14 :     std::string old_tracker      = sh_control_manager_diag_.getMsg()->active_tracker;
+    1476          14 :     bool        tracker_switched = switchTrackerSrv(_takeoff_tracker_name_);
+    1477             : 
+    1478             :     // if it fails, activate back the old tracker
+    1479          14 :     if (!tracker_switched) {
+    1480             : 
+    1481           1 :       std::stringstream ss;
+    1482           1 :       ss << "could not activate '" << _takeoff_tracker_name_ << "' for takeoff";
+    1483           1 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1484           1 :       res.success = false;
+    1485           1 :       res.message = ss.str();
+    1486             : 
+    1487           1 :       toggleControlOutput(false);
+    1488           1 :       disarmSrv();
+    1489             : 
+    1490           1 :       return true;
+    1491             :     }
+    1492             :   }
+    1493             : 
+    1494             :   // let's sleep before calling take off.. the motors are rumping-up anyway
+    1495             :   // this solves on-time-happening race condition in the landoff tracker
+    1496          13 :   ros::Duration(0.3).sleep();
+    1497             : 
+    1498             :   // now the takeoff tracker and controller are active
+    1499             :   // the UAV is basically hovering on the ground
+    1500             :   // (the controller is probably rumping up the throttle now)
+    1501             : 
+    1502             :   // call the takeoff service at the takeoff tracker
+    1503             :   {
+    1504          13 :     bool takeoff_successful = takeoffSrv();
+    1505             : 
+    1506             :     // if the takeoff was not successful, switch to NullTracker
+    1507          13 :     if (takeoff_successful) {
+    1508             : 
+    1509             :       // save the current spot for later landing
+    1510             :       {
+    1511          13 :         std::scoped_lock lock(mutex_land_there_reference_);
+    1512             : 
+    1513          13 :         land_there_reference_.header               = odometry->header;
+    1514          13 :         land_there_reference_.reference.position.x = odom_x;
+    1515          13 :         land_there_reference_.reference.position.y = odom_y;
+    1516          13 :         land_there_reference_.reference.position.z = odom_z;
+    1517          13 :         land_there_reference_.reference.heading    = odom_heading;
+    1518             :       }
+    1519             : 
+    1520          13 :       timer_flighttime_.start();
+    1521             : 
+    1522          26 :       std::stringstream ss;
+    1523          13 :       ss << "taking off";
+    1524          13 :       res.success = true;
+    1525          13 :       res.message = ss.str();
+    1526          13 :       ROS_INFO_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1527             : 
+    1528          13 :       takingoff_ = true;
+    1529          13 :       number_of_takeoffs_++;
+    1530          13 :       waiting_for_takeoff_ = true;
+    1531             : 
+    1532             :       // start the takeoff timer
+    1533          13 :       timer_takeoff_.start();
+    1534             : 
+    1535          13 :       takeoff_successful_ = takeoff_successful;
+    1536             : 
+    1537             :     } else {
+    1538             : 
+    1539           0 :       std::stringstream ss;
+    1540           0 :       ss << "takeoff was not successful";
+    1541           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1542           0 :       res.success = false;
+    1543           0 :       res.message = ss.str();
+    1544             : 
+    1545             :       // if the call for takeoff fails, call for emergency landing
+    1546           0 :       elandSrv();
+    1547             :     }
+    1548             :   }
+    1549             : 
+    1550          13 :   return true;
+    1551             : }
+    1552             : 
+    1553             : //}
+    1554             : 
+    1555             : /* //{ callbackLand() */
+    1556             : 
+    1557           2 : bool UavManager::callbackLand([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    1558             : 
+    1559           2 :   if (!is_initialized_)
+    1560           0 :     return false;
+    1561             : 
+    1562           2 :   ROS_INFO("[UavManager]: land called by service");
+    1563             : 
+    1564             :   /* preconditions //{ */
+    1565             : 
+    1566             :   {
+    1567           2 :     std::stringstream ss;
+    1568             : 
+    1569           2 :     if (!sh_odometry_.hasMsg()) {
+    1570           0 :       ss << "can not land, missing odometry!";
+    1571           0 :       res.message = ss.str();
+    1572           0 :       res.success = false;
+    1573           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1574           0 :       return true;
+    1575             :     }
+    1576             : 
+    1577             :     {
+    1578           2 :       if (!sh_control_manager_diag_.hasMsg()) {
+    1579           0 :         ss << "can not land, missing control manager diagnostics!";
+    1580           0 :         res.message = ss.str();
+    1581           0 :         res.success = false;
+    1582           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1583           0 :         return true;
+    1584             :       }
+    1585             : 
+    1586           2 :       if (_null_tracker_name_ == sh_control_manager_diag_.getMsg()->active_tracker) {
+    1587           0 :         ss << "can not land, '" << _null_tracker_name_ << "' is active!";
+    1588           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1589           0 :         res.message = ss.str();
+    1590           0 :         res.success = false;
+    1591           0 :         return true;
+    1592             :       }
+    1593             :     }
+    1594             : 
+    1595           2 :     if (!sh_controller_diagnostics_.hasMsg()) {
+    1596           0 :       ss << "can not land, missing controller diagnostics!";
+    1597           0 :       res.message = ss.str();
+    1598           0 :       res.success = false;
+    1599           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1600           0 :       return true;
+    1601             :     }
+    1602             : 
+    1603           2 :     if (!sh_tracker_cmd_.hasMsg()) {
+    1604           0 :       ss << "can not land, missing position cmd!";
+    1605           0 :       res.message = ss.str();
+    1606           0 :       res.success = false;
+    1607           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1608           0 :       return true;
+    1609             :     }
+    1610             :   }
+    1611             : 
+    1612             :   //}
+    1613             : 
+    1614           2 :   auto [success, message] = landWithDescendImpl();
+    1615             : 
+    1616           2 :   res.message = message;
+    1617           2 :   res.success = success;
+    1618             : 
+    1619           2 :   return true;
+    1620             : }
+    1621             : 
+    1622             : //}
+    1623             : 
+    1624             : /* //{ callbackLandHome() */
+    1625             : 
+    1626           1 : bool UavManager::callbackLandHome([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    1627             : 
+    1628           1 :   if (!is_initialized_)
+    1629           0 :     return false;
+    1630             : 
+    1631           1 :   ROS_INFO("[UavManager]: land home called by service");
+    1632             : 
+    1633             :   /* preconditions //{ */
+    1634             : 
+    1635             :   {
+    1636           1 :     std::stringstream ss;
+    1637             : 
+    1638           1 :     if (number_of_takeoffs_ == 0) {
+    1639           0 :       ss << "can not land home, did not takeoff before!";
+    1640           0 :       res.message = ss.str();
+    1641           0 :       res.success = false;
+    1642           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1643           0 :       return true;
+    1644             :     }
+    1645             : 
+    1646           1 :     if (!sh_odometry_.hasMsg()) {
+    1647           0 :       ss << "can not land, missing odometry!";
+    1648           0 :       res.message = ss.str();
+    1649           0 :       res.success = false;
+    1650           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1651           0 :       return true;
+    1652             :     }
+    1653             : 
+    1654             :     {
+    1655           1 :       if (!sh_control_manager_diag_.hasMsg()) {
+    1656           0 :         ss << "can not land, missing tracker status!";
+    1657           0 :         res.message = ss.str();
+    1658           0 :         res.success = false;
+    1659           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1660           0 :         return true;
+    1661             :       }
+    1662             : 
+    1663           1 :       if (_null_tracker_name_ == sh_control_manager_diag_.getMsg()->active_tracker) {
+    1664           0 :         ss << "can not land, '" << _null_tracker_name_ << "' is active!";
+    1665           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1666           0 :         res.message = ss.str();
+    1667           0 :         res.success = false;
+    1668           0 :         return true;
+    1669             :       }
+    1670             :     }
+    1671             : 
+    1672           1 :     if (!sh_controller_diagnostics_.hasMsg()) {
+    1673           0 :       ss << "can not land, missing controller diagnostics command!";
+    1674           0 :       res.message = ss.str();
+    1675           0 :       res.success = false;
+    1676           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1677           0 :       return true;
+    1678             :     }
+    1679             : 
+    1680           1 :     if (!sh_tracker_cmd_.hasMsg()) {
+    1681           0 :       ss << "can not land, missing position cmd!";
+    1682           0 :       res.message = ss.str();
+    1683           0 :       res.success = false;
+    1684           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1685           0 :       return true;
+    1686             :     }
+    1687             : 
+    1688           1 :     if (fixing_max_height_) {
+    1689           0 :       ss << "can not land, descedning to safe height!";
+    1690           0 :       res.message = ss.str();
+    1691           0 :       res.success = false;
+    1692           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1693           0 :       return true;
+    1694             :     }
+    1695             : 
+    1696           1 :     if (current_state_landing_ != IDLE_STATE) {
+    1697           0 :       ss << "can not land, already landing!";
+    1698           0 :       res.message = ss.str();
+    1699           0 :       res.success = false;
+    1700           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1701           0 :       return true;
+    1702             :     }
+    1703             :   }
+    1704             : 
+    1705             :   //}
+    1706             : 
+    1707           1 :   ungripSrv();
+    1708             : 
+    1709           2 :   mrs_msgs::ReferenceStamped reference_out;
+    1710             : 
+    1711             :   {
+    1712           1 :     std::scoped_lock lock(mutex_land_there_reference_);
+    1713             : 
+    1714             :     // get the current altitude in land_there_reference_.header.frame_id;
+    1715           1 :     geometry_msgs::PoseStamped current_pose;
+    1716           1 :     current_pose.header.stamp     = ros::Time::now();
+    1717           1 :     current_pose.header.frame_id  = _uav_name_ + "/fcu";
+    1718           1 :     current_pose.pose.position.x  = 0;
+    1719           1 :     current_pose.pose.position.y  = 0;
+    1720           1 :     current_pose.pose.position.z  = 0;
+    1721           1 :     current_pose.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    1722             : 
+    1723           1 :     auto response = transformer_->transformSingle(current_pose, land_there_reference_.header.frame_id);
+    1724             : 
+    1725           1 :     if (response) {
+    1726             : 
+    1727           1 :       land_there_reference_.reference.position.z = response.value().pose.position.z;
+    1728           1 :       ROS_DEBUG("[UavManager]: current altitude is %.2f m", land_there_reference_.reference.position.z);
+    1729             : 
+    1730             :     } else {
+    1731             : 
+    1732           0 :       std::stringstream ss;
+    1733           0 :       ss << "could not transform current height to " << land_there_reference_.header.frame_id;
+    1734           0 :       ROS_ERROR_STREAM("[UavManager]: " << ss.str());
+    1735             : 
+    1736           0 :       res.success = false;
+    1737           0 :       res.message = ss.str();
+    1738           0 :       return true;
+    1739             :     }
+    1740             : 
+    1741           1 :     reference_out.header.frame_id = land_there_reference_.header.frame_id;
+    1742           1 :     reference_out.header.stamp    = ros::Time::now();
+    1743           1 :     reference_out.reference       = land_there_reference_.reference;
+    1744             :   }
+    1745             : 
+    1746           1 :   bool service_success = emergencyReferenceSrv(reference_out);
+    1747             : 
+    1748           1 :   if (service_success) {
+    1749             : 
+    1750           2 :     std::stringstream ss;
+    1751           1 :     ss << "flying home for landing";
+    1752           1 :     ROS_INFO_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1753             : 
+    1754           1 :     res.success = true;
+    1755           1 :     res.message = ss.str();
+    1756             : 
+    1757             :     // stop the eventual takeoff
+    1758           1 :     waiting_for_takeoff_ = false;
+    1759           1 :     takingoff_           = false;
+    1760           1 :     timer_takeoff_.stop();
+    1761             : 
+    1762           1 :     throttle_under_threshold_          = false;
+    1763           1 :     throttle_mass_estimate_first_time_ = ros::Time(0);
+    1764             : 
+    1765           1 :     changeLandingState(GOTO_STATE);
+    1766             : 
+    1767           1 :     timer_landing_.start();
+    1768             : 
+    1769             :   } else {
+    1770             : 
+    1771           0 :     std::stringstream ss;
+    1772           0 :     ss << "can not fly home for landing";
+    1773           0 :     ROS_ERROR_STREAM("[UavManager]: " << ss.str());
+    1774             : 
+    1775           0 :     res.success = false;
+    1776           0 :     res.message = ss.str();
+    1777             :   }
+    1778             : 
+    1779           1 :   return true;
+    1780             : }
+    1781             : 
+    1782             : //}
+    1783             : 
+    1784             : /* //{ callbackLandThere() */
+    1785             : 
+    1786           1 : bool UavManager::callbackLandThere(mrs_msgs::ReferenceStampedSrv::Request& req, mrs_msgs::ReferenceStampedSrv::Response& res) {
+    1787             : 
+    1788           1 :   if (!is_initialized_)
+    1789           0 :     return false;
+    1790             : 
+    1791           1 :   ROS_INFO("[UavManager]: land there called by service");
+    1792             : 
+    1793             :   /* preconditions //{ */
+    1794             : 
+    1795             :   {
+    1796           1 :     std::stringstream ss;
+    1797             : 
+    1798           1 :     if (!sh_odometry_.hasMsg()) {
+    1799           0 :       ss << "can not land, missing odometry!";
+    1800           0 :       res.message = ss.str();
+    1801           0 :       res.success = false;
+    1802           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1803           0 :       return true;
+    1804             :     }
+    1805             : 
+    1806             :     {
+    1807           1 :       if (!sh_control_manager_diag_.hasMsg()) {
+    1808           0 :         ss << "can not land, missing tracker status!";
+    1809           0 :         res.message = ss.str();
+    1810           0 :         res.success = false;
+    1811           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1812           0 :         return true;
+    1813             :       }
+    1814             : 
+    1815           1 :       if (_null_tracker_name_ == sh_control_manager_diag_.getMsg()->active_tracker) {
+    1816           0 :         ss << "can not land, '" << _null_tracker_name_ << "' is active!";
+    1817           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1818           0 :         res.message = ss.str();
+    1819           0 :         res.success = false;
+    1820           0 :         return true;
+    1821             :       }
+    1822             :     }
+    1823             : 
+    1824           1 :     if (!sh_controller_diagnostics_.hasMsg()) {
+    1825           0 :       ss << "can not land, missing controller diagnostics!";
+    1826           0 :       res.message = ss.str();
+    1827           0 :       res.success = false;
+    1828           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1829           0 :       return true;
+    1830             :     }
+    1831             : 
+    1832           1 :     if (!sh_tracker_cmd_.hasMsg()) {
+    1833           0 :       ss << "can not land, missing position cmd!";
+    1834           0 :       res.message = ss.str();
+    1835           0 :       res.success = false;
+    1836           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1837           0 :       return true;
+    1838             :     }
+    1839             : 
+    1840           1 :     if (fixing_max_height_) {
+    1841           0 :       ss << "can not land, descedning to safe height!";
+    1842           0 :       res.message = ss.str();
+    1843           0 :       res.success = false;
+    1844           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1845           0 :       return true;
+    1846             :     }
+    1847             :   }
+    1848             : 
+    1849             :   //}
+    1850             : 
+    1851           1 :   ungripSrv();
+    1852             : 
+    1853           2 :   auto odometry = sh_odometry_.getMsg();
+    1854             : 
+    1855             :   // | ------ transform the reference to the current frame ------ |
+    1856             : 
+    1857           2 :   mrs_msgs::ReferenceStamped reference_in;
+    1858           1 :   reference_in.header    = req.header;
+    1859           1 :   reference_in.reference = req.reference;
+    1860             : 
+    1861           2 :   auto result = transformer_->transformSingle(reference_in, odometry->header.frame_id);
+    1862             : 
+    1863           1 :   if (!result) {
+    1864           0 :     std::stringstream ss;
+    1865           0 :     ss << "can not transform the reference to the current control frame!";
+    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           1 :     std::scoped_lock lock(mutex_land_there_reference_);
+    1874             : 
+    1875           1 :     land_there_reference_.header               = odometry->header;
+    1876           1 :     land_there_reference_.reference            = reference_in.reference;
+    1877           1 :     land_there_reference_.reference.position.z = odometry->pose.pose.position.z;
+    1878             :   }
+    1879             : 
+    1880           1 :   bool service_success = emergencyReferenceSrv(land_there_reference_);
+    1881             : 
+    1882           1 :   if (service_success) {
+    1883             : 
+    1884           2 :     std::stringstream ss;
+    1885           1 :     ss << "flying there for landing";
+    1886           1 :     ROS_INFO_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1887             : 
+    1888           1 :     res.success = true;
+    1889           1 :     res.message = ss.str();
+    1890             : 
+    1891             :     // stop the eventual takeoff
+    1892           1 :     waiting_for_takeoff_ = false;
+    1893           1 :     takingoff_           = false;
+    1894           1 :     timer_takeoff_.stop();
+    1895             : 
+    1896           1 :     throttle_under_threshold_          = false;
+    1897           1 :     throttle_mass_estimate_first_time_ = ros::Time(0);
+    1898             : 
+    1899           1 :     changeLandingState(GOTO_STATE);
+    1900             : 
+    1901           1 :     timer_landing_.start();
+    1902             : 
+    1903             :   } else {
+    1904             : 
+    1905           0 :     std::stringstream ss;
+    1906           0 :     ss << "can not fly there for landing";
+    1907           0 :     ROS_ERROR_STREAM("[UavManager]: " << ss.str());
+    1908             : 
+    1909           0 :     res.success = false;
+    1910           0 :     res.message = ss.str();
+    1911             :   }
+    1912             : 
+    1913           1 :   return true;
+    1914             : }
+    1915             : 
+    1916             : //}
+    1917             : 
+    1918             : /* //{ callbackMidairActivation() */
+    1919             : 
+    1920          46 : bool UavManager::callbackMidairActivation([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    1921             : 
+    1922          46 :   if (!is_initialized_)
+    1923           0 :     return false;
+    1924             : 
+    1925          46 :   ROS_INFO("[UavManager]: midair activation called by service");
+    1926             : 
+    1927             :   /* preconditions //{ */
+    1928             : 
+    1929             :   {
+    1930          46 :     std::stringstream ss;
+    1931             : 
+    1932          46 :     if (!sh_odometry_.hasMsg()) {
+    1933           0 :       ss << "can not activate, missing odometry!";
+    1934           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1935           0 :       res.message = ss.str();
+    1936           0 :       res.success = false;
+    1937           0 :       return true;
+    1938             :     }
+    1939             : 
+    1940          46 :     if (!sh_hw_api_status_.hasMsg() || (ros::Time::now() - sh_hw_api_status_.lastMsgTime()).toSec() > 5.0) {
+    1941           0 :       ss << "can not activate, missing HW API status!";
+    1942           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1943           0 :       res.message = ss.str();
+    1944           0 :       res.success = false;
+    1945           0 :       return true;
+    1946             :     }
+    1947             : 
+    1948          46 :     if (!sh_hw_api_status_.getMsg()->armed) {
+    1949           0 :       ss << "can not activate, UAV not armed!";
+    1950           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1951           0 :       res.message = ss.str();
+    1952           0 :       res.success = false;
+    1953           0 :       return true;
+    1954             :     }
+    1955             : 
+    1956          46 :     if (sh_hw_api_status_.getMsg()->offboard) {
+    1957           0 :       ss << "can not activate, UAV already in offboard mode!";
+    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             :     {
+    1965          46 :       if (!sh_control_manager_diag_.hasMsg()) {
+    1966           0 :         ss << "can not activate, missing control manager diagnostics!";
+    1967           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1968           0 :         res.message = ss.str();
+    1969           0 :         res.success = false;
+    1970           0 :         return true;
+    1971             :       }
+    1972             : 
+    1973          46 :       if (_null_tracker_name_ != sh_control_manager_diag_.getMsg()->active_tracker) {
+    1974           0 :         ss << "can not activate, need '" << _null_tracker_name_ << "' to be active!";
+    1975           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1976           0 :         res.message = ss.str();
+    1977           0 :         res.success = false;
+    1978           0 :         return true;
+    1979             :       }
+    1980             :     }
+    1981             : 
+    1982          46 :     if (!sh_controller_diagnostics_.hasMsg()) {
+    1983           0 :       ss << "can not activate, missing controller diagnostics!";
+    1984           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1985           0 :       res.message = ss.str();
+    1986           0 :       res.success = false;
+    1987           0 :       return true;
+    1988             :     }
+    1989             : 
+    1990          46 :     if (_gain_manager_required_ && (ros::Time::now() - sh_gains_diag_.lastMsgTime()).toSec() > 5.0) {
+    1991           0 :       ss << "can not activate, GainManager is not running!";
+    1992           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1993           0 :       res.message = ss.str();
+    1994           0 :       res.success = false;
+    1995           0 :       return true;
+    1996             :     }
+    1997             : 
+    1998          46 :     if (_constraint_manager_required_ && (ros::Time::now() - sh_constraints_diag_.lastMsgTime()).toSec() > 5.0) {
+    1999           0 :       ss << "can not activate, ConstraintManager is not running!";
+    2000           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2001           0 :       res.message = ss.str();
+    2002           0 :       res.success = false;
+    2003           0 :       return true;
+    2004             :     }
+    2005             : 
+    2006          46 :     if (number_of_takeoffs_ > 0) {
+    2007           0 :       ss << "can not activate, we flew already!";
+    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             : 
+    2015             :   //}
+    2016             : 
+    2017          46 :   auto [success, message] = midairActivationImpl();
+    2018             : 
+    2019          46 :   res.message = message;
+    2020          46 :   res.success = success;
+    2021             : 
+    2022          46 :   return true;
+    2023             : }
+    2024             : 
+    2025             : //}
+    2026             : 
+    2027             : // | ------------------------ routines ------------------------ |
+    2028             : 
+    2029             : /* landImpl() //{ */
+    2030             : 
+    2031           4 : std::tuple<bool, std::string> UavManager::landImpl(void) {
+    2032             : 
+    2033             :   // activating the landing controller
+    2034             :   {
+    2035           4 :     std::string old_controller      = sh_control_manager_diag_.getMsg()->active_controller;
+    2036           4 :     bool        controller_switched = switchControllerSrv(_landing_controller_name_);
+    2037             : 
+    2038             :     // if it fails, activate eland
+    2039             :     // Tomas: I pressume that its more important to get the UAV to the ground rather than
+    2040             :     // just throw out error.
+    2041           4 :     if (!controller_switched) {
+    2042             : 
+    2043           0 :       std::stringstream ss;
+    2044           0 :       ss << "could not activate '" << _takeoff_controller_name_ << "' for landing";
+    2045           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2046             : 
+    2047           0 :       elandSrv();
+    2048             : 
+    2049           0 :       return std::tuple(false, ss.str());
+    2050             :     }
+    2051             :   }
+    2052             : 
+    2053             :   // activate the landing tracker
+    2054             :   {
+    2055           4 :     std::string old_tracker      = sh_control_manager_diag_.getMsg()->active_tracker;
+    2056           4 :     bool        tracker_switched = switchTrackerSrv(_landing_tracker_name_);
+    2057             : 
+    2058             :     // if it fails, activate eland
+    2059             :     // Tomas: I pressume that its more important to get the UAV to the ground rather than
+    2060             :     // just throw out error.
+    2061           4 :     if (!tracker_switched) {
+    2062             : 
+    2063           0 :       std::stringstream ss;
+    2064           0 :       ss << "could not activate '" << _takeoff_tracker_name_ << "' for landing";
+    2065           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2066             : 
+    2067           0 :       elandSrv();
+    2068             : 
+    2069           0 :       return std::tuple(false, ss.str());
+    2070             :     }
+    2071             :   }
+    2072             : 
+    2073             :   // call the landing service
+    2074             :   {
+    2075           4 :     bool land_successful = landSrv();
+    2076             : 
+    2077           4 :     if (land_successful) {
+    2078             : 
+    2079             :       // stop the eventual takeoff
+    2080           4 :       waiting_for_takeoff_ = false;
+    2081           4 :       takingoff_           = false;
+    2082           4 :       timer_takeoff_.stop();
+    2083             : 
+    2084             :       // stop counting the flight time
+    2085           4 :       timer_flighttime_.stop();
+    2086             : 
+    2087           8 :       auto controller_diagnostics = sh_controller_diagnostics_.getMsg();
+    2088             : 
+    2089             :       // remember the last valid mass estimated
+    2090             :       // used during subsequent takeoff
+    2091           4 :       if (controller_diagnostics->mass_estimator) {
+    2092           4 :         last_mass_difference_ = controller_diagnostics->mass_difference;
+    2093             :       }
+    2094             : 
+    2095           4 :       setOdometryCallbacksSrv(false);
+    2096             : 
+    2097           4 :       changeLandingState(LANDING_STATE);
+    2098             : 
+    2099           4 :       throttle_under_threshold_          = false;
+    2100           4 :       throttle_mass_estimate_first_time_ = ros::Time(0);
+    2101             : 
+    2102           4 :       timer_landing_.start();
+    2103             : 
+    2104           4 :       std::stringstream ss;
+    2105           4 :       ss << "landing initiated";
+    2106           4 :       ROS_INFO_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2107             : 
+    2108           4 :       return std::tuple(true, ss.str());
+    2109             : 
+    2110             :     } else {
+    2111             : 
+    2112           0 :       std::stringstream ss;
+    2113           0 :       ss << "could not land";
+    2114           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2115             : 
+    2116           0 :       elandSrv();
+    2117             : 
+    2118           0 :       return std::tuple(false, ss.str());
+    2119             :     }
+    2120             :   }
+    2121             : }
+    2122             : 
+    2123             : //}
+    2124             : 
+    2125             : /* landWithDescendImpl() //{ */
+    2126             : 
+    2127           7 : std::tuple<bool, std::string> UavManager::landWithDescendImpl(void) {
+    2128             : 
+    2129             :   // if the height information is available
+    2130           7 :   if (sh_height_.hasMsg()) {
+    2131             : 
+    2132           7 :     double height = sh_height_.getMsg()->value;
+    2133             : 
+    2134           7 :     if (height > 0 && height >= _landing_descend_height_ + 1.0) {
+    2135             : 
+    2136           3 :       auto odometry = sh_odometry_.getMsg();
+    2137             : 
+    2138           3 :       ungripSrv();
+    2139             : 
+    2140             :       {
+    2141           3 :         std::scoped_lock lock(mutex_land_there_reference_);
+    2142             : 
+    2143             :         // FOR FUTURE ME: Do not change this, we need it to be filled for the final check later
+    2144           3 :         land_there_reference_.header.frame_id      = "";
+    2145           3 :         land_there_reference_.header.stamp         = ros::Time::now();
+    2146           3 :         land_there_reference_.reference.position.x = odometry->pose.pose.position.x;
+    2147           3 :         land_there_reference_.reference.position.y = odometry->pose.pose.position.y;
+    2148           3 :         land_there_reference_.reference.position.z = odometry->pose.pose.position.z - (height - _landing_descend_height_);
+    2149           3 :         land_there_reference_.reference.heading    = mrs_lib::AttitudeConverter(odometry->pose.pose.orientation).getHeading();
+    2150             :       }
+    2151             : 
+    2152           3 :       bool service_success = emergencyReferenceSrv(land_there_reference_);
+    2153             : 
+    2154           3 :       if (service_success) {
+    2155             : 
+    2156           3 :         std::stringstream ss;
+    2157           3 :         ss << "flying down for landing";
+    2158           3 :         ROS_INFO_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2159             : 
+    2160             :         // stop the eventual takeoff
+    2161           3 :         waiting_for_takeoff_ = false;
+    2162           3 :         takingoff_           = false;
+    2163           3 :         timer_takeoff_.stop();
+    2164             : 
+    2165           3 :         changeLandingState(GOTO_STATE);
+    2166             : 
+    2167           3 :         throttle_under_threshold_          = false;
+    2168           3 :         throttle_mass_estimate_first_time_ = ros::Time(0);
+    2169             : 
+    2170           3 :         timer_landing_.start();
+    2171             : 
+    2172           3 :         return std::tuple(true, ss.str());
+    2173             : 
+    2174             :       } else {
+    2175             : 
+    2176           0 :         std::stringstream ss;
+    2177           0 :         ss << "can not fly down for landing";
+    2178           0 :         ROS_ERROR_STREAM("[UavManager]: " << ss.str());
+    2179             :       }
+    2180             :     }
+    2181             :   }
+    2182             : 
+    2183           8 :   auto [success, message] = landImpl();
+    2184             : 
+    2185           4 :   return std::tuple(success, message);
+    2186             : }
+    2187             : 
+    2188             : //}
+    2189             : 
+    2190             : /* midairActivationImpl() //{ */
+    2191             : 
+    2192          46 : std::tuple<bool, std::string> UavManager::midairActivationImpl(void) {
+    2193             : 
+    2194             :   // 1. activate the mid-air activation controller
+    2195             :   // the controller will output hover-like control output
+    2196          92 :   std::string old_controller;
+    2197             :   {
+    2198          46 :     old_controller           = sh_control_manager_diag_.getMsg()->active_controller;
+    2199          46 :     bool controller_switched = switchControllerSrv(_midair_activation_during_controller_);
+    2200             : 
+    2201          46 :     if (!controller_switched) {
+    2202             : 
+    2203           0 :       std::stringstream ss;
+    2204           0 :       ss << "could not activate '" << _midair_activation_during_controller_ << "' for midair activation";
+    2205           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2206             : 
+    2207           0 :       return std::tuple(false, ss.str());
+    2208             :     }
+    2209             :   }
+    2210             : 
+    2211             :   // 2. turn Control Manager's output ON
+    2212             :   {
+    2213          46 :     bool output_enabled = toggleControlOutput(true);
+    2214             : 
+    2215          46 :     if (!output_enabled) {
+    2216             : 
+    2217           1 :       switchControllerSrv(old_controller);
+    2218             : 
+    2219           1 :       std::stringstream ss;
+    2220           1 :       ss << "could not enable Control Manager's output";
+    2221           1 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2222             : 
+    2223           1 :       return std::tuple(false, ss.str());
+    2224             :     }
+    2225             :   }
+    2226             : 
+    2227             :   // 3. activate the mid-air activation tracker
+    2228             :   // this will cause the Control Manager to output something else than min-throttle
+    2229          90 :   std::string old_tracker;
+    2230             :   {
+    2231          45 :     old_tracker = sh_control_manager_diag_.getMsg()->active_tracker;
+    2232             : 
+    2233          45 :     bool tracker_switched = switchTrackerSrv(_midair_activation_during_tracker_);
+    2234             : 
+    2235          45 :     if (!tracker_switched) {
+    2236             : 
+    2237           0 :       switchControllerSrv(old_controller);
+    2238           0 :       toggleControlOutput(false);
+    2239             : 
+    2240           0 :       std::stringstream ss;
+    2241           0 :       ss << "could not activate '" << _midair_activation_during_tracker_ << "' for midair activation";
+    2242           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2243             : 
+    2244           0 :       return std::tuple(false, ss.str());
+    2245             :     }
+    2246             :   }
+    2247             : 
+    2248             :   // 4. wait for 50 ms, that should be enough for the Pixhawk to start getting data
+    2249          45 :   ros::Duration(0.05).sleep();
+    2250             : 
+    2251             :   // 5. turn on the OFFBOARD MODE
+    2252             :   // since now, the UAV should be under our control
+    2253             :   {
+    2254          45 :     bool offboard_set = offboardSrv(true);
+    2255             : 
+    2256          45 :     if (!offboard_set) {
+    2257             : 
+    2258           1 :       switchTrackerSrv(old_tracker);
+    2259           1 :       switchControllerSrv(old_controller);
+    2260           1 :       toggleControlOutput(false);
+    2261             : 
+    2262           1 :       std::stringstream ss;
+    2263           1 :       ss << "could not activate offboard mode";
+    2264           1 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2265             : 
+    2266           1 :       return std::tuple(false, ss.str());
+    2267             :     }
+    2268             :   }
+    2269             : 
+    2270             :   // remember this time, later check for timeout
+    2271          44 :   midair_activation_started_ = ros::Time::now();
+    2272             : 
+    2273             :   // start the timer which should check if the offboard is on, activate proper controller and tracker or timeout
+    2274          44 :   timer_midair_activation_.start();
+    2275             : 
+    2276          44 :   std::stringstream ss;
+    2277          44 :   ss << "midair activation initiated, starting the timer";
+    2278          44 :   ROS_INFO_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2279             : 
+    2280          44 :   return std::tuple(true, ss.str());
+    2281             : }
+    2282             : 
+    2283             : //}
+    2284             : 
+    2285             : // | ----------------- service client wrappers ---------------- |
+    2286             : 
+    2287             : /* setOdometryCallbacksSrv() //{ */
+    2288             : 
+    2289          76 : void UavManager::setOdometryCallbacksSrv(const bool& input) {
+    2290             : 
+    2291          76 :   ROS_INFO("[UavManager]: switching odometry callbacks to %s", input ? "ON" : "OFF");
+    2292             : 
+    2293         152 :   std_srvs::SetBool srv;
+    2294             : 
+    2295          76 :   srv.request.data = input;
+    2296             : 
+    2297          76 :   bool res = sch_odometry_callbacks_.call(srv);
+    2298             : 
+    2299          76 :   if (res) {
+    2300             : 
+    2301          76 :     if (!srv.response.success) {
+    2302           0 :       ROS_WARN("[UavManager]: service call for toggle odometry callbacks returned: %s.", srv.response.message.c_str());
+    2303             :     }
+    2304             : 
+    2305             :   } else {
+    2306           0 :     ROS_ERROR("[UavManager]: service call for toggle odometry callbacks failed!");
+    2307             :   }
+    2308          76 : }
+    2309             : 
+    2310             : //}
+    2311             : 
+    2312             : /* setControlCallbacksSrv() //{ */
+    2313             : 
+    2314          84 : void UavManager::setControlCallbacksSrv(const bool& input) {
+    2315             : 
+    2316          84 :   ROS_INFO("[UavManager]: switching control callbacks to %s", input ? "ON" : "OFF");
+    2317             : 
+    2318         168 :   std_srvs::SetBool srv;
+    2319             : 
+    2320          84 :   srv.request.data = input;
+    2321             : 
+    2322          84 :   bool res = sch_control_callbacks_.call(srv);
+    2323             : 
+    2324          84 :   if (res) {
+    2325             : 
+    2326          84 :     if (!srv.response.success) {
+    2327           0 :       ROS_WARN("[UavManager]: service call for setting control callbacks returned: %s.", srv.response.message.c_str());
+    2328             :     }
+    2329             : 
+    2330             :   } else {
+    2331           0 :     ROS_ERROR("[UavManager]: service call for setting control callbacks failed!");
+    2332             :   }
+    2333          84 : }
+    2334             : 
+    2335             : //}
+    2336             : 
+    2337             : /* ungripSrv() //{ */
+    2338             : 
+    2339           5 : void UavManager::ungripSrv(void) {
+    2340             : 
+    2341           5 :   ROS_DEBUG_THROTTLE(1.0, "[UavManager]: ungripping payload");
+    2342             : 
+    2343          10 :   std_srvs::Trigger srv;
+    2344             : 
+    2345           5 :   bool res = sch_ungrip_.call(srv);
+    2346             : 
+    2347           5 :   if (res) {
+    2348             : 
+    2349           0 :     if (!srv.response.success) {
+    2350           0 :       ROS_DEBUG_THROTTLE(1.0, "[UavManager]: service call for ungripping payload returned: %s.", srv.response.message.c_str());
+    2351             :     }
+    2352             : 
+    2353             :   } else {
+    2354           5 :     ROS_DEBUG_THROTTLE(1.0, "[UavManager]: service call for ungripping payload failed!");
+    2355             :   }
+    2356           5 : }
+    2357             : 
+    2358             : //}
+    2359             : 
+    2360             : /* toggleControlOutput() //{ */
+    2361             : 
+    2362          49 : bool UavManager::toggleControlOutput(const bool& input) {
+    2363             : 
+    2364          49 :   ROS_DEBUG_THROTTLE(1.0, "[UavManager]: toggling control output %s", input ? "ON" : "OFF");
+    2365             : 
+    2366          98 :   std_srvs::SetBool srv;
+    2367             : 
+    2368          49 :   srv.request.data = input;
+    2369             : 
+    2370          49 :   bool res = sch_toggle_control_output_.call(srv);
+    2371             : 
+    2372          49 :   if (res) {
+    2373             : 
+    2374          48 :     if (!srv.response.success) {
+    2375           0 :       ROS_DEBUG_THROTTLE(1.0, "[UavManager]: service call for control output returned: %s.", srv.response.message.c_str());
+    2376           0 :       return false;
+    2377             :     } else {
+    2378          48 :       return true;
+    2379             :     }
+    2380             : 
+    2381             :   } else {
+    2382           1 :     ROS_DEBUG_THROTTLE(1.0, "[UavManager]: service call for control output failed!");
+    2383           1 :     return false;
+    2384             :   }
+    2385             : }
+    2386             : 
+    2387             : //}
+    2388             : 
+    2389             : /* offboardSrv() //{ */
+    2390             : 
+    2391          45 : bool UavManager::offboardSrv(const bool in) {
+    2392             : 
+    2393          45 :   ROS_DEBUG_THROTTLE(1.0, "[UavManager]: setting offboard to %d", in);
+    2394             : 
+    2395          90 :   std_srvs::Trigger srv;
+    2396             : 
+    2397          45 :   bool res = sch_offboard_.call(srv);
+    2398             : 
+    2399          45 :   if (!res) {
+    2400             : 
+    2401           1 :     ROS_DEBUG_THROTTLE(1.0, "[UavManager]: service call for offboard failed!");
+    2402           1 :     return false;
+    2403             : 
+    2404             :   } else {
+    2405             : 
+    2406          44 :     if (!srv.response.success) {
+    2407           0 :       ROS_DEBUG_THROTTLE(1.0, "[UavManager]: service call for offboard failed, returned: %s", srv.response.message.c_str());
+    2408           0 :       return false;
+    2409             :     } else {
+    2410          44 :       return true;
+    2411             :     }
+    2412             :   }
+    2413             : }
+    2414             : 
+    2415             : //}
+    2416             : 
+    2417             : /* pirouetteSrv() //{ */
+    2418             : 
+    2419           0 : void UavManager::pirouetteSrv(void) {
+    2420             : 
+    2421           0 :   std_srvs::Trigger srv;
+    2422             : 
+    2423           0 :   bool res = sch_pirouette_.call(srv);
+    2424             : 
+    2425           0 :   if (res) {
+    2426             : 
+    2427           0 :     if (!srv.response.success) {
+    2428           0 :       ROS_WARN_THROTTLE(1.0, "[UavManager]: service call for pirouette returned: %s.", srv.response.message.c_str());
+    2429             :     }
+    2430             : 
+    2431             :   } else {
+    2432           0 :     ROS_ERROR_THROTTLE(1.0, "[UavManager]: service call for pirouette failed!");
+    2433             :   }
+    2434           0 : }
+    2435             : 
+    2436             : //}
+    2437             : 
+    2438             : /* disarmSrv() //{ */
+    2439             : 
+    2440           6 : void UavManager::disarmSrv(void) {
+    2441             : 
+    2442          12 :   std_srvs::SetBool srv;
+    2443             : 
+    2444           6 :   srv.request.data = false;
+    2445             : 
+    2446           6 :   bool res = sch_arm_.call(srv);
+    2447             : 
+    2448           6 :   if (res) {
+    2449             : 
+    2450           6 :     if (!srv.response.success) {
+    2451           0 :       ROS_WARN_THROTTLE(1.0, "[UavManager]: service call disarming returned: %s.", srv.response.message.c_str());
+    2452             :     }
+    2453             : 
+    2454             :   } else {
+    2455           0 :     ROS_ERROR_THROTTLE(1.0, "[UavManager]: service call for disarming failed!");
+    2456             :   }
+    2457           6 : }
+    2458             : 
+    2459             : //}
+    2460             : 
+    2461             : /* switchControllerSrv() //{ */
+    2462             : 
+    2463         124 : bool UavManager::switchControllerSrv(const std::string& controller) {
+    2464             : 
+    2465         124 :   ROS_INFO_STREAM("[UavManager]: activating controller '" << controller << "'");
+    2466             : 
+    2467         248 :   mrs_msgs::String srv;
+    2468         124 :   srv.request.value = controller;
+    2469             : 
+    2470         124 :   bool res = sch_switch_controller_.call(srv);
+    2471             : 
+    2472         124 :   if (res) {
+    2473             : 
+    2474         124 :     if (!srv.response.success) {
+    2475           1 :       ROS_WARN("[UavManager]: service call for switching controller returned: '%s'", srv.response.message.c_str());
+    2476             :     }
+    2477             : 
+    2478         124 :     return srv.response.success;
+    2479             : 
+    2480             :   } else {
+    2481             : 
+    2482           0 :     ROS_ERROR("[UavManager]: service call for switching controller failed!");
+    2483             : 
+    2484           0 :     return false;
+    2485             :   }
+    2486             : }
+    2487             : 
+    2488             : //}
+    2489             : 
+    2490             : /* switchTrackerSrv() //{ */
+    2491             : 
+    2492         125 : bool UavManager::switchTrackerSrv(const std::string& tracker) {
+    2493             : 
+    2494         125 :   ROS_INFO_STREAM("[UavManager]: activating tracker '" << tracker << "'");
+    2495             : 
+    2496             : 
+    2497         250 :   mrs_msgs::String srv;
+    2498         125 :   srv.request.value = tracker;
+    2499             : 
+    2500         125 :   bool res = sch_switch_tracker_.call(srv);
+    2501             : 
+    2502         125 :   if (res) {
+    2503             : 
+    2504         125 :     if (!srv.response.success) {
+    2505           1 :       ROS_WARN("[UavManager]: service call for switching tracker returned: '%s'", srv.response.message.c_str());
+    2506             :     }
+    2507             : 
+    2508         125 :     return srv.response.success;
+    2509             : 
+    2510             :   } else {
+    2511             : 
+    2512           0 :     ROS_ERROR("[UavManager]: service call for switching tracker failed!");
+    2513             : 
+    2514           0 :     return false;
+    2515             :   }
+    2516             : }
+    2517             : 
+    2518             : //}
+    2519             : 
+    2520             : /* landSrv() //{ */
+    2521             : 
+    2522           4 : bool UavManager::landSrv(void) {
+    2523             : 
+    2524           4 :   ROS_INFO("[UavManager]: calling for landing");
+    2525             : 
+    2526           8 :   std_srvs::Trigger srv;
+    2527             : 
+    2528           4 :   bool res = sch_land_.call(srv);
+    2529             : 
+    2530           4 :   if (res) {
+    2531             : 
+    2532           4 :     if (!srv.response.success) {
+    2533           0 :       ROS_WARN("[UavManager]: service call for landing returned: '%s'", srv.response.message.c_str());
+    2534             :     }
+    2535             : 
+    2536           4 :     return srv.response.success;
+    2537             : 
+    2538             :   } else {
+    2539             : 
+    2540           0 :     ROS_ERROR("[UavManager]: service call for landing failed!");
+    2541             : 
+    2542           0 :     return false;
+    2543             :   }
+    2544             : }
+    2545             : 
+    2546             : //}
+    2547             : 
+    2548             : /* elandSrv() //{ */
+    2549             : 
+    2550           0 : bool UavManager::elandSrv(void) {
+    2551             : 
+    2552           0 :   ROS_INFO("[UavManager]: calling for eland");
+    2553             : 
+    2554           0 :   std_srvs::Trigger srv;
+    2555             : 
+    2556           0 :   bool res = sch_eland_.call(srv);
+    2557             : 
+    2558           0 :   if (res) {
+    2559             : 
+    2560           0 :     if (!srv.response.success) {
+    2561           0 :       ROS_WARN("[UavManager]: service call for eland returned: '%s'", srv.response.message.c_str());
+    2562             :     }
+    2563             : 
+    2564           0 :     return srv.response.success;
+    2565             : 
+    2566             :   } else {
+    2567             : 
+    2568           0 :     ROS_ERROR("[UavManager]: service call for eland failed!");
+    2569             : 
+    2570           0 :     return false;
+    2571             :   }
+    2572             : }
+    2573             : 
+    2574             : //}
+    2575             : 
+    2576             : /* ehoverSrv() //{ */
+    2577             : 
+    2578           0 : bool UavManager::ehoverSrv(void) {
+    2579             : 
+    2580           0 :   ROS_INFO("[UavManager]: calling for ehover");
+    2581             : 
+    2582           0 :   std_srvs::Trigger srv;
+    2583             : 
+    2584           0 :   bool res = sch_ehover_.call(srv);
+    2585             : 
+    2586           0 :   if (res) {
+    2587             : 
+    2588           0 :     if (!srv.response.success) {
+    2589           0 :       ROS_WARN("[UavManager]: service call for ehover returned: '%s'", srv.response.message.c_str());
+    2590             :     }
+    2591             : 
+    2592           0 :     return srv.response.success;
+    2593             : 
+    2594             :   } else {
+    2595             : 
+    2596           0 :     ROS_ERROR("[UavManager]: service call for ehover failed!");
+    2597             : 
+    2598           0 :     return false;
+    2599             :   }
+    2600             : }
+    2601             : 
+    2602             : //}
+    2603             : 
+    2604             : /* takeoffSrv() //{ */
+    2605             : 
+    2606          13 : bool UavManager::takeoffSrv(void) {
+    2607             : 
+    2608          13 :   ROS_INFO("[UavManager]: calling for takeoff to height '%.2f m'", _takeoff_height_);
+    2609             : 
+    2610          26 :   mrs_msgs::Vec1 srv;
+    2611             : 
+    2612          13 :   srv.request.goal = _takeoff_height_;
+    2613             : 
+    2614          13 :   bool res = sch_takeoff_.call(srv);
+    2615             : 
+    2616          13 :   if (res) {
+    2617             : 
+    2618          13 :     if (!srv.response.success) {
+    2619           0 :       ROS_WARN("[UavManager]: service call for takeoff returned: '%s'", srv.response.message.c_str());
+    2620             :     }
+    2621             : 
+    2622          13 :     return srv.response.success;
+    2623             : 
+    2624             :   } else {
+    2625             : 
+    2626           0 :     ROS_ERROR("[UavManager]: service call for takeoff failed!");
+    2627             : 
+    2628           0 :     return false;
+    2629             :   }
+    2630             : }
+    2631             : 
+    2632             : //}
+    2633             : 
+    2634             : /* emergencyReferenceSrv() //{ */
+    2635             : 
+    2636          83 : bool UavManager::emergencyReferenceSrv(const mrs_msgs::ReferenceStamped& goal) {
+    2637             : 
+    2638          83 :   ROS_INFO_THROTTLE(1.0, "[UavManager]: calling for emergency reference");
+    2639             : 
+    2640         166 :   mrs_msgs::ReferenceStampedSrv srv;
+    2641             : 
+    2642          83 :   srv.request.header    = goal.header;
+    2643          83 :   srv.request.reference = goal.reference;
+    2644             : 
+    2645          83 :   bool res = sch_emergency_reference_.call(srv);
+    2646             : 
+    2647          83 :   if (res) {
+    2648             : 
+    2649          83 :     if (!srv.response.success) {
+    2650           0 :       ROS_WARN_THROTTLE(1.0, "[UavManager]: service call for emergency reference returned: '%s'", srv.response.message.c_str());
+    2651             :     }
+    2652             : 
+    2653          83 :     return srv.response.success;
+    2654             : 
+    2655             :   } else {
+    2656             : 
+    2657           0 :     ROS_ERROR_THROTTLE(1.0, "[UavManager]: service call for emergency reference failed!");
+    2658             : 
+    2659           0 :     return false;
+    2660             :   }
+    2661             : }
+    2662             : 
+    2663             : //}
+    2664             : 
+    2665             : }  // namespace uav_manager
+    2666             : 
+    2667             : }  // namespace mrs_uav_managers
+    2668             : 
+    2669             : #include <pluginlib/class_list_macros.h>
+    2670          65 : 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..e1f895e2f4 --- /dev/null +++ b/mrs_uav_managers/src/uav_manager.cpp.gcov.overview.html @@ -0,0 +1,688 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/uav_manager.cpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview 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+ Overview +
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl - garmin_agl.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2024-01-20 21:44:18Functions:33100.0 %
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mrs_uav_state_estimators::garmin_agl::GarminAgl::GarminAgl()55
mrs_uav_state_estimators::garmin_agl::GarminAgl::~GarminAgl()55
mrs_uav_state_estimators::garmin_agl::GarminAgl::~GarminAgl().255
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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..2c8b76bef3 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl/garmin_agl.h.func.html @@ -0,0 +1,92 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl/garmin_agl.h - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl - garmin_agl.h (source / functions)HitTotalCoverage
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Date:2024-01-20 21:44:18Functions:33100.0 %
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mrs_uav_state_estimators::garmin_agl::GarminAgl::GarminAgl()55
mrs_uav_state_estimators::garmin_agl::GarminAgl::~GarminAgl()55
mrs_uav_state_estimators::garmin_agl::GarminAgl::~GarminAgl().255
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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..fcc2dfb78f --- /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 + + + + + + + + + + + + + + +
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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:2024-01-20 21:44:18Functions:33100.0 %
Legend: Lines: + hit + not hit +
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+
          Line data    Source code
+
+       1             : #ifndef ESTIMATORS_STATE_GARMIN_AGL_H
+       2             : #define ESTIMATORS_STATE_GARMIN_AGL_H
+       3             : 
+       4             : /* includes //{ */
+       5             : 
+       6             : #include <ros/ros.h>
+       7             : 
+       8             : #include <mrs_msgs/Float64Stamped.h>
+       9             : 
+      10             : #include <mrs_lib/lkf.h>
+      11             : #include <mrs_lib/profiler.h>
+      12             : #include <mrs_lib/param_loader.h>
+      13             : #include <mrs_lib/subscribe_handler.h>
+      14             : #include <mrs_lib/publisher_handler.h>
+      15             : #include <mrs_lib/attitude_converter.h>
+      16             : #include <mrs_lib/transformer.h>
+      17             : 
+      18             : #include <mrs_uav_managers/agl_estimator.h>
+      19             : 
+      20             : #include <mrs_uav_state_estimators/estimators/altitude/alt_generic.h>
+      21             : 
+      22             : //}
+      23             : 
+      24             : namespace mrs_uav_state_estimators
+      25             : {
+      26             : 
+      27             : namespace garmin_agl
+      28             : {
+      29             : const char name[]         = "garmin_agl";
+      30             : const char frame_id[]     = "garmin_agl_origin";
+      31             : const char package_name[] = "mrs_uav_state_estimators";
+      32             : 
+      33             : const bool is_core_plugin = true;
+      34             : 
+      35             : class GarminAgl : public mrs_uav_managers::AglEstimator {
+      36             : 
+      37             : private:
+      38             :   std::unique_ptr<AltGeneric> est_agl_garmin_;
+      39             :   const std::string           est_agl_name_ = "garmin_agl";
+      40             : 
+      41             :   const bool is_core_plugin_;
+      42             : 
+      43             :   ros::Timer timer_update_;
+      44             :   int        _update_timer_rate_;
+      45             :   void       timerUpdate(const ros::TimerEvent &event);
+      46             : 
+      47             :   ros::Timer timer_check_health_;
+      48             :   int        _check_health_timer_rate_;
+      49             :   void       timerCheckHealth(const ros::TimerEvent &event);
+      50             : 
+      51             :   bool isConverged();
+      52             : 
+      53             :   void waitForEstimationInitialization();
+      54             : 
+      55             : public:
+      56          55 :   GarminAgl() : AglEstimator(garmin_agl::name, garmin_agl::frame_id, garmin_agl::package_name), is_core_plugin_(is_core_plugin) {
+      57          55 :   }
+      58             : 
+      59         110 :   ~GarminAgl(void) {
+      60         110 :   }
+      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)124
mrs_uav_state_estimators::AltGeneric::~AltGeneric()124
mrs_uav_state_estimators::AltGeneric::~AltGeneric().2124
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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)124
mrs_uav_state_estimators::AltGeneric::~AltGeneric()124
mrs_uav_state_estimators::AltGeneric::~AltGeneric().2124
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Date:2024-01-20 21:44:18Functions:33100.0 %
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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 A_t        = lkf_t::A_t;
+      46             :   using B_t        = lkf_t::B_t;
+      47             :   using H_t        = lkf_t::H_t;
+      48             :   using Q_t        = lkf_t::Q_t;
+      49             :   using x_t        = lkf_t::x_t;
+      50             :   using P_t        = lkf_t::P_t;
+      51             :   using u_t        = lkf_t::u_t;
+      52             :   using z_t        = lkf_t::z_t;
+      53             :   using R_t        = lkf_t::R_t;
+      54             :   using statecov_t = lkf_t::statecov_t;
+      55             : 
+      56             :   typedef mrs_lib::Repredictor<lkf_t> rep_lkf_t;
+      57             : 
+      58             :   using StateId_t = mrs_uav_managers::estimation_manager::StateId_t;
+      59             : 
+      60             : private:
+      61             :   std::string parent_state_est_name_;
+      62             : 
+      63             :   double                              dt_;
+      64             :   double                              input_coeff_, 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<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(AltitudeEstimatorConfig& config, [[maybe_unused]] uint32_t level);
+      78             : 
+      79             :   z_t                innovation_;
+      80             :   mutable std::mutex mtx_innovation_;
+      81             : 
+      82             :   bool is_error_state_first_time_ = true;
+      83             :   ros::Duration error_state_duration_;
+      84             :   ros::Time prev_time_in_error_state_;
+      85             : 
+      86             :   bool is_repredictor_enabled_;
+      87             :   int  rep_buffer_size_ = 200;
+      88             : 
+      89             :   const bool is_core_plugin_;
+      90             : 
+      91             :   std::vector<std::string>                                              correction_names_;
+      92             :   std::vector<std::shared_ptr<Correction<alt_generic::n_measurements>>> corrections_;
+      93             : 
+      94             :   mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput> sh_control_input_;
+      95             :   void                                                timeoutCallback(const std::string &topic, const ros::Time &last_msg);
+      96             :   std::atomic<bool>                                   is_input_ready_ = false;
+      97             : 
+      98             :   ros::Timer timer_update_;
+      99             :   void       timerUpdate(const ros::TimerEvent &event);
+     100             : 
+     101             :   ros::Timer timer_check_health_;
+     102             :   void       timerCheckHealth(const ros::TimerEvent &event);
+     103             : 
+     104             :   void doCorrection(const Correction<alt_generic::n_measurements>::MeasurementStamped &meas, const double R, const StateId_t &state_id);
+     105             :   void doCorrection(const z_t &z, const double R, const StateId_t &H_idx, const ros::Time &meas_stamp);
+     106             : 
+     107             :   bool isConverged();
+     108             : 
+     109             :   Q_t                getQ();
+     110             :   mutable std::mutex mtx_Q_;
+     111             : 
+     112             : public:
+     113         124 :   AltGeneric(const std::string &name, const std::string &ns_frame_id, const std::string &parent_state_est_name, const bool is_core_plugin)
+     114         124 :       : AltitudeEstimator<alt_generic::n_states>(name, ns_frame_id), parent_state_est_name_(parent_state_est_name), is_core_plugin_(is_core_plugin) {
+     115         124 :   }
+     116             : 
+     117         248 :   ~AltGeneric(void) {
+     118         248 :   }
+     119             : 
+     120             :   void initialize(ros::NodeHandle &nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) override;
+     121             :   bool start(void) override;
+     122             :   bool pause(void) override;
+     123             :   bool reset(void) override;
+     124             : 
+     125             :   double getState(const int &state_idx_in) const override;
+     126             :   double getState(const int &state_id_in, const int &axis_in) const override;
+     127             : 
+     128             :   void setState(const double &state_in, const int &state_idx_in) override;
+     129             :   void setState(const double &state_in, const int &state_id_in, const int &axis_in) override;
+     130             : 
+     131             :   states_t getStates(void) const override;
+     132             :   void     setStates(const states_t &states_in) override;
+     133             : 
+     134             :   double getCovariance(const int &state_idx_in) const override;
+     135             :   double getCovariance(const int &state_id_in, const int &axis_in) const override;
+     136             : 
+     137             :   covariance_t getCovarianceMatrix(void) const override;
+     138             :   void         setCovarianceMatrix(const covariance_t &cov_in) override;
+     139             : 
+     140             :   double getInnovation(const int &state_idx) const override;
+     141             :   double getInnovation(const int &state_id_in, const int &axis_in) const override;
+     142             : 
+     143             :   void setDt(const double &dt);
+     144             :   void setInputCoeff(const double &input_coeff);
+     145             : 
+     146             :   void generateA();
+     147             :   void generateB();
+     148             : 
+     149             :   void timeoutOdom(const std::string &topic, const ros::Time &last_msg, const int n_pubs);
+     150             :   void timeoutRange(const std::string &topic, const ros::Time &last_msg, const int n_pubs);
+     151             : 
+     152             :   std::string getNamespacedName() const;
+     153             : 
+     154             :   std::string getPrintName() const;
+     155             : };
+     156             : }  // namespace mrs_uav_state_estimators
+     157             : 
+     158             : #endif  // ESTIMATORS_ALTITUDE_ALT_GENERIC_H
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/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..872f0abb3c --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/alt_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/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 + + +
+ 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..fdd77c42987a7bc3630f5b90c60f6d87d72bbc76 GIT binary patch literal 682 zcmV;b0#*HqP)(mad{$f%qh)u%DK)n18Omi@VH(-O z)_}`B6W2G~-*Anm>(3a#TneMWW6mw0+Yr#5A)jS30HK+ue@s(ebjWF^N?g&FDXkhc zG~zLTeZWj>n!`|lHse2V4KNqve8q6arh4#3f`bu-$|g1;(RmLEU`=*H?^@9!0UI@^ zm|l~j@|VDFvh+i4168u#6@k{4`U+GgvM(ilW+X-t>oXb$SXA0+25Diyh?J6uyE9+$ zkQFRg3M?2zjk7C!Ex;D`{4v0J3_tQ%@`7ugeo`pQl6^9|GAJxAvEYWv%p@X;bXImx zy;K(RwOpYq0C zFMGUT-OP4Py4e!X-YB;BWv~3Xr@wdpyspExZTnlc7ySy`zPT*;Ulg;WflYMLA$uz%m|-ns!A!oyX6teHI$8v@6Ddi^C>a(n?R5I16zQm+97J9 QqyPW_07*qoM6N<$f@O^^S^xk5 literal 0 HcmV?d00001 diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/altitude_estimator.h.func-sort-c.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/altitude_estimator.h.func-sort-c.html new file mode 100644 index 0000000000..3316fed405 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/altitude_estimator.h.func-sort-c.html @@ -0,0 +1,92 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/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:2024-01-20 21:44:18Functions:2366.7 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::AltitudeEstimator<3>::~AltitudeEstimator()0
mrs_uav_state_estimators::AltitudeEstimator<3>::AltitudeEstimator(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)124
mrs_uav_state_estimators::AltitudeEstimator<3>::~AltitudeEstimator().2124
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+
+ + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/altitude_estimator.h.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..9ba9c26506 --- /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
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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:2024-01-20 21:44:18Functions:2366.7 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::AltitudeEstimator<3>::AltitudeEstimator(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)124
mrs_uav_state_estimators::AltitudeEstimator<3>::~AltitudeEstimator()0
mrs_uav_state_estimators::AltitudeEstimator<3>::~AltitudeEstimator().2124
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+
+ + + +
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..47d5140526 --- /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
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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:2024-01-20 21:44:18Functions: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         124 :   AltitudeEstimator(const std::string& name, const std::string& frame_id) : PartialEstimator<n_states, 1>(altitude::type, name, frame_id) {
+      31         124 :   }
+      32             : 
+      33         124 :   virtual ~AltitudeEstimator(void) {
+      34         124 :   }
+      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..c173226744 --- /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
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitudeHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:99100.0 %
Date:2024-01-20 21:44:18Functions: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..f03ba1a981 --- /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:2024-01-20 21:44:18Functions: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
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+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/index-detail.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/index-detail.html new file mode 100644 index 0000000000..cdba6d3765 --- /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:2024-01-20 21:44:18Functions: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
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+ + + 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..cb4cd13992 --- /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
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitudeHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:99100.0 %
Date:2024-01-20 21:44:18Functions: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..b8c479d683 --- /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:2024-01-20 21:44:18Functions: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
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..f0629d3464 --- /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
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitudeHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:99100.0 %
Date:2024-01-20 21:44:18Functions: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..9a61a593d8 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.h.func-sort-c.html @@ -0,0 +1,348 @@ + + + + + + + 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:37165556.6 %
Date:2024-01-20 21:44:18Functions:476770.1 %
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>::callbackPoint(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<1>::getVelInFrame(geometry_msgs::Vector3_<std::allocator<void> > const&, std_msgs::Header_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)0
mrs_uav_state_estimators::Correction<1>::callbackOdometry(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<1>::callbackPoseStamped(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<1>::callbackToggleRange(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)0
mrs_uav_state_estimators::Correction<1>::getCorrectionFromQuat(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<1>::getCorrectionFromPoint(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<1>::getCorrectionFromOdometry(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<1>::getCorrectionFromPoseStamped(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<2>::callbackRange(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<2>::getAvgRtkInitZ(double)0
mrs_uav_state_estimators::Correction<2>::getZVelUntilted(geometry_msgs::Vector3_<std::allocator<void> > const&, std_msgs::Header_<std::allocator<void> > const&)0
mrs_uav_state_estimators::Correction<2>::resetProcessors()0
mrs_uav_state_estimators::Correction<2>::callbackOdometry(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<2>::callbackPoseStamped(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<2>::callbackToggleRange(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)0
mrs_uav_state_estimators::Correction<2>::getCorrectionFromQuat(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<2>::getCorrectionFromRange(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<2>::getCorrectionFromOdometry(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<2>::getCorrectionFromPoseStamped(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<1>::getAvgRtkInitZ(double)22
mrs_uav_state_estimators::Correction<2>::createProcessorFromName(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::NodeHandle&)69
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)>)73
mrs_uav_state_estimators::Correction<2>::getName[abi:cxx11]() const146
mrs_uav_state_estimators::Correction<2>::getPrintName[abi:cxx11]() const149
mrs_uav_state_estimators::Correction<1>::createProcessorFromName(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::NodeHandle&)182
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)>)186
mrs_uav_state_estimators::Correction<2>::getNamespacedName[abi:cxx11]() const293
mrs_uav_state_estimators::Correction<1>::getName[abi:cxx11]() const372
mrs_uav_state_estimators::Correction<1>::getPrintName[abi:cxx11]() const411
mrs_uav_state_estimators::Correction<1>::getNamespacedName[abi:cxx11]() const735
mrs_uav_state_estimators::Correction<1>::callbackRtk(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)2544
mrs_uav_state_estimators::Correction<1>::getCorrectionFromRtk(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)2568
mrs_uav_state_estimators::Correction<1>::transformRtkToFcu(geometry_msgs::PoseStamped_<std::allocator<void> > const&) const2568
mrs_uav_state_estimators::Correction<2>::getProcessedCorrection()2727
mrs_uav_state_estimators::Correction<2>::getRawCorrection()2728
mrs_uav_state_estimators::Correction<1>::getRawCorrection()4980
mrs_uav_state_estimators::Correction<1>::getProcessedCorrection()4981
mrs_uav_state_estimators::Correction<2>::callbackRtk(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)5386
mrs_uav_state_estimators::Correction<2>::getCorrectionFromRtk(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)5446
mrs_uav_state_estimators::Correction<2>::transformRtkToFcu(geometry_msgs::PoseStamped_<std::allocator<void> > const&) const5448
mrs_uav_state_estimators::Correction<2>::callbackVector(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>)10844
mrs_uav_state_estimators::Correction<2>::getCorrectionFromVector(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>)10868
mrs_uav_state_estimators::Correction<2>::getVelInFrame(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> >)10869
mrs_uav_state_estimators::Correction<2>::callbackPoint(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)119398
mrs_uav_state_estimators::Correction<2>::getCorrectionFromPoint(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)120802
mrs_uav_state_estimators::Correction<1>::getZVelUntilted(geometry_msgs::Vector3_<std::allocator<void> > const&, std_msgs::Header_<std::allocator<void> > const&)127938
mrs_uav_state_estimators::Correction<1>::callbackVector(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>)127946
mrs_uav_state_estimators::Correction<1>::getCorrectionFromVector(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>)127980
mrs_uav_state_estimators::Correction<2>::setR(double)135344
mrs_uav_state_estimators::Correction<2>::getStateId() const135564
mrs_uav_state_estimators::Correction<2>::applyCorrection(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, ros::Time const&)135578
mrs_uav_state_estimators::Correction<2>::process(Eigen::Matrix<double, 2, 1, 0, 2, 1>&)137141
mrs_uav_state_estimators::Correction<2>::isHealthy()149816
mrs_uav_state_estimators::Correction<2>::isMsgComing()149817
mrs_uav_state_estimators::Correction<1>::callbackRange(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>)192597
mrs_uav_state_estimators::Correction<1>::getCorrectionFromRange(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>)194813
mrs_uav_state_estimators::Correction<2>::publishCorrection(mrs_uav_state_estimators::Correction<2>::MeasurementStamped const&, mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >&)272342
mrs_uav_state_estimators::Correction<1>::getStateId() const320383
mrs_uav_state_estimators::Correction<1>::setR(double)320385
mrs_uav_state_estimators::Correction<1>::applyCorrection(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, ros::Time const&)323293
mrs_uav_state_estimators::Correction<1>::process(Eigen::Matrix<double, 1, 1, 0, 1, 1>&)326309
mrs_uav_state_estimators::Correction<1>::isHealthy()349308
mrs_uav_state_estimators::Correction<1>::isMsgComing()349362
mrs_uav_state_estimators::Correction<1>::publishCorrection(mrs_uav_state_estimators::Correction<1>::MeasurementStamped const&, mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >&)646610
mrs_uav_state_estimators::Correction<2>::getR()679660
mrs_uav_state_estimators::Correction<1>::getR()966774
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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.func.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.h.func.html new file mode 100644 index 0000000000..16645dfeeb --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.h.func.html @@ -0,0 +1,348 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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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:37165556.6 %
Date:2024-01-20 21:44:18Functions:476770.1 %
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>::callbackRtk(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)2544
mrs_uav_state_estimators::Correction<1>::isMsgComing()349362
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>)192597
mrs_uav_state_estimators::Correction<1>::getVelInFrame(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>)127946
mrs_uav_state_estimators::Correction<1>::getAvgRtkInitZ(double)22
mrs_uav_state_estimators::Correction<1>::applyCorrection(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, ros::Time const&)323293
mrs_uav_state_estimators::Correction<1>::getZVelUntilted(geometry_msgs::Vector3_<std::allocator<void> > const&, std_msgs::Header_<std::allocator<void> > const&)127938
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()4980
mrs_uav_state_estimators::Correction<1>::publishCorrection(mrs_uav_state_estimators::Correction<1>::MeasurementStamped const&, mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >&)646610
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>::getCorrectionFromRtk(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)2568
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>)194813
mrs_uav_state_estimators::Correction<1>::getProcessedCorrection()4981
mrs_uav_state_estimators::Correction<1>::createProcessorFromName(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::NodeHandle&)182
mrs_uav_state_estimators::Correction<1>::getCorrectionFromVector(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>)127980
mrs_uav_state_estimators::Correction<1>::getCorrectionFromOdometry(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<1>::getCorrectionFromPoseStamped(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<1>::getR()966774
mrs_uav_state_estimators::Correction<1>::setR(double)320385
mrs_uav_state_estimators::Correction<1>::process(Eigen::Matrix<double, 1, 1, 0, 1, 1>&)326309
mrs_uav_state_estimators::Correction<1>::isHealthy()349308
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)>)186
mrs_uav_state_estimators::Correction<2>::callbackRtk(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)5386
mrs_uav_state_estimators::Correction<2>::isMsgComing()149817
mrs_uav_state_estimators::Correction<2>::callbackPoint(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)119398
mrs_uav_state_estimators::Correction<2>::callbackRange(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<2>::getVelInFrame(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> >)10869
mrs_uav_state_estimators::Correction<2>::callbackVector(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>)10844
mrs_uav_state_estimators::Correction<2>::getAvgRtkInitZ(double)0
mrs_uav_state_estimators::Correction<2>::applyCorrection(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, ros::Time const&)135578
mrs_uav_state_estimators::Correction<2>::getZVelUntilted(geometry_msgs::Vector3_<std::allocator<void> > const&, std_msgs::Header_<std::allocator<void> > const&)0
mrs_uav_state_estimators::Correction<2>::resetProcessors()0
mrs_uav_state_estimators::Correction<2>::callbackOdometry(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<2>::getRawCorrection()2728
mrs_uav_state_estimators::Correction<2>::publishCorrection(mrs_uav_state_estimators::Correction<2>::MeasurementStamped const&, mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >&)272342
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>::getCorrectionFromRtk(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)5446
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>)120802
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()2727
mrs_uav_state_estimators::Correction<2>::createProcessorFromName(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::NodeHandle&)69
mrs_uav_state_estimators::Correction<2>::getCorrectionFromVector(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>)10868
mrs_uav_state_estimators::Correction<2>::getCorrectionFromOdometry(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<2>::getCorrectionFromPoseStamped(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<2>::getR()679660
mrs_uav_state_estimators::Correction<2>::setR(double)135344
mrs_uav_state_estimators::Correction<2>::process(Eigen::Matrix<double, 2, 1, 0, 2, 1>&)137141
mrs_uav_state_estimators::Correction<2>::isHealthy()149816
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)>)73
mrs_uav_state_estimators::Correction<1>::getStateId() const320383
mrs_uav_state_estimators::Correction<1>::getPrintName[abi:cxx11]() const411
mrs_uav_state_estimators::Correction<1>::getNamespacedName[abi:cxx11]() const735
mrs_uav_state_estimators::Correction<1>::transformRtkToFcu(geometry_msgs::PoseStamped_<std::allocator<void> > const&) const2568
mrs_uav_state_estimators::Correction<1>::getName[abi:cxx11]() const372
mrs_uav_state_estimators::Correction<2>::getStateId() const135564
mrs_uav_state_estimators::Correction<2>::getPrintName[abi:cxx11]() const149
mrs_uav_state_estimators::Correction<2>::getNamespacedName[abi:cxx11]() const293
mrs_uav_state_estimators::Correction<2>::transformRtkToFcu(geometry_msgs::PoseStamped_<std::allocator<void> > const&) const5448
mrs_uav_state_estimators::Correction<2>::getName[abi:cxx11]() const146
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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 - correction.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:37165556.6 %
Date:2024-01-20 21:44:18Functions:476770.1 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + +

+
          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 <nav_msgs/Odometry.h>
+      22             : 
+      23             : #include <std_srvs/SetBool.h>
+      24             : 
+      25             : #include <functional>
+      26             : 
+      27             : #include <mrs_uav_managers/estimation_manager/types.h>
+      28             : #include <mrs_uav_managers/estimation_manager/support.h>
+      29             : #include <mrs_uav_managers/estimation_manager/common_handlers.h>
+      30             : #include <mrs_uav_managers/estimation_manager/private_handlers.h>
+      31             : 
+      32             : #include <mrs_uav_state_estimators/processors/processor.h>
+      33             : #include <mrs_uav_state_estimators/processors/proc_median_filter.h>
+      34             : #include <mrs_uav_state_estimators/processors/proc_saturate.h>
+      35             : #include <mrs_uav_state_estimators/processors/proc_excessive_tilt.h>
+      36             : #include <mrs_uav_state_estimators/processors/proc_tf_to_world.h>
+      37             : 
+      38             : #include <mrs_uav_state_estimators/CorrectionConfig.h>
+      39             : 
+      40             : 
+      41             : namespace mrs_uav_state_estimators
+      42             : {
+      43             : 
+      44             : typedef enum
+      45             : {
+      46             :   LATERAL,
+      47             :   ALTITUDE,
+      48             :   HEADING
+      49             : } EstimatorType_t;
+      50             : const int n_EstimatorType_t = 3;
+      51             : 
+      52             : typedef enum
+      53             : {
+      54             :   UNKNOWN,
+      55             :   ODOMETRY,
+      56             :   POSE,
+      57             :   POSECOV,
+      58             :   RANGE,
+      59             :   RTK_GPS,
+      60             :   POINT,
+      61             :   VECTOR,
+      62             :   QUAT,
+      63             : } MessageType_t;
+      64             : const int n_MessageType_t = 9;
+      65             : 
+      66             : const std::map<std::string, MessageType_t> map_msg_type{{"nav_msgs/Odometry", MessageType_t::ODOMETRY},
+      67             :                                                         {"geometry_msgs/PoseStamped", MessageType_t::POSE},
+      68             :                                                         {"geometry_msgs/PoseWithCovarianceStamped", MessageType_t::POSECOV},
+      69             :                                                         {"sensor_msgs/Range", MessageType_t::RANGE},
+      70             :                                                         {"mrs_msgs/RtkGps", MessageType_t::RTK_GPS},
+      71             :                                                         {"geometry_msgs/PointStamped", MessageType_t::POINT},
+      72             :                                                         {"geometry_msgs/Vector3Stamped", MessageType_t::VECTOR},
+      73             :                                                         {"geometry_msgs/QuaternionStamped", MessageType_t::QUAT}};
+      74             : 
+      75             : template <int n_measurements>
+      76             : class Correction {
+      77             : 
+      78             :   using CommonHandlers_t  = mrs_uav_managers::estimation_manager::CommonHandlers_t;
+      79             :   using PrivateHandlers_t = mrs_uav_managers::estimation_manager::PrivateHandlers_t;
+      80             :   using StateId_t         = mrs_uav_managers::estimation_manager::StateId_t;
+      81             : 
+      82             : public:
+      83             :   typedef Eigen::Matrix<double, n_measurements, 1>         measurement_t;
+      84             :   typedef mrs_lib::DynamicReconfigureMgr<CorrectionConfig> drmgr_t;
+      85             : 
+      86             :   struct MeasurementStamped
+      87             :   {
+      88             :     ros::Time     stamp;
+      89             :     measurement_t value;
+      90             :   };
+      91             : 
+      92             : public:
+      93             :   Correction(ros::NodeHandle& nh, const std::string& est_name, const std::string& name, const std::string& frame_id, const EstimatorType_t& est_type,
+      94             :              const std::shared_ptr<CommonHandlers_t>& ch, const std::shared_ptr<PrivateHandlers_t>& ph, std::function<double(int, int)> fun_get_state,
+      95             :              std::function<void(MeasurementStamped, double, StateId_t)> fun_apply_correction);
+      96             : 
+      97             :   std::string getName() const;
+      98             :   std::string getNamespacedName() const;
+      99             :   std::string getPrintName() const;
+     100             : 
+     101             :   double    getR();
+     102             :   void      setR(const double R);
+     103             :   StateId_t getStateId() const;
+     104             : 
+     105             :   bool             isHealthy();
+     106             :   ros::Time        healthy_time_;
+     107             :   std::atomic_bool is_healthy_    = true;
+     108             :   std::atomic_bool is_delay_ok_   = true;
+     109             :   std::atomic_bool is_dt_ok_      = true;
+     110             :   std::atomic_bool is_nan_free_   = true;
+     111             :   std::atomic_bool got_first_msg_ = false;
+     112             : 
+     113             :   int counter_nan_ = 0;
+     114             : 
+     115             :   std::optional<MeasurementStamped> getRawCorrection();
+     116             :   std::optional<MeasurementStamped> getProcessedCorrection();
+     117             : 
+     118             :   void resetProcessors();
+     119             : 
+     120             : private:
+     121             :   std::atomic_bool is_initialized_ = false;
+     122             : 
+     123             :   mrs_lib::SubscribeHandler<nav_msgs::Odometry> sh_odom_;
+     124             :   void                                          callbackOdometry(const nav_msgs::Odometry::ConstPtr msg);
+     125             :   std::optional<measurement_t>                  getCorrectionFromOdometry(const nav_msgs::OdometryConstPtr msg);
+     126             : 
+     127             :   mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped> sh_pose_s_;
+     128             :   void                                                  callbackPoseStamped(const geometry_msgs::PoseStamped::ConstPtr msg);
+     129             :   std::optional<measurement_t>                          getCorrectionFromPoseStamped(const geometry_msgs::PoseStampedConstPtr msg);
+     130             : 
+     131             :   mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped> sh_pose_wcs_;
+     132             : 
+     133             :   mrs_lib::SubscribeHandler<mrs_msgs::RtkGps> sh_rtk_;
+     134             :   void                                        callbackRtk(const mrs_msgs::RtkGps::ConstPtr msg);
+     135             :   std::optional<measurement_t>                getCorrectionFromRtk(const mrs_msgs::RtkGpsConstPtr msg);
+     136             :   void                                        getAvgRtkInitZ(const double rtk_z);
+     137             :   bool                                        got_avg_init_rtk_z_ = false;
+     138             :   double                                      rtk_init_z_avg_     = 0.0;
+     139             :   int                                         got_rtk_counter_    = 0;
+     140             : 
+     141             :   mrs_lib::SubscribeHandler<geometry_msgs::PointStamped> sh_point_;
+     142             :   void                                                   callbackPoint(const geometry_msgs::PointStamped::ConstPtr msg);
+     143             :   std::optional<measurement_t>                           getCorrectionFromPoint(const geometry_msgs::PointStampedConstPtr msg);
+     144             : 
+     145             :   mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped> sh_vector_;
+     146             :   std::optional<measurement_t>                             getCorrectionFromVector(const geometry_msgs::Vector3StampedConstPtr msg);
+     147             :   void                                                     callbackVector(const geometry_msgs::Vector3Stamped::ConstPtr msg);
+     148             : 
+     149             :   mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped> sh_orientation_; // for obtaining heading rate
+     150             :   std::string orientation_topic_;
+     151             : 
+     152             :   mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped> sh_quat_;
+     153             :   measurement_t                                               prev_hdg_measurement_;
+     154             :   bool                                                        got_first_hdg_measurement_ = false;
+     155             : 
+     156             :   mrs_lib::SubscribeHandler<sensor_msgs::Range> sh_range_;
+     157             :   std::optional<measurement_t>                  getCorrectionFromRange(const sensor_msgs::RangeConstPtr msg);
+     158             :   void                                          callbackRange(const sensor_msgs::Range::ConstPtr msg);
+     159             :   ros::ServiceServer                            ser_toggle_range_;
+     160             :   bool                                          callbackToggleRange(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res);
+     161             :   bool                                          range_enabled_ = true;
+     162             : 
+     163             :   void applyCorrection(const measurement_t& meas, const ros::Time& stamp);
+     164             : 
+     165             :   mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection> ph_correction_raw_;
+     166             :   mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection> ph_correction_proc_;
+     167             :   mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>      ph_delay_;
+     168             : 
+     169             :   const std::string                  est_name_;
+     170             :   const std::string                  name_;
+     171             :   const std::string                  ns_frame_id_;
+     172             :   const EstimatorType_t              est_type_;
+     173             :   std::shared_ptr<CommonHandlers_t>  ch_;
+     174             :   std::shared_ptr<PrivateHandlers_t> ph_;
+     175             : 
+     176             :   MessageType_t msg_type_;
+     177             :   std::string   msg_topic_;
+     178             :   double        msg_timeout_;
+     179             : 
+     180             :   double     R_;
+     181             :   double     default_R_;
+     182             :   double     R_coeff_;
+     183             :   std::mutex mtx_R_;
+     184             :   StateId_t  state_id_;
+     185             :   bool       is_in_body_frame_ = true;
+     186             : 
+     187             :   std::unique_ptr<drmgr_t> drmgr_;
+     188             : 
+     189             :   std::optional<measurement_t> getCorrectionFromQuat(const geometry_msgs::QuaternionStampedConstPtr msg);
+     190             :   std::optional<measurement_t> getZVelUntilted(const geometry_msgs::Vector3& msg, const std_msgs::Header& header);
+     191             :   std::optional<measurement_t> getVelInFrame(const geometry_msgs::Vector3& vel_in, const std_msgs::Header& source_header, const std::string target_frame);
+     192             : 
+     193             :   std::optional<geometry_msgs::Pose> transformRtkToFcu(const geometry_msgs::PoseStamped& pose_in) const;
+     194             : 
+     195             :   void   checkMsgDelay(const ros::Time& msg_time);
+     196             :   double msg_delay_limit_;
+     197             :   double msg_delay_warn_limit_;
+     198             : 
+     199             :   double time_since_last_msg_limit_;
+     200             : 
+     201             :   std::shared_ptr<Processor<n_measurements>> createProcessorFromName(const std::string& name, ros::NodeHandle& nh);
+     202             :   bool                                       process(measurement_t& measurement);
+     203             : 
+     204             :   bool             isTimestampOk();
+     205             :   bool             isMsgComing();
+     206             :   std::atomic_bool first_timestamp_ = true;
+     207             :   ros::Time        msg_time_;
+     208             :   ros::Time        prev_msg_time_;
+     209             :   std::mutex       mtx_msg_time_;
+     210             : 
+     211             :   std::vector<std::string>                                                    processor_names_;
+     212             :   std::unordered_map<std::string, std::shared_ptr<Processor<n_measurements>>> processors_;
+     213             : 
+     214             :   std::function<double(int, int)>                            fun_get_state_;
+     215             :   std::function<void(MeasurementStamped, double, StateId_t)> fun_apply_correction_;
+     216             : 
+     217             :   void publishCorrection(const MeasurementStamped& measurement_stamped, mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection>& ph_corr);
+     218             :   void publishDelay(const double delay);
+     219             : };
+     220             : 
+     221             : /*//{ constructor */
+     222             : template <int n_measurements>
+     223         259 : Correction<n_measurements>::Correction(ros::NodeHandle& nh, const std::string& est_name, const std::string& name, const std::string& ns_frame_id,
+     224             :                                        const EstimatorType_t& est_type, const std::shared_ptr<CommonHandlers_t>& ch,
+     225             :                                        const std::shared_ptr<PrivateHandlers_t>& ph, std::function<double(int, int)> fun_get_state,
+     226             :                                        std::function<void(MeasurementStamped, double, StateId_t)> fun_apply_correction)
+     227             :     : est_name_(est_name),
+     228             :       name_(name),
+     229             :       ns_frame_id_(ns_frame_id),
+     230             :       est_type_(est_type),
+     231             :       ch_(ch),
+     232             :       ph_(ph),
+     233             :       fun_get_state_(fun_get_state),
+     234         259 :       fun_apply_correction_(fun_apply_correction) {
+     235             : 
+     236             :   // | --------------------- load parameters -------------------- |
+     237             : 
+     238         518 :   std::string msg_type_string;
+     239             : 
+     240         259 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch->nodelet_name) + "/" + getNamespacedName() + "/");
+     241             : 
+     242         259 :   ph->param_loader->loadParam("message/type", msg_type_string);
+     243         259 :   if (map_msg_type.find(msg_type_string) == map_msg_type.end()) {
+     244           0 :     ROS_ERROR("[%s]: wrong message type: %s of correction %s", getPrintName().c_str(), msg_type_string.c_str(), getName().c_str());
+     245           0 :     ros::shutdown();
+     246             :   }
+     247         259 :   msg_type_ = map_msg_type.at(msg_type_string);
+     248             : 
+     249         259 :   ph->param_loader->loadParam("message/topic", msg_topic_);
+     250         259 :   msg_topic_ = "/" + ch_->uav_name + "/" + msg_topic_;
+     251         259 :   ph->param_loader->loadParam("message/limit/delay", msg_delay_limit_);
+     252         259 :   msg_delay_warn_limit_ = msg_delay_limit_ / 2;  // maybe specify this as a param?
+     253         259 :   ph->param_loader->loadParam("message/limit/time_since_last", time_since_last_msg_limit_);
+     254             : 
+     255             :   int state_id_tmp;
+     256         259 :   ph->param_loader->loadParam("state_id", state_id_tmp);
+     257         259 :   if (state_id_tmp < n_StateId_t) {
+     258         259 :     state_id_ = static_cast<StateId_t>(state_id_tmp);
+     259             :   } else {
+     260           0 :     ROS_ERROR("[%s]: wrong state id: %d of correction %s", getPrintName().c_str(), state_id_tmp, getName().c_str());
+     261           0 :     ros::shutdown();
+     262             :   }
+     263             : 
+     264         259 :   if (state_id_ == StateId_t::VELOCITY) {
+     265          73 :     ph->param_loader->loadParam("body_frame", is_in_body_frame_, true);
+     266             :   }
+     267             : 
+     268         259 :   ph->param_loader->loadParam("noise", R_);
+     269         259 :   ph->param_loader->loadParam("noise_unhealthy_coeff", R_coeff_);
+     270         259 :   default_R_ = R_;
+     271             : 
+     272             :   // | --------------- processors initialization --------------- |
+     273         259 :   ph->param_loader->loadParam("processors", processor_names_);
+     274             : 
+     275         510 :   for (auto proc_name : processor_names_) {
+     276         251 :     processors_[proc_name] = createProcessorFromName(proc_name, nh);
+     277             :   }
+     278             : 
+     279             :   // | ------------- initialize dynamic reconfigure ------------- |
+     280         259 :   drmgr_               = std::make_unique<drmgr_t>(ros::NodeHandle("~/" + getNamespacedName()), getPrintName());
+     281         259 :   drmgr_->config.noise = R_;
+     282         259 :   drmgr_->update_config(drmgr_->config);
+     283             : 
+     284             :   // | -------------- initialize subscribe handlers ------------- |
+     285         518 :   mrs_lib::SubscribeHandlerOptions shopts;
+     286         259 :   shopts.nh                 = nh;
+     287         259 :   shopts.node_name          = getPrintName();
+     288         259 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     289         259 :   shopts.threadsafe         = true;
+     290         259 :   shopts.autostart          = true;
+     291         259 :   shopts.queue_size         = 10;
+     292         259 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     293             : 
+     294         259 :   switch (msg_type_) {
+     295           0 :     case MessageType_t::ODOMETRY: {
+     296           0 :       sh_odom_ = mrs_lib::SubscribeHandler<nav_msgs::Odometry>(shopts, msg_topic_, &Correction::callbackOdometry, this);
+     297           0 :       break;
+     298             :     }
+     299           0 :     case MessageType_t::POSE: {
+     300           0 :       sh_pose_s_ = mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped>(shopts, msg_topic_, &Correction::callbackPoseStamped, this);
+     301           0 :       break;
+     302             :     }
+     303           0 :     case MessageType_t::POSECOV: {
+     304             :       // TODO implement
+     305             :       /* sh_pose_wcs_ = mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped>(shopts, msg_topic_); */
+     306           0 :       break;
+     307             :     }
+     308         115 :     case MessageType_t::RANGE: {
+     309         115 :       sh_range_                   = mrs_lib::SubscribeHandler<sensor_msgs::Range>(shopts, msg_topic_, &Correction::callbackRange, this);
+     310         115 :       const std::size_t found     = ros::this_node::getName().find_last_of("/");
+     311         230 :       std::string       node_name = ros::this_node::getName().substr(found + 1);
+     312         230 :       ser_toggle_range_ =
+     313         115 :           nh.advertiseService(ros::this_node::getName() + "/" + getNamespacedName() + "/toggle_range_in", &Correction::callbackToggleRange, this);
+     314         115 :       break;
+     315             :     }
+     316           6 :     case MessageType_t::RTK_GPS: {
+     317           6 :       sh_rtk_ = mrs_lib::SubscribeHandler<mrs_msgs::RtkGps>(shopts, msg_topic_, &Correction::callbackRtk, this);
+     318           6 :       break;
+     319             :     }
+     320          65 :     case MessageType_t::POINT: {
+     321          65 :       sh_point_ = mrs_lib::SubscribeHandler<geometry_msgs::PointStamped>(shopts, msg_topic_, &Correction::callbackPoint, this);
+     322          65 :       break;
+     323             :     }
+     324          73 :     case MessageType_t::VECTOR: {
+     325          73 :       sh_vector_ = mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped>(shopts, msg_topic_, &Correction::callbackVector, this);
+     326          73 :       break;
+     327             :     }
+     328           0 :     case MessageType_t::QUAT: {
+     329           0 :       sh_quat_ = mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped>(shopts, msg_topic_);
+     330           0 :       break;
+     331             :     }
+     332           0 :     case MessageType_t::UNKNOWN: {
+     333           0 :       ROS_ERROR("[%s]: UNKNOWN message type of correction", getPrintName().c_str());
+     334           0 :       break;
+     335             :     }
+     336           0 :     default: {
+     337           0 :       ROS_ERROR("[%s]: unhandled message type", getPrintName().c_str());
+     338             :     }
+     339             :   }
+     340             : 
+     341             :   // | ------ subscribe orientation for obtaingin hdg rate ------ |
+     342         259 :   if (est_type_ == EstimatorType_t::HEADING && state_id_ == StateId_t::VELOCITY) {
+     343           0 :     ph->param_loader->loadParam("message/orientation_topic", orientation_topic_);
+     344           0 :     orientation_topic_ = "/" + ch_->uav_name + "/" + orientation_topic_;
+     345           0 :     sh_orientation_ = mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped>(shopts, orientation_topic_);
+     346             :   }
+     347             : 
+     348             : 
+     349             :   // | --------------- initialize publish handlers -------------- |
+     350         259 :   if (ch_->debug_topics.correction) {
+     351         259 :     ph_correction_raw_  = mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection>(nh, est_name_ + "/correction/" + getName() + "/raw", 10);
+     352         259 :     ph_correction_proc_ = mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection>(nh, est_name_ + "/correction/" + getName() + "/proc", 10);
+     353             :   }
+     354         259 :   if (ch_->debug_topics.corr_delay) {
+     355           0 :     ph_delay_ = mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>(nh, est_name_ + "/correction/" + getName() + "/delay", 10);
+     356             :   }
+     357             : 
+     358             :   // | --- check whether all parameters were loaded correctly --- |
+     359         259 :   if (!ph->param_loader->loadedSuccessfully()) {
+     360           0 :     ROS_ERROR("[%s]: Could not load all non-optional parameters. Shutting down.", getPrintName().c_str());
+     361           0 :     ros::shutdown();
+     362             :   }
+     363             : 
+     364         259 :   healthy_time_ = ros::Time(0);
+     365             : 
+     366         259 :   is_initialized_ = true;
+     367         259 : }
+     368             : /*//}*/
+     369             : 
+     370             : /*//{ getName() */
+     371             : template <int n_measurements>
+     372         518 : std::string Correction<n_measurements>::getName() const {
+     373         518 :   return name_;
+     374             : }
+     375             : /*//}*/
+     376             : 
+     377             : /*//{ getNamespacedName() */
+     378             : template <int n_measurements>
+     379        1028 : std::string Correction<n_measurements>::getNamespacedName() const {
+     380        1028 :   return est_name_ + "/" + name_;
+     381             : }
+     382             : /*//}*/
+     383             : 
+     384             : /*//{ getPrintName() */
+     385             : template <int n_measurements>
+     386         560 : std::string Correction<n_measurements>::getPrintName() const {
+     387         560 :   return ch_->nodelet_name + "/" + est_name_ + "/" + name_;
+     388             : }
+     389             : /*//}*/
+     390             : 
+     391             : /*//{ getR() */
+     392             : template <int n_measurements>
+     393     1646434 : double Correction<n_measurements>::getR() {
+     394     1646434 :   std::scoped_lock lock(mtx_R_);
+     395     1646148 :   default_R_ = drmgr_->config.noise;
+     396     3291503 :   return R_;
+     397             : }
+     398             : /*//}*/
+     399             : 
+     400             : /*//{ setR() */
+     401             : template <int n_measurements>
+     402      455729 : void Correction<n_measurements>::setR(const double R) {
+     403      455729 :   std::scoped_lock lock(mtx_R_);
+     404      455621 :   R_ = R;
+     405      455608 : }
+     406             : /*//}*/
+     407             : 
+     408             : /*//{ getStateId() */
+     409             : template <int n_measurements>
+     410      455947 : StateId_t Correction<n_measurements>::getStateId() const {
+     411      455947 :   return state_id_;
+     412             : }
+     413             : /*//}*/
+     414             : 
+     415             : /*//{ isHealthy() */
+     416             : template <int n_measurements>
+     417      499124 : bool Correction<n_measurements>::isHealthy() {
+     418             : 
+     419      499124 :   if (!is_initialized_) {
+     420           0 :     return false;
+     421             :   }
+     422             : 
+     423      499036 :   is_dt_ok_ = isMsgComing();
+     424             : 
+     425      499181 :   if (!is_delay_ok_) {
+     426           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: delay not ok", getPrintName().c_str());
+     427             :   }
+     428             : 
+     429      499106 :   if (!is_healthy_) {
+     430           0 :     if (is_dt_ok_ && is_delay_ok_) {
+     431           0 :       if (healthy_time_ > ros::Time(10)) {
+     432           0 :         is_healthy_ = true;
+     433             :       }
+     434             :     } else {
+     435           0 :       healthy_time_ = ros::Time(0);
+     436             :     }
+     437             :   }
+     438             : 
+     439      499088 :   is_healthy_ = is_healthy_ && is_dt_ok_ && is_delay_ok_;
+     440             : 
+     441      499063 :   return is_healthy_;
+     442             : }
+     443             : /*//}*/
+     444             : 
+     445             : /*//{ getRawCorrection() */
+     446             : template <int n_measurements>
+     447        7708 : std::optional<typename Correction<n_measurements>::MeasurementStamped> Correction<n_measurements>::getRawCorrection() {
+     448             : 
+     449        7708 :   if (!is_initialized_) {
+     450           0 :     return {};
+     451             :   }
+     452             : 
+     453        7705 :   MeasurementStamped measurement_stamped;
+     454             : 
+     455        7705 :   switch (msg_type_) {
+     456             : 
+     457           0 :     case MessageType_t::ODOMETRY: {
+     458             : 
+     459           0 :       if (!sh_odom_.hasMsg()) {
+     460           0 :         return {};
+     461             :       }
+     462             : 
+     463           0 :       auto msg                  = sh_odom_.getMsg();
+     464           0 :       measurement_stamped.stamp = msg->header.stamp;
+     465             :       /* if (!isTimestampOk(measurement_stamped.stamp)) { */
+     466             :       /*   return {}; */
+     467             :       /* } */
+     468             :       /* checkMsgDelay(measurement_stamped.stamp); */
+     469             : 
+     470             :       /* if (!is_delay_ok_) { */
+     471             :       /*   return {}; */
+     472             :       /* } */
+     473           0 :       auto res = getCorrectionFromOdometry(msg);
+     474           0 :       if (res) {
+     475           0 :         measurement_stamped.value = res.value();
+     476             :       } else {
+     477           0 :         return {};
+     478             :       }
+     479           0 :       break;
+     480             :     }
+     481             : 
+     482           0 :     case MessageType_t::POSE: {
+     483             : 
+     484           0 :       if (!sh_pose_s_.hasMsg()) {
+     485           0 :         return {};
+     486             :       }
+     487             : 
+     488           0 :       auto msg                  = sh_pose_s_.getMsg();
+     489           0 :       measurement_stamped.stamp = msg->header.stamp;
+     490             :       /* if (!isTimestampOk(measurement_stamped.stamp)) { */
+     491             :       /*   return {}; */
+     492             :       /* } */
+     493             :       /* checkMsgDelay(measurement_stamped.stamp); */
+     494             : 
+     495             :       /* if (!is_delay_ok_) { */
+     496             :       /*   return {}; */
+     497             :       /* } */
+     498           0 :       auto res = getCorrectionFromPoseStamped(msg);
+     499           0 :       if (res) {
+     500           0 :         measurement_stamped.value = res.value();
+     501             :       } else {
+     502           0 :         return {};
+     503             :       }
+     504           0 :       break;
+     505             :     }
+     506             : 
+     507           0 :     case MessageType_t::POSECOV: {
+     508             :       // TODO implement
+     509             :       /* return getCorrectionFromPoseWCS(msg); */
+     510           0 :       is_healthy_ = false;
+     511           0 :       return {};
+     512             :       break;
+     513             :     }
+     514             : 
+     515        4776 :     case MessageType_t::RANGE: {
+     516             : 
+     517        4776 :       if (!range_enabled_) {
+     518           0 :         ROS_INFO_THROTTLE(1.0, "[%s]: fusing range corrections is disabled", getPrintName().c_str());
+     519        1822 :         return {};
+     520             :       }
+     521             : 
+     522        4776 :       if (!sh_range_.hasMsg()) {
+     523        1591 :         return {};
+     524             :       }
+     525             : 
+     526        3183 :       auto msg                  = sh_range_.getMsg();
+     527        3183 :       measurement_stamped.stamp = msg->header.stamp;
+     528             :       /* checkMsgDelay(measurement_stamped.stamp); */
+     529             : 
+     530             :       /* if (!is_delay_ok_) { */
+     531             :       /*   return {}; */
+     532             :       /* } */
+     533             : 
+     534        3183 :       auto res = getCorrectionFromRange(msg);
+     535        3184 :       if (res) {
+     536        2955 :         measurement_stamped.value = res.value();
+     537             :       } else {
+     538         229 :         return {};
+     539             :       }
+     540        2955 :       break;
+     541             :     }
+     542             : 
+     543          86 :     case MessageType_t::RTK_GPS: {
+     544             : 
+     545          86 :       if (!sh_rtk_.hasMsg()) {
+     546           0 :         ROS_ERROR_THROTTLE(1.0, " no rtk msgs so far");
+     547          15 :         return {};
+     548             :       }
+     549             : 
+     550          86 :       auto msg                  = sh_rtk_.getMsg();
+     551          86 :       measurement_stamped.stamp = msg->header.stamp;
+     552             :       /* checkMsgDelay(measurement_stamped.stamp); */
+     553             : 
+     554             :       /* if (!is_delay_ok_) { */
+     555             :       /*   ROS_ERROR("[%s]: rtk msg delay not ok", ros::this_node::getName().c_str()); */
+     556             :       /*   return {}; */
+     557             :       /* } */
+     558             : 
+     559          86 :       auto res = getCorrectionFromRtk(msg);
+     560          86 :       if (res) {
+     561          71 :         measurement_stamped.value = res.value();
+     562             :       } else {
+     563          15 :         ROS_ERROR_THROTTLE(1.0, "[%s]: could not get rtk correction", ros::this_node::getName().c_str());
+     564          15 :         return {};
+     565             :       }
+     566             : 
+     567          71 :       break;
+     568             :     }
+     569             : 
+     570        2604 :     case MessageType_t::POINT: {
+     571             : 
+     572        2604 :       if (!sh_point_.hasMsg()) {
+     573        1227 :         return {};
+     574             :       }
+     575             : 
+     576        1377 :       auto msg                  = sh_point_.getMsg();
+     577        1377 :       measurement_stamped.stamp = msg->header.stamp;
+     578             :       /* checkMsgDelay(measurement_stamped.stamp); */
+     579             : 
+     580             :       /* if (!is_delay_ok_) { */
+     581             :       /*   return {}; */
+     582             :       /* } */
+     583        1377 :       auto res = getCorrectionFromPoint(msg);
+     584        1377 :       if (res) {
+     585        1377 :         measurement_stamped.value = res.value();
+     586             :       } else {
+     587           0 :         return {};
+     588             :       }
+     589        1377 :       break;
+     590             :     }
+     591             : 
+     592         242 :     case MessageType_t::VECTOR: {
+     593             : 
+     594         242 :       if (!sh_vector_.hasMsg()) {
+     595         169 :         return {};
+     596             :       }
+     597             : 
+     598          93 :       auto msg                  = sh_vector_.getMsg();
+     599          93 :       measurement_stamped.stamp = msg->header.stamp;
+     600             :       /* checkMsgDelay(measurement_stamped.stamp); */
+     601             : 
+     602             :       /* if (!is_delay_ok_) { */
+     603             :       /*   return {}; */
+     604             :       /* } */
+     605          93 :       auto res = getCorrectionFromVector(msg);
+     606          93 :       if (res) {
+     607          73 :         measurement_stamped.value = res.value();
+     608             :       } else {
+     609          20 :         return {};
+     610             :       }
+     611          73 :       break;
+     612             :     }
+     613             : 
+     614           0 :     case MessageType_t::QUAT: {
+     615             : 
+     616           0 :       if (!sh_quat_.newMsg()) {
+     617           0 :         return {};
+     618             :       }
+     619             : 
+     620           0 :       auto msg                  = sh_quat_.getMsg();
+     621           0 :       measurement_stamped.stamp = msg->header.stamp;
+     622             :       /* checkMsgDelay(measurement_stamped.stamp); */
+     623             : 
+     624             :       /* if (!is_delay_ok_) { */
+     625             :       /*   return {}; */
+     626             :       /* } */
+     627           0 :       auto res = getCorrectionFromQuat(msg);
+     628           0 :       if (res) {
+     629           0 :         measurement_stamped.value = res.value();
+     630             :       } else {
+     631           0 :         return {};
+     632             :       }
+     633           0 :       break;
+     634             :     }
+     635             : 
+     636           0 :     default: {
+     637           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: this type of correction is not implemented in getCorrectionFromMessage()", getPrintName().c_str());
+     638           0 :       is_healthy_ = false;
+     639           0 :       return {};
+     640             :     }
+     641             :   }
+     642             : 
+     643             :   // check for nans
+     644        4476 :   is_nan_free_ = true;
+     645       10395 :   for (int i = 0; i < measurement_stamped.value.rows(); i++) {
+     646        5919 :     if (!std::isfinite(measurement_stamped.value(i))) {
+     647           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in correction. Total NaNs: %d", getPrintName().c_str(), ++counter_nan_);
+     648           0 :       is_nan_free_ = false;
+     649           0 :       return {};
+     650             :     }
+     651             :   }
+     652             : 
+     653        4476 :   got_first_msg_ = true;
+     654        4476 :   publishCorrection(measurement_stamped, ph_correction_raw_);
+     655             : 
+     656        4476 :   return measurement_stamped;
+     657             : }
+     658             : /*//}*/
+     659             : 
+     660             : /*//{ getProcessedCorrection() */
+     661             : template <int n_measurements>
+     662        7708 : std::optional<typename Correction<n_measurements>::MeasurementStamped> Correction<n_measurements>::getProcessedCorrection() {
+     663             : 
+     664        7708 :   MeasurementStamped measurement_stamped;
+     665        7705 :   auto               res = getRawCorrection();
+     666        7707 :   if (res) {
+     667        4476 :     MeasurementStamped measurement_stamped = res.value();
+     668        4473 :     if (process(measurement_stamped.value)) {
+     669         324 :       publishCorrection(measurement_stamped, ph_correction_proc_);
+     670         324 :       return measurement_stamped;
+     671             :     } else {
+     672        4152 :       return {};  // invalid correction
+     673             :     }
+     674             :   } else {
+     675        3233 :     return {};  // invalid correction
+     676             :   }
+     677             : }  // namespace mrs_uav_state_estimation
+     678             : /*//}*/
+     679             : 
+     680             : /*//{ callbackOdometry() */
+     681             : template <int n_measurements>
+     682           0 : void Correction<n_measurements>::callbackOdometry(const nav_msgs::Odometry::ConstPtr msg) {
+     683             : 
+     684           0 :   if (!is_initialized_) {
+     685           0 :     return;
+     686             :   }
+     687             : 
+     688           0 :   auto res = getCorrectionFromOdometry(msg);
+     689           0 :   if (res) {
+     690           0 :     applyCorrection(res.value(), msg->header.stamp);
+     691             :   }
+     692             : }
+     693             : /*//}*/
+     694             : 
+     695             : /*//{ getCorrectionFromOdometry() */
+     696             : template <int n_measurements>
+     697           0 : std::optional<typename Correction<n_measurements>::measurement_t> Correction<n_measurements>::getCorrectionFromOdometry(const nav_msgs::OdometryConstPtr msg) {
+     698             : 
+     699           0 :   switch (est_type_) {
+     700             : 
+     701             :     // handle lateral estimators
+     702           0 :     case EstimatorType_t::LATERAL: {
+     703             : 
+     704           0 :       switch (state_id_) {
+     705             : 
+     706           0 :         case StateId_t::POSITION: {
+     707           0 :           measurement_t measurement;
+     708           0 :           measurement(0) = msg->pose.pose.position.x;
+     709           0 :           measurement(1) = msg->pose.pose.position.y;
+     710           0 :           return measurement;
+     711             :           break;
+     712             :         }
+     713             : 
+     714           0 :         case StateId_t::VELOCITY: {
+     715           0 :           if (is_in_body_frame_) {
+     716           0 :             std_msgs::Header header = msg->header;
+     717           0 :             header.frame_id         = ch_->frames.ns_fcu;  // message in odometry is published in body frame
+     718           0 :             auto res                = getVelInFrame(msg->twist.twist.linear, header, ns_frame_id_ + "_att_only");
+     719           0 :             if (res) {
+     720           0 :               measurement_t measurement;
+     721           0 :               measurement = res.value();
+     722           0 :               return measurement;
+     723             :             } else {
+     724           0 :               ROS_WARN_THROTTLE(1.0, "[%s]: could not transform vel from odom", ros::this_node::getName().c_str());
+     725           0 :               return {};
+     726             :             }
+     727             :           } else {
+     728           0 :             measurement_t measurement;
+     729           0 :             measurement(0) = msg->twist.twist.linear.x;
+     730           0 :             measurement(1) = msg->twist.twist.linear.y;
+     731           0 :             return measurement;
+     732             :           }
+     733             :           break;
+     734             :         }
+     735             : 
+     736           0 :         default: {
+     737           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromOdometry() switch", getPrintName().c_str());
+     738           0 :           return {};
+     739             :         }
+     740             :       }
+     741             :       break;
+     742             :     }
+     743             : 
+     744             :     // handle altitude estimators
+     745           0 :     case EstimatorType_t::ALTITUDE: {
+     746             : 
+     747           0 :       switch (state_id_) {
+     748             : 
+     749           0 :         case StateId_t::POSITION: {
+     750           0 :           measurement_t measurement;
+     751           0 :           measurement(0) = msg->pose.pose.position.z;
+     752           0 :           return measurement;
+     753             :           break;
+     754             :         }
+     755             : 
+     756           0 :         case StateId_t::VELOCITY: {
+     757           0 :           if (is_in_body_frame_) {
+     758           0 :             std_msgs::Header header = msg->header;
+     759           0 :             header.frame_id         = ch_->frames.ns_fcu;
+     760           0 :             auto res                = getZVelUntilted(msg->twist.twist.linear, header);
+     761           0 :             if (res) {
+     762           0 :               measurement_t measurement;
+     763           0 :               measurement = res.value();
+     764           0 :               return measurement;
+     765             :             } else {
+     766           0 :               return {};
+     767             :             }
+     768             :           } else {
+     769           0 :             measurement_t measurement;
+     770           0 :             measurement(0) = msg->twist.twist.linear.z;
+     771           0 :             return measurement;
+     772             :           }
+     773             :           break;
+     774             :         }
+     775             : 
+     776           0 :         default: {
+     777           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromOdometry() switch", getPrintName().c_str());
+     778           0 :           return {};
+     779             :         }
+     780             :       }
+     781             :       break;
+     782             :     }
+     783             : 
+     784             :     // handle heading estimators
+     785           0 :     case EstimatorType_t::HEADING: {
+     786             : 
+     787           0 :       switch (state_id_) {
+     788             : 
+     789           0 :         case StateId_t::POSITION: {
+     790           0 :           measurement_t measurement;
+     791             :           try {
+     792             :             // obtain heading from orientation
+     793           0 :             measurement(StateId_t::POSITION) = mrs_lib::AttitudeConverter(msg->pose.pose.orientation).getHeading();
+     794             :             // unwrap heading wrt previous measurement
+     795           0 :             if (got_first_hdg_measurement_) {
+     796           0 :               measurement(StateId_t::POSITION) = mrs_lib::geometry::radians::unwrap(measurement(POSITION), prev_hdg_measurement_(POSITION));
+     797             :             } else {
+     798           0 :               got_first_hdg_measurement_ = true;
+     799             :             }
+     800           0 :             prev_hdg_measurement_ = measurement;
+     801           0 :             return measurement;
+     802             :           }
+     803           0 :           catch (...) {
+     804           0 :             ROS_ERROR_THROTTLE(1.0, "[%s]: failed to obtain heading", getPrintName().c_str());
+     805           0 :             return {};
+     806             :           }
+     807             :           break;
+     808             :         }
+     809             : 
+     810             :           /* case StateId_t::VELOCITY: { */
+     811             :           /*   try { */
+     812             :           /*     measurement_t measurement; */
+     813             :           /*     measurement(0) = mrs_lib::AttitudeConverter(msg->pose.pose.orientation).getHeadingRate(msg->twist.twist.angular); */
+     814             :           /*     return measurement; */
+     815             :           /*   } */
+     816             :           /*   catch (...) { */
+     817             :           /*     ROS_ERROR_THROTTLE(1.0, "[%s]: Exception caught during getting heading rate (getCorrectionFromOdometry())", getPrintName().c_str()); */
+     818             :           /*     return {}; */
+     819             :           /*   } */
+     820             :           /*   break; */
+     821             :           /* } */
+     822             : 
+     823           0 :         default: {
+     824           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromOdometry() switch", getPrintName().c_str());
+     825           0 :           return {};
+     826             :         }
+     827             :       }
+     828             :       break;
+     829             :     }
+     830             :   }
+     831             : 
+     832           0 :   ROS_ERROR("[%s]: FIXME: should not be possible to get into this part of code", getPrintName().c_str());
+     833           0 :   return {};
+     834             : }
+     835             : /*//}*/
+     836             : 
+     837             : /*//{ callbackPoseStamped() */
+     838             : template <int n_measurements>
+     839           0 : void Correction<n_measurements>::callbackPoseStamped(const geometry_msgs::PoseStamped::ConstPtr msg) {
+     840             : 
+     841           0 :   if (!is_initialized_) {
+     842           0 :     return;
+     843             :   }
+     844             : 
+     845           0 :   auto res = getCorrectionFromPoseStamped(msg);
+     846           0 :   if (res) {
+     847           0 :     applyCorrection(res.value(), msg->header.stamp);
+     848             :   }
+     849             : }
+     850             : /*//}*/
+     851             : 
+     852             : /*//{ getCorrectionFromPoseStamped() */
+     853             : template <int n_measurements>
+     854           0 : std::optional<typename Correction<n_measurements>::measurement_t> Correction<n_measurements>::getCorrectionFromPoseStamped(
+     855             :     const geometry_msgs::PoseStampedConstPtr msg) {
+     856             : 
+     857           0 :   switch (est_type_) {
+     858             : 
+     859             :     // handle lateral estimators
+     860           0 :     case EstimatorType_t::LATERAL: {
+     861             : 
+     862           0 :       switch (state_id_) {
+     863             : 
+     864           0 :         case StateId_t::POSITION: {
+     865           0 :           measurement_t measurement;
+     866           0 :           measurement(0) = msg->pose.position.x;
+     867           0 :           measurement(1) = msg->pose.position.y;
+     868           0 :           return measurement;
+     869             :           break;
+     870             :         }
+     871             : 
+     872           0 :         default: {
+     873           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromPoseStamped() switch", getPrintName().c_str());
+     874           0 :           return {};
+     875             :         }
+     876             :       }
+     877             :       break;
+     878             :     }
+     879             : 
+     880             :     // handle altitude estimators
+     881           0 :     case EstimatorType_t::ALTITUDE: {
+     882             : 
+     883           0 :       switch (state_id_) {
+     884             : 
+     885           0 :         case StateId_t::POSITION: {
+     886           0 :           measurement_t measurement;
+     887           0 :           measurement(0) = msg->pose.position.z;
+     888           0 :           return measurement;
+     889             :           break;
+     890             :         }
+     891             : 
+     892           0 :         default: {
+     893           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromPoseStamped() switch", getPrintName().c_str());
+     894           0 :           return {};
+     895             :         }
+     896             :       }
+     897             :       break;
+     898             :     }
+     899             : 
+     900             :     // handle heading estimators
+     901           0 :     case EstimatorType_t::HEADING: {
+     902             : 
+     903           0 :       switch (state_id_) {
+     904             : 
+     905           0 :         case StateId_t::POSITION: {
+     906           0 :           measurement_t measurement;
+     907             :           try {
+     908             :             // obtain heading from orientation
+     909           0 :             measurement(StateId_t::POSITION) = mrs_lib::AttitudeConverter(msg->pose.orientation).getHeading();
+     910             :             // unwrap heading wrt previous measurement
+     911           0 :             if (got_first_hdg_measurement_) {
+     912           0 :               measurement(StateId_t::POSITION) = mrs_lib::geometry::radians::unwrap(measurement(POSITION), prev_hdg_measurement_(POSITION));
+     913             :             } else {
+     914           0 :               got_first_hdg_measurement_ = true;
+     915             :             }
+     916           0 :             prev_hdg_measurement_ = measurement;
+     917           0 :             return measurement;
+     918             :           }
+     919           0 :           catch (...) {
+     920           0 :             ROS_ERROR_THROTTLE(1.0, "[%s]: failed to obtain heading", getPrintName().c_str());
+     921           0 :             return {};
+     922             :           }
+     923             :           break;
+     924             :         }
+     925             : 
+     926           0 :         default: {
+     927           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromPoseStamped() switch", getPrintName().c_str());
+     928           0 :           return {};
+     929             :         }
+     930             :       }
+     931             :       break;
+     932             :     }
+     933             :   }
+     934             : 
+     935           0 :   ROS_ERROR("[%s]: FIXME: should not be possible to get into this part of code", getPrintName().c_str());
+     936           0 :   return {};
+     937             : }
+     938             : /*//}*/
+     939             : 
+     940             : /*//{ callbackRange() */
+     941             : template <int n_measurements>
+     942      192597 : void Correction<n_measurements>::callbackRange(const sensor_msgs::Range::ConstPtr msg) {
+     943             : 
+     944      192597 :   if (!is_initialized_) {
+     945           0 :     return;
+     946             :   }
+     947             : 
+     948      191700 :   auto res = getCorrectionFromRange(msg);
+     949      192982 :   if (res) {
+     950      192766 :     applyCorrection(res.value(), msg->header.stamp);
+     951             :   }
+     952             : }
+     953             : /*//}*/
+     954             : 
+     955             : /*//{ getCorrectionFromRange() */
+     956             : template <int n_measurements>
+     957      194813 : std::optional<typename Correction<n_measurements>::measurement_t> Correction<n_measurements>::getCorrectionFromRange(const sensor_msgs::RangeConstPtr msg) {
+     958             : 
+     959      194813 :   if (!range_enabled_) {
+     960           0 :     ROS_INFO_THROTTLE(1.0, "[%s]: fusing range corrections is disabled", getPrintName().c_str());
+     961           0 :     return {};
+     962             :   }
+     963             : 
+     964      194813 :   if (!std::isfinite(msg->range)) {
+     965          18 :     ROS_ERROR_THROTTLE(1.0, "[%s]: received value: %f. Not using this correction.", getPrintName().c_str(), msg->range);
+     966          19 :     return {};
+     967             :   }
+     968             : 
+     969      389656 :   geometry_msgs::PoseStamped range_point;
+     970             : 
+     971      194116 :   range_point.header           = msg->header;
+     972      195193 :   range_point.pose.position.x  = msg->range;
+     973      193088 :   range_point.pose.position.y  = 0;
+     974      193088 :   range_point.pose.position.z  = 0;
+     975      193088 :   range_point.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+     976             : 
+     977      390642 :   auto res = ch_->transformer->transformSingle(range_point, ch_->frames.ns_fcu_untilted);
+     978             : 
+     979      196152 :   Correction::measurement_t measurement;
+     980             : 
+     981      196152 :   if (res) {
+     982      195729 :     measurement(0) = -res.value().pose.position.z;
+     983      195725 :     return measurement;
+     984             :   } else {
+     985         423 :     ROS_ERROR_THROTTLE(1.0, "[%s]: Could not transform range measurement to %s. Not using this correction.", getPrintName().c_str(),
+     986             :                        ch_->frames.ns_fcu_untilted.c_str());
+     987         423 :     return {};
+     988             :   }
+     989             : }
+     990             : /*//}*/
+     991             : 
+     992             : /*//{ callbackRtk() */
+     993             : template <int n_measurements>
+     994        7930 : void Correction<n_measurements>::callbackRtk(const mrs_msgs::RtkGps::ConstPtr msg) {
+     995             : 
+     996        7930 :   if (!is_initialized_) {
+     997           0 :     return;
+     998             :   }
+     999             : 
+    1000        7922 :   auto res = getCorrectionFromRtk(msg);
+    1001        7933 :   if (res) {
+    1002        7926 :     applyCorrection(res.value(), msg->header.stamp);
+    1003             :   }
+    1004             : }
+    1005             : /*//}*/
+    1006             : 
+    1007             : /*//{ getCorrectionFromRtk() */
+    1008             : template <int n_measurements>
+    1009        8014 : std::optional<typename Correction<n_measurements>::measurement_t> Correction<n_measurements>::getCorrectionFromRtk(const mrs_msgs::RtkGpsConstPtr msg) {
+    1010             : 
+    1011       16033 :   geometry_msgs::PoseStamped rtk_pos;
+    1012             : 
+    1013        7999 :   if (!std::isfinite(msg->gps.latitude)) {
+    1014           0 :     ROS_ERROR_THROTTLE(1.0, "[%s] NaN detected in RTK variable \"msg->latitude\"!!!", getPrintName().c_str());
+    1015           0 :     return {};
+    1016             :   }
+    1017             : 
+    1018        7999 :   if (!std::isfinite(msg->gps.longitude)) {
+    1019           0 :     ROS_ERROR_THROTTLE(1.0, "[%s] NaN detected in RTK variable \"msg->longitude\"!!!", getPrintName().c_str());
+    1020           0 :     return {};
+    1021             :   }
+    1022             : 
+    1023        7993 :   if (!std::isfinite(msg->gps.altitude)) {
+    1024           0 :     ROS_ERROR_THROTTLE(1.0, "[%s] NaN detected in RTK variable \"msg->altitude\"!!!", getPrintName().c_str());
+    1025           0 :     return {};
+    1026             :   }
+    1027             : 
+    1028        7998 :   if (msg->fix_type.fix_type != mrs_msgs::RtkFixType::RTK_FIX) {
+    1029           0 :     ROS_INFO_THROTTLE(1.0, "[%s] %s RTK FIX", getPrintName().c_str(), Support::waiting_for_string.c_str());
+    1030           0 :     return {};
+    1031             :   }
+    1032             : 
+    1033        8003 :   rtk_pos.header = msg->header;
+    1034        8012 :   mrs_lib::UTM(msg->gps.latitude, msg->gps.longitude, &rtk_pos.pose.position.x, &rtk_pos.pose.position.y);
+    1035        7970 :   rtk_pos.pose.position.z  = msg->gps.altitude;
+    1036        7972 :   rtk_pos.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    1037             : 
+    1038        8003 :   rtk_pos.pose.position.x -= ch_->world_origin.x;
+    1039        8001 :   rtk_pos.pose.position.y -= ch_->world_origin.y;
+    1040             : 
+    1041        7998 :   Correction::measurement_t measurement;
+    1042             : 
+    1043             :   // transform the RTK position from antenna to FCU
+    1044        8008 :   auto res = transformRtkToFcu(rtk_pos);
+    1045        8019 :   if (res) {
+    1046        8019 :     rtk_pos.pose = res.value();
+    1047             :   } else {
+    1048           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: transform to fcu failed", getPrintName().c_str());
+    1049           0 :     return {};
+    1050             :   }
+    1051             : 
+    1052        8019 :   switch (est_type_) {
+    1053             : 
+    1054             :     // handle lateral estimators
+    1055        5451 :     case EstimatorType_t::LATERAL: {
+    1056             : 
+    1057        5451 :       switch (state_id_) {
+    1058             : 
+    1059        5451 :         case StateId_t::POSITION: {
+    1060        5451 :           measurement(0) = rtk_pos.pose.position.x;
+    1061        5451 :           measurement(1) = rtk_pos.pose.position.y;
+    1062        5451 :           return measurement;
+    1063             :           break;
+    1064             :         }
+    1065             : 
+    1066           0 :         default: {
+    1067           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromRtk() switch", getPrintName().c_str());
+    1068           0 :           return {};
+    1069             :         }
+    1070             :       }
+    1071             :       break;
+    1072             :     }
+    1073             : 
+    1074             :     // handle altitude estimators
+    1075        2568 :     case EstimatorType_t::ALTITUDE: {
+    1076             : 
+    1077        2568 :       switch (state_id_) {
+    1078             : 
+    1079        2568 :         case StateId_t::POSITION: {
+    1080        2568 :           measurement(0) = rtk_pos.pose.position.z;
+    1081        2568 :           if (!got_avg_init_rtk_z_) {
+    1082          22 :             getAvgRtkInitZ(measurement(0));
+    1083          22 :             return {};
+    1084             :           }
+    1085        2546 :           measurement(0) -= rtk_init_z_avg_;
+    1086        2546 :           return measurement;
+    1087             :           break;
+    1088             :         }
+    1089             : 
+    1090           0 :         default: {
+    1091           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromRtk() switch", getPrintName().c_str());
+    1092           0 :           return {};
+    1093             :         }
+    1094             :       }
+    1095             :       break;
+    1096             :     }
+    1097             : 
+    1098           0 :     case EstimatorType_t::HEADING: {
+    1099           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: should not be possible to get into this branch of getCorrectionFromRtk() switch", getPrintName().c_str());
+    1100           0 :       return {};
+    1101             :       break;
+    1102             :     }
+    1103             :   }
+    1104             : 
+    1105           0 :   ROS_ERROR("[%s]: FIXME: should not be possible to get into this part of code", getPrintName().c_str());
+    1106           0 :   return {};
+    1107             : }
+    1108             : /*//}*/
+    1109             : 
+    1110             : /*//{ callbackPoint() */
+    1111             : template <int n_measurements>
+    1112      119398 : void Correction<n_measurements>::callbackPoint(const geometry_msgs::PointStamped::ConstPtr msg) {
+    1113             : 
+    1114      119398 :   if (!is_initialized_) {
+    1115           0 :     return;
+    1116             :   }
+    1117             : 
+    1118      119238 :   auto res = getCorrectionFromPoint(msg);
+    1119      119124 :   if (res) {
+    1120      118882 :     applyCorrection(res.value(), msg->header.stamp);
+    1121             :   }
+    1122             : }
+    1123             : /*//}*/
+    1124             : 
+    1125             : /*//{ getCorrectionFromPoint() */
+    1126             : template <int n_measurements>
+    1127      120802 : std::optional<typename Correction<n_measurements>::measurement_t> Correction<n_measurements>::getCorrectionFromPoint(
+    1128             :     const geometry_msgs::PointStampedConstPtr msg) {
+    1129             : 
+    1130      120802 :   switch (est_type_) {
+    1131             : 
+    1132             :     // handle lateral estimators
+    1133      120814 :     case EstimatorType_t::LATERAL: {
+    1134             : 
+    1135      120814 :       switch (state_id_) {
+    1136             : 
+    1137      120795 :         case StateId_t::POSITION: {
+    1138      120795 :           measurement_t measurement;
+    1139      120813 :           measurement(0) = msg->point.x;
+    1140      120566 :           measurement(1) = msg->point.y;
+    1141      120575 :           return measurement;
+    1142             :           break;
+    1143             :         }
+    1144             : 
+    1145          19 :         default: {
+    1146          19 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromOdometry() switch", getPrintName().c_str());
+    1147           0 :           return {};
+    1148             :         }
+    1149             :       }
+    1150             :       break;
+    1151             :     }
+    1152             : 
+    1153             :     // handle altitude estimators
+    1154           0 :     case EstimatorType_t::ALTITUDE: {
+    1155             : 
+    1156           0 :       switch (state_id_) {
+    1157             : 
+    1158           0 :         case StateId_t::POSITION: {
+    1159           0 :           measurement_t measurement;
+    1160           0 :           measurement(0) = msg->point.z;
+    1161           0 :           return measurement;
+    1162             :           break;
+    1163             :         }
+    1164             : 
+    1165           0 :         default: {
+    1166           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromOdometry() switch", getPrintName().c_str());
+    1167           0 :           return {};
+    1168             :         }
+    1169             :       }
+    1170             :       break;
+    1171             :     }
+    1172             : 
+    1173           8 :     default: {
+    1174           8 :       ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromOdometry() switch", getPrintName().c_str());
+    1175           0 :       return {};
+    1176             :     }
+    1177             :   }
+    1178             : 
+    1179             : 
+    1180             :   ROS_ERROR("[%s]: FIXME: should not be possible to get into this part of code", getPrintName().c_str());
+    1181             :   return {};
+    1182             : }
+    1183             : /*//}*/
+    1184             : 
+    1185             : /*//{ callbackVector() */
+    1186             : template <int n_measurements>
+    1187      138790 : void Correction<n_measurements>::callbackVector(const geometry_msgs::Vector3Stamped::ConstPtr msg) {
+    1188             : 
+    1189      138790 :   if (!is_initialized_) {
+    1190           0 :     return;
+    1191             :   }
+    1192             : 
+    1193      138612 :   auto res = getCorrectionFromVector(msg);
+    1194      138838 :   if (res) {
+    1195      138815 :     applyCorrection(res.value(), msg->header.stamp);
+    1196             :   }
+    1197             : }
+    1198             : /*//}*/
+    1199             : 
+    1200             : /*//{ getCorrectionFromVector() */
+    1201             : template <int n_measurements>
+    1202      138848 : std::optional<typename Correction<n_measurements>::measurement_t> Correction<n_measurements>::getCorrectionFromVector(
+    1203             :     const geometry_msgs::Vector3StampedConstPtr msg) {
+    1204             : 
+    1205      138848 :   switch (est_type_) {
+    1206             : 
+    1207             :     // handle lateral estimators
+    1208       10868 :     case EstimatorType_t::LATERAL: {
+    1209             : 
+    1210       10868 :       switch (state_id_) {
+    1211             : 
+    1212       10868 :         case StateId_t::VELOCITY: {
+    1213       10868 :           auto res = getVelInFrame(msg->vector, msg->header, ns_frame_id_ + "_att_only");
+    1214       10868 :           if (res) {
+    1215       10828 :             measurement_t measurement;
+    1216       10828 :             measurement = res.value();
+    1217       10828 :             return measurement;
+    1218             :           } else {
+    1219          42 :             return {};
+    1220             :           }
+    1221             :           break;
+    1222             :         }
+    1223             : 
+    1224           0 :         default: {
+    1225           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromVector() switch", getPrintName().c_str());
+    1226           0 :           return {};
+    1227             :         }
+    1228             :       }
+    1229             :       break;
+    1230             :     }
+    1231             : 
+    1232             :     // handle altitude estimators
+    1233      127988 :     case EstimatorType_t::ALTITUDE: {
+    1234             : 
+    1235      127988 :       switch (state_id_) {
+    1236             : 
+    1237      127900 :         case StateId_t::VELOCITY: {
+    1238      127900 :           auto res = getZVelUntilted(msg->vector, msg->header);
+    1239      128064 :           if (res) {
+    1240      128060 :             measurement_t measurement;
+    1241      128060 :             measurement = res.value();
+    1242      128061 :             return measurement;
+    1243             :           } else {
+    1244           2 :             return {};
+    1245             :           }
+    1246             :           break;
+    1247             :         }
+    1248             : 
+    1249          88 :         default: {
+    1250          88 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromVector() switch", getPrintName().c_str());
+    1251           0 :           return {};
+    1252             :         }
+    1253             :       }
+    1254             :       break;
+    1255             :     }
+    1256             : 
+    1257             :     // handle heading estimators
+    1258           0 :     case EstimatorType_t::HEADING: {
+    1259             : 
+    1260           0 :       switch (state_id_) {
+    1261             : 
+    1262           0 :           case StateId_t::VELOCITY: {
+    1263             :             try {
+    1264           0 :               if (!sh_orientation_.hasMsg()) {
+    1265           0 :               ROS_INFO_THROTTLE(1.0, "[%s]: %s orientation on topic: %s", getPrintName().c_str(), Support::waiting_for_string.c_str(), orientation_topic_.c_str());
+    1266           0 :                 return {};
+    1267             :               }
+    1268           0 :               measurement_t measurement;
+    1269           0 :               measurement(0) = mrs_lib::AttitudeConverter(sh_orientation_.getMsg()->quaternion).getHeadingRate(msg->vector);
+    1270           0 :               return measurement;
+    1271             :             }
+    1272           0 :             catch (...) {
+    1273           0 :               ROS_ERROR_THROTTLE(1.0, "[%s]: Exception caught during getting heading rate (getCorrectionFromVector())", getPrintName().c_str());
+    1274           0 :               return {};
+    1275             :             }
+    1276             :             break;
+    1277             :           }
+    1278             : 
+    1279           0 :         default: {
+    1280           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromVector() switch", getPrintName().c_str());
+    1281           0 :           return {};
+    1282             :         }
+    1283             :       }
+    1284             :       break;
+    1285             :     }
+    1286             :   }
+    1287             : 
+    1288          22 :   ROS_ERROR("[%s]: FIXME: should not be possible to get into this part of code", getPrintName().c_str());
+    1289           0 :   return {};
+    1290             : }
+    1291             : /*//}*/
+    1292             : 
+    1293             : /*//{ getCorrectionFromQuat() */
+    1294             : template <int n_measurements>
+    1295           0 : std::optional<typename Correction<n_measurements>::measurement_t> Correction<n_measurements>::getCorrectionFromQuat(
+    1296             :     const geometry_msgs::QuaternionStampedConstPtr msg) {
+    1297             : 
+    1298           0 :   switch (est_type_) {
+    1299             : 
+    1300             :       // handle lateral estimators
+    1301             :       /* case EstimatorType_t::LATERAL: { */
+    1302             : 
+    1303             :       /*   default: { */
+    1304             :       /*     ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromOdometry() switch", getPrintName().c_str()); */
+    1305             :       /*     return {}; */
+    1306             :       /*   } break; */
+    1307             :       /* } */
+    1308             : 
+    1309             :       /* // handle altitude estimators */
+    1310             :       /* case EstimatorType_t::ALTITUDE: { */
+    1311             : 
+    1312             :       /* default: { */
+    1313             :       /*     ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromOdometry() switch", getPrintName().c_str()); */
+    1314             :       /*     return {}; */
+    1315             :       /*   } break; */
+    1316             :       /* } */
+    1317             : 
+    1318             :       /* // handle heading estimators */
+    1319             :       /* case EstimatorType_t::HEADING: { */
+    1320             : 
+    1321             :       /*   switch (state_id_) { */
+    1322             : 
+    1323             :       /*     /1* default: { *1/ */
+    1324             :       /*       ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromOdometry() switch", getPrintName().c_str()); */
+    1325             :       /*       return {}; */
+    1326             :       /*     } */
+    1327             :       /*   } */
+    1328             :     default: {
+    1329           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromOdometry() switch", getPrintName().c_str());
+    1330           0 :       return {};
+    1331             :     }
+    1332             :   }
+    1333             : 
+    1334             :   ROS_ERROR("[%s]: FIXME: should not be possible to get into this part of code", getPrintName().c_str());
+    1335             :   return {};
+    1336             : }
+    1337             : /*//}*/
+    1338             : 
+    1339             : /*//{ applyCorrection() */
+    1340             : template <int n_measurements>
+    1341      458871 : void Correction<n_measurements>::applyCorrection(const measurement_t& meas, const ros::Time& stamp) {
+    1342             : 
+    1343             :   {
+    1344      458871 :     std::scoped_lock lock(mtx_msg_time_);
+    1345      458762 :     if (first_timestamp_) {
+    1346         256 :       prev_msg_time_   = stamp - ros::Duration(0.01);
+    1347         259 :       msg_time_        = stamp;
+    1348         259 :       healthy_time_    = ros::Time(0);
+    1349         259 :       first_timestamp_ = false;
+    1350             :     }
+    1351             : 
+    1352      458630 :     prev_msg_time_ = msg_time_;
+    1353      458630 :     msg_time_      = stamp;
+    1354      458630 :     healthy_time_ += msg_time_ - prev_msg_time_;
+    1355             :   }
+    1356             : 
+    1357      458542 :   MeasurementStamped meas_stamped;
+    1358      458515 :   meas_stamped.value = meas;
+    1359      458746 :   meas_stamped.stamp = stamp;
+    1360      458746 :   publishCorrection(meas_stamped, ph_correction_raw_);
+    1361      458998 :   if (process(meas_stamped.value)) {
+    1362      455329 :     publishCorrection(meas_stamped, ph_correction_proc_);
+    1363      455492 :     fun_apply_correction_(meas_stamped, getR(), getStateId());
+    1364             :   }
+    1365      458553 : }
+    1366             : /*//}*/
+    1367             : 
+    1368             : /* //{ callbackToggleRange() */
+    1369             : template <int n_measurements>
+    1370           0 : bool Correction<n_measurements>::callbackToggleRange(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res) {
+    1371             : 
+    1372           0 :   if (!is_initialized_) {
+    1373           0 :     return false;
+    1374             :   }
+    1375             : 
+    1376           0 :   if (!range_enabled_ && req.data) {
+    1377           0 :     processors_["saturate"]->toggle(true);
+    1378             :   }
+    1379             : 
+    1380           0 :   range_enabled_ = req.data;
+    1381             : 
+    1382             :   // after enabling range we want to start correcting the altitude slowly
+    1383             : 
+    1384           0 :   res.success = true;
+    1385           0 :   res.message = (range_enabled_ ? "Range enabled" : "Range disabled");
+    1386             : 
+    1387           0 :   if (range_enabled_) {
+    1388             : 
+    1389           0 :     ROS_INFO("[%s]: Range enabled.", getPrintName().c_str());
+    1390             : 
+    1391             :   } else {
+    1392             : 
+    1393           0 :     ROS_INFO("[%s]: Range disabled", getPrintName().c_str());
+    1394             :   }
+    1395             : 
+    1396           0 :   return true;
+    1397             : }
+    1398             : 
+    1399             : //}
+    1400             : 
+    1401             : /*//{ getZVelUntilted() */
+    1402             : template <int n_measurements>
+    1403      127938 : std::optional<typename Correction<n_measurements>::measurement_t> Correction<n_measurements>::getZVelUntilted(const geometry_msgs::Vector3& msg,
+    1404             :                                                                                                               const std_msgs::Header&       header) {
+    1405             : 
+    1406             :   // untilt the desired vector
+    1407      256002 :   geometry_msgs::PointStamped vel;
+    1408      127833 :   vel.point.x = msg.x;
+    1409      127833 :   vel.point.y = msg.y;
+    1410      127833 :   vel.point.z = msg.z;
+    1411      127833 :   vel.header  = header;
+    1412             :   /* vel.header.frame_id = ch_->frames.ns_fcu; */
+    1413      127998 :   vel.header.stamp = header.stamp;
+    1414             : 
+    1415      256062 :   auto res = ch_->transformer->transformSingle(vel, ch_->frames.ns_fcu_untilted);
+    1416      128064 :   if (res) {
+    1417      128062 :     measurement_t measurement;
+    1418      128062 :     measurement(0) = res.value().point.z;
+    1419      128062 :     return measurement;
+    1420             :   } else {
+    1421           2 :     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());
+    1422           2 :     return {};
+    1423             :   }
+    1424             : }
+    1425             : /*//}*/
+    1426             : 
+    1427             : /*//{ getVelInFrame() */
+    1428             : template <int n_measurements>
+    1429       10869 : std::optional<typename Correction<n_measurements>::measurement_t> Correction<n_measurements>::getVelInFrame(const geometry_msgs::Vector3& vel_in,
+    1430             :                                                                                                             const std_msgs::Header&       source_header,
+    1431             :                                                                                                             const std::string             target_frame) {
+    1432             : 
+    1433       10869 :   measurement_t measurement;
+    1434             : 
+    1435       21737 :   geometry_msgs::Vector3Stamped vel;
+    1436       10867 :   vel.header = source_header;
+    1437       10869 :   vel.vector = vel_in;
+    1438             :   /* body.vector.x = vel.x; */
+    1439             :   /* body.vector.y = vel.y; */
+    1440             :   /* body.vector.z = vel.z; */
+    1441             : 
+    1442       21739 :   geometry_msgs::Vector3Stamped transformed_vel;
+    1443       21732 :   auto                          res = ch_->transformer->transformSingle(vel, target_frame);
+    1444       10870 :   if (res) {
+    1445       10829 :     transformed_vel = res.value();
+    1446       10829 :     measurement(0)  = transformed_vel.vector.x;
+    1447       10829 :     measurement(1)  = transformed_vel.vector.y;
+    1448       10829 :     return measurement;
+    1449             :   } else {
+    1450          42 :     ROS_WARN_THROTTLE(1.0, "[%s]: Transform of velocity from %s to %s failed.", getPrintName().c_str(), vel.header.frame_id.c_str(), target_frame.c_str());
+    1451          42 :     return {};
+    1452             :   }
+    1453             : }
+    1454             : /*//}*/
+    1455             : 
+    1456             : /*//{ transformRtkToFcu() */
+    1457             : template <int n_measurements>
+    1458        8016 : std::optional<geometry_msgs::Pose> Correction<n_measurements>::transformRtkToFcu(const geometry_msgs::PoseStamped& pose_in) const {
+    1459             : 
+    1460       16035 :   geometry_msgs::PoseStamped pose_tmp = pose_in;
+    1461             : 
+    1462             :   // inject current orientation into rtk pose
+    1463       16031 :   auto res1 = ch_->transformer->getTransform(ch_->frames.ns_fcu_untilted, ch_->frames.ns_fcu, ros::Time::now());
+    1464        8019 :   if (res1) {
+    1465        8019 :     pose_tmp.pose.orientation = res1.value().transform.rotation;
+    1466             :   } else {
+    1467           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: Could not obtain transform from %s to %s. Not using this correction.", getPrintName().c_str(),
+    1468             :                        ch_->frames.ns_fcu_untilted.c_str(), ch_->frames.ns_fcu.c_str());
+    1469           0 :     return {};
+    1470             :   }
+    1471             : 
+    1472             :   // invert tf
+    1473        8019 :   tf2::Transform             tf_utm_to_antenna = Support::tf2FromPose(pose_tmp.pose);
+    1474       16038 :   geometry_msgs::PoseStamped utm_in_antenna;
+    1475        8019 :   utm_in_antenna.pose            = Support::poseFromTf2(tf_utm_to_antenna.inverse());
+    1476        8019 :   utm_in_antenna.header.stamp    = pose_in.header.stamp;
+    1477        8019 :   utm_in_antenna.header.frame_id = ch_->frames.ns_rtk_antenna;
+    1478             : 
+    1479             :   // transform to fcu
+    1480       16038 :   geometry_msgs::PoseStamped utm_in_fcu;
+    1481        8019 :   utm_in_fcu.header.frame_id = ch_->frames.ns_fcu;
+    1482        8019 :   utm_in_fcu.header.stamp    = pose_in.header.stamp;
+    1483       16038 :   auto res2                  = ch_->transformer->transformSingle(utm_in_antenna, ch_->frames.ns_fcu);
+    1484             : 
+    1485        8019 :   if (res2) {
+    1486        8019 :     utm_in_fcu = res2.value();
+    1487             :   } else {
+    1488           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());
+    1489           0 :     return {};
+    1490             :   }
+    1491             : 
+    1492             :   // invert tf
+    1493        8019 :   tf2::Transform      tf_fcu_to_utm = Support::tf2FromPose(utm_in_fcu.pose);
+    1494        8019 :   geometry_msgs::Pose fcu_in_utm    = Support::poseFromTf2(tf_fcu_to_utm.inverse());
+    1495             : 
+    1496        8019 :   return fcu_in_utm;
+    1497             : }
+    1498             : /*//}*/
+    1499             : 
+    1500             : /*//{ getAvgRtkInitZ() */
+    1501             : template <int n_measurements>
+    1502          22 : void Correction<n_measurements>::getAvgRtkInitZ(const double rtk_z) {
+    1503             : 
+    1504          22 :   if (!got_avg_init_rtk_z_) {
+    1505             : 
+    1506          22 :     double rtk_avg = rtk_init_z_avg_ / got_rtk_counter_;
+    1507             : 
+    1508          22 :     if (got_rtk_counter_ < 10 || (got_rtk_counter_ < 300 && std::fabs(rtk_z - rtk_avg) > 0.1)) {
+    1509             : 
+    1510          20 :       rtk_init_z_avg_ += rtk_z;
+    1511          20 :       got_rtk_counter_++;
+    1512          20 :       rtk_avg = rtk_init_z_avg_ / got_rtk_counter_;
+    1513          20 :       ROS_INFO("[%s]: RTK ASL altitude sample #%d: %.2f; avg: %.2f", getPrintName().c_str(), got_rtk_counter_, rtk_z, rtk_avg);
+    1514          20 :       return;
+    1515             : 
+    1516             :     } else {
+    1517             : 
+    1518           2 :       rtk_init_z_avg_     = rtk_avg;
+    1519           2 :       got_avg_init_rtk_z_ = true;
+    1520           2 :       ROS_INFO("[%s]: RTK ASL altitude avg: %f", getPrintName().c_str(), rtk_avg);
+    1521             :     }
+    1522             :   }
+    1523             : }
+    1524             : /*//}*/
+    1525             : 
+    1526             : /*//{ checkMsgDelay() */
+    1527             : template <int n_measurements>
+    1528             : void Correction<n_measurements>::checkMsgDelay(const ros::Time& msg_time) {
+    1529             : 
+    1530             :   const double delay = (ros::Time::now() - msg_time).toSec();
+    1531             :   if (delay > msg_delay_warn_limit_) {
+    1532             :     if (delay > msg_delay_limit_) {
+    1533             :       ROS_ERROR_THROTTLE(1.0, "[%s]: message too delayed (%.4f s)", getPrintName().c_str(), delay);
+    1534             :       is_delay_ok_ = false;
+    1535             :     } else {
+    1536             :       ROS_WARN_THROTTLE(5.0, "[%s]: message delayed (%.4f s)", getPrintName().c_str(), delay);
+    1537             :       is_delay_ok_ = true;
+    1538             :     }
+    1539             :   } else {
+    1540             :     is_delay_ok_ = true;
+    1541             :   }
+    1542             :   publishDelay(delay);
+    1543             : }
+    1544             : /*//}*/
+    1545             : 
+    1546             : /*//{ isTimestampOk() */
+    1547             : template <int n_measurements>
+    1548             : bool Correction<n_measurements>::isTimestampOk() {
+    1549             : 
+    1550             :   if (first_timestamp_) {
+    1551             :     return true;
+    1552             :   }
+    1553             : 
+    1554             :   ros::Time msg_time, prev_msg_time;
+    1555             :   {
+    1556             :     std::scoped_lock lock(mtx_msg_time_);
+    1557             :     msg_time      = msg_time_;
+    1558             :     prev_msg_time = prev_msg_time_;
+    1559             :   }
+    1560             :   const double delta = msg_time.toSec() - prev_msg_time.toSec();
+    1561             : 
+    1562             :   if (msg_time.toSec() <= 0.0) {
+    1563             :     ROS_ERROR_THROTTLE(1.0, "[%s]: current timestamp non-positive: %f", getPrintName().c_str(), msg_time.toSec());
+    1564             :     return false;
+    1565             :   }
+    1566             : 
+    1567             :   if (delta <= 0.0) {
+    1568             :     ROS_WARN_THROTTLE(1.0, "[%s]: time delta non-positive: %f", getPrintName().c_str(), delta);
+    1569             :     return true;
+    1570             :   }
+    1571             : 
+    1572             :   if (delta < 0.001) {
+    1573             :     ROS_WARN_THROTTLE(1.0, "[%s]: time delta too small: %f", getPrintName().c_str(), delta);
+    1574             :     return true;
+    1575             :   }
+    1576             : 
+    1577             :   if (delta > time_since_last_msg_limit_) {
+    1578             :     ROS_ERROR_THROTTLE(1.0, "[%s]: time since last msg too long %f > %f", getPrintName().c_str(), delta, time_since_last_msg_limit_);
+    1579             :     return false;
+    1580             :   }
+    1581             : 
+    1582             :   return true;
+    1583             : }  // namespace mrs_uav_state_estimators
+    1584             : /*//}*/
+    1585             : 
+    1586             : /*//{ isMsgComing() */
+    1587             : template <int n_measurements>
+    1588      499179 : bool Correction<n_measurements>::isMsgComing() {
+    1589             : 
+    1590      499179 :   const ros::Time msg_time = mrs_lib::get_mutexed(mtx_msg_time_, msg_time_);
+    1591      499063 :   const double    delta    = ros::Time::now().toSec() - msg_time.toSec();
+    1592             : 
+    1593      499088 :   if (msg_time.toSec() <= 0.0) {
+    1594           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: current timestamp non-positive: %f", getPrintName().c_str(), msg_time.toSec());
+    1595           0 :     return false;
+    1596             :   }
+    1597             : 
+    1598      499005 :   if (delta > time_since_last_msg_limit_) {
+    1599           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: time since last msg too long %f > %f", getPrintName().c_str(), delta, time_since_last_msg_limit_);
+    1600           0 :     return false;
+    1601             :   }
+    1602             : 
+    1603      499005 :   return true;
+    1604             : }  // namespace mrs_uav_state_estimators
+    1605             : /*//}*/
+    1606             : 
+    1607             : /*//{ createProcessorFromName() */
+    1608             : template <int n_measurements>
+    1609         251 : std::shared_ptr<Processor<n_measurements>> Correction<n_measurements>::createProcessorFromName(const std::string& name, ros::NodeHandle& nh) {
+    1610             : 
+    1611         251 :   if (name == "median_filter") {
+    1612          60 :     return std::make_shared<ProcMedianFilter<n_measurements>>(nh, getNamespacedName(), name, ch_, ph_);
+    1613         191 :   } else if (name == "saturate") {
+    1614          66 :     return std::make_shared<ProcSaturate<n_measurements>>(nh, getNamespacedName(), name, ch_, ph_, state_id_, fun_get_state_);
+    1615         125 :   } else if (name == "excessive_tilt") {
+    1616          60 :     return std::make_shared<ProcExcessiveTilt<n_measurements>>(nh, getNamespacedName(), name, ch_, ph_);
+    1617          65 :   } else if (name == "tf_to_world") {
+    1618          65 :     return std::make_shared<ProcTfToWorld<n_measurements>>(nh, getNamespacedName(), name, ch_, ph_);
+    1619             :   } else {
+    1620           0 :     ROS_ERROR("[%s]: requested invalid processor %s", getPrintName().c_str(), name.c_str());
+    1621           0 :     ros::shutdown();
+    1622             :   }
+    1623           0 :   return std::shared_ptr<Processor<n_measurements>>(nullptr);
+    1624             : }
+    1625             : /*//}*/
+    1626             : 
+    1627             : /*//{ process() */
+    1628             : template <int n_measurements>
+    1629      463450 : bool Correction<n_measurements>::process(Correction<n_measurements>::measurement_t& measurement) {
+    1630             : 
+    1631      463450 :   bool ok_flag   = true;
+    1632      463450 :   bool fuse_flag = true;
+    1633             : 
+    1634      907902 :   for (auto proc_name :
+    1635             :        processor_names_) {  // need to access the processors in the specific order from the config (e.g. median filter should go before saturation etc.)
+    1636             :     /* bool is_ok, should_fuse; */
+    1637      444622 :     auto [is_ok, should_fuse] = processors_[proc_name]->process(measurement);
+    1638      444305 :     ok_flag &= is_ok;
+    1639      444305 :     fuse_flag &= should_fuse;
+    1640             :   }
+    1641      463269 :   if (fuse_flag) {
+    1642      455622 :     if (!ok_flag) {
+    1643           2 :       setR(default_R_ * R_coeff_);
+    1644           2 :       ROS_INFO_THROTTLE(1.0, "[%s]: set R to %.4f", getPrintName().c_str(), default_R_ * R_coeff_);
+    1645           2 :       return true;
+    1646             :     } else {
+    1647      455620 :       setR(default_R_);
+    1648      455561 :       return true;
+    1649             :     }
+    1650             :   }
+    1651        7647 :   return false;
+    1652             : }
+    1653             : /*//}*/
+    1654             : 
+    1655             : /*//{ resetProcessors() */
+    1656             : template <int n_measurements>
+    1657           0 : void Correction<n_measurements>::resetProcessors() {
+    1658             : 
+    1659           0 :   for (auto proc_name :
+    1660             :        processor_names_) {  // need to access the processors in the specific order from the config (e.g. median filter should go before saturation etc.)
+    1661             :     /* bool is_ok, should_fuse; */
+    1662           0 :     processors_[proc_name]->reset();
+    1663             :   }
+    1664           0 : }
+    1665             : /*//}*/
+    1666             : 
+    1667             : /*//{ publishCorrection() */
+    1668             : template <int n_measurements>
+    1669      918952 : void Correction<n_measurements>::publishCorrection(const MeasurementStamped&                                 measurement_stamped,
+    1670             :                                                    mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection>& ph_corr) {
+    1671             : 
+    1672      918952 :   if (!ch_->debug_topics.correction) {
+    1673           0 :     return;
+    1674             :   }
+    1675             : 
+    1676     1837596 :   mrs_msgs::EstimatorCorrection msg;
+    1677      918258 :   msg.header.stamp    = measurement_stamped.stamp;
+    1678      918258 :   msg.header.frame_id = ns_frame_id_;
+    1679      918915 :   msg.name            = name_;
+    1680      918926 :   msg.estimator_name  = est_name_;
+    1681      919003 :   msg.state_id        = state_id_;
+    1682      919003 :   msg.covariance.resize(n_measurements * n_measurements);
+    1683     2108852 :   for (int i = 0; i < measurement_stamped.value.rows(); i++) {
+    1684     1189937 :     msg.state.push_back(measurement_stamped.value(i));
+    1685     1191127 :     msg.covariance[n_measurements * i + i] = getR();
+    1686             :   }
+    1687             : 
+    1688      918503 :   ph_corr.publish(msg);
+    1689             : }
+    1690             : /*//}*/
+    1691             : 
+    1692             : /*//{ publishDelay() */
+    1693             : template <int n_measurements>
+    1694             : void Correction<n_measurements>::publishDelay(const double delay) {
+    1695             : 
+    1696             :   if (!ch_->debug_topics.corr_delay) {
+    1697             :     return;
+    1698             :   }
+    1699             : 
+    1700             :   mrs_msgs::Float64Stamped msg;
+    1701             :   msg.header.stamp    = ros::Time::now();
+    1702             :   msg.header.frame_id = ns_frame_id_;
+    1703             :   msg.value           = delay;
+    1704             : 
+    1705             :   ph_delay_.publish(msg);
+    1706             : }
+    1707             : /*//}*/
+    1708             : 
+    1709             : }  // namespace mrs_uav_state_estimators
+    1710             : 
+    1711             : #endif  // ESTIMATORS_CORRECTION_H
+
+
+
+ + + + +
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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/heading - hdg_generic.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:050.0 %
Date:2024-01-20 21:44:18Functions:030.0 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::HdgGeneric::HdgGeneric(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool)0
mrs_uav_state_estimators::HdgGeneric::~HdgGeneric()0
mrs_uav_state_estimators::HdgGeneric::~HdgGeneric().20
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h.func.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h.func.html new file mode 100644 index 0000000000..1abecc127d --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h.func.html @@ -0,0 +1,92 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading - hdg_generic.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:050.0 %
Date:2024-01-20 21:44:18Functions:030.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::HdgGeneric::HdgGeneric(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool)0
mrs_uav_state_estimators::HdgGeneric::~HdgGeneric()0
mrs_uav_state_estimators::HdgGeneric::~HdgGeneric().20
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Generated by: LCOV version 1.14
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+ + + 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..3548eb2cc5 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h.gcov.html @@ -0,0 +1,240 @@ + + + + + + + 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
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading - hdg_generic.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:050.0 %
Date:2024-01-20 21:44:18Functions:030.0 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + +

+
          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 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<lkf_t> rep_lkf_t;
+      55             : 
+      56             :   using StateId_t = mrs_uav_managers::estimation_manager::StateId_t;
+      57             : 
+      58             : private:
+      59             :   std::string parent_state_est_name_;
+      60             : 
+      61             :   double                              dt_;
+      62             :   double                              input_coeff_;
+      63             :   double                              default_input_coeff_;
+      64             :   A_t                                 A_;
+      65             :   B_t                                 B_;
+      66             :   H_t                                 H_;
+      67             :   Q_t                                 Q_;
+      68             :   std::shared_ptr<lkf_t>              lkf_;
+      69             :   std::unique_ptr<rep_lkf_t>          lkf_rep_;
+      70             :   std::vector<std::shared_ptr<lkf_t>> models_;
+      71             :   mutable std::mutex                  mutex_lkf_;
+      72             :   statecov_t                          sc_;
+      73             :   mutable std::mutex                  mutex_sc_;
+      74             : 
+      75             :   std::unique_ptr<drmgr_t> drmgr_;
+      76             :   void                     callbackReconfigure(HeadingEstimatorConfig &config, [[maybe_unused]] uint32_t level);
+      77             : 
+      78             :   z_t                innovation_;
+      79             :   mutable std::mutex mtx_innovation_;
+      80             : 
+      81             :   bool is_repredictor_enabled_;
+      82             :   int  rep_buffer_size_ = 200;
+      83             : 
+      84             :   const bool is_core_plugin_;
+      85             : 
+      86             :   std::vector<std::string>                                              correction_names_;
+      87             :   std::vector<std::shared_ptr<Correction<hdg_generic::n_measurements>>> corrections_;
+      88             : 
+      89             :   mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput> sh_control_input_;
+      90             :   void                                                timeoutCallback(const std::string &topic, const ros::Time &last_msg);
+      91             :   std::atomic<bool>                                   is_input_ready_ = false;
+      92             : 
+      93             :   ros::Timer timer_update_;
+      94             :   void       timerUpdate(const ros::TimerEvent &event);
+      95             : 
+      96             :   ros::Timer timer_check_health_;
+      97             :   void       timerCheckHealth(const ros::TimerEvent &event);
+      98             : 
+      99             :   void doCorrection(const Correction<hdg_generic::n_measurements>::MeasurementStamped &meas, const double R, const StateId_t &state_id);
+     100             :   void doCorrection(const z_t &z, const double R, const StateId_t &H_idx, const ros::Time &meas_stamp);
+     101             : 
+     102             :   bool isConverged();
+     103             : 
+     104             :   Q_t                getQ();
+     105             :   mutable std::mutex mtx_Q_;
+     106             : 
+     107             :   mutable std::mutex mutex_last_valid_hdg_;
+     108             :   double             last_valid_hdg_;
+     109             : 
+     110             : public:
+     111           0 :   HdgGeneric(const std::string &name, const std::string &ns_frame_id, const std::string &parent_state_est_name, const bool is_core_plugin)
+     112           0 :       : HeadingEstimator<hdg_generic::n_states>(name, ns_frame_id), parent_state_est_name_(parent_state_est_name), is_core_plugin_(is_core_plugin) {
+     113           0 :   }
+     114             : 
+     115           0 :   ~HdgGeneric(void) {
+     116           0 :   }
+     117             : 
+     118             :   void initialize(ros::NodeHandle &nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) override;
+     119             :   bool start(void) override;
+     120             :   bool pause(void) override;
+     121             :   bool reset(void) override;
+     122             : 
+     123             :   double getState(const int &state_idx_in) const override;
+     124             :   double getState(const int &state_id_in, const int &axis_in) const override;
+     125             : 
+     126             :   void setState(const double &state_in, const int &state_idx_in) override;
+     127             :   void setState(const double &state_in, const int &state_id_in, const int &axis_in) override;
+     128             : 
+     129             :   states_t getStates(void) const override;
+     130             :   void     setStates(const states_t &states_in) override;
+     131             : 
+     132             :   double getCovariance(const int &state_idx_in) const override;
+     133             :   double getCovariance(const int &state_id_in, const int &axis_in) const override;
+     134             : 
+     135             :   covariance_t getCovarianceMatrix(void) const override;
+     136             :   void         setCovarianceMatrix(const covariance_t &cov_in) override;
+     137             : 
+     138             :   double getInnovation(const int &state_idx) const override;
+     139             :   double getInnovation(const int &state_id_in, const int &axis_in) const override;
+     140             : 
+     141             :   double getLastValidHdg() const override;
+     142             : 
+     143             :   void setDt(const double &dt);
+     144             :   void setInputCoeff(const double &input_coeff);
+     145             : 
+     146             :   void generateA();
+     147             :   void generateB();
+     148             : 
+     149             : 
+     150             :   std::string getNamespacedName() const;
+     151             : 
+     152             :   std::string getPrintName() const;
+     153             : };
+     154             : }  // namespace mrs_uav_state_estimators
+     155             : 
+     156             : #endif  // ESTIMATORS_HEADING_HDG_GENERIC_H
+
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Generated by: LCOV version 1.14
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+ + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/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..184fcd89b0f359d12d16f08ceb9b076b8700fff8 GIT binary patch literal 655 zcmV;A0&x9_P)0{{R38Wk~70000OP)t-s|NsB0 zs;a7|?_FK${{R500003000620&P%hU00009a7bBm000ie000ie0hKEb8vpSTPn!rauAj>G z&`{Epo6QEOh>?TlaS6n$y7Q}{^By{A + + + + + + 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:2024-01-20 21:44:18Functions: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)69
mrs_uav_state_estimators::HdgPassthrough::~HdgPassthrough()69
mrs_uav_state_estimators::HdgPassthrough::~HdgPassthrough().269
+
+
+ + + +
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..cb42b552f1 --- /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:2024-01-20 21:44:18Functions: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)69
mrs_uav_state_estimators::HdgPassthrough::~HdgPassthrough()69
mrs_uav_state_estimators::HdgPassthrough::~HdgPassthrough().269
+
+
+ + + +
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..ec7d42a9fb --- /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:2024-01-20 21:44:18Functions: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          69 :   HdgPassthrough(const std::string &name, const std::string &ns_frame_id, const std::string &parent_state_est_name, const bool is_core_plugin)
+      70          69 :       : HeadingEstimator<hdg_passthrough::n_states>(name, ns_frame_id), parent_state_est_name_(parent_state_est_name), is_core_plugin_(is_core_plugin) {
+      71          69 :   }
+      72             : 
+      73         138 :   ~HdgPassthrough(void) {
+      74         138 :   }
+      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..c22fe82b5a --- /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:2024-01-20 21:44:18Functions: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&)69
+
+
+ + + +
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..da65591e7a --- /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:2024-01-20 21:44:18Functions: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&)69
+
+
+ + + +
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..ebf969f419 --- /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:2024-01-20 21:44:18Functions: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          69 :   HeadingEstimator(const std::string& name, const std::string& frame_id) : PartialEstimator<n_states, 1>(heading::type, name, frame_id) {
+      23          69 :   }
+      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..4b9a162d97 --- /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:2024-01-20 21:44:18Functions: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..abfbe82774 --- /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:2024-01-20 21:44:18Functions: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..de5a9f8eca --- /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:2024-01-20 21:44:18Functions: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..31919a10a3 --- /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:2024-01-20 21:44:18Functions: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..6985fed0be --- /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:2024-01-20 21:44:18Functions: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..95103ec9ca --- /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:2024-01-20 21:44:18Functions: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..e8dee0c6ac --- /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:40569158.6 %
Date:2024-01-20 21:44:18Functions:669172.5 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
correction.h +
56.6%56.6%
+ 		56.6 %371 / 65570.1 %47 / 67
<unnamed>56.6 %371 / 65570.1 %47 / 67
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..e6bf9baf73 --- /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:40569158.6 %
Date:2024-01-20 21:44:18Functions:669172.5 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
correction.h +
56.6%56.6%
+ 		56.6 %371 / 65570.1 %47 / 67
<unnamed>56.6 %371 / 65570.1 %47 / 67
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..fda3a15186 --- /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:40569158.6 %
Date:2024-01-20 21:44:18Functions:669172.5 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
correction.h +
56.6%56.6%
+ 		56.6 %371 / 65570.1 %47 / 67
<unnamed>56.6 %371 / 65570.1 %47 / 67
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..cd33d163ba --- /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:40569158.6 %
Date:2024-01-20 21:44:18Functions:669172.5 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
correction.h +
56.6%56.6%
+ 		56.6 %371 / 65570.1 %47 / 67
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..6ec12871c5 --- /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:40569158.6 %
Date:2024-01-20 21:44:18Functions:669172.5 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
correction.h +
56.6%56.6%
+ 		56.6 %371 / 65570.1 %47 / 67
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..4a406166c2 --- /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:40569158.6 %
Date:2024-01-20 21:44:18Functions:669172.5 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
correction.h +
56.6%56.6%
+ 		56.6 %371 / 65570.1 %47 / 67
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..d272195915 --- /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:99100.0 %
Date:2024-01-20 21:44:18Functions: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 %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/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..8b060f58c6 --- /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:99100.0 %
Date:2024-01-20 21:44:18Functions: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 %5 / 5100.0 %3 / 3
<unnamed>100.0 %5 / 5100.0 %3 / 3
+
+
+ + + + +
Generated by: LCOV version 1.14
+
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Date:2024-01-20 21:44:18Functions:5683.3 %
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lat_generic.h +
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lateral_estimator.h +
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Test:MRS UAV System - Test coverage reportLines:99100.0 %
Date:2024-01-20 21:44:18Functions:5683.3 %
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lateral_estimator.h +
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Test:MRS UAV System - Test coverage reportLines:99100.0 %
Date:2024-01-20 21:44:18Functions:5683.3 %
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lateral_estimator.h +
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lat_generic.h +
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateralHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:99100.0 %
Date:2024-01-20 21:44:18Functions:5683.3 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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lat_generic.h +
100.0%
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lateral_estimator.h +
100.0%
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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/lateral - lat_generic.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-01-20 21:44:18Functions:33100.0 %
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mrs_uav_state_estimators::LatGeneric::LatGeneric(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool, std::function<std::optional<double> ()>)69
mrs_uav_state_estimators::LatGeneric::~LatGeneric()69
mrs_uav_state_estimators::LatGeneric::~LatGeneric().269
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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:55100.0 %
Date:2024-01-20 21:44:18Functions: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::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> ()>)69
mrs_uav_state_estimators::LatGeneric::~LatGeneric()69
mrs_uav_state_estimators::LatGeneric::~LatGeneric().269
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h.gcov.frameset.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h.gcov.frameset.html new file mode 100644 index 0000000000..7be2806e41 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h.gcov.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h.gcov.html new file mode 100644 index 0000000000..9e0419a28b --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h.gcov.html @@ -0,0 +1,244 @@ + + + + + + + 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:55100.0 %
Date:2024-01-20 21:44:18Functions: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 A_t        = lkf_t::A_t;
+      43             :   using B_t        = lkf_t::B_t;
+      44             :   using H_t        = lkf_t::H_t;
+      45             :   using Q_t        = lkf_t::Q_t;
+      46             :   using x_t        = lkf_t::x_t;
+      47             :   using P_t        = lkf_t::P_t;
+      48             :   using u_t        = lkf_t::u_t;
+      49             :   using z_t        = lkf_t::z_t;
+      50             :   using R_t        = lkf_t::R_t;
+      51             :   using statecov_t = lkf_t::statecov_t;
+      52             : 
+      53             :   typedef mrs_lib::Repredictor<lkf_t> rep_lkf_t;
+      54             : 
+      55             : private:
+      56             :   const std::string package_name_ = "mrs_uav_state_estimators";
+      57             : 
+      58             :   std::string parent_state_est_name_;
+      59             : 
+      60             :   double                              dt_;
+      61             :   double                              input_coeff_, default_input_coeff_;
+      62             :   A_t                                 A_;
+      63             :   B_t                                 B_;
+      64             :   H_t                                 H_;
+      65             :   Q_t                                 Q_;
+      66             :   std::shared_ptr<lkf_t>              lkf_;
+      67             :   std::unique_ptr<rep_lkf_t>          lkf_rep_;
+      68             :   std::vector<std::shared_ptr<lkf_t>> models_;
+      69             :   mutable std::mutex                  mutex_lkf_;
+      70             :   statecov_t                          sc_;
+      71             :   mutable std::mutex                  mutex_sc_;
+      72             : 
+      73             :   std::unique_ptr<drmgr_t> drmgr_;
+      74             :   void                     callbackReconfigure(LateralEstimatorConfig &config, [[maybe_unused]] uint32_t level);
+      75             : 
+      76             :   z_t                innovation_;
+      77             :   mutable std::mutex mtx_innovation_;
+      78             : 
+      79             :   bool is_error_state_first_time_ = true;
+      80             :   ros::Duration error_state_duration_;
+      81             :   ros::Time prev_time_in_error_state_;
+      82             : 
+      83             :   bool is_repredictor_enabled_;
+      84             :   int  rep_buffer_size_ = 200;
+      85             : 
+      86             :   const bool is_core_plugin_;
+      87             : 
+      88             :   std::vector<std::string>                                              correction_names_;
+      89             :   std::vector<std::shared_ptr<Correction<lat_generic::n_measurements>>> corrections_;
+      90             : 
+      91             :   mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput> sh_control_input_;
+      92             :   void                                                timeoutCallback(const std::string &topic, const ros::Time &last_msg);
+      93             :   std::atomic<bool>                                   is_input_ready_ = false;
+      94             : 
+      95             : 
+      96             :   std::function<std::optional<double>()>               fun_get_hdg_;
+      97             :   std::string                                          hdg_source_topic_;
+      98             :   mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput> sh_hdg_state_;
+      99             :   std::atomic<bool>                                    is_hdg_state_ready_ = false;
+     100             : 
+     101             :   ros::Timer timer_update_;
+     102             :   void       timerUpdate(const ros::TimerEvent &event);
+     103             : 
+     104             :   ros::Timer timer_check_health_;
+     105             :   void       timerCheckHealth(const ros::TimerEvent &event);
+     106             : 
+     107             : 
+     108             :   void doCorrection(const Correction<lat_generic::n_measurements>::MeasurementStamped &meas, const double R, const StateId_t &state_id);
+     109             :   void doCorrection(const z_t &z, const double R, const StateId_t &H_idx, const ros::Time &meas_stamp);
+     110             : 
+     111             :   bool isConverged();
+     112             : 
+     113             :   Q_t                getQ();
+     114             :   mutable std::mutex mtx_Q_;
+     115             : 
+     116             : public:
+     117          69 :   LatGeneric(const std::string &name, const std::string &ns_frame_id, const std::string &parent_state_est_name, const bool is_core_plugin,
+     118             :              std::function<std::optional<double>()> fun_get_hdg)
+     119          69 :       : LateralEstimator<lat_generic::n_states>(name, ns_frame_id), parent_state_est_name_(parent_state_est_name), is_core_plugin_(is_core_plugin), fun_get_hdg_(fun_get_hdg) {
+     120          69 :   }
+     121             : 
+     122         138 :   ~LatGeneric(void) {
+     123         138 :   }
+     124             : 
+     125             :   void initialize(ros::NodeHandle &nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) override;
+     126             :   bool start(void) override;
+     127             :   bool pause(void) override;
+     128             :   bool reset(void) override;
+     129             : 
+     130             :   double getState(const int &state_idx_in) const override;
+     131             :   double getState(const int &state_id_in, const int &axis_in) const override;
+     132             : 
+     133             :   void setState(const double &state_in, const int &state_idx_in) override;
+     134             :   void setState(const double &state_in, const int &state_id_in, const int &axis_in) override;
+     135             : 
+     136             :   states_t getStates(void) const override;
+     137             :   void     setStates(const states_t &states_in) override;
+     138             : 
+     139             :   double getCovariance(const int &state_idx_in) const override;
+     140             :   double getCovariance(const int &state_id_in, const int &axis_in) const override;
+     141             : 
+     142             :   covariance_t getCovarianceMatrix(void) const override;
+     143             :   void         setCovarianceMatrix(const covariance_t &cov_in) override;
+     144             : 
+     145             :   double getInnovation(const int &state_idx) const override;
+     146             :   double getInnovation(const int &state_id_in, const int &axis_in) const override;
+     147             : 
+     148             :   void setDt(const double &dt);
+     149             :   void setInputCoeff(const double &input_coeff);
+     150             : 
+     151             :   void generateA();
+     152             :   void generateB();
+     153             : 
+     154             :   std::string getNamespacedName() const;
+     155             : 
+     156             :   std::string getPrintName() const;
+     157             : };
+     158             : }  // namespace mrs_uav_state_estimators
+     159             : 
+     160             : #endif  // ESTIMATORS_LATERAL_LAT_GENERIC_H
+
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Generated by: LCOV version 1.14
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+ + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h.gcov.png b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..f922dc5e2df8de7ab7fe1ec72ccf6d7aab4af7d1 GIT binary patch literal 682 zcmV;b0#*HqP)#j#a4B1xM%6g0$cLW?W z{sYedbNSFLJhG;GaN>f2(D*bhtX%rik4O#+x40pXlovd;wa0_Wz8Os!R2G+BXPeS35%Z|eDxN8qorRp*|ALE; zf=R!COm2Vbs@H8l(IBJjM_ual^DbWv270Ul$W?%ycZ*XHjeCz1{SNtgQ{3z$)T)|Q z!1&z|@Q}{&&~0!N>0{qYqS=q7S+hT)Y>nc2C;Q3ASNwbDW4d-%w4Zll33eq5z*mcs zgu&ePx=iM5umB{bG4&Uuo40GcZuSgNfG}H3=YeJ`eS&?FYXS-oX-sQzO_~VP5GyZe zqdEf8cr9w)XZz_4w?#uHKX!YE=d}VXvYJ!}0*zt0hp@aBUM=|hx(4RJcZyF9Mic)= z)TB0kO-N;`!^KE7#%ZaTfeX^Ugy2`#$CMHJzM6H!zwDkT`*zVaomlbn7roo7qWsP3 Qf&c&j07*qoM6N<$f<09`?EnA( literal 0 HcmV?d00001 diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h.func-sort-c.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h.func-sort-c.html new file mode 100644 index 0000000000..3bd9b2cdf3 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.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/lateral_estimator.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral - lateral_estimator.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2024-01-20 21:44:18Functions:2366.7 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + +

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&)69
mrs_uav_state_estimators::LateralEstimator<6>::~LateralEstimator().269
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + 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..1648446820 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h.func.html @@ -0,0 +1,92 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral - lateral_estimator.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2024-01-20 21:44:18Functions:2366.7 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + +

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&)69
mrs_uav_state_estimators::LateralEstimator<6>::~LateralEstimator()0
mrs_uav_state_estimators::LateralEstimator<6>::~LateralEstimator().269
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + 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..ce3d1cae9c --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h.gcov.html @@ -0,0 +1,122 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral - lateral_estimator.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2024-01-20 21:44:18Functions:2366.7 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          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          69 :   LateralEstimator(const std::string& name, const std::string& frame_id) : PartialEstimator<n_states, lateral::n_axes>(lateral::type, name, frame_id) {
+      24          69 :   }
+      25             : 
+      26          69 :   ~LateralEstimator(void) {
+      27          69 :   }
+      28             : 
+      29             : private:
+      30             :   static const int _n_axes_   = lateral::n_axes;
+      31             :   static const int _n_states_ = n_states;
+      32             :   static const int _n_inputs_;
+      33             :   static const int _n_measurements_;
+      34             : };
+      35             : 
+      36             : }  // namespace mrs_uav_state_estimation
+      37             : 
+      38             : #endif  // ESTIMATORS_LATERAL_LATERAL_ESTIMATOR_H
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h.gcov.overview.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h.gcov.overview.html new file mode 100644 index 0000000000..e5433d137d --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h.gcov.overview.html @@ -0,0 +1,30 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
+ Top

+ Overview +
+ + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h.gcov.png b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..463fd4e692090c58e2404f8d94bb0a27bf35e9a1 GIT binary patch literal 284 zcmeAS@N?(olHy`uVBq!ia0vp^0YI$A!VDxAx-dEcDTx4|5ZC|z|E~gqo(Lf);IkB zKih&OP$28bu>u3%=xv5Up%7}X91nEC!(6qssq(S1+&l+1@+JxwXI-pyIterm(k zm#tmhJg2gI`;Ii4a?1#x-QnJ|iaF^W_vhMMmm^Nj4*76q=hq`i%l+g3ZEcx6r(A$z z@!KPZZk1oD-*7BGC5Pd7uj5YR+DC>{-?qhe>=g-rWL$nv%v)pLp`KFjGVv_k6V;t& ZA77ZC+PdV^7oe*dJYD@<);T3K0RRatb^`za literal 0 HcmV?d00001 diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/partial_estimator.h.func-sort-c.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/partial_estimator.h.func-sort-c.html new file mode 100644 index 0000000000..dd85239b12 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/partial_estimator.h.func-sort-c.html @@ -0,0 +1,176 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/partial_estimator.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators - partial_estimator.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:343694.4 %
Date:2024-01-20 21:44:18Functions:192479.2 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

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&)69
mrs_uav_state_estimators::PartialEstimator<2, 1>::~PartialEstimator().269
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&)69
mrs_uav_state_estimators::PartialEstimator<6, 2>::~PartialEstimator().269
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&)124
mrs_uav_state_estimators::PartialEstimator<3, 1>::~PartialEstimator().2124
mrs_uav_state_estimators::PartialEstimator<3, 1>::stateIdToIndex(int const&, int const&) const107780
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&) const124370
mrs_uav_state_estimators::PartialEstimator<6, 2>::getCovarianceAsVector() const124378
mrs_uav_state_estimators::PartialEstimator<6, 2>::publishOutput() const124391
mrs_uav_state_estimators::PartialEstimator<6, 2>::getStatesAsVector() const124391
mrs_uav_state_estimators::PartialEstimator<2, 1>::getCovarianceAsVector() const140088
mrs_uav_state_estimators::PartialEstimator<2, 1>::publishOutput() const140097
mrs_uav_state_estimators::PartialEstimator<2, 1>::getStatesAsVector() const140100
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&) const205348
mrs_uav_state_estimators::PartialEstimator<3, 1>::getCovarianceAsVector() const205835
mrs_uav_state_estimators::PartialEstimator<3, 1>::publishOutput() const205894
mrs_uav_state_estimators::PartialEstimator<3, 1>::getStatesAsVector() const205904
mrs_uav_state_estimators::PartialEstimator<6, 2>::stateIdToIndex(int const&, int const&) const1889192
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/partial_estimator.h.func.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/partial_estimator.h.func.html new file mode 100644 index 0000000000..313e8d22fc --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/partial_estimator.h.func.html @@ -0,0 +1,176 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/partial_estimator.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators - partial_estimator.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:343694.4 %
Date:2024-01-20 21:44:18Functions:192479.2 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

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&)69
mrs_uav_state_estimators::PartialEstimator<2, 1>::~PartialEstimator()0
mrs_uav_state_estimators::PartialEstimator<2, 1>::~PartialEstimator().269
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&)124
mrs_uav_state_estimators::PartialEstimator<3, 1>::~PartialEstimator()0
mrs_uav_state_estimators::PartialEstimator<3, 1>::~PartialEstimator().2124
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&)69
mrs_uav_state_estimators::PartialEstimator<6, 2>::~PartialEstimator()0
mrs_uav_state_estimators::PartialEstimator<6, 2>::~PartialEstimator().269
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() const140097
mrs_uav_state_estimators::PartialEstimator<2, 1>::stateIdToIndex(int const&, int const&) const0
mrs_uav_state_estimators::PartialEstimator<2, 1>::getStatesAsVector() const140100
mrs_uav_state_estimators::PartialEstimator<2, 1>::getCovarianceAsVector() const140088
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&) const205348
mrs_uav_state_estimators::PartialEstimator<3, 1>::publishOutput() const205894
mrs_uav_state_estimators::PartialEstimator<3, 1>::stateIdToIndex(int const&, int const&) const107780
mrs_uav_state_estimators::PartialEstimator<3, 1>::getStatesAsVector() const205904
mrs_uav_state_estimators::PartialEstimator<3, 1>::getCovarianceAsVector() const205835
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&) const124370
mrs_uav_state_estimators::PartialEstimator<6, 2>::publishOutput() const124391
mrs_uav_state_estimators::PartialEstimator<6, 2>::stateIdToIndex(int const&, int const&) const1889192
mrs_uav_state_estimators::PartialEstimator<6, 2>::getStatesAsVector() const124391
mrs_uav_state_estimators::PartialEstimator<6, 2>::getCovarianceAsVector() const124378
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/partial_estimator.h.gcov.frameset.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/partial_estimator.h.gcov.frameset.html new file mode 100644 index 0000000000..c351510cb2 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/partial_estimator.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/partial_estimator.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/partial_estimator.h.gcov.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/partial_estimator.h.gcov.html new file mode 100644 index 0000000000..7f880bce36 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/partial_estimator.h.gcov.html @@ -0,0 +1,264 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/partial_estimator.h + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators - partial_estimator.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:343694.4 %
Date:2024-01-20 21:44:18Functions: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         262 :   PartialEstimator(const std::string &type, const std::string &name, const std::string &frame_id) : Estimator(type, name, frame_id) {
+      62         262 :   }
+      63             : 
+      64         262 :   ~PartialEstimator(void) {
+      65         262 :   }
+      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      470395 : std::vector<double> PartialEstimator<n_states, n_axes>::getStatesAsVector(void) const {
+     103      470395 :   const states_t      states = getStates();
+     104      470285 :   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     2114257 :   for (int i = 0; i < states.size(); i++) {
+     109     1643702 :     states_vec.push_back(states(i));
+     110             :   }
+     111      940452 :   return states_vec;
+     112             : }
+     113             : /*//}*/
+     114             : 
+     115             : /*//{ getCovarianceAsvector() */
+     116             : template <int n_states, int n_axes>
+     117      470301 : std::vector<double> PartialEstimator<n_states, n_axes>::getCovarianceAsVector(void) const {
+     118      470301 :   const covariance_t  covariance = getCovarianceMatrix();
+     119      470205 :   std::vector<double> covariance_vec;
+     120             :   /* for (auto cov : covariance.reshaped<Eigen::RowMajor>(covariance.size())) { */
+     121             :   /*   covariance_vec.push_back(*cov); */
+     122             :   /* } */
+     123     2112923 :   for (int i = 0; i < covariance.rows(); i++) {
+     124     8531591 :     for (int j = 0; j < covariance.cols(); j++) {
+     125     6887922 :       covariance_vec.push_back(covariance(i, j));
+     126             :     }
+     127             :   }
+     128      940272 :   return covariance_vec;
+     129             : }
+     130             : /*//}*/
+     131             : 
+     132             : /*//{ stateIdToIndex() */
+     133             : template <int n_states, int n_axes>
+     134     1996972 : int PartialEstimator<n_states, n_axes>::stateIdToIndex(const int &state_id_in, const int &axis_in) const {
+     135     1996972 :   return state_id_in * _n_axes_ + axis_in;
+     136             : }
+     137             : /*//}*/
+     138             : 
+     139             : /*//{ publishOutput() */
+     140             : template <int n_states, int n_axes>
+     141      470382 : void PartialEstimator<n_states, n_axes>::publishOutput() const {
+     142             : 
+     143      470382 :   if (!ch_->debug_topics.output) {
+     144           0 :     return;
+     145             :   }
+     146             : 
+     147      940700 :   mrs_msgs::EstimatorOutput msg;
+     148      470249 :   msg.header.stamp    = ros::Time::now();
+     149      470406 :   msg.header.frame_id = getFrameId();
+     150      470381 :   msg.state           = getStatesAsVector();
+     151      469981 :   msg.covariance      = getCovarianceAsVector();
+     152             : 
+     153      470157 :   ph_output_.publish(msg);
+     154             : }
+     155             : /*//}*/
+     156             : 
+     157             : /*//{ publishInput() */
+     158             : template <int n_states, int n_axes>
+     159             : template <typename u_t>
+     160      329718 : void PartialEstimator<n_states, n_axes>::publishInput(const u_t &u, const ros::Time& stamp) const {
+     161             : 
+     162      329718 :   if (!ch_->debug_topics.input) {
+     163           0 :     return;
+     164             :   }
+     165             : 
+     166      658270 :   mrs_msgs::Float64ArrayStamped msg;
+     167      327178 :   msg.header.stamp = stamp;
+     168      780757 :   for (int i = 0; i < u.rows(); i++) {
+     169      451265 :     msg.values.push_back(u(i));
+     170             :   }
+     171             : 
+     172      328744 :   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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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/passthrough.h.gcov.frameset.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/passthrough.h.gcov.frameset.html new file mode 100644 index 0000000000..bf04eeb1cb --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/passthrough.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/passthrough.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/passthrough.h.gcov.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/passthrough.h.gcov.html new file mode 100644 index 0000000000..cb1c1f9833 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/passthrough.h.gcov.html @@ -0,0 +1,173 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/passthrough.h + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state - passthrough.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2024-01-20 21:44:18Functions:33100.0 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #ifndef ESTIMATORS_STATE_PASSTHROUGH_H
+       2             : #define ESTIMATORS_STATE_PASSTHROUGH_H
+       3             : 
+       4             : /* includes //{ */
+       5             : 
+       6             : #include <ros/ros.h>
+       7             : 
+       8             : #include <nav_msgs/Odometry.h>
+       9             : 
+      10             : #include <mrs_lib/lkf.h>
+      11             : #include <mrs_lib/profiler.h>
+      12             : #include <mrs_lib/param_loader.h>
+      13             : #include <mrs_lib/subscribe_handler.h>
+      14             : #include <mrs_lib/publisher_handler.h>
+      15             : #include <mrs_lib/attitude_converter.h>
+      16             : #include <mrs_lib/transformer.h>
+      17             : 
+      18             : #include <mrs_uav_managers/state_estimator.h>
+      19             : 
+      20             : //}
+      21             : 
+      22             : namespace mrs_uav_state_estimators
+      23             : {
+      24             : 
+      25             : namespace passthrough
+      26             : {
+      27             : const char name[]         = "passthrough";
+      28             : const char frame_id[]     = "passthrough_origin";
+      29             : const char package_name[] = "mrs_uav_state_estimators";
+      30             : 
+      31             : const bool is_core_plugin = true;
+      32             : 
+      33             : using namespace mrs_uav_managers::estimation_manager;
+      34             : 
+      35             : class Passthrough : public mrs_uav_managers::StateEstimator {
+      36             : 
+      37             :   using CommonHandlers_t = mrs_uav_managers::estimation_manager::CommonHandlers_t;
+      38             : 
+      39             : private:
+      40             :   const std::string package_name_ = "mrs_uav_state_estimators";
+      41             : 
+      42             :   const std::string est_lat_name_ = "lat_passthrough";
+      43             : 
+      44             :   const std::string est_alt_name_ = "alt_passthrough";
+      45             : 
+      46             :   const std::string est_hdg_name_ = "hdg_passthrough";
+      47             : 
+      48             :   const bool is_core_plugin_;
+      49             : 
+      50             :   mrs_lib::SubscribeHandler<nav_msgs::Odometry> sh_passthrough_odom_;
+      51             :   double                                        _critical_timeout_passthrough_odom_;
+      52             :   std::string                                   msg_topic_;
+      53             : 
+      54             :   ros::Timer                 timer_update_;
+      55             :   void                       timerUpdate(const ros::TimerEvent &event);
+      56             :   nav_msgs::OdometryConstPtr prev_msg_;
+      57             :   bool                       first_iter_ = true;
+      58             :   ros::Timer                 timer_check_health_;
+      59             :   void                       timerCheckHealth(const ros::TimerEvent &event);
+      60             : 
+      61             :   bool isConverged();
+      62             : 
+      63             :   void waitForEstimationInitialization();
+      64             : 
+      65             : public:
+      66           1 :   Passthrough() : StateEstimator(passthrough::name, passthrough::frame_id, passthrough::package_name), is_core_plugin_(is_core_plugin) {
+      67           1 :   }
+      68             : 
+      69           2 :   ~Passthrough(void) {
+      70           2 :   }
+      71             : 
+      72             :   void initialize(ros::NodeHandle &nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) override;
+      73             :   bool start(void) override;
+      74             :   bool pause(void) override;
+      75             :   bool reset(void) override;
+      76             : 
+      77             :   /* mrs_msgs::UavState  getUavState() override; */
+      78             :   /* nav_msgs::Odometry  getInnovation() const override; */
+      79             :   /* std::vector<double> getPoseCovariance() const override; */
+      80             :   /* std::vector<double> getTwistCovariance() const override; */
+      81             : 
+      82             :   bool setUavState(const mrs_msgs::UavState &uav_state) override;
+      83             : };
+      84             : 
+      85             : }  // namespace passthrough
+      86             : 
+      87             : }  // namespace mrs_uav_state_estimators
+      88             : 
+      89             : #endif  // ESTIMATORS_STATE_PASSTHROUGH_H
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/passthrough.h.gcov.overview.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/passthrough.h.gcov.overview.html new file mode 100644 index 0000000000..88d95237e0 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/passthrough.h.gcov.overview.html @@ -0,0 +1,43 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/passthrough.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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+ + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/passthrough.h.gcov.png b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/passthrough.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..e44c5c845709562b6df9a8255e423f99ae0ac942 GIT binary patch literal 431 zcmV;g0Z{&lP)0000OP)t-s|NsB0 zs;a7|?_FK${{R500003000620&P%hU00009a7bBm000ie000ie0hKEb8vpfO*y3~prpJEFVmUx_krB1ErfufwoNp%&};z`6IVHe zcp7+wCJ?=_l=#9mnq$p<=SVIGyJdG{!>EreX941!LoLd-1=^Nd$^p8)B+kWgO+ibE+Soi~>yX!XLzaeKefFguZm-q|K zRsu&L69)Xr&V>2cwV0%$x?)mMi23O}bC|&P2;J)0x8LW + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/state_generic.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state - state_generic.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-01-20 21:44:18Functions:2366.7 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::StateGeneric::~StateGeneric()0
mrs_uav_state_estimators::StateGeneric::StateGeneric(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool)69
mrs_uav_state_estimators::StateGeneric::~StateGeneric().269
+
+
+ + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/state_generic.h.func.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/state_generic.h.func.html new file mode 100644 index 0000000000..9d65c39c19 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/state_generic.h.func.html @@ -0,0 +1,92 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/state_generic.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state - state_generic.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-01-20 21:44:18Functions:2366.7 %
Legend: Lines: + hit + not hit +
+
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+ + + + + + + + + + + + + + + + + + +

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mrs_uav_state_estimators::StateGeneric::StateGeneric(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool)69
mrs_uav_state_estimators::StateGeneric::~StateGeneric()0
mrs_uav_state_estimators::StateGeneric::~StateGeneric().269
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/state_generic.h.gcov.frameset.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/state_generic.h.gcov.frameset.html new file mode 100644 index 0000000000..fa3e046124 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/state_generic.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/state_generic.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/state_generic.h.gcov.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/state_generic.h.gcov.html new file mode 100644 index 0000000000..5b6e5e01f4 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/state_generic.h.gcov.html @@ -0,0 +1,183 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/state_generic.h + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state - state_generic.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-01-20 21:44:18Functions: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          69 :   StateGeneric(const std::string &name, const bool is_core_plugin)
+      79          69 :       : StateEstimator(name, name + "_origin", state_generic::package_name), is_core_plugin_(is_core_plugin) {
+      80          69 :   }
+      81             : 
+      82          69 :   ~StateGeneric(void) {
+      83          69 :   }
+      84             : 
+      85             :   void initialize(ros::NodeHandle &parent_nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) override;
+      86             :   bool start(void) override;
+      87             :   bool pause(void) override;
+      88             :   bool reset(void) override;
+      89             : 
+      90             :   bool setUavState(const mrs_msgs::UavState &uav_state) override;
+      91             : 
+      92             :   std::optional<double> getHeading() const;
+      93             : 
+      94             :   void updateUavState();
+      95             : };
+      96             : 
+      97             : }  // namespace mrs_uav_state_estimators
+      98             : 
+      99             : #endif  // ESTIMATORS_STATE_STATE_GENERIC_H
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/state_generic.h.gcov.overview.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/state_generic.h.gcov.overview.html new file mode 100644 index 0000000000..e38bed99a7 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/state_generic.h.gcov.overview.html @@ -0,0 +1,45 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/state_generic.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processorsHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:12417471.3 %
Date:2024-01-20 21:44:18Functions:173450.0 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
proc_median_filter.h +
63.9%63.9%
+ 		63.9 %23 / 3633.3 %2 / 6
<unnamed>63.9 %23 / 3633.3 %2 / 6
proc_excessive_tilt.h +
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proc_tf_to_world.h +
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<unnamed>78.7 %37 / 4737.5 %3 / 8
proc_saturate.h +
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<unnamed>72.5 %29 / 4066.7 %4 / 6
processor.h +
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+ 		70.0 %7 / 1075.0 %6 / 8
<unnamed>70.0 %7 / 1075.0 %6 / 8
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proc_median_filter.h +
63.9%63.9%
+ 		63.9 %23 / 3633.3 %2 / 6
<unnamed>63.9 %23 / 3633.3 %2 / 6
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processor.h +
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proc_saturate.h +
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+ 		72.5 %29 / 4066.7 %4 / 6
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proc_tf_to_world.h +
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+ 		78.7 %37 / 4737.5 %3 / 8
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Test:MRS UAV System - Test coverage reportLines:12417471.3 %
Date:2024-01-20 21:44:18Functions:173450.0 %
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proc_median_filter.h +
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proc_saturate.h +
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Date:2024-01-20 21:44:18Functions:173450.0 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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proc_median_filter.h +
63.9%63.9%
+ 		63.9 %23 / 3633.3 %2 / 6
proc_excessive_tilt.h +
68.3%68.3%
+ 		68.3 %28 / 4133.3 %2 / 6
proc_tf_to_world.h +
78.7%78.7%
+ 		78.7 %37 / 4737.5 %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
+
+
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/index-sort-l.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/index-sort-l.html new file mode 100644 index 0000000000..f33b0b9baf --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/index-sort-l.html @@ -0,0 +1,142 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors + + + + + + + + + + + + + + +
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Test:MRS UAV System - Test coverage reportLines:12417471.3 %
Date:2024-01-20 21:44:18Functions:173450.0 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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proc_median_filter.h +
63.9%63.9%
+ 		63.9 %23 / 3633.3 %2 / 6
proc_excessive_tilt.h +
68.3%68.3%
+ 		68.3 %28 / 4133.3 %2 / 6
processor.h +
70.0%70.0%
+ 		70.0 %7 / 1075.0 %6 / 8
proc_saturate.h +
72.5%72.5%
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proc_tf_to_world.h +
78.7%78.7%
+ 		78.7 %37 / 4737.5 %3 / 8
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/index.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/index.html new file mode 100644 index 0000000000..c66e90b0fd --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/index.html @@ -0,0 +1,142 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processorsHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:12417471.3 %
Date:2024-01-20 21:44:18Functions:173450.0 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
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Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
proc_excessive_tilt.h +
68.3%68.3%
+ 		68.3 %28 / 4133.3 %2 / 6
proc_median_filter.h +
63.9%63.9%
+ 		63.9 %23 / 3633.3 %2 / 6
proc_saturate.h +
72.5%72.5%
+ 		72.5 %29 / 4066.7 %4 / 6
proc_tf_to_world.h +
78.7%78.7%
+ 		78.7 %37 / 4737.5 %3 / 8
processor.h +
70.0%70.0%
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_excessive_tilt.h.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..04941e81b8 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_excessive_tilt.h.func-sort-c.html @@ -0,0 +1,104 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_excessive_tilt.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors - proc_excessive_tilt.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:284168.3 %
Date:2024-01-20 21:44:18Functions:2633.3 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::ProcExcessiveTilt<1>::reset()0
mrs_uav_state_estimators::ProcExcessiveTilt<2>::reset()0
mrs_uav_state_estimators::ProcExcessiveTilt<2>::process(Eigen::Matrix<double, 2, 1, 0, 2, 1>&)0
mrs_uav_state_estimators::ProcExcessiveTilt<2>::ProcExcessiveTilt(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)0
mrs_uav_state_estimators::ProcExcessiveTilt<1>::ProcExcessiveTilt(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)60
mrs_uav_state_estimators::ProcExcessiveTilt<1>::process(Eigen::Matrix<double, 1, 1, 0, 1, 1>&)105260
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_excessive_tilt.h.func.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_excessive_tilt.h.func.html new file mode 100644 index 0000000000..318e838cd2 --- /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:284168.3 %
Date:2024-01-20 21:44:18Functions: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>&)105260
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&)60
mrs_uav_state_estimators::ProcExcessiveTilt<2>::reset()0
mrs_uav_state_estimators::ProcExcessiveTilt<2>::process(Eigen::Matrix<double, 2, 1, 0, 2, 1>&)0
mrs_uav_state_estimators::ProcExcessiveTilt<2>::ProcExcessiveTilt(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)0
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_excessive_tilt.h.gcov.frameset.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_excessive_tilt.h.gcov.frameset.html new file mode 100644 index 0000000000..73cb0ae2b8 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_excessive_tilt.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_excessive_tilt.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_excessive_tilt.h.gcov.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_excessive_tilt.h.gcov.html new file mode 100644 index 0000000000..3702153b5d --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_excessive_tilt.h.gcov.html @@ -0,0 +1,206 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_excessive_tilt.h + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors - proc_excessive_tilt.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:284168.3 %
Date:2024-01-20 21:44:18Functions: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          60 : 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          60 :     : Processor<n_measurements>(nh, correction_name, name, ch, ph) {
+      45             : 
+      46             :   // | --------------------- load parameters -------------------- |
+      47          60 :   ph->param_loader->setPrefix(ch->package_name + "/" + Support::toSnakeCase(ch->nodelet_name) + "/" + Processor<n_measurements>::getNamespacedName() + "/");
+      48             : 
+      49          60 :   ph->param_loader->loadParam("orientation_topic", orientation_topic_);
+      50             :   double max_tilt;
+      51          60 :   ph->param_loader->loadParam("max_tilt", max_tilt);
+      52             : 
+      53          60 :   max_tilt = M_PI * (max_tilt / 180.0);
+      54             : 
+      55          60 :   max_tilt_sq_ = std::pow(max_tilt, 2);
+      56             : 
+      57          60 :   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          60 :   mrs_lib::SubscribeHandlerOptions shopts;
+      64          60 :   shopts.nh                 = nh;
+      65          60 :   shopts.node_name          = Processor<n_measurements>::getPrintName();
+      66          60 :   shopts.no_message_timeout = ros::Duration(1.0);
+      67          60 :   shopts.threadsafe         = true;
+      68          60 :   shopts.autostart          = true;
+      69          60 :   shopts.queue_size         = 10;
+      70          60 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+      71             : 
+      72          60 :   sh_orientation_ = mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped>(shopts, "/" + ch->uav_name + "/" + orientation_topic_);
+      73          60 : }
+      74             : /*//}*/
+      75             : 
+      76             : /*//{ process() */
+      77             : template <int n_measurements>
+      78      105260 : std::tuple<bool, bool> ProcExcessiveTilt<n_measurements>::process(measurement_t& measurement) {
+      79             : 
+      80      105260 :   if (!Processor<n_measurements>::enabled_) {
+      81           0 :     return {true, true};
+      82             :   }
+      83             : 
+      84      105260 :   if (!sh_orientation_.hasMsg()) {
+      85           0 :     return {false, false};
+      86             :   }
+      87             : 
+      88      105260 :   bool ok_flag     = true;
+      89      105260 :   bool should_fuse = true;
+      90             : 
+      91             :   try {
+      92      105260 :     Eigen::Matrix3d orientation_R = mrs_lib::AttitudeConverter(sh_orientation_.getMsg()->quaternion);
+      93             : 
+      94      105255 :     const double tilt = mrs_lib::geometry::angleBetween(Eigen::Vector3d(0, 0, 1), orientation_R.col(2));
+      95             : 
+      96      105255 :     const bool is_excessive_tilt = std::pow(tilt, 2) > max_tilt_sq_;
+      97             : 
+      98      105233 :     if (is_excessive_tilt) {
+      99           0 :       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      105260 :   return {ok_flag, should_fuse};
+     110             : }
+     111             : /*//}*/
+     112             : 
+     113             : /*//{ reset() */
+     114             : template <int n_measurements>
+     115           0 : void ProcExcessiveTilt<n_measurements>::reset() {
+     116             :   // no need to do anything
+     117           0 : }
+     118             : /*//}*/
+     119             : 
+     120             : }  // namespace mrs_uav_state_estimators
+     121             : 
+     122             : #endif  // PROCESSORS_PROC_EXCESSIVE_TILT_H
+
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Date:2024-01-20 21:44:18Functions:2633.3 %
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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&)60
mrs_uav_state_estimators::ProcMedianFilter<1>::process(Eigen::Matrix<double, 1, 1, 0, 1, 1>&)105234
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Date:2024-01-20 21:44:18Functions:2633.3 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::ProcMedianFilter<1>::reset()0
mrs_uav_state_estimators::ProcMedianFilter<1>::process(Eigen::Matrix<double, 1, 1, 0, 1, 1>&)105234
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&)60
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          60 : 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          60 :     : Processor<n_measurements>(nh, correction_name, name, ch, ph) {
+      41             : 
+      42             :   // | --------------------- load parameters -------------------- |
+      43          60 :   ph->param_loader->setPrefix(ch->package_name + "/" + Support::toSnakeCase(ch->nodelet_name) + "/" + Processor<n_measurements>::getNamespacedName() + "/");
+      44             : 
+      45          60 :   ph->param_loader->loadParam("buffer_size", buffer_size_);
+      46          60 :   ph->param_loader->loadParam("max_diff", max_diff_);
+      47             : 
+      48          60 :   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          60 :   const double min_valid = std::numeric_limits<double>::lowest();
+      55          60 :   const double max_valid = std::numeric_limits<double>::max();
+      56             : 
+      57             :   // initialize median filter
+      58         120 :   for (int i = 0; i < n_measurements; i++) {
+      59          60 :     vec_mf_.push_back(mrs_lib::MedianFilter(buffer_size_, min_valid, max_valid, max_diff_));
+      60             :   }
+      61          60 : }
+      62             : /*//}*/
+      63             : 
+      64             : /*//{ process() */
+      65             : template <int n_measurements>
+      66      105234 : std::tuple<bool, bool> ProcMedianFilter<n_measurements>::process(measurement_t& measurement) {
+      67             : 
+      68      105234 :   if (!Processor<n_measurements>::enabled_) {
+      69           0 :     return {true, true};
+      70             :   }
+      71             : 
+      72      105234 :   bool ok_flag     = true;
+      73      105234 :   bool should_fuse = true;
+      74      210480 :   for (int i = 0; i < measurement.rows(); i++) {
+      75      105241 :     vec_mf_[i].add(measurement(i));
+      76      105239 :     if (vec_mf_[i].full()) {
+      77       99295 :       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        5939 :       ROS_WARN_THROTTLE(1.0, "[%s]: median filter not full yet", Processor<n_measurements>::getPrintName().c_str());
+      88        5940 :       ok_flag     = false;
+      89        5940 :       should_fuse = false;
+      90             :     }
+      91             :   }
+      92             : 
+      93      105225 :   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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Date:2024-01-20 21:44:18Functions: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)>)62
mrs_uav_state_estimators::ProcSaturate<2>::process(Eigen::Matrix<double, 2, 1, 0, 2, 1>&)5451
mrs_uav_state_estimators::ProcSaturate<1>::process(Eigen::Matrix<double, 1, 1, 0, 1, 1>&)107792
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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:2024-01-20 21:44:18Functions: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<1>::process(Eigen::Matrix<double, 1, 1, 0, 1, 1>&)107792
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)>)62
mrs_uav_state_estimators::ProcSaturate<2>::reset()0
mrs_uav_state_estimators::ProcSaturate<2>::process(Eigen::Matrix<double, 2, 1, 0, 2, 1>&)5451
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:2024-01-20 21:44:18Functions: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          66 : 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          66 :     : Processor<n_measurements>(nh, correction_name, name, ch, ph), state_id_(state_id), fun_get_state_(fun_get_state) {
+      46             : 
+      47             :   // | --------------------- load parameters -------------------- |
+      48          66 :   ph->param_loader->setPrefix(ch->package_name + "/" + Support::toSnakeCase(ch->nodelet_name) + "/" + Processor<n_measurements>::getNamespacedName() + "/");
+      49             : 
+      50          66 :   ph->param_loader->loadParam("start_enabled", this->start_enabled_);
+      51          66 :   this->enabled_ = this->start_enabled_;
+      52          66 :   ph->param_loader->loadParam("keep_enabled", keep_enabled_);
+      53          66 :   ph->param_loader->loadParam("min", saturate_min_);
+      54          66 :   ph->param_loader->loadParam("max", saturate_max_);
+      55          66 :   ph->param_loader->loadParam("limit", innovation_limit_);
+      56             : 
+      57          66 :   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          66 : }
+      62             : /*//}*/
+      63             : 
+      64             : /*//{ process() */
+      65             : template <int n_measurements>
+      66      113243 : std::tuple<bool, bool> ProcSaturate<n_measurements>::process(measurement_t& measurement) {
+      67             : 
+      68             :   // if no saturation is required, processing is successful
+      69      113243 :   if (!this->enabled_) {
+      70           0 :     return {true, true};
+      71             :   }
+      72             : 
+      73      113243 :   bool ok_flag     = true;
+      74      113243 :   bool should_fuse = true;
+      75      227664 :   for (int i = 0; i < measurement.rows(); i++) {
+      76      118685 :     const double state = fun_get_state_(state_id_, i);
+      77      118685 :     ROS_INFO_ONCE("[%s]: first state[%d][%d]: %.2f", Processor<n_measurements>::getNamespacedName().c_str(), state_id_, i, state);
+      78             : 
+      79      118685 :     if (measurement(i) > state + innovation_limit_ || measurement(i) < state - innovation_limit_) {
+      80        4250 :       return {true, true};  // do not even try to saturate, trigger innovation-based switch to other estimator
+      81             :     }
+      82             : 
+      83      114387 :     if (measurement(i) > state + saturate_max_) {
+      84         200 :       const double saturated = state + saturate_max_;
+      85         200 :       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         200 :       measurement(i) = saturated;
+      88         200 :       ok_flag        = false;
+      89         200 :       should_fuse    = true;
+      90      114237 :     } 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      108969 :   if (!this->keep_enabled_ && ok_flag) {
+     102           0 :     this->enabled_ = false;
+     103             :   }
+     104             : 
+     105      108969 :   return {ok_flag, should_fuse};  // saturated measurement is valid
+     106             : }
+     107             : /*//}*/
+     108             : 
+     109             : /*//{ reset() */
+     110             : template <int n_measurements>
+     111           0 : void ProcSaturate<n_measurements>::reset() {
+     112             :   // no need to reset anything
+     113           0 : }
+     114             : /*//}*/
+     115             : 
+     116             : }  // namespace mrs_uav_state_estimators
+     117             : 
+     118             : #endif  // PROCESSORS_PROC_MEDIAN_FILTER_H
+
+
+
+ + + + +
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+ + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_saturate.h.gcov.png b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_saturate.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..9849f98e369e50987231e01d23a49867fcf9bec5 GIT binary patch literal 711 zcmV;&0yzDNP)PuAm$E_Fv^0!cQUyv9+o8t9s_bg#@ixmc=cLnHvF_eGOC_ zIC=d+pc#F7gezUL=r-izK6S^=VOz^- zoTyaRs(gREA>hUbqo%&|$VMlDoalkatPzZW+4a<;8psABfO>hZ^Mt%Mz-{|Ww&S+{ z9p@(>r*AyLfZNc_c8mc92))RAgAwwNfKTgsTGr3&x>KQIGCeA;wB$OrpygAHn&rC5 zukaXCxKlpgNuk<2$#QnE&@aCnqtE)yfqy{9M(&-32O^%(+KM|qYtXE zrX~pb0OB-yBpN*L@iN4g3^{_@nsrt4AT#|K;mSiX7BvL61LR6V{h6t7ctXc2OVI|h zbLNpK?=(n2yo|tmsftIKOh{TZYe+yl#Ug+kR@agH=DyR8CX0!H#Zozz2Apm=e;R%l z0gn8YFyx$hB+9$$O+dVi!22RE9*+ndG=NRnDt_{Imfkbz0XIJNyV$HPd+0q|yjTk< zmEAsRgp7l6{iZ*rx}q>WKf;*PT-Gm|ue_N^y`!S@HB-N6)(Oumq9=Hq_P8IzClI4d t%w`5<@?i>{ZT~FL-+iN_Y2I%;xPLjP^YBqA0G9v&002ovPDHLkV1gH|QM>>E literal 0 HcmV?d00001 diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h.func-sort-c.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h.func-sort-c.html new file mode 100644 index 0000000000..db6537c8b3 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h.func-sort-c.html @@ -0,0 +1,112 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors - proc_tf_to_world.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:374778.7 %
Date:2024-01-20 21:44:18Functions:3837.5 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::ProcTfToWorld<1>::callbackGnss(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)0
mrs_uav_state_estimators::ProcTfToWorld<1>::reset()0
mrs_uav_state_estimators::ProcTfToWorld<1>::process(Eigen::Matrix<double, 1, 1, 0, 1, 1>&)0
mrs_uav_state_estimators::ProcTfToWorld<1>::ProcTfToWorld(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)0
mrs_uav_state_estimators::ProcTfToWorld<2>::reset()0
mrs_uav_state_estimators::ProcTfToWorld<2>::ProcTfToWorld(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)65
mrs_uav_state_estimators::ProcTfToWorld<2>::callbackGnss(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)61090
mrs_uav_state_estimators::ProcTfToWorld<2>::process(Eigen::Matrix<double, 2, 1, 0, 2, 1>&)120850
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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.func.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h.func.html new file mode 100644 index 0000000000..49dbc1cc25 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h.func.html @@ -0,0 +1,112 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors - proc_tf_to_world.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:374778.7 %
Date:2024-01-20 21:44:18Functions:3837.5 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::ProcTfToWorld<1>::callbackGnss(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)0
mrs_uav_state_estimators::ProcTfToWorld<1>::reset()0
mrs_uav_state_estimators::ProcTfToWorld<1>::process(Eigen::Matrix<double, 1, 1, 0, 1, 1>&)0
mrs_uav_state_estimators::ProcTfToWorld<1>::ProcTfToWorld(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)0
mrs_uav_state_estimators::ProcTfToWorld<2>::callbackGnss(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)61090
mrs_uav_state_estimators::ProcTfToWorld<2>::reset()0
mrs_uav_state_estimators::ProcTfToWorld<2>::process(Eigen::Matrix<double, 2, 1, 0, 2, 1>&)120850
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&)65
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Generated by: LCOV version 1.14
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors - proc_tf_to_world.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:374778.7 %
Date:2024-01-20 21:44:18Functions:3837.5 %
Legend: Lines: + hit + not hit +
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+
          Line data    Source code
+
+       1             : #pragma once
+       2             : #ifndef PROCESSORS_PROC_TF_TO_WORLD_H
+       3             : #define PROCESSORS_PROC_TF_TO_WORLD_H
+       4             : 
+       5             : #include <mrs_uav_state_estimators/processors/processor.h>
+       6             : 
+       7             : #include <sensor_msgs/NavSatFix.h>
+       8             : 
+       9             : #include <mrs_lib/gps_conversions.h>
+      10             : #include <mrs_lib/subscribe_handler.h>
+      11             : #include <mrs_lib/param_loader.h>
+      12             : 
+      13             : namespace mrs_uav_state_estimators
+      14             : {
+      15             : 
+      16             : using namespace mrs_uav_managers::estimation_manager;
+      17             : 
+      18             : template <int n_measurements>
+      19             : class ProcTfToWorld : public Processor<n_measurements> {
+      20             : 
+      21             : public:
+      22             :   typedef Eigen::Matrix<double, n_measurements, 1> measurement_t;
+      23             : 
+      24             : public:
+      25             :   ProcTfToWorld(ros::NodeHandle& nh, const std::string& correction_name, const std::string& name, const std::shared_ptr<CommonHandlers_t>& ch,
+      26             :                 const std::shared_ptr<PrivateHandlers_t>& ph);
+      27             : 
+      28             :   std::tuple<bool, bool> process(measurement_t& measurement) override;
+      29             :   void                   reset();
+      30             : 
+      31             : private:
+      32             :   bool is_initialized_ = false;
+      33             : 
+      34             :   std::string gnss_topic_;
+      35             : 
+      36             :   bool   got_gnss_                  = false;
+      37             :   bool   is_gnss_offset_calculated_ = false;
+      38             :   double gnss_x_;
+      39             :   double gnss_y_;
+      40             : 
+      41             :   mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix> sh_gnss_;
+      42             :   void                                              callbackGnss(const sensor_msgs::NavSatFix::ConstPtr msg);
+      43             : };
+      44             : 
+      45             : /*//{ constructor */
+      46             : template <int n_measurements>
+      47          65 : ProcTfToWorld<n_measurements>::ProcTfToWorld(ros::NodeHandle& nh, const std::string& correction_name, const std::string& name,
+      48             :                                              const std::shared_ptr<CommonHandlers_t>& ch, const std::shared_ptr<PrivateHandlers_t>& ph)
+      49          65 :     : Processor<n_measurements>(nh, correction_name, name, ch, ph) {
+      50             : 
+      51          65 :   ph->param_loader->setPrefix(ch->package_name + "/" + Support::toSnakeCase(ch->nodelet_name) + "/" + Processor<n_measurements>::getNamespacedName() + "/");
+      52             : 
+      53          65 :   ph->param_loader->loadParam("gnss_topic", gnss_topic_);
+      54             : 
+      55          65 :   gnss_topic_ = "/" + ch->uav_name + "/" + gnss_topic_;
+      56             : 
+      57          65 :   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          65 :   mrs_lib::SubscribeHandlerOptions shopts;
+      64          65 :   shopts.nh                 = nh;
+      65          65 :   shopts.node_name          = Processor<n_measurements>::getPrintName();
+      66          65 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+      67          65 :   shopts.threadsafe         = true;
+      68          65 :   shopts.autostart          = true;
+      69          65 :   shopts.queue_size         = 10;
+      70          65 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+      71             : 
+      72          65 :   sh_gnss_ = mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix>(shopts, gnss_topic_, &ProcTfToWorld::callbackGnss, this);
+      73             : 
+      74          65 :   is_initialized_ = true;
+      75          65 : }
+      76             : /*//}*/
+      77             : 
+      78             : /*//{ callbackGnss() */
+      79             : template <int n_measurements>
+      80       61090 : void ProcTfToWorld<n_measurements>::callbackGnss(const sensor_msgs::NavSatFix::ConstPtr msg) {
+      81             : 
+      82       61090 :   if (!is_initialized_) {
+      83           0 :     return;
+      84             :   }
+      85             : 
+      86       61090 :   if (got_gnss_) {
+      87       61017 :     return;
+      88             :   }
+      89             : 
+      90          73 :   if (!std::isfinite(msg->latitude)) {
+      91           0 :     ROS_ERROR_THROTTLE(1.0, "[%s] NaN detected in GNSS variable \"msg->latitude\"!!!", Processor<n_measurements>::getPrintName().c_str());
+      92             :   }
+      93             : 
+      94          65 :   if (!std::isfinite(msg->longitude)) {
+      95           0 :     ROS_ERROR_THROTTLE(1.0, "[%s] NaN detected in GNSS variable \"msg->longitude\"!!!", Processor<n_measurements>::getPrintName().c_str());
+      96             :   }
+      97             : 
+      98          65 :   mrs_lib::UTM(msg->latitude, msg->longitude, &gnss_x_, &gnss_y_);
+      99          65 :   got_gnss_ = true;
+     100             : }
+     101             : /*//}*/
+     102             : 
+     103             : /*//{ process() */
+     104             : template <int n_measurements>
+     105      120850 : std::tuple<bool, bool> ProcTfToWorld<n_measurements>::process(measurement_t& measurement) {
+     106             : 
+     107      120850 :   if (!Processor<n_measurements>::enabled_) {
+     108           0 :     return {true, true};
+     109             :   }
+     110             : 
+     111      120850 :   if (!got_gnss_) {
+     112        1708 :     ROS_WARN_THROTTLE(1.0, "[%s]: Missing GNSS data on topic: %s", Processor<n_measurements>::getPrintName().c_str(), gnss_topic_.c_str());
+     113        1708 :     return {false, false};
+     114             :   }
+     115             : 
+     116      119142 :   if (!is_gnss_offset_calculated_) {
+     117             : 
+     118          66 :     gnss_x_                    = (gnss_x_ - measurement(0)) - Processor<n_measurements>::ch_->world_origin.x;
+     119          67 :     gnss_y_                    = (gnss_y_ - measurement(1)) - Processor<n_measurements>::ch_->world_origin.y;
+     120          67 :     is_gnss_offset_calculated_ = true;
+     121             :   }
+     122             : 
+     123      119143 :   measurement(0) += gnss_x_;
+     124      118985 :   measurement(1) += gnss_y_;
+     125      119072 :   return {true, true};
+     126             : }
+     127             : /*//}*/
+     128             : 
+     129             : /*//{ reset() */
+     130             : template <int n_measurements>
+     131           0 : void ProcTfToWorld<n_measurements>::reset() {
+     132           0 :   got_gnss_                  = false;
+     133           0 :   is_gnss_offset_calculated_ = false;
+     134           0 : }
+     135             : /*//}*/
+     136             : }  // namespace mrs_uav_state_estimators
+     137             : 
+     138             : #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..547cc3c590 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h.gcov.overview.html @@ -0,0 +1,55 @@ + + + + + + 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 + + +
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+ + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h.gcov.png b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..c36e2d48ddbe16e7f9782c2a3dd82a0024d14e87 GIT binary patch literal 689 zcmV;i0#5yjP)v0{{R3&zjKJ0000OP)t-s|NsB0 zs;a7|?_FK${{R500003000620&P%hU00009a7bBm000ie000ie0hKEb8vp!uofd5*g)Qat11RYHFhk-x~tN)D!i`^E6Ah9Ea+9KyY%vB*UYHtkTKX4 z#r)W(T$7(uVnaga(JDg=~@!G6<$Qvj9xCJ0`<&ArqHB(!gCyT9OMIZo>54` zrW(`Q6{CJDH2B3GVj1UDfpqdpgrIK?A;{5y-)N7^3xG}qwKFB6OFW~;m=J9 zAB3)szOET1`$Ao(7>lk{3})j^qS%;OF&|?#Asro)U7yrP&+FSmy}hVoR>@Tz{x?Pv zU;ZAx;1qJIf17Cl&u;Xb;m^G>aB?SAZi#3wSlj_r@**U~8D_sb*Y726w?l2I0c09M zNE>5cO#GDkV*s>P{x9SEoubj!CZ>?KJ-^Q4)*{HwMbe+b@=!UB~n|2JC|-2QZC`~mp~ X<@_vk2t1d{00000NkvXXu0mjf+SEE; literal 0 HcmV?d00001 diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/processor.h.func-sort-c.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/processor.h.func-sort-c.html new file mode 100644 index 0000000000..a2862f499c --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/processor.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/processor.h - functions + + + + + + + + + + + + + + +
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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:2024-01-20 21:44:18Functions: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&)69
mrs_uav_state_estimators::Processor<2>::getNamespacedName[abi:cxx11]() const72
mrs_uav_state_estimators::Processor<2>::getPrintName[abi:cxx11]() const80
mrs_uav_state_estimators::Processor<1>::getPrintName[abi:cxx11]() const122
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&)182
mrs_uav_state_estimators::Processor<1>::getNamespacedName[abi:cxx11]() const242
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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/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..09f8220c53 --- /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:2024-01-20 21:44:18Functions: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&)182
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&)69
mrs_uav_state_estimators::Processor<1>::getPrintName[abi:cxx11]() const122
mrs_uav_state_estimators::Processor<1>::getNamespacedName[abi:cxx11]() const242
mrs_uav_state_estimators::Processor<2>::getPrintName[abi:cxx11]() const80
mrs_uav_state_estimators::Processor<2>::getNamespacedName[abi:cxx11]() const72
+
+
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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..54239168a2 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/processor.h.gcov.html @@ -0,0 +1,156 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/processor.h + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors - processor.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:71070.0 %
Date:2024-01-20 21:44:18Functions: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         251 :   Processor(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         251 :       : correction_name_(correction_name), name_(name), ch_(ch), ph_(ph) {
+      30         251 :   }  // 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         314 : std::string Processor<n_measurements>::getNamespacedName() const {
+      52         314 :   return correction_name_ + "/" + name_;
+      53             : }
+      54             : /*//}*/
+      55             : 
+      56             : /*//{ getPrintName() */
+      57             : template <int n_measurements>
+      58         202 : std::string Processor<n_measurements>::getPrintName() const {
+      59         202 :   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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Generated by: LCOV version 1.14
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Current view:top level - mrs_uav_state_estimators/src/estimators/agl - garmin_agl.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:7310470.2 %
Date:2024-01-20 21:44:18Functions:61060.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::garmin_agl::GarminAgl::isConverged()0
mrs_uav_state_estimators::garmin_agl::GarminAgl::pause()0
mrs_uav_state_estimators::garmin_agl::GarminAgl::reset()0
mrs_uav_state_estimators::garmin_agl::GarminAgl::getHeightCovariance() const0
(anonymous namespace)::ProxyExec0::ProxyExec0()55
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&)55
mrs_uav_state_estimators::garmin_agl::GarminAgl::start()55
mrs_uav_state_estimators::garmin_agl::GarminAgl::timerCheckHealth(ros::TimerEvent const&)967
mrs_uav_state_estimators::garmin_agl::GarminAgl::timerUpdate(ros::TimerEvent const&)93754
mrs_uav_state_estimators::garmin_agl::GarminAgl::getUavAglHeight() const98605
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Date:2024-01-20 21:44:18Functions:61060.0 %
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Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()55
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&)55
mrs_uav_state_estimators::garmin_agl::GarminAgl::isConverged()0
mrs_uav_state_estimators::garmin_agl::GarminAgl::timerUpdate(ros::TimerEvent const&)93754
mrs_uav_state_estimators::garmin_agl::GarminAgl::timerCheckHealth(ros::TimerEvent const&)967
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()55
mrs_uav_state_estimators::garmin_agl::GarminAgl::getUavAglHeight() const98605
mrs_uav_state_estimators::garmin_agl::GarminAgl::getHeightCovariance() const0
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Current view:top level - mrs_uav_state_estimators/src/estimators/agl - garmin_agl.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:7310470.2 %
Date:2024-01-20 21:44:18Functions:61060.0 %
Legend: Lines: + hit + not hit +
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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          55 : void GarminAgl::initialize(ros::NodeHandle &nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) {
+      15             : 
+      16          55 :   ch_ = ch;
+      17          55 :   ph_ = ph;
+      18          55 :   nh_ = nh;
+      19             : 
+      20          55 :   ns_frame_id_ = ch_->uav_name + "/" + frame_id_;
+      21             : 
+      22             :   // | --------------------- load parameters -------------------- |
+      23             : 
+      24          55 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getName() + "/");
+      25             : 
+      26          55 :   if (is_core_plugin_) {
+      27             : 
+      28          55 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/private/" + getName() + "/" + getName() + ".yaml");
+      29          55 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/public/" + getName() + "/" + getName() + ".yaml");
+      30             :   }
+      31             : 
+      32          55 :   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          55 :   _update_timer_rate_       = 100;                                                                                          // TODO: parametrize
+      39          55 :   timer_update_             = nh.createTimer(ros::Rate(_update_timer_rate_), &GarminAgl::timerUpdate, this, false, false);  // not running after init
+      40          55 :   _check_health_timer_rate_ = 1;                                                                                            // TODO: parametrize
+      41          55 :   timer_check_health_       = nh.createTimer(ros::Rate(_check_health_timer_rate_), &GarminAgl::timerCheckHealth, this);
+      42             : 
+      43             :   // | --------------- subscribers initialization --------------- |
+      44         110 :   mrs_lib::SubscribeHandlerOptions shopts;
+      45          55 :   shopts.nh                 = nh;
+      46          55 :   shopts.node_name          = getPrintName();
+      47          55 :   shopts.no_message_timeout = ros::Duration(0.5);
+      48          55 :   shopts.threadsafe         = true;
+      49          55 :   shopts.autostart          = true;
+      50          55 :   shopts.queue_size         = 10;
+      51          55 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+      52             : 
+      53             :   // | ---------------- publishers initialization --------------- |
+      54          55 :   ph_agl_height_ = mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>(nh, Support::toSnakeCase(getName()) + "/agl_height", 10);
+      55          55 :   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          55 :   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          55 :   est_agl_garmin_ = std::make_unique<AltGeneric>(est_agl_name_, frame_id_, getName(), is_core_plugin_);
+      65          55 :   est_agl_garmin_->initialize(nh, ch_, ph_);
+      66             : 
+      67          55 :   max_flight_z_ = est_agl_garmin_->getMaxFlightZ();
+      68             : 
+      69             :   // | ------------------ initialize published messages ------------------ |
+      70          55 :   agl_height_init_.header.frame_id     = ns_frame_id_;
+      71          55 :   agl_height_cov_init_.header.frame_id = ns_frame_id_;
+      72             : 
+      73             :   // | ------------------ finish initialization ----------------- |
+      74             : 
+      75          55 :   if (changeState(INITIALIZED_STATE)) {
+      76          55 :     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          55 : }
+      81             : /*//}*/
+      82             : 
+      83             : /*//{ start() */
+      84          55 : bool GarminAgl::start(void) {
+      85             : 
+      86             : 
+      87          55 :   if (isInState(READY_STATE)) {
+      88             : 
+      89             :     bool est_agl_garmin_start_successful;
+      90             : 
+      91          55 :     if (est_agl_garmin_->isStarted() || est_agl_garmin_->isRunning()) {
+      92           0 :       est_agl_garmin_start_successful = true;
+      93             :     } else {
+      94          55 :       est_agl_garmin_start_successful = est_agl_garmin_->start();
+      95             :     }
+      96             : 
+      97          55 :     if (est_agl_garmin_start_successful) {
+      98          55 :       timer_update_.start();
+      99          55 :       changeState(STARTED_STATE);
+     100          55 :       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           0 :   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       93754 : void GarminAgl::timerUpdate(const ros::TimerEvent &event) {
+     147             : 
+     148       93754 :   if (!isInitialized()) {
+     149           0 :     return;
+     150             :   }
+     151             : 
+     152       93754 :   const ros::Time time_now = ros::Time::now();
+     153             : 
+     154      187508 :   mrs_msgs::Float64Stamped agl_height = agl_height_init_;
+     155       93754 :   agl_height.header.stamp             = time_now;
+     156       93754 :   agl_height.value                    = est_agl_garmin_->getState(POSITION);
+     157             : 
+     158      187508 :   mrs_msgs::Float64ArrayStamped agl_height_cov;
+     159       93754 :   agl_height_cov.header.stamp = time_now;
+     160             : 
+     161       93754 :   const int n_states = 2;  // TODO this should be defined somewhere else
+     162       93754 :   agl_height_cov.values.resize(n_states * n_states);
+     163       93754 :   agl_height_cov.values.at(n_states * POSITION + POSITION) = est_agl_garmin_->getCovariance(POSITION);
+     164       93754 :   agl_height_cov.values.at(n_states * VELOCITY + VELOCITY) = est_agl_garmin_->getCovariance(VELOCITY);
+     165             : 
+     166       93754 :   mrs_lib::set_mutexed(mtx_agl_height_, agl_height, agl_height_);
+     167       93754 :   mrs_lib::set_mutexed(mtx_agl_height_cov_, agl_height_cov, agl_height_cov_);
+     168             : 
+     169       93754 :   publishAglHeight();
+     170       93754 :   publishCovariance();
+     171       93754 :   publishDiagnostics();
+     172             : }
+     173             : /*//}*/
+     174             : 
+     175             : /*//{ timerCheckHealth() */
+     176         967 : void GarminAgl::timerCheckHealth(const ros::TimerEvent &event) {
+     177             : 
+     178         967 :   if (!isInitialized()) {
+     179           0 :     return;
+     180             :   }
+     181             : 
+     182         967 :   if (isInState(INITIALIZED_STATE)) {
+     183             : 
+     184          55 :     if (est_agl_garmin_->isReady()) {
+     185          55 :       changeState(READY_STATE);
+     186          55 :       ROS_INFO("[%s]: Estimator is ready to start", getPrintName().c_str());
+     187             :     } else {
+     188           0 :       ROS_INFO("[%s]: %s subestimators to be ready", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     189           0 :       return;
+     190             :     }
+     191             :   }
+     192             : 
+     193             : 
+     194         967 :   if (isInState(STARTED_STATE)) {
+     195          57 :     ROS_INFO("[%s]: %s for convergence of LKF", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     196             : 
+     197          57 :     if (est_agl_garmin_->isRunning()) {
+     198          55 :       ROS_INFO("[%s]: Subestimators converged", getPrintName().c_str());
+     199          55 :       changeState(RUNNING_STATE);
+     200             :     } else {
+     201           2 :       return;
+     202             :     }
+     203             :   }
+     204             : }
+     205             : /*//}*/
+     206             : 
+     207             : /*//{ isConverged() */
+     208           0 : bool GarminAgl::isConverged() {
+     209             : 
+     210             :   // TODO: check convergence by rate of change of determinant
+     211             :   // most likely not used in top-level estimator
+     212             : 
+     213           0 :   return true;
+     214             : }
+     215             : /*//}*/
+     216             : 
+     217             : /*//{ getUavAglHeight() */
+     218       98605 : mrs_msgs::Float64Stamped GarminAgl::getUavAglHeight() const {
+     219       98605 :   return mrs_lib::get_mutexed(mtx_agl_height_, agl_height_);
+     220             : }
+     221             : /*//}*/
+     222             : 
+     223             : /*//{ getHeightCovariance() */
+     224           0 : std::vector<double> GarminAgl::getHeightCovariance() const {
+     225           0 :   return mrs_lib::get_mutexed(mtx_agl_height_cov_, agl_height_cov_.values);
+     226             : }
+     227             : /*//}*/
+     228             : 
+     229             : }  // namespace garmin_agl
+     230             : 
+     231             : }  // namespace mrs_uav_state_estimators
+     232             : 
+     233             : #include <pluginlib/class_list_macros.h>
+     234          55 : PLUGINLIB_EXPORT_CLASS(mrs_uav_state_estimators::garmin_agl::GarminAgl, mrs_uav_managers::AglEstimator)
+
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/src/estimators/altitude/alt_generic.cpp.func-sort-c.html b/mrs_uav_state_estimators/src/estimators/altitude/alt_generic.cpp.func-sort-c.html new file mode 100644 index 0000000000..b11976e9a3 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/altitude/alt_generic.cpp.func-sort-c.html @@ -0,0 +1,200 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/altitude/alt_generic.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/src/estimators/altitude - alt_generic.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:20937156.3 %
Date:2024-01-20 21:44:18Functions:223073.3 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::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::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::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&)124
mrs_uav_state_estimators::AltGeneric::isConverged()124
mrs_uav_state_estimators::AltGeneric::callbackReconfigure(mrs_uav_state_estimators::AltitudeEstimatorConfig&, unsigned int)124
mrs_uav_state_estimators::AltGeneric::setState(double const&, int const&)193
mrs_uav_state_estimators::AltGeneric::getNamespacedName[abi:cxx11]() const806
mrs_uav_state_estimators::AltGeneric::getPrintName[abi:cxx11]() const954
mrs_uav_state_estimators::AltGeneric::start()3215
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) const107791
mrs_uav_state_estimators::AltGeneric::getState(int const&, int const&) const107805
mrs_uav_state_estimators::AltGeneric::getInnovation(int const&) const135763
mrs_uav_state_estimators::AltGeneric::setInputCoeff(double const&)205796
mrs_uav_state_estimators::AltGeneric::getCovarianceMatrix() const205830
mrs_uav_state_estimators::AltGeneric::setDt(double const&)205882
mrs_uav_state_estimators::AltGeneric::getStates() const205896
mrs_uav_state_estimators::AltGeneric::timerUpdate(ros::TimerEvent const&)243148
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) const320115
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&)320143
mrs_uav_state_estimators::AltGeneric::doCorrection(mrs_uav_state_estimators::Correction<1>::MeasurementStamped const&, double, mrs_uav_managers::estimation_manager::StateId_t const&)320177
mrs_uav_state_estimators::AltGeneric::generateA()411730
mrs_uav_state_estimators::AltGeneric::generateB()411797
mrs_uav_state_estimators::AltGeneric::getCovariance(int const&) const458996
mrs_uav_state_estimators::AltGeneric::getState(int const&) const800947
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/src/estimators/altitude/alt_generic.cpp.func.html b/mrs_uav_state_estimators/src/estimators/altitude/alt_generic.cpp.func.html new file mode 100644 index 0000000000..9ee0fe3e65 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/altitude/alt_generic.cpp.func.html @@ -0,0 +1,200 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/altitude/alt_generic.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/src/estimators/altitude - alt_generic.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:20937156.3 %
Date:2024-01-20 21:44:18Functions:223073.3 %
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&)124
mrs_uav_state_estimators::AltGeneric::isConverged()124
mrs_uav_state_estimators::AltGeneric::timerUpdate(ros::TimerEvent const&)243148
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&)320143
mrs_uav_state_estimators::AltGeneric::doCorrection(mrs_uav_state_estimators::Correction<1>::MeasurementStamped const&, double, mrs_uav_managers::estimation_manager::StateId_t const&)320177
mrs_uav_state_estimators::AltGeneric::setInputCoeff(double const&)205796
mrs_uav_state_estimators::AltGeneric::timerCheckHealth(ros::TimerEvent const&)0
mrs_uav_state_estimators::AltGeneric::callbackReconfigure(mrs_uav_state_estimators::AltitudeEstimatorConfig&, unsigned int)124
mrs_uav_state_estimators::AltGeneric::setCovarianceMatrix(Eigen::Matrix<double, 3, 3, 0, 3, 3> const&)0
mrs_uav_state_estimators::AltGeneric::pause()0
mrs_uav_state_estimators::AltGeneric::reset()0
mrs_uav_state_estimators::AltGeneric::setDt(double const&)205882
mrs_uav_state_estimators::AltGeneric::start()3215
mrs_uav_state_estimators::AltGeneric::setState(double const&, int const&)193
mrs_uav_state_estimators::AltGeneric::setState(double const&, int const&, int const&)0
mrs_uav_state_estimators::AltGeneric::generateA()411730
mrs_uav_state_estimators::AltGeneric::generateB()411797
mrs_uav_state_estimators::AltGeneric::setStates(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)0
mrs_uav_state_estimators::AltGeneric::getPrintName[abi:cxx11]() const954
mrs_uav_state_estimators::AltGeneric::getCovariance(int const&) const458996
mrs_uav_state_estimators::AltGeneric::getCovariance(int const&, int const&) const0
mrs_uav_state_estimators::AltGeneric::getInnovation(int const&) const135763
mrs_uav_state_estimators::AltGeneric::getInnovation(int const&, int const&) const0
mrs_uav_state_estimators::AltGeneric::getNamespacedName[abi:cxx11]() const806
mrs_uav_state_estimators::AltGeneric::getCovarianceMatrix() const205830
mrs_uav_state_estimators::AltGeneric::getState(int const&) const800947
mrs_uav_state_estimators::AltGeneric::getState(int const&, int const&) const107805
mrs_uav_state_estimators::AltGeneric::getStates() const205896
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) const320115
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) const107791
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/src/estimators/altitude/alt_generic.cpp.gcov.frameset.html b/mrs_uav_state_estimators/src/estimators/altitude/alt_generic.cpp.gcov.frameset.html new file mode 100644 index 0000000000..be84a0e587 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/altitude/alt_generic.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/altitude/alt_generic.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/src/estimators/altitude/alt_generic.cpp.gcov.html b/mrs_uav_state_estimators/src/estimators/altitude/alt_generic.cpp.gcov.html new file mode 100644 index 0000000000..d9a242a3a4 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/altitude/alt_generic.cpp.gcov.html @@ -0,0 +1,797 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/altitude/alt_generic.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/src/estimators/altitude - alt_generic.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:20937156.3 %
Date:2024-01-20 21:44:18Functions:223073.3 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #define VERSION "0.0.6.0"
+       2             : 
+       3             : /* includes //{ */
+       4             : 
+       5             : #include <mrs_uav_state_estimators/estimators/altitude/alt_generic.h>
+       6             : 
+       7             : //}
+       8             : 
+       9             : namespace mrs_uav_state_estimators
+      10             : 
+      11             : {
+      12             : 
+      13             : /* initialize() //{*/
+      14         124 : void AltGeneric::initialize(ros::NodeHandle &nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) {
+      15             : 
+      16         124 :   ch_ = ch;
+      17         124 :   ph_ = ph;
+      18             : 
+      19         124 :   ns_frame_id_ = ch_->uav_name + "/" + frame_id_;
+      20             : 
+      21             :   // clang-format off
+      22         124 :   dt_ = 0.01;
+      23         124 :   input_coeff_ = 10;
+      24         124 :   default_input_coeff_ = 10;
+      25             : 
+      26         124 :   generateA();
+      27         124 :   generateB();
+      28             : 
+      29         124 :   H_ <<
+      30         124 :     1, 0, 0;
+      31             : 
+      32             :   // clang-format on
+      33             : 
+      34             :   // | --------------- initialize parameter loader -------------- |
+      35             : 
+      36         124 :   if (is_core_plugin_) {
+      37             : 
+      38         124 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/private/" + parent_state_est_name_ + "/" + getName() + ".yaml");
+      39         124 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/public/" + parent_state_est_name_ + "/" + getName() + ".yaml");
+      40             :   }
+      41             : 
+      42         124 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getNamespacedName() + "/");
+      43             : 
+      44             :   // | --------------------- load parameters -------------------- |
+      45             : 
+      46         124 :   ph->param_loader->loadParam("max_flight_z", max_flight_z_);
+      47         124 :   ph->param_loader->loadParam("innovation/limit", pos_innovation_limit_);
+      48         124 :   ph->param_loader->loadParam("innovation/action", exc_innovation_action_name_);
+      49         124 :   exc_innovation_action_ = map_exc_inno_action.at(exc_innovation_action_name_);
+      50         124 :   ph->param_loader->loadParam("repredictor/enabled", is_repredictor_enabled_);
+      51         124 :   if (is_repredictor_enabled_) {
+      52           0 :     ph->param_loader->loadParam("repredictor/buffer_size", rep_buffer_size_);
+      53             :   }
+      54             : 
+      55             :   // | --------------- corrections initialization --------------- |
+      56         124 :   ph->param_loader->loadParam("corrections", correction_names_);
+      57             : 
+      58         310 :   for (auto corr_name : correction_names_) {
+      59         186 :     corrections_.push_back(std::make_shared<Correction<alt_generic::n_measurements>>(
+      60      108163 :         nh, getNamespacedName(), corr_name, ns_frame_id_, EstimatorType_t::ALTITUDE, ch_, ph_, [this](int a, int b) { return this->getState(a, b); },
+      61      320115 :         [this](const Correction<alt_generic::n_measurements>::MeasurementStamped &meas, const double R, const StateId_t state) {
+      62      320115 :           return this->doCorrection(meas, R, state);
+      63             :         }));
+      64             :   }
+      65             : 
+      66         124 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getNamespacedName() + "/");
+      67             : 
+      68             :   // | ----------- initialize process noise covariance ---------- |
+      69         124 :   Q_ = Q_t::Zero();
+      70             :   double tmp_noise;
+      71         124 :   ph->param_loader->loadParam("process_noise/pos", tmp_noise);
+      72         124 :   Q_(POSITION, POSITION) = tmp_noise;
+      73         124 :   ph->param_loader->loadParam("process_noise/vel", tmp_noise);
+      74         124 :   Q_(VELOCITY, VELOCITY) = tmp_noise;
+      75         124 :   ph->param_loader->loadParam("process_noise/acc", tmp_noise);
+      76         124 :   Q_(ACCELERATION, ACCELERATION) = tmp_noise;
+      77             : 
+      78             :   // | ------- check if all parameters loaded successfully ------ |
+      79         124 :   if (!ph->param_loader->loadedSuccessfully()) {
+      80           0 :     ROS_ERROR("[%s]: Could not load all non-optional parameters. Shutting down.", getPrintName().c_str());
+      81           0 :     ros::shutdown();
+      82             :   }
+      83             : 
+      84             :   // | ------------- initialize dynamic reconfigure ------------- |
+      85             :   drmgr_ =
+      86         124 :       std::make_unique<drmgr_t>(ros::NodeHandle("~/" + getNamespacedName()), true, getPrintName(), boost::bind(&AltGeneric::callbackReconfigure, this, _1, _2));
+      87         124 :   drmgr_->config.pos = Q_(POSITION, POSITION);
+      88         124 :   drmgr_->config.vel = Q_(VELOCITY, VELOCITY);
+      89         124 :   drmgr_->config.acc = Q_(ACCELERATION, ACCELERATION);
+      90         124 :   drmgr_->update_config(drmgr_->config);
+      91             : 
+      92             :   // | --------------- Kalman filter intialization -------------- |
+      93         124 :   const x_t        x0 = x_t::Zero();
+      94         124 :   const P_t        P0 = 1e3 * P_t::Identity();
+      95         124 :   const statecov_t sc0({x0, P0});
+      96         124 :   sc_ = sc0;
+      97             : 
+      98         124 :   lkf_ = std::make_shared<lkf_t>(A_, B_, H_);
+      99         124 :   if (is_repredictor_enabled_) {
+     100             : 
+     101           0 :     for (int i = 0; i < alt_generic::n_states; i++) {
+     102           0 :       H_t H = H_t::Zero();
+     103           0 :       H(i)  = 1;
+     104           0 :       models_.push_back(std::make_shared<lkf_t>(A_, B_, H));
+     105             :     }
+     106             : 
+     107           0 :     const u_t       u0 = u_t::Zero();
+     108           0 :     const ros::Time t0 = ros::Time::now();
+     109           0 :     lkf_rep_           = std::make_unique<mrs_lib::Repredictor<lkf_t>>(x0, P0, u0, Q_, t0, lkf_, rep_buffer_size_);
+     110             : 
+     111           0 :     setDt(1.0 / ch_->desired_uav_state_rate);
+     112             :   }
+     113             : 
+     114             :   // | ------------------ timers initialization ----------------- |
+     115         124 :   timer_update_ = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &AltGeneric::timerUpdate, this);  // not running after init
+     116             :   /* timer_check_health_       = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &AltGeneric::timerCheckHealth, this); */
+     117             : 
+     118             :   // | --------------- subscribers initialization --------------- |
+     119             :   // subscriber to odometry
+     120         248 :   mrs_lib::SubscribeHandlerOptions shopts;
+     121         124 :   shopts.nh                 = nh;
+     122         124 :   shopts.node_name          = getPrintName();
+     123         124 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     124         124 :   shopts.threadsafe         = true;
+     125         124 :   shopts.autostart          = true;
+     126         124 :   shopts.queue_size         = 10;
+     127         124 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     128             : 
+     129         124 :   sh_control_input_ = mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput>(shopts, "control_input_in");
+     130             : 
+     131             :   // | ---------------- publishers initialization --------------- |
+     132         124 :   if (ch_->debug_topics.input) {
+     133         124 :     ph_input_ = mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped>(nh, getNamespacedName() + "/input", 10);
+     134             :   }
+     135         124 :   if (ch_->debug_topics.output) {
+     136         124 :     ph_output_ = mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput>(nh, getNamespacedName() + "/output", 10);
+     137             :   }
+     138         124 :   if (ch_->debug_topics.diag) {
+     139           0 :     ph_diagnostics_ = mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics>(nh, getNamespacedName() + "/diagnostics", 10);
+     140             :   }
+     141             : 
+     142             :   // | ------------------ finish initialization ----------------- |
+     143             : 
+     144         124 :   if (changeState(INITIALIZED_STATE)) {
+     145         124 :     ROS_INFO("[%s]: Estimator initialized, version %s", getPrintName().c_str(), VERSION);
+     146             :   } else {
+     147           0 :     ROS_INFO("[%s]: Estimator could not be initialized", getPrintName().c_str());
+     148             :   }
+     149         124 : }
+     150             : /*//}*/
+     151             : 
+     152             : /*//{ start() */
+     153        3215 : bool AltGeneric::start(void) {
+     154             : 
+     155        3215 :   if (isInState(READY_STATE)) {
+     156             :     /* timer_update_.start(); */
+     157         124 :     changeState(STARTED_STATE);
+     158         124 :     return true;
+     159             : 
+     160             :   } else {
+     161        3091 :     ROS_WARN_THROTTLE(1.0, "[%s]: Estimator must be in READY_STATE to start it", getPrintName().c_str());
+     162        3091 :     return false;
+     163             :   }
+     164             : }
+     165             : /*//}*/
+     166             : 
+     167             : /*//{ pause() */
+     168           0 : bool AltGeneric::pause(void) {
+     169             : 
+     170           0 :   if (isInState(RUNNING_STATE)) {
+     171           0 :     changeState(STOPPED_STATE);
+     172           0 :     return true;
+     173             : 
+     174             :   } else {
+     175           0 :     return false;
+     176             :   }
+     177             : }
+     178             : /*//}*/
+     179             : 
+     180             : /*//{ reset() */
+     181           0 : bool AltGeneric::reset(void) {
+     182             : 
+     183           0 :   if (!isInitialized()) {
+     184           0 :     ROS_ERROR("[%s]: Cannot reset uninitialized estimator", getPrintName().c_str());
+     185           0 :     return false;
+     186             :   }
+     187             : 
+     188           0 :   changeState(STOPPED_STATE);
+     189             : 
+     190             :   // Initialize LKF state and covariance
+     191           0 :   const x_t        x0 = x_t::Zero();
+     192           0 :   const P_t        P0 = 1e6 * P_t::Identity();
+     193           0 :   const statecov_t sc0({x0, P0});
+     194           0 :   sc_ = sc0;
+     195             : 
+     196             :   // Instantiate the LKF itself
+     197           0 :   lkf_ = std::make_shared<lkf_t>(A_, B_, H_);
+     198           0 :   if (is_repredictor_enabled_) {
+     199             : 
+     200           0 :     const u_t       u0 = u_t::Zero();
+     201           0 :     const ros::Time t0 = ros::Time(0);
+     202           0 :     lkf_rep_           = std::make_unique<mrs_lib::Repredictor<lkf_t>>(x0, P0, u0, Q_, t0, lkf_, rep_buffer_size_);
+     203             :   }
+     204             : 
+     205           0 :   ROS_INFO("[%s]: Estimator reset", getPrintName().c_str());
+     206             : 
+     207           0 :   return true;
+     208             : }
+     209             : /*//}*/
+     210             : 
+     211             : /* timerUpdate() //{*/
+     212      243148 : void AltGeneric::timerUpdate(const ros::TimerEvent &event) {
+     213             : 
+     214             : 
+     215      243148 :   if (!isInitialized()) {
+     216       37209 :     return;
+     217             :   }
+     218             : 
+     219      243071 :   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        4722 :     case READY_STATE: {
+     227        4722 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s estimator start", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     228        4722 :       break;
+     229             :     }
+     230             : 
+     231        4911 :     case INITIALIZED_STATE: {
+     232             :       // initialize the estimator with current corrections
+     233        5105 :       for (auto correction : corrections_) {
+     234        4979 :         auto res = correction->getProcessedCorrection();
+     235        4975 :         if (res) {
+     236         193 :           auto measurement_stamped = res.value();
+     237         193 :           setState(measurement_stamped.value(0), correction->getStateId());
+     238         193 :           ROS_INFO("[%s]: Setting initial state to: %.2f", getPrintName().c_str(), measurement_stamped.value(0));
+     239             :         } else {
+     240        4781 :           ROS_INFO_THROTTLE(1.0, "[%s]: %s correction %s", getPrintName().c_str(), Support::waiting_for_string.c_str(),
+     241             :                             correction->getNamespacedName().c_str());
+     242        4784 :           return;
+     243             :         }
+     244             :       }
+     245         122 :       changeState(READY_STATE);
+     246         124 :       ROS_INFO_THROTTLE(1.0, "[%s]: Ready to start", getPrintName().c_str());
+     247         124 :       break;
+     248             :     }
+     249             : 
+     250         124 :     case STARTED_STATE: {
+     251         124 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s for convergence of LKF", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     252             : 
+     253         124 :       if (isConverged()) {
+     254         124 :         ROS_INFO_THROTTLE(1.0, "[%s]: LKF converged", getPrintName().c_str());
+     255         124 :         changeState(RUNNING_STATE);
+     256             :       }
+     257         124 :       break;
+     258             :     }
+     259             : 
+     260      233332 :     case RUNNING_STATE: {
+     261      582588 :       for (auto correction : corrections_) {
+     262      349242 :         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      233384 :       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      238414 :   if (sh_control_input_.newMsg()) {
+     313      119577 :     is_input_ready_ = true;
+     314             :   }
+     315             : 
+     316             :   // check age of input
+     317      238285 :   if (is_input_ready_ && (ros::Time::now() - sh_control_input_.lastMsgTime()).toSec() > 0.1) {
+     318          22 :     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          22 :     is_input_ready_ = false;
+     321             :   }
+     322             : 
+     323      238199 :   if (!isRunning() && !isStarted()) {
+     324        4846 :     return;
+     325             :   }
+     326             : 
+     327      233319 :   if (first_iter_) {
+     328         124 :     first_iter_ = false;
+     329         124 :     return;
+     330             :   }
+     331             : 
+     332      233195 :   double dt = (event.current_real - event.last_real).toSec();
+     333      233243 :   if (dt <= 0.0) {
+     334       27439 :     return;
+     335             :   }
+     336             : 
+     337      205804 :   if (!is_repredictor_enabled_) {  // repredictor requires constant dt TODO: how to handle repredictor + variable rate?
+     338      205572 :     setDt(dt);
+     339             :   }
+     340             : 
+     341             :   // prediction step
+     342      205941 :   u_t       u;
+     343      205549 :   ros::Time input_stamp;
+     344      205591 :   if (is_input_ready_) {
+     345      135448 :     mrs_msgs::EstimatorInputConstPtr msg            = sh_control_input_.getMsg();
+     346      135506 :     const tf2::Vector3               des_acc_global = getAccGlobal(msg, 0);  // we don't care about heading
+     347      135725 :     input_stamp                                     = msg->header.stamp;
+     348      134985 :     setInputCoeff(default_input_coeff_);
+     349      135542 :     u(0) = des_acc_global.getZ();
+     350             :   } else {
+     351       69913 :     ROS_DEBUG_THROTTLE(1.0, "[%s]: not receiving control input, estimation suboptimal, potentially unstable", getPrintName().c_str());
+     352       70099 :     input_stamp = ros::Time::now();
+     353       70125 :     setInputCoeff(0);
+     354       70050 :     u = u_t::Zero();
+     355             :   }
+     356             : 
+     357             :   // go through available corrections and apply them
+     358             :   /* for (auto correction : corrections_) { */
+     359             :   /*   auto res = correction->getProcessedCorrection(); */
+     360             :   /*   if (res) { */
+     361             :   /*     auto measurement_stamped = res.value(); */
+     362             :   /*     doCorrection(measurement_stamped.value, correction->getR(), correction->getStateId(), measurement_stamped.stamp); */
+     363             :   /*   } */
+     364             :   /* } */
+     365             : 
+     366      204589 :   statecov_t sc = mrs_lib::get_mutexed(mutex_sc_, sc_);
+     367      204820 :   Q_t        Q  = mrs_lib::get_mutexed(mtx_Q_, Q_);
+     368             : 
+     369             :   try {
+     370             :     // Apply the prediction step
+     371      410131 :     std::scoped_lock lock(mutex_lkf_);
+     372      205053 :     if (is_repredictor_enabled_) {
+     373           0 :       lkf_rep_->addInputChangeWithNoise(u, Q, input_stamp, lkf_);
+     374           0 :       sc = lkf_rep_->predictTo(ros::Time::now());
+     375             :     } else {
+     376      205053 :       sc = lkf_->predict(sc, u, Q, dt_);
+     377             :     }
+     378             :   }
+     379           0 :   catch (const std::exception &e) {
+     380             :     // In case of error, alert the user
+     381           0 :     ROS_ERROR("[%s]: LKF prediction failed: %s", getPrintName().c_str(), e.what());
+     382             :   }
+     383             : 
+     384      204004 :   mrs_lib::set_mutexed(mutex_sc_, sc, sc_);
+     385             : 
+     386             :   // publishing
+     387      204800 :   publishInput(u, input_stamp);
+     388      205896 :   publishOutput();
+     389      205908 :   publishDiagnostics();
+     390             : }
+     391             : /*//}*/
+     392             : 
+     393             : /*//{ timerCheckHealth() */
+     394           0 : void AltGeneric::timerCheckHealth(const ros::TimerEvent &event) {
+     395             : 
+     396           0 :   if (!isInitialized()) {
+     397           0 :     return;
+     398             :   }
+     399             : 
+     400           0 :   switch (getCurrentSmState()) {
+     401             : 
+     402           0 :     case UNINITIALIZED_STATE: {
+     403           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s initialization", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     404           0 :       break;
+     405             :     }
+     406             : 
+     407           0 :     case READY_STATE: {
+     408           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s estimator start", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     409           0 :       break;
+     410             :     }
+     411             : 
+     412           0 :     case INITIALIZED_STATE: {
+     413             : 
+     414             :       // initialize the estimator with current corrections
+     415           0 :       for (auto correction : corrections_) {
+     416           0 :         auto res = correction->getProcessedCorrection();
+     417           0 :         if (res) {
+     418           0 :           auto measurement_stamped = res.value();
+     419           0 :           setState(measurement_stamped.value(0), correction->getStateId());
+     420           0 :           ROS_INFO_THROTTLE(1.0, "[%s]: Setting initial state to: %.2f", getPrintName().c_str(), measurement_stamped.value(0));
+     421             :         } else {
+     422           0 :           ROS_INFO_THROTTLE(1.0, "[%s]: %s correction %s", getPrintName().c_str(), Support::waiting_for_string.c_str(),
+     423             :                             correction->getNamespacedName().c_str());
+     424           0 :           return;
+     425             :         }
+     426             :       }
+     427           0 :       changeState(READY_STATE);
+     428           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: Ready to start", getPrintName().c_str());
+     429           0 :       break;
+     430             :     }
+     431             : 
+     432           0 :     case STARTED_STATE: {
+     433           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s for convergence of LKF", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     434             : 
+     435           0 :       if (isConverged()) {
+     436           0 :         ROS_INFO_THROTTLE(1.0, "[%s]: LKF converged", getPrintName().c_str());
+     437           0 :         changeState(RUNNING_STATE);
+     438             :       }
+     439           0 :       break;
+     440             :     }
+     441             : 
+     442           0 :     case RUNNING_STATE: {
+     443           0 :       for (auto correction : corrections_) {
+     444           0 :         if (!correction->isHealthy()) {
+     445           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: Correction %s is not healthy!", getPrintName().c_str(), correction->getNamespacedName().c_str());
+     446           0 :           changeState(ERROR_STATE);
+     447             :         }
+     448             :       }
+     449           0 :       break;
+     450             :     }
+     451             : 
+     452           0 :     case STOPPED_STATE: {
+     453           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: Estimator is stopped", getPrintName().c_str());
+     454           0 :       break;
+     455             :     }
+     456             : 
+     457           0 :     case ERROR_STATE: {
+     458           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: Estimator is in ERROR state", getPrintName().c_str());
+     459           0 :       bool all_corrections_healthy = true;
+     460           0 :       for (auto correction : corrections_) {
+     461           0 :         if (!correction->isHealthy()) {
+     462           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: Correction %s is not healthy!", getPrintName().c_str(), correction->getNamespacedName().c_str());
+     463           0 :           all_corrections_healthy = false;
+     464             :         }
+     465             :       }
+     466             :       // initialize the estimator again if corrections become healthy
+     467           0 :       if (all_corrections_healthy) {
+     468           0 :         changeState(INITIALIZED_STATE);
+     469             :       }
+     470           0 :       break;
+     471             :     }
+     472             :   }
+     473             : 
+     474           0 :   if (sh_control_input_.newMsg()) {
+     475           0 :     is_input_ready_ = true;
+     476             :   }
+     477             : 
+     478             :   // check age of input
+     479           0 :   if (is_input_ready_ && (ros::Time::now() - sh_control_input_.lastMsgTime()).toSec() > 0.1) {
+     480           0 :     ROS_WARN_THROTTLE(1.0, "[%s]: input too old (%.4f), using zero input instead", getPrintName().c_str(),
+     481             :                       (ros::Time::now() - sh_control_input_.lastMsgTime()).toSec());
+     482           0 :     is_input_ready_ = false;
+     483             :   }
+     484             : }
+     485             : /*//}*/
+     486             : 
+     487             : /*//{ doCorrection() */
+     488      320177 : void AltGeneric::doCorrection(const Correction<alt_generic::n_measurements>::MeasurementStamped &meas, const double R, const StateId_t &state_id) {
+     489      320177 :   doCorrection(meas.value, R, state_id, meas.stamp);
+     490      319886 : }
+     491             : /*//}*/
+     492             : 
+     493             : /*//{ doCorrection() */
+     494      320143 : void AltGeneric::doCorrection(const z_t &z, const double R, const StateId_t &H_idx, const ros::Time &meas_stamp) {
+     495             : 
+     496      320143 :   if (!isInitialized()) {
+     497        3259 :     return;
+     498             :   }
+     499             : 
+     500             :   // we do not want to perform corrections until the estimator is initialized
+     501      320057 :   if (!(isInState(SMStates_t::READY_STATE) || isInState(SMStates_t::RUNNING_STATE) || isInState(SMStates_t::STARTED_STATE))) {
+     502        3257 :     return;
+     503             :   }
+     504             : 
+     505             :   // for position state check the innovation
+     506      316663 :   if (H_idx == POSITION) {
+     507      191920 :     std::scoped_lock lock(mtx_innovation_);
+     508             : 
+     509      191976 :     is_mitigating_jump_ = false;
+     510      192065 :     innovation_(0)      = z(0) - getState(POSITION);
+     511             : 
+     512      192037 :     if (fabs(innovation_(0)) > pos_innovation_limit_) {
+     513           0 :       ROS_WARN_THROTTLE(1.0, "[%s]: innovation too large - [%.2f] lim: %.2f", getPrintName().c_str(), innovation_(0), pos_innovation_limit_);
+     514           0 :       innovation_ok_ = false;
+     515           0 :       switch (exc_innovation_action_) {
+     516           0 :         case ExcInnoAction_t::ELAND: {
+     517           0 :           ROS_WARN_THROTTLE(1.0, "[%s]: large innovation should trigger eland in control manager", ros::this_node::getName().c_str());
+     518           0 :           changeState(ERROR_STATE);
+     519           0 :           break;
+     520             :         }
+     521           0 :         case ExcInnoAction_t::SWITCH: {
+     522           0 :           ROS_WARN_THROTTLE(1.0, "[%s]: innovation should trigger estimator switch but no eland", ros::this_node::getName().c_str());
+     523           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?
+     524           0 :           changeState(ERROR_STATE);
+     525           0 :           break;
+     526             :         }
+     527           0 :         case ExcInnoAction_t::MITIGATE: {
+     528           0 :           ROS_WARN_THROTTLE(1.0, "[%s]: large innovation should trigger estimate jump mitigation", ros::this_node::getName().c_str());
+     529           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?
+     530           0 :           is_mitigating_jump_ = true;
+     531           0 :           setState(z(0), POSITION);
+     532           0 :           break;
+     533             :         }
+     534           0 :         case ExcInnoAction_t::NONE: {
+     535           0 :           ROS_WARN_THROTTLE(1.0, "[%s]: large innovation ignored", ros::this_node::getName().c_str());
+     536           0 :           break;
+     537             :         }
+     538             :       }
+     539             :     }
+     540      192031 :     innovation_ok_ = true;
+     541             :   }
+     542             : 
+     543      316769 :   statecov_t sc = mrs_lib::get_mutexed(mutex_sc_, sc_);
+     544             :   try {
+     545             :     // Apply the correction step
+     546             :     {
+     547      630557 :       std::scoped_lock lock(mutex_lkf_);
+     548      316874 :       H_        = H_t::Zero();
+     549      316741 :       H_(H_idx) = 1;
+     550      316283 :       lkf_->H   = H_;
+     551      315824 :       if (is_repredictor_enabled_) {
+     552             : 
+     553           0 :         lkf_rep_->addMeasurement(z, R_t::Ones() * R, meas_stamp, models_[H_idx]);
+     554             :       } else {
+     555      315824 :         sc = lkf_->correct(sc, z, R_t::Ones() * R);
+     556             :       }
+     557             :     }
+     558             :   }
+     559           0 :   catch (const std::exception &e) {
+     560             :     // In case of error, alert the user
+     561           0 :     ROS_ERROR("[%s]: LKF correction failed: %s", getPrintName().c_str(), e.what());
+     562             :   }
+     563             : 
+     564      314014 :   mrs_lib::set_mutexed(mutex_sc_, sc, sc_);
+     565             : }  // namespace mrs_uav_state_estimators
+     566             : /*//}*/
+     567             : 
+     568             : /*//{ isConverged() */
+     569         124 : bool AltGeneric::isConverged() {
+     570             : 
+     571             :   // TODO: check convergence by rate of change of determinant
+     572             : 
+     573         124 :   return true;
+     574             : }
+     575             : /*//}*/
+     576             : 
+     577             : /*//{ getState() */
+     578      107805 : double AltGeneric::getState(const int &state_id_in, const int &axis_in) const {
+     579      107805 :   return getState(stateIdToIndex(state_id_in, 0));
+     580             : }
+     581             : 
+     582      800947 : double AltGeneric::getState(const int &state_idx_in) const {
+     583      800947 :   return mrs_lib::get_mutexed(mutex_sc_, sc_).x(state_idx_in);
+     584             : }
+     585             : /*//}*/
+     586             : 
+     587             : /*//{ setState() */
+     588           0 : void AltGeneric::setState(const double &state_in, const int &state_id_in, const int &axis_in) {
+     589           0 :   setState(state_in, stateIdToIndex(state_id_in, 0));
+     590           0 : }
+     591             : 
+     592         193 : void AltGeneric::setState(const double &state_in, const int &state_idx_in) {
+     593         193 :   mrs_lib::set_mutexed(mutex_sc_, state_in, sc_.x(state_idx_in));
+     594         193 : }
+     595             : /*//}*/
+     596             : 
+     597             : /*//{ getStates() */
+     598      205896 : AltGeneric::states_t AltGeneric::getStates(void) const {
+     599      411717 :   return mrs_lib::get_mutexed(mutex_sc_, sc_).x;
+     600             : }
+     601             : /*//}*/
+     602             : 
+     603             : /*//{ setStates() */
+     604           0 : void AltGeneric::setStates(const states_t &states_in) {
+     605           0 :   mrs_lib::set_mutexed(mutex_sc_, states_in, sc_.x);
+     606           0 : }
+     607             : /*//}*/
+     608             : 
+     609             : /*//{ getCovariance() */
+     610           0 : double AltGeneric::getCovariance(const int &state_id_in, const int &axis_in) const {
+     611           0 :   return getCovariance(stateIdToIndex(state_id_in, 0));
+     612             : }
+     613             : 
+     614      458996 : double AltGeneric::getCovariance(const int &state_idx_in) const {
+     615      458996 :   return mrs_lib::get_mutexed(mutex_sc_, sc_).P(state_idx_in, state_idx_in);
+     616             : }
+     617             : /*//}*/
+     618             : 
+     619             : /*//{ getCovarianceMatrix() */
+     620      205830 : AltGeneric::covariance_t AltGeneric::getCovarianceMatrix(void) const {
+     621      411563 :   return mrs_lib::get_mutexed(mutex_sc_, sc_).P;
+     622             : }
+     623             : /*//}*/
+     624             : 
+     625             : /*//{ setCovarianceMatrix() */
+     626           0 : void AltGeneric::setCovarianceMatrix(const covariance_t &cov_in) {
+     627           0 :   mrs_lib::set_mutexed(mutex_sc_, cov_in, sc_.P);
+     628           0 : }
+     629             : /*//}*/
+     630             : 
+     631             : /*//{ getInnovation() */
+     632      135763 : double AltGeneric::getInnovation(const int &state_idx) const {
+     633      135763 :   return mrs_lib::get_mutexed(mtx_innovation_, innovation_)(state_idx);
+     634             : }
+     635             : 
+     636           0 : double AltGeneric::getInnovation(const int &state_id_in, const int &axis_in) const {
+     637           0 :   return getInnovation(stateIdToIndex(0, 0));
+     638             : }
+     639             : /*//}*/
+     640             : 
+     641             : /*//{ setDt() */
+     642      205882 : void AltGeneric::setDt(const double &dt) {
+     643      205882 :   dt_ = dt;
+     644      205882 :   generateA();
+     645      205614 :   generateB();
+     646      411277 :   std::scoped_lock lock(mutex_lkf_);
+     647      205671 :   lkf_->A = A_;
+     648      205674 :   lkf_->B = B_;
+     649      205540 : }
+     650             : /*//}*/
+     651             : 
+     652             : /*//{ setInputCoeff() */
+     653      205796 : void AltGeneric::setInputCoeff(const double &input_coeff) {
+     654      205796 :   input_coeff_ = input_coeff;
+     655      205796 :   generateA();
+     656      205271 :   generateB();
+     657      409923 :   std::scoped_lock lock(mutex_lkf_);
+     658      204770 :   lkf_->A = A_;
+     659      205126 :   lkf_->B = B_;
+     660      205270 : }
+     661             : /*//}*/
+     662             : 
+     663             : /*//{ generateA() */
+     664      411730 : void AltGeneric::generateA() {
+     665             : 
+     666             :   // clang-format off
+     667      411730 :     A_ <<
+     668      410368 :       1, dt_, 0.5 * dt_ * dt_,
+     669      410833 :       0, 1, dt_,
+     670      411111 :       0, 0, 1-(input_coeff_ * dt_);
+     671             :   // clang-format on
+     672      410668 : }
+     673             : /*//}*/
+     674             : 
+     675             : /*//{ generateB() */
+     676      411797 : void AltGeneric::generateB() {
+     677             : 
+     678             :   // clang-format off
+     679      411797 :     B_ <<
+     680             :       0,
+     681      409920 :       0,
+     682      410219 :       (input_coeff_ * dt_);
+     683             :   // clang-format on
+     684      409845 : }
+     685             : /*//}*/
+     686             : 
+     687             : /*//{ callbackReconfigure() */
+     688         124 : void AltGeneric::callbackReconfigure(AltitudeEstimatorConfig &config, [[maybe_unused]] uint32_t level) {
+     689             : 
+     690         124 :   if (!isInitialized()) {
+     691         124 :     return;
+     692             :   }
+     693             : 
+     694           0 :   Q_t Q;
+     695           0 :   Q(POSITION, POSITION)         = config.pos;
+     696           0 :   Q(VELOCITY, VELOCITY)         = config.vel;
+     697           0 :   Q(ACCELERATION, ACCELERATION) = config.acc;
+     698           0 :   mrs_lib::set_mutexed(mtx_Q_, Q, Q_);
+     699             : }
+     700             : /*//}*/
+     701             : 
+     702             : /*//{ getNamespacedName() */
+     703         806 : std::string AltGeneric::getNamespacedName() const {
+     704        1612 :   return parent_state_est_name_ + "/" + getName();
+     705             : }
+     706             : /*//}*/
+     707             : 
+     708             : /*//{ getPrintName() */
+     709         954 : std::string AltGeneric::getPrintName() const {
+     710        1908 :   return ch_->nodelet_name + "/" + parent_state_est_name_ + "/" + getName();
+     711             : }
+     712             : /*//}*/
+     713             : };  // namespace mrs_uav_state_estimators
+
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::HdgGeneric::initialize(ros::NodeHandle&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)0
mrs_uav_state_estimators::HdgGeneric::isConverged()0
mrs_uav_state_estimators::HdgGeneric::timerUpdate(ros::TimerEvent const&)0
mrs_uav_state_estimators::HdgGeneric::doCorrection(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, double, mrs_uav_managers::estimation_manager::StateId_t const&, ros::Time const&)0
mrs_uav_state_estimators::HdgGeneric::doCorrection(mrs_uav_state_estimators::Correction<1>::MeasurementStamped const&, double, mrs_uav_managers::estimation_manager::StateId_t const&)0
mrs_uav_state_estimators::HdgGeneric::setInputCoeff(double const&)0
mrs_uav_state_estimators::HdgGeneric::timerCheckHealth(ros::TimerEvent const&)0
mrs_uav_state_estimators::HdgGeneric::callbackReconfigure(mrs_uav_state_estimators::HeadingEstimatorConfig&, unsigned int)0
mrs_uav_state_estimators::HdgGeneric::setCovarianceMatrix(Eigen::Matrix<double, 2, 2, 0, 2, 2> const&)0
mrs_uav_state_estimators::HdgGeneric::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
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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::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
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+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/src/estimators/heading/hdg_generic.cpp.gcov.frameset.html b/mrs_uav_state_estimators/src/estimators/heading/hdg_generic.cpp.gcov.frameset.html new file mode 100644 index 0000000000..3cdb79f846 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/heading/hdg_generic.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/heading/hdg_generic.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/src/estimators/heading/hdg_generic.cpp.gcov.html b/mrs_uav_state_estimators/src/estimators/heading/hdg_generic.cpp.gcov.html new file mode 100644 index 0000000000..44ac72c3b6 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/heading/hdg_generic.cpp.gcov.html @@ -0,0 +1,754 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/heading/hdg_generic.cpp + + + + + + + + + + + + + + +
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:03350.0 %
Date:2024-01-20 21:44:18Functions:0310.0 %
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             :   // clang-format on
+      33             : 
+      34             :   // | --------------- initialize parameter loader -------------- |
+      35             : 
+      36           0 :   if (is_core_plugin_) {
+      37             : 
+      38           0 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/private/" + parent_state_est_name_ + "/" + getName() + ".yaml");
+      39           0 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/public/" + parent_state_est_name_ + "/" + getName() + ".yaml");
+      40             :   }
+      41             : 
+      42           0 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getNamespacedName() + "/");
+      43             : 
+      44             :   // | --------------------- load parameters -------------------- |
+      45           0 :   ph->param_loader->loadParam("max_flight_z", max_flight_z_);
+      46           0 :   ph->param_loader->loadParam("position_innovation_limit", pos_innovation_limit_);
+      47           0 :   ph->param_loader->loadParam("repredictor/enabled", is_repredictor_enabled_);
+      48           0 :   if (is_repredictor_enabled_) {
+      49           0 :     ph->param_loader->loadParam("repredictor/buffer_size", rep_buffer_size_);
+      50             :   }
+      51             : 
+      52             :   // | --------------- corrections initialization --------------- |
+      53           0 :   ph->param_loader->loadParam("corrections", correction_names_);
+      54             : 
+      55           0 :   for (auto corr_name : correction_names_) {
+      56           0 :     corrections_.push_back(std::make_shared<Correction<hdg_generic::n_measurements>>(
+      57           0 :         nh, getNamespacedName(), corr_name, ns_frame_id_, EstimatorType_t::HEADING, ch_, ph_, [this](int a, int b) { return this->getState(a, b); },
+      58           0 :         [this](const Correction<hdg_generic::n_measurements>::MeasurementStamped &meas, const double R, const StateId_t state) {
+      59           0 :           return this->doCorrection(meas, R, state);
+      60             :         }));
+      61             :   }
+      62             : 
+      63           0 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getNamespacedName() + "/");
+      64             : 
+      65             :   // | ----------- initialize process noise covariance ---------- |
+      66           0 :   Q_ = Q_t::Zero();
+      67             :   double tmp_noise;
+      68           0 :   ph->param_loader->loadParam("process_noise/pos", tmp_noise);
+      69           0 :   Q_(POSITION, POSITION) = tmp_noise;
+      70           0 :   ph->param_loader->loadParam("process_noise/vel", tmp_noise);
+      71           0 :   Q_(VELOCITY, VELOCITY) = tmp_noise;
+      72             : 
+      73             :   // | ------- check if all parameters loaded successfully ------ |
+      74           0 :   if (!ph->param_loader->loadedSuccessfully()) {
+      75           0 :     ROS_ERROR("[%s]: Could not load all non-optional parameters. Shutting down.", getPrintName().c_str());
+      76           0 :     ros::shutdown();
+      77             :   }
+      78             : 
+      79             :   // | ------------- initialize dynamic reconfigure ------------- |
+      80             :   drmgr_ =
+      81           0 :       std::make_unique<drmgr_t>(ros::NodeHandle("~/" + getNamespacedName()), true, getPrintName(), boost::bind(&HdgGeneric::callbackReconfigure, this, _1, _2));
+      82           0 :   drmgr_->config.pos = Q_(POSITION, POSITION);
+      83           0 :   drmgr_->config.vel = Q_(VELOCITY, VELOCITY);
+      84           0 :   drmgr_->update_config(drmgr_->config);
+      85             : 
+      86             :   // | --------------- Kalman filter intialization -------------- |
+      87           0 :   const x_t        x0 = x_t::Zero();
+      88           0 :   const P_t        P0 = 1e3 * P_t::Identity();
+      89           0 :   const statecov_t sc0({x0, P0});
+      90           0 :   sc_ = sc0;
+      91             : 
+      92           0 :   lkf_ = std::make_shared<lkf_t>(A_, B_, H_);
+      93           0 :   if (is_repredictor_enabled_) {
+      94             : 
+      95           0 :     for (int i = 0; i < hdg_generic::n_states; i++) {
+      96           0 :       H_t H = H_t::Zero();
+      97           0 :       H(i)  = 1;
+      98           0 :       models_.push_back(std::make_shared<lkf_t>(A_, B_, H));
+      99             :     }
+     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<lkf_t>>(x0, P0, u0, Q_, t0, lkf_, 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<lkf_t>>(x0, P0, u0, Q_, t0, lkf_, rep_buffer_size_);
+     197             :   }
+     198             : 
+     199           0 :   ROS_INFO("[%s]: Estimator reset", getPrintName().c_str());
+     200             : 
+     201           0 :   return true;
+     202             : }
+     203             : /*//}*/
+     204             : 
+     205             : /* timerUpdate() //{*/
+     206           0 : void HdgGeneric::timerUpdate(const ros::TimerEvent &event) {
+     207             : 
+     208           0 :   if (!isInitialized()) {
+     209           0 :     return;
+     210             :   }
+     211             : 
+     212           0 :   switch (getCurrentSmState()) {
+     213             : 
+     214           0 :     case UNINITIALIZED_STATE: {
+     215           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s initialization", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     216           0 :       break;
+     217             :     }
+     218             : 
+     219           0 :     case READY_STATE: {
+     220           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s estimator start", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     221           0 :       break;
+     222             :     }
+     223             : 
+     224           0 :     case INITIALIZED_STATE: {
+     225             :       // initialize the estimator with current corrections
+     226           0 :       for (auto correction : corrections_) {
+     227           0 :         auto res = correction->getProcessedCorrection();
+     228           0 :         if (res) {
+     229           0 :           auto measurement_stamped = res.value();
+     230           0 :           setState(measurement_stamped.value(AXIS_X), correction->getStateId(), AXIS_X);
+     231           0 :           ROS_INFO_THROTTLE(1.0, "[%s]: Setting initial state to: %.2f", getPrintName().c_str(), measurement_stamped.value(AXIS_X));
+     232             :         } else {
+     233           0 :           ROS_INFO_THROTTLE(1.0, "[%s]: %s correction %s", getPrintName().c_str(), Support::waiting_for_string.c_str(),
+     234             :                             correction->getNamespacedName().c_str());
+     235           0 :           return;
+     236             :         }
+     237             :       }
+     238           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: Ready to start", getPrintName().c_str());
+     239           0 :       changeState(READY_STATE);
+     240           0 :       break;
+     241             :     }
+     242             : 
+     243           0 :     case STARTED_STATE: {
+     244           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s convergence of LKF", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     245           0 :       if (isConverged()) {
+     246           0 :         ROS_INFO_THROTTLE(1.0, "[%s]: LKF converged", getPrintName().c_str());
+     247           0 :         changeState(RUNNING_STATE);
+     248             :       }
+     249           0 :       break;
+     250             :     }
+     251             : 
+     252           0 :     case RUNNING_STATE: {
+     253           0 :       for (auto correction : corrections_) {
+     254           0 :         if (!correction->isHealthy()) {
+     255           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: Correction %s is not healthy!", getPrintName().c_str(), correction->getNamespacedName().c_str());
+     256           0 :           changeState(ERROR_STATE);
+     257             :         }
+     258             :       }
+     259           0 :       break;
+     260             :     }
+     261             : 
+     262           0 :     case STOPPED_STATE: {
+     263           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: Estimator is stopped", getPrintName().c_str());
+     264           0 :       break;
+     265             :     }
+     266             : 
+     267           0 :     case ERROR_STATE: {
+     268           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: Estimator is in ERROR state", getPrintName().c_str());
+     269           0 :       bool all_corrections_healthy = true;
+     270           0 :       for (auto correction : corrections_) {
+     271           0 :         if (!correction->isHealthy()) {
+     272           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: Correction %s is not healthy!", getPrintName().c_str(), correction->getNamespacedName().c_str());
+     273           0 :           all_corrections_healthy = false;
+     274             :         }
+     275             :       }
+     276             :       // initialize the estimator again if corrections become healthy
+     277           0 :       if (all_corrections_healthy && innovation_ok_) {
+     278           0 :         changeState(INITIALIZED_STATE);
+     279             :       }
+     280           0 :       break;
+     281             :     }
+     282             :   }
+     283             : 
+     284           0 :   if (sh_control_input_.newMsg()) {
+     285           0 :     is_input_ready_ = true;
+     286             :   }
+     287             : 
+     288             :   // check age of input
+     289           0 :   if (is_input_ready_ && (ros::Time::now() - sh_control_input_.lastMsgTime()).toSec() > 0.1) {
+     290           0 :     ROS_WARN_THROTTLE(1.0, "[%s]: input too old (%.4f), using zero input instead", getPrintName().c_str(),
+     291             :                       (ros::Time::now() - sh_control_input_.lastMsgTime()).toSec());
+     292           0 :     is_input_ready_ = false;
+     293             :   }
+     294             : 
+     295           0 :   if (!isRunning() && !isStarted()) {
+     296           0 :     return;
+     297             :   }
+     298             : 
+     299           0 :   if (first_iter_) {
+     300           0 :     first_iter_ = false;
+     301           0 :     return;
+     302             :   }
+     303             : 
+     304           0 :   double dt = (event.current_real - event.last_real).toSec();
+     305           0 :   if (dt <= 0.0) {
+     306           0 :     return;
+     307             :   }
+     308             : 
+     309           0 :   if (!is_repredictor_enabled_) {  // repredictor requires constant dt
+     310           0 :     setDt(dt);
+     311             :   }
+     312             : 
+     313             :   // go through available corrections and apply them
+     314             :   /* for (auto correction : corrections_) { */
+     315             :   /*   auto res = correction->getProcessedCorrection(); */
+     316             :   /*   if (res) { */
+     317             :   /*     auto measurement_stamped = res.value(); */
+     318             :   /*     doCorrection(measurement_stamped.value, correction->getR(), correction->getStateId(), measurement_stamped.stamp); */
+     319             :   /*   } */
+     320             :   /* } */
+     321             : 
+     322             :   // prediction step
+     323           0 :   u_t       u;
+     324           0 :   ros::Time input_stamp;
+     325           0 :   if (is_input_ready_) {
+     326           0 :     input_stamp = sh_control_input_.getMsg()->header.stamp;
+     327           0 :     setInputCoeff(default_input_coeff_);
+     328           0 :     u(0) = sh_control_input_.getMsg()->control_hdg_rate;
+     329             :   } else {
+     330           0 :     input_stamp = ros::Time::now();
+     331           0 :     setInputCoeff(0);
+     332           0 :     u = u_t::Zero();
+     333             :   }
+     334             : 
+     335           0 :   statecov_t sc = mrs_lib::get_mutexed(mutex_sc_, sc_);
+     336           0 :   Q_t        Q  = mrs_lib::get_mutexed(mtx_Q_, Q_);
+     337             :   try {
+     338             :     // Apply the prediction step
+     339           0 :     std::scoped_lock lock(mutex_lkf_);
+     340           0 :     if (is_repredictor_enabled_) {
+     341           0 :       lkf_rep_->addInputChangeWithNoise(u, Q, input_stamp, lkf_);
+     342           0 :       sc = lkf_rep_->predictTo(ros::Time::now());
+     343             :     } else {
+     344           0 :       sc = lkf_->predict(sc, u, Q, dt_);
+     345             :     }
+     346             :   }
+     347           0 :   catch (const std::exception &e) {
+     348             :     // In case of error, alert the user
+     349           0 :     ROS_ERROR("[%s]: LKF prediction failed: %s", getPrintName().c_str(), e.what());
+     350             :   }
+     351             : 
+     352           0 :   mrs_lib::set_mutexed(mutex_sc_, sc, sc_);
+     353             : 
+     354           0 :   if (!isError()) {
+     355           0 :     mrs_lib::set_mutexed(mutex_last_valid_hdg_, sc.x(POSITION), last_valid_hdg_);
+     356             :   }
+     357             : 
+     358             :   // publishing
+     359           0 :   publishInput(u, input_stamp);
+     360           0 :   publishOutput();
+     361           0 :   publishDiagnostics();
+     362             : }
+     363             : /*//}*/
+     364             : 
+     365             : /*//{ timerCheckHealth() */
+     366           0 : void HdgGeneric::timerCheckHealth(const ros::TimerEvent &event) {
+     367             : 
+     368           0 :   if (!isInitialized()) {
+     369           0 :     return;
+     370             :   }
+     371             : 
+     372           0 :   switch (getCurrentSmState()) {
+     373             : 
+     374           0 :     case UNINITIALIZED_STATE: {
+     375           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s initialization", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     376           0 :       break;
+     377             :     }
+     378             : 
+     379           0 :     case READY_STATE: {
+     380           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s estimator start", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     381           0 :       break;
+     382             :     }
+     383             : 
+     384           0 :     case INITIALIZED_STATE: {
+     385             :       // initialize the estimator with current corrections
+     386           0 :       for (auto correction : corrections_) {
+     387           0 :         auto res = correction->getProcessedCorrection();
+     388           0 :         if (res) {
+     389           0 :           auto measurement_stamped = res.value();
+     390           0 :           setState(measurement_stamped.value(AXIS_X), correction->getStateId(), AXIS_X);
+     391           0 :           ROS_INFO_THROTTLE(1.0, "[%s]: Setting initial state to: %.2f", getPrintName().c_str(), measurement_stamped.value(AXIS_X));
+     392             :         } else {
+     393           0 :           ROS_INFO_THROTTLE(1.0, "[%s]: %s correction %s", getPrintName().c_str(), Support::waiting_for_string.c_str(),
+     394             :                             correction->getNamespacedName().c_str());
+     395           0 :           return;
+     396             :         }
+     397             :       }
+     398           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: Ready to start", getPrintName().c_str());
+     399           0 :       changeState(READY_STATE);
+     400           0 :       break;
+     401             :     }
+     402             : 
+     403           0 :     case STARTED_STATE: {
+     404           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s convergence of LKF", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     405           0 :       if (isConverged()) {
+     406           0 :         ROS_INFO_THROTTLE(1.0, "[%s]: LKF converged", getPrintName().c_str());
+     407           0 :         changeState(RUNNING_STATE);
+     408             :       }
+     409           0 :       break;
+     410             :     }
+     411             : 
+     412           0 :     case RUNNING_STATE: {
+     413           0 :       for (auto correction : corrections_) {
+     414           0 :         if (!correction->isHealthy()) {
+     415           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: Correction %s is not healthy!", getPrintName().c_str(), correction->getNamespacedName().c_str());
+     416           0 :           changeState(ERROR_STATE);
+     417             :         }
+     418             :       }
+     419           0 :       break;
+     420             :     }
+     421             : 
+     422           0 :     case STOPPED_STATE: {
+     423           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: Estimator is stopped", getPrintName().c_str());
+     424           0 :       break;
+     425             :     }
+     426             : 
+     427           0 :     case ERROR_STATE: {
+     428           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: Estimator is in ERROR state", getPrintName().c_str());
+     429           0 :       bool all_corrections_healthy = true;
+     430           0 :       for (auto correction : corrections_) {
+     431           0 :         if (!correction->isHealthy()) {
+     432           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: Correction %s is not healthy!", getPrintName().c_str(), correction->getNamespacedName().c_str());
+     433           0 :           all_corrections_healthy = false;
+     434             :         }
+     435             :       }
+     436             :       // initialize the estimator again if corrections become healthy
+     437           0 :       if (all_corrections_healthy) {
+     438           0 :         changeState(INITIALIZED_STATE);
+     439             :       }
+     440           0 :       break;
+     441             :     }
+     442             :   }
+     443             : 
+     444           0 :   if (sh_control_input_.newMsg()) {
+     445           0 :     is_input_ready_ = true;
+     446             :   }
+     447             : 
+     448             :   // check age of input
+     449           0 :   if (is_input_ready_ && (ros::Time::now() - sh_control_input_.lastMsgTime()).toSec() > 0.1) {
+     450           0 :     ROS_WARN_THROTTLE(1.0, "[%s]: input too old (%.4f), using zero input instead", getPrintName().c_str(),
+     451             :                       (ros::Time::now() - sh_control_input_.lastMsgTime()).toSec());
+     452           0 :     is_input_ready_ = false;
+     453             :   }
+     454             : }
+     455             : /*//}*/
+     456             : 
+     457             : /*//{ doCorrection() */
+     458           0 : void HdgGeneric::doCorrection(const Correction<hdg_generic::n_measurements>::MeasurementStamped &meas, const double R, const StateId_t &state_id) {
+     459           0 :   doCorrection(meas.value, R, state_id, meas.stamp);
+     460           0 : }
+     461             : /*//}*/
+     462             : 
+     463             : /*//{ doCorrection() */
+     464           0 : void HdgGeneric::doCorrection(const z_t &z, const double R, const StateId_t &H_idx, const ros::Time &meas_stamp) {
+     465             : 
+     466           0 :   if (!isInitialized()) {
+     467           0 :     return;
+     468             :   }
+     469             : 
+     470             :   // copy measurement as we might need to modify it (unwrap)
+     471           0 :   z_t meas = z;
+     472             : 
+     473             :   // we do not want to perform corrections until the estimator is initialized
+     474           0 :   if (!(isInState(SMStates_t::READY_STATE) || isInState(SMStates_t::RUNNING_STATE) || isInState(SMStates_t::STARTED_STATE))) {
+     475           0 :     return;
+     476             :   }
+     477             : 
+     478           0 :   statecov_t sc = mrs_lib::get_mutexed(mutex_sc_, sc_);
+     479             : 
+     480             :   // for position state check the innovation
+     481           0 :   if (H_idx == POSITION) {
+     482             : 
+     483             :     // unwrap the hdg measurement wrt current state
+     484           0 :     meas(POSITION) = mrs_lib::geometry::radians::unwrap(meas(POSITION), sc.x(POSITION));
+     485             : 
+     486           0 :     std::scoped_lock lock(mtx_innovation_);
+     487             : 
+     488           0 :     innovation_(0) = mrs_lib::geometry::radians::dist(mrs_lib::geometry::radians(meas(0)), mrs_lib::geometry::radians(sc.x(POSITION)));
+     489             : 
+     490           0 :     if (fabs(innovation_(0)) > pos_innovation_limit_) {
+     491           0 :       ROS_WARN_THROTTLE(1.0, "[%s]: innovation too large - hdg: %.2f", getPrintName().c_str(), innovation_(0));
+     492           0 :       innovation_ok_ = false;
+     493           0 :       changeState(ERROR_STATE);
+     494             :     }
+     495             :   }
+     496             : 
+     497             :   try {
+     498             :     // Apply the correction step
+     499             :     {
+     500           0 :       std::scoped_lock lock(mutex_lkf_);
+     501           0 :       H_        = H_t::Zero();
+     502           0 :       H_(H_idx) = 1;
+     503           0 :       lkf_->H   = H_;
+     504           0 :       if (is_repredictor_enabled_) {
+     505           0 :         lkf_rep_->addMeasurement(meas, R_t::Ones() * R, meas_stamp, models_[H_idx]);
+     506             :       } else {
+     507           0 :         sc = lkf_->correct(sc, meas, R_t::Ones() * R);
+     508             :       }
+     509             :     }
+     510           0 :     innovation_ok_ = true;
+     511             :   }
+     512           0 :   catch (const std::exception &e) {
+     513             :     // In case of error, alert the user
+     514           0 :     ROS_ERROR("[%s]: LKF correction failed: %s", getPrintName().c_str(), e.what());
+     515             :   }
+     516             : 
+     517           0 :   mrs_lib::set_mutexed(mutex_sc_, sc, sc_);
+     518             : }
+     519             : /*//}*/
+     520             : 
+     521             : /*//{ isConverged() */
+     522           0 : bool HdgGeneric::isConverged() {
+     523             : 
+     524             :   // TODO: check convergence by rate of change of determinant
+     525             : 
+     526           0 :   return true;
+     527             : }
+     528             : /*//}*/
+     529             : 
+     530             : /*//{ getState() */
+     531           0 : double HdgGeneric::getState(const int &state_id_in, const int &axis_in) const {
+     532           0 :   return getState(stateIdToIndex(state_id_in, 0));
+     533             : }
+     534             : 
+     535           0 : double HdgGeneric::getState(const int &state_idx_in) const {
+     536           0 :   return mrs_lib::get_mutexed(mutex_sc_, sc_).x(state_idx_in);
+     537             : }
+     538             : /*//}*/
+     539             : 
+     540             : /*//{ setState() */
+     541           0 : void HdgGeneric::setState(const double &state_in, const int &state_id_in, const int &axis_in) {
+     542           0 :   setState(state_in, stateIdToIndex(state_id_in, 0));
+     543           0 : }
+     544             : 
+     545           0 : void HdgGeneric::setState(const double &state_in, const int &state_idx_in) {
+     546           0 :   mrs_lib::set_mutexed(mutex_sc_, state_in, sc_.x(state_idx_in));
+     547           0 : }
+     548             : /*//}*/
+     549             : 
+     550             : /*//{ getStates() */
+     551           0 : HdgGeneric::states_t HdgGeneric::getStates(void) const {
+     552           0 :   return mrs_lib::get_mutexed(mutex_sc_, sc_).x;
+     553             : }
+     554             : /*//}*/
+     555             : 
+     556             : /*//{ setStates() */
+     557           0 : void HdgGeneric::setStates(const states_t &states_in) {
+     558           0 :   mrs_lib::set_mutexed(mutex_sc_, states_in, sc_.x);
+     559           0 : }
+     560             : /*//}*/
+     561             : 
+     562             : /*//{ getCovariance() */
+     563           0 : double HdgGeneric::getCovariance(const int &state_id_in, const int &axis_in) const {
+     564           0 :   return getCovariance(stateIdToIndex(state_id_in, 0));
+     565             : }
+     566             : 
+     567           0 : double HdgGeneric::getCovariance(const int &state_idx_in) const {
+     568           0 :   return mrs_lib::get_mutexed(mutex_sc_, sc_).P(state_idx_in, state_idx_in);
+     569             : }
+     570             : /*//}*/
+     571             : 
+     572             : /*//{ getCovarianceMatrix() */
+     573           0 : HdgGeneric::covariance_t HdgGeneric::getCovarianceMatrix(void) const {
+     574           0 :   return mrs_lib::get_mutexed(mutex_sc_, sc_).P;
+     575             : }
+     576             : /*//}*/
+     577             : 
+     578             : /*//{ setCovarianceMatrix() */
+     579           0 : void HdgGeneric::setCovarianceMatrix(const covariance_t &cov_in) {
+     580           0 :   mrs_lib::set_mutexed(mutex_sc_, cov_in, sc_.P);
+     581           0 : }
+     582             : /*//}*/
+     583             : 
+     584             : /*//{ getInnovation() */
+     585           0 : double HdgGeneric::getInnovation(const int &state_idx) const {
+     586           0 :   return mrs_lib::get_mutexed(mtx_innovation_, innovation_)(state_idx);
+     587             : }
+     588             : 
+     589           0 : double HdgGeneric::getInnovation(const int &state_id_in, const int &axis_in) const {
+     590           0 :   return getInnovation(stateIdToIndex(0, 0));
+     591             : }
+     592             : /*//}*/
+     593             : 
+     594             : /*//{ setDt() */
+     595           0 : void HdgGeneric::setDt(const double &dt) {
+     596           0 :   dt_ = dt;
+     597           0 :   generateA();
+     598           0 :   generateB();
+     599           0 :   std::scoped_lock lock(mutex_lkf_);
+     600           0 :   lkf_->A = A_;
+     601           0 :   lkf_->B = B_;
+     602           0 : }
+     603             : /*//}*/
+     604             : 
+     605             : /*//{ setInputCoeff() */
+     606           0 : void HdgGeneric::setInputCoeff(const double &input_coeff) {
+     607           0 :   input_coeff_ = input_coeff;
+     608           0 :   generateA();
+     609           0 :   generateB();
+     610           0 :   std::scoped_lock lock(mutex_lkf_);
+     611           0 :   lkf_->A = A_;
+     612           0 :   lkf_->B = B_;
+     613           0 : }
+     614             : /*//}*/
+     615             : 
+     616             : /*//{ generateA() */
+     617           0 : void HdgGeneric::generateA() {
+     618             : 
+     619             :   // clang-format off
+     620           0 :     A_ <<
+     621           0 :       1, dt_,
+     622           0 :       0, 1-(input_coeff_ * dt_);
+     623             :   // clang-format on
+     624           0 : }
+     625             : /*//}*/
+     626             : 
+     627             : /*//{ generateB() */
+     628           0 : void HdgGeneric::generateB() {
+     629             : 
+     630             :   // clang-format off
+     631           0 :     B_ <<
+     632             :       0,
+     633           0 :       (input_coeff_ * dt_);
+     634             :   // clang-format on
+     635           0 : }
+     636             : /*//}*/
+     637             : 
+     638             : /*//{ getLastValidHdg() */
+     639           0 : double HdgGeneric::getLastValidHdg() const {
+     640           0 :   return mrs_lib::get_mutexed(mutex_last_valid_hdg_, last_valid_hdg_);
+     641             : }
+     642             : /*//}*/
+     643             : 
+     644             : /*//{ callbackReconfigure() */
+     645           0 : void HdgGeneric::callbackReconfigure(HeadingEstimatorConfig &config, [[maybe_unused]] uint32_t level) {
+     646             : 
+     647           0 :   if (!isInitialized()) {
+     648           0 :     return;
+     649             :   }
+     650             : 
+     651           0 :   Q_t Q;
+     652           0 :   Q(POSITION, POSITION) = config.pos;
+     653           0 :   Q(VELOCITY, VELOCITY) = config.vel;
+     654           0 :   mrs_lib::set_mutexed(mtx_Q_, Q, Q_);
+     655             : }
+     656             : /*//}*/
+     657             : 
+     658             : /*//{ getNamespacedName() */
+     659           0 : std::string HdgGeneric::getNamespacedName() const {
+     660           0 :   return parent_state_est_name_ + "/" + getName();
+     661             : }
+     662             : /*//}*/
+     663             : 
+     664             : /*//{ getPrintName() */
+     665           0 : std::string HdgGeneric::getPrintName() const {
+     666           0 :   return ch_->nodelet_name + "/" + parent_state_est_name_ + "/" + getName();
+     667             : }
+     668             : /*//}*/
+     669             : 
+     670             : };  // namespace mrs_uav_state_estimators
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/src/estimators/heading/hdg_generic.cpp.gcov.overview.html b/mrs_uav_state_estimators/src/estimators/heading/hdg_generic.cpp.gcov.overview.html new file mode 100644 index 0000000000..359f76a76f --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/heading/hdg_generic.cpp.gcov.overview.html @@ -0,0 +1,188 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/heading/hdg_generic.cpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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+ Overview +
+ + 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..0b09042fa36a2f106e7a304e58266487570d373d GIT binary patch literal 2195 zcmV;E2yFL>P)2nt zU)m3A)4%)2dJ%latVl(VUKl_c!Xrkg5)Z5AOhSBV3s~CEh*2If;fdZAW7H=FgE>d8 zdDx##b~byC)P}%E7~VGq2q6P*3df~p#}*YF{lSo}$?ow9VLJaPS%zOau9_v4cnpf6 zJR($IpQ5(*zddHcG>0=6Sf)mJLN=zyEFcjEt+N; z)Z_Q-GiUwH$=#?PSq_<{3HRTm=L<$hrP;o_wFveKk5`5i3ZEQP@}{|wKnNEjfF*jf zG&DzC@+vq&m)7bW!i)uB_IZJjz(g{A$Z-K-V5v=Mt2LmP zBZN0ibZNgQSo_tEE7o_eCfwxi>N*py#;FRDf$QD2AjI4dcS4g;(T~xA(DRfnBoT(+ zSaI9@T6HvaEq5u7&ujCZBB7V^$C}AXXrC5lrO5jE5+32PpPNlF()ub*4-_2dtYr#A z$cOi-+-BOex+Sc&DH6Icqp)_nv`XkuVf>`6#a$u<2U)s@pMwXVxeJQH(}%*K-(68J ztd@4N!gu}j+$E$l$CegXCYh9Knfqc7Jlgz`mz+qQzU@K476&9ZZRqb7D8w0EI3TU% zsR`F3NN1)MDZ`l&%fxI|B`jr=6*W{hgMmvZ9&Pt}+~WFv;` zUL#06Y6iz)20NLurydxOftenfpO2mw6o0I60tz|sn7aJn*0Q!nHjoP}0}l|l<9&sB zuY&E{w6yfUb7G&;q2uEV6+MODc(gx!$dw7PL+)k3O{rOtm>yEk3Pt9Dly0ywk zbGYvzgY<^;lud%`+xx~qx#mWQUWxe)h2tRwIBYgv82xxNWmJ9gYXrKNITtYFvs_^< z_BrYbw+l1AUq?g~x$#a|9Ekah_esF@Cq8M$bAdY*r`K?iBXyJJoX^)nJ0V)OVNdYG zTf^Q3mu$++NP=(KSLm>NO<%zu*VVhgS(t2PF7@Nevo36hE+$DC;rl2+F3%|Wz;)_L zQrlRz>J$rZJMPJWspV1C;@!e*y3Q~t5m8*dwB9Jdq2hkaL|H6J3is+9;Ssu0eMJDs z&wVVUX4#Zh_L^R}%on?kTmfd8w!5`+>P_ZRk$(wiX_AU?`s7|`n)=g(EKk^uPxZ+! z-TpPN9*hnj>57{|XZ9i`0E&bu&9Cu`B6FKv!?ygD{*ir>R zix)N^Y@_fx9|)kZ^+l7WcJ7P&Adevh&`?=4ayojN>Qq=VCx6u~?zE&6v?rPjdYHlx z2A^uiy>%=Qo}E7$lJ)!Cr~_Q}e}?SU-QBb4&y?nKGyq`2y#1NCKlAoyBH`Pg zdHXXBkL&%e@b+go!nZ%uSNPkXdHXZ%j1K|sFZ5@mAo=!Zy6}DbGX==y8Bgoa+qh;=j>~X?Sc{ zWdK)?@6UYv`k#e7)ENr4pTL&zJ^0zp@5c!+y%>kOEabTKdrjzJVx~3Gtwd#Wwfz1S-_@r&Tm9EXJCZT+8%;OPQ$k) z9~1t_CfJ{WnKTT1L_KaFw60j3(P^(Y2!yWlKs6yen!1K!0d2PL=z)4e;jCcEY;nT1 zAw;)f*fIp*T^`ZU{Qqn=J)!rZ-D+4Ne2?yh>57KW3`ml4NY0;l7%0BeK$~~1G@f3A zlq${sldJnPiM)C31S~Z?L>{a9Jj)~b|F2o55<1mfN+Z!%FjbP5V&YPRbOz#avk()c z*0c%vkHb8!y<~?H4qHaOdBuXOL1PDx4UZ4NBOrAnZEP3Rw{aL-Gjcz{)~ejB1!GM$ zeGYF-V^0Z{8~%m(NO^R{g#iJN)J~g~o`6TyIJ^+_N476@Bg}6|&C43?7XuLMh5qZX z)XX3Aga@QP?uA9rmAtTQ3=c^Sj}DJ|q+lQOza5X`@6gx}Jsgh%?>P74d_v`59|#dH zal+qlE+#rMPj*!Aitm-0UK92RhfO$`o1O6{8~iQ)18<*~$|oFQ#+po+Ha=y>*M#Sp z5L(*AdYIZ9{vi{pR&4im{{EnRR;a?;{TaZ~j5H3Hh5EOepGJjj5+>;(boh8)MhP=y z+8SISdr*j literal 0 HcmV?d00001 diff --git a/mrs_uav_state_estimators/src/estimators/heading/hdg_passthrough.cpp.func-sort-c.html b/mrs_uav_state_estimators/src/estimators/heading/hdg_passthrough.cpp.func-sort-c.html new file mode 100644 index 0000000000..c76a64a212 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/heading/hdg_passthrough.cpp.func-sort-c.html @@ -0,0 +1,172 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/heading/hdg_passthrough.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/src/estimators/heading - hdg_passthrough.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:8913167.9 %
Date:2024-01-20 21:44:18Functions: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&)69
mrs_uav_state_estimators::HdgPassthrough::start()115
mrs_uav_state_estimators::HdgPassthrough::getNamespacedName[abi:cxx11]() const138
mrs_uav_state_estimators::HdgPassthrough::getPrintName[abi:cxx11]() const386
mrs_uav_state_estimators::HdgPassthrough::callbackAngularVelocity(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>)126865
mrs_uav_state_estimators::HdgPassthrough::callbackOrientation(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>)130440
mrs_uav_state_estimators::HdgPassthrough::getCovarianceMatrix() const140072
mrs_uav_state_estimators::HdgPassthrough::getStates() const140092
mrs_uav_state_estimators::HdgPassthrough::timerUpdate(ros::TimerEvent const&)140098
mrs_uav_state_estimators::HdgPassthrough::timerCheckHealth(ros::TimerEvent const&)141553
mrs_uav_state_estimators::HdgPassthrough::setState(double const&, int const&)257301
mrs_uav_state_estimators::HdgPassthrough::getState(int const&) const496966
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/src/estimators/heading/hdg_passthrough.cpp.func.html b/mrs_uav_state_estimators/src/estimators/heading/hdg_passthrough.cpp.func.html new file mode 100644 index 0000000000..300167a886 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/heading/hdg_passthrough.cpp.func.html @@ -0,0 +1,172 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/heading/hdg_passthrough.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/src/estimators/heading - hdg_passthrough.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:8913167.9 %
Date:2024-01-20 21:44:18Functions: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&)69
mrs_uav_state_estimators::HdgPassthrough::timerUpdate(ros::TimerEvent const&)140098
mrs_uav_state_estimators::HdgPassthrough::timerCheckHealth(ros::TimerEvent const&)141553
mrs_uav_state_estimators::HdgPassthrough::callbackOrientation(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>)130440
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>)126865
mrs_uav_state_estimators::HdgPassthrough::pause()0
mrs_uav_state_estimators::HdgPassthrough::reset()0
mrs_uav_state_estimators::HdgPassthrough::start()115
mrs_uav_state_estimators::HdgPassthrough::setState(double const&, int const&)257301
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]() const386
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]() const138
mrs_uav_state_estimators::HdgPassthrough::getCovarianceMatrix() const140072
mrs_uav_state_estimators::HdgPassthrough::getState(int const&) const496966
mrs_uav_state_estimators::HdgPassthrough::getState(int const&, int const&) const0
mrs_uav_state_estimators::HdgPassthrough::getStates() const140092
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/src/estimators/heading/hdg_passthrough.cpp.gcov.frameset.html b/mrs_uav_state_estimators/src/estimators/heading/hdg_passthrough.cpp.gcov.frameset.html new file mode 100644 index 0000000000..e033217e8c --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/heading/hdg_passthrough.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/heading/hdg_passthrough.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/src/estimators/heading/hdg_passthrough.cpp.gcov.html b/mrs_uav_state_estimators/src/estimators/heading/hdg_passthrough.cpp.gcov.html new file mode 100644 index 0000000000..61f6379552 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/heading/hdg_passthrough.cpp.gcov.html @@ -0,0 +1,387 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/heading/hdg_passthrough.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/src/estimators/heading - hdg_passthrough.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:8913167.9 %
Date:2024-01-20 21:44:18Functions:122352.2 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #define VERSION "0.0.6.0"
+       2             : 
+       3             : /* includes //{ */
+       4             : 
+       5             : #include <mrs_uav_state_estimators/estimators/heading/hdg_passthrough.h>
+       6             : 
+       7             : //}
+       8             : 
+       9             : namespace mrs_uav_state_estimators
+      10             : 
+      11             : {
+      12             : 
+      13             : /* initialize() //{*/
+      14          69 : void HdgPassthrough::initialize(ros::NodeHandle &nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) {
+      15             : 
+      16          69 :   ch_ = ch;
+      17          69 :   ph_ = ph;
+      18             : 
+      19          69 :   ns_frame_id_ = ch_->uav_name + "/" + frame_id_;
+      20             : 
+      21          69 :   hdg_state_      = states_t::Zero();
+      22          69 :   hdg_covariance_ = covariance_t::Zero();
+      23             : 
+      24             :   // | --------------- param loader initialization --------------- |
+      25             : 
+      26          69 :   if (is_core_plugin_) {
+      27             : 
+      28          69 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/private/" + parent_state_est_name_ + "/" + getName() + ".yaml");
+      29          69 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/public/" + parent_state_est_name_ + "/" + getName() + ".yaml");
+      30             :   }
+      31             : 
+      32          69 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getNamespacedName() + "/");
+      33             : 
+      34             :   // | --------------------- load parameters -------------------- |
+      35          69 :   ph->param_loader->loadParam("max_flight_z", max_flight_z_);
+      36             : 
+      37          69 :   ph->param_loader->loadParam("topics/orientation", orient_topic_);
+      38          69 :   ph->param_loader->loadParam("topics/angular_velocity", ang_vel_topic_);
+      39             : 
+      40          69 :   if (!ph->param_loader->loadedSuccessfully()) {
+      41           0 :     ROS_ERROR("[%s]: Could not load all non-optional parameters. Shutting down.", getPrintName().c_str());
+      42           0 :     ros::shutdown();
+      43             :   }
+      44             : 
+      45             :   // | ------------------ timers initialization ----------------- |
+      46          69 :   timer_update_       = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &HdgPassthrough::timerUpdate, this, false, false);  // not running after init
+      47          69 :   timer_check_health_ = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &HdgPassthrough::timerCheckHealth, this);
+      48             : 
+      49             :   // | --------------- subscribers initialization --------------- |
+      50             :   // subscriber to odometry
+      51         138 :   mrs_lib::SubscribeHandlerOptions shopts;
+      52          69 :   shopts.nh                 = nh;
+      53          69 :   shopts.node_name          = getPrintName();
+      54          69 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+      55          69 :   shopts.threadsafe         = true;
+      56          69 :   shopts.autostart          = true;
+      57          69 :   shopts.queue_size         = 10;
+      58          69 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+      59             : 
+      60         138 :   sh_orientation_ = mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped>(shopts, "/" + ch_->uav_name + "/" + orient_topic_,
+      61          69 :                                                                                 &HdgPassthrough::callbackOrientation, this);
+      62         138 :   sh_ang_vel_     = mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped>(shopts, "/" + ch_->uav_name + "/" + ang_vel_topic_,
+      63          69 :                                                                          &HdgPassthrough::callbackAngularVelocity, this);
+      64             : 
+      65             :   // | ---------------- publishers initialization --------------- |
+      66          69 :   if (ch_->debug_topics.output) {
+      67          69 :     ph_output_ = mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput>(nh, getNamespacedName() + "/output", 10);
+      68             :   }
+      69          69 :   if (ch_->debug_topics.diag) {
+      70           0 :     ph_diagnostics_ = mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics>(nh, getNamespacedName() + "/diagnostics", 10);
+      71             :   }
+      72             : 
+      73             :   // | ------------------ finish initialization ----------------- |
+      74             : 
+      75          69 :   if (changeState(INITIALIZED_STATE)) {
+      76          69 :     ROS_INFO("[%s]: Estimator initialized, version %s", getPrintName().c_str(), VERSION);
+      77             :   } else {
+      78           0 :     ROS_INFO("[%s]: Estimator could not be initialized", getPrintName().c_str());
+      79             :   }
+      80          69 : }
+      81             : /*//}*/
+      82             : 
+      83             : /*//{ start() */
+      84         115 : bool HdgPassthrough::start(void) {
+      85             : 
+      86         115 :   if (isInState(READY_STATE)) {
+      87          69 :     timer_update_.start();
+      88          69 :     changeState(STARTED_STATE);
+      89          69 :     return true;
+      90             : 
+      91             :   } else {
+      92          46 :     ROS_WARN_THROTTLE(1.0, "[%s]: Estimator must be in READY_STATE to start it", getPrintName().c_str());
+      93          46 :     return false;
+      94             :   }
+      95             : }
+      96             : /*//}*/
+      97             : 
+      98             : /*//{ pause() */
+      99           0 : bool HdgPassthrough::pause(void) {
+     100             : 
+     101           0 :   if (isInState(RUNNING_STATE)) {
+     102           0 :     changeState(STOPPED_STATE);
+     103           0 :     return true;
+     104             : 
+     105             :   } else {
+     106           0 :     return false;
+     107             :   }
+     108             : }
+     109             : /*//}*/
+     110             : 
+     111             : /*//{ reset() */
+     112           0 : bool HdgPassthrough::reset(void) {
+     113             : 
+     114           0 :   if (!isInitialized()) {
+     115           0 :     ROS_ERROR("[%s]: Cannot reset uninitialized estimator", getPrintName().c_str());
+     116           0 :     return false;
+     117             :   }
+     118             : 
+     119           0 :   changeState(STOPPED_STATE);
+     120             : 
+     121           0 :   ROS_INFO("[%s]: Estimator reset", getPrintName().c_str());
+     122             : 
+     123           0 :   return true;
+     124             : }
+     125             : /*//}*/
+     126             : 
+     127             : /*//{ callbackOrientation() */
+     128      130440 : void HdgPassthrough::callbackOrientation(const geometry_msgs::QuaternionStamped::ConstPtr msg) {
+     129             : 
+     130      130440 :   if (!isInitialized()) {
+     131           5 :     return;
+     132             :   }
+     133             : 
+     134             :   double hdg;
+     135             :   try {
+     136      130423 :     hdg = mrs_lib::AttitudeConverter(msg->quaternion).getHeading();
+     137             :   }
+     138           0 :   catch (...) {
+     139           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: failed getting heading", getPrintName().c_str());
+     140             :   }
+     141             : 
+     142      130417 :   setState(hdg, POSITION);
+     143             : 
+     144      130369 :   if (!isError()) {
+     145      130334 :     mrs_lib::set_mutexed(mutex_last_valid_hdg_, hdg, last_valid_hdg_);
+     146             :   }
+     147             : }
+     148             : /*//}*/
+     149             : 
+     150             : /*//{ callbackAngularVelocity() */
+     151      126865 : void HdgPassthrough::callbackAngularVelocity(const geometry_msgs::Vector3Stamped::ConstPtr msg) {
+     152             : 
+     153      126865 :   if (!isInitialized() || !sh_orientation_.hasMsg()) {
+     154           2 :     return;
+     155             :   }
+     156             : 
+     157             :   double hdg_rate;
+     158             :   try {
+     159      126837 :     hdg_rate = mrs_lib::AttitudeConverter(sh_orientation_.getMsg()->quaternion).getHeadingRate(msg->vector);
+     160             :   }
+     161           0 :   catch (...) {
+     162           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: failed getting heading", getPrintName().c_str());
+     163             :   }
+     164             : 
+     165      126637 :   setState(hdg_rate, VELOCITY);
+     166             : }
+     167             : /*//}*/
+     168             : 
+     169             : /* timerUpdate() //{*/
+     170      140098 : void HdgPassthrough::timerUpdate(const ros::TimerEvent &event) {
+     171             : 
+     172             : 
+     173      140098 :   if (!isInitialized()) {
+     174           0 :     return;
+     175             :   }
+     176             : 
+     177      140095 :   publishOutput();
+     178      140105 :   publishDiagnostics();
+     179             : }
+     180             : /*//}*/
+     181             : 
+     182             : /*//{ timerCheckHealth() */
+     183      141553 : void HdgPassthrough::timerCheckHealth(const ros::TimerEvent &event) {
+     184             : 
+     185      141553 :   if (!isInitialized()) {
+     186           9 :     return;
+     187             :   }
+     188             : 
+     189      141554 :   if (isInState(INITIALIZED_STATE) && is_orient_ready_ && is_ang_vel_ready_) {
+     190             : 
+     191          69 :     changeState(READY_STATE);
+     192          69 :     ROS_INFO_THROTTLE(1.0, "[%s]: Ready to start", getPrintName().c_str());
+     193             :   }
+     194             : 
+     195      141518 :   if (isInState(STARTED_STATE)) {
+     196             : 
+     197          69 :     ROS_INFO_THROTTLE(1.0, "[%s]: Estimator Running", getPrintName().c_str());
+     198          69 :     changeState(RUNNING_STATE);
+     199             :   }
+     200             : 
+     201      141546 :   if (sh_orientation_.hasMsg()) {
+     202      141371 :     is_orient_ready_ = true;
+     203             :   } else {
+     204         179 :     ROS_WARN_THROTTLE(1.0, "[%s]: has not received orientation yet", getPrintName().c_str());
+     205             :   }
+     206             : 
+     207      141578 :   if (sh_ang_vel_.hasMsg()) {
+     208      140151 :     is_ang_vel_ready_ = true;
+     209             :   } else {
+     210        1264 :     ROS_WARN_THROTTLE(1.0, "[%s]: has not received angular velocity yet", getPrintName().c_str());
+     211             :   }
+     212             : }
+     213             : /*//}*/
+     214             : 
+     215             : /*//{ getState() */
+     216           0 : double HdgPassthrough::getState(const int &state_id_in, const int &axis_in) const {
+     217           0 :   return getState(stateIdToIndex(state_id_in, 0));
+     218             : }
+     219             : 
+     220      496966 : double HdgPassthrough::getState(const int &state_idx_in) const {
+     221      496966 :   return mrs_lib::get_mutexed(mtx_hdg_state_, hdg_state_(state_idx_in));
+     222             : }
+     223             : /*//}*/
+     224             : 
+     225             : /*//{ setState() */
+     226           0 : void HdgPassthrough::setState(const double &state_in, const int &state_id_in, const int &axis_in) {
+     227           0 :   setState(state_in, stateIdToIndex(state_id_in, 0));
+     228           0 : }
+     229             : 
+     230      257301 : void HdgPassthrough::setState(const double &state_in, const int &state_idx_in) {
+     231             : 
+     232      257301 :   const double prev_hdg_state   = mrs_lib::get_mutexed(mtx_hdg_state_, hdg_state_(state_idx_in));
+     233      257034 :   prev_hdg_state_(state_idx_in) = prev_hdg_state;
+     234      257076 :   mrs_lib::set_mutexed(mtx_hdg_state_, state_in, hdg_state_(state_idx_in));
+     235             : 
+     236      257079 :   const double innovation = mrs_lib::geometry::radians::dist(mrs_lib::geometry::radians(state_in), mrs_lib::geometry::radians(prev_hdg_state));
+     237      256915 :   mrs_lib::set_mutexed(mtx_innovation_, innovation, innovation_(state_idx_in));
+     238      257093 : }
+     239             : /*//}*/
+     240             : 
+     241             : /*//{ getStates() */
+     242      140092 : HdgPassthrough::states_t HdgPassthrough::getStates(void) const {
+     243      140092 :   return mrs_lib::get_mutexed(mtx_hdg_state_, hdg_state_);
+     244             : }
+     245             : /*//}*/
+     246             : 
+     247             : /*//{ setStates() */
+     248           0 : void HdgPassthrough::setStates(const states_t &states_in) {
+     249           0 :   mrs_lib::set_mutexed(mtx_hdg_state_, states_in, hdg_state_);
+     250           0 : }
+     251             : /*//}*/
+     252             : 
+     253             : /*//{ getCovariance() */
+     254           0 : double HdgPassthrough::getCovariance(const int &state_id_in, const int &axis_in) const {
+     255           0 :   return getCovariance(stateIdToIndex(state_id_in, 0));
+     256             : }
+     257             : 
+     258           0 : double HdgPassthrough::getCovariance(const int &state_idx_in) const {
+     259           0 :   return mrs_lib::get_mutexed(mtx_hdg_covariance_, hdg_covariance_(state_idx_in, state_idx_in));
+     260             : }
+     261             : /*//}*/
+     262             : 
+     263             : /*//{ getCovarianceMatrix() */
+     264      140072 : HdgPassthrough::covariance_t HdgPassthrough::getCovarianceMatrix(void) const {
+     265      140072 :   return mrs_lib::get_mutexed(mtx_hdg_covariance_, hdg_covariance_);
+     266             : }
+     267             : /*//}*/
+     268             : 
+     269             : /*//{ setCovarianceMatrix() */
+     270           0 : void HdgPassthrough::setCovarianceMatrix(const covariance_t &cov_in) {
+     271           0 :   mrs_lib::set_mutexed(mtx_hdg_covariance_, cov_in, hdg_covariance_);
+     272           0 : }
+     273             : /*//}*/
+     274             : 
+     275             : /*//{ getInnovation() */
+     276           0 : double HdgPassthrough::getInnovation(const int &state_idx) const {
+     277           0 :   return mrs_lib::get_mutexed(mtx_innovation_, innovation_(state_idx));
+     278             : }
+     279             : 
+     280           0 : double HdgPassthrough::getInnovation(const int &state_id_in, const int &axis_in) const {
+     281           0 :   return getInnovation(stateIdToIndex(state_id_in, 0));
+     282             : }
+     283             : /*//}*/
+     284             : 
+     285             : /*//{ getLastValidHdg() */
+     286           0 : double HdgPassthrough::getLastValidHdg() const {
+     287           0 :   return mrs_lib::get_mutexed(mutex_last_valid_hdg_, last_valid_hdg_);
+     288             : }
+     289             : /*//}*/
+     290             : 
+     291             : /*//{ getNamespacedName() */
+     292         138 : std::string HdgPassthrough::getNamespacedName() const {
+     293         276 :   return parent_state_est_name_ + "/" + getName();
+     294             : }
+     295             : /*//}*/
+     296             : 
+     297             : /*//{ getPrintName() */
+     298         386 : std::string HdgPassthrough::getPrintName() const {
+     299         772 :   return ch_->nodelet_name + "/" + parent_state_est_name_ + "/" + getName();
+     300             : }
+     301             : /*//}*/
+     302             : 
+     303             : };  // namespace mrs_uav_state_estimators
+
+
+
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Test:MRS UAV System - Test coverage reportLines:23640558.3 %
Date:2024-01-20 21:44:18Functions:253083.3 %
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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::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::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&)69
mrs_uav_state_estimators::LatGeneric::isConverged()69
mrs_uav_state_estimators::LatGeneric::callbackReconfigure(mrs_uav_state_estimators::LateralEstimatorConfig&, unsigned int)69
mrs_uav_state_estimators::LatGeneric::setState(double const&, int const&)262
mrs_uav_state_estimators::LatGeneric::setState(double const&, int const&, int const&)262
mrs_uav_state_estimators::LatGeneric::getNamespacedName[abi:cxx11]() const418
mrs_uav_state_estimators::LatGeneric::getPrintName[abi:cxx11]() const619
mrs_uav_state_estimators::LatGeneric::start()1547
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) const10891
mrs_uav_state_estimators::LatGeneric::setInputCoeff(double const&)124364
mrs_uav_state_estimators::LatGeneric::setDt(double const&)124377
mrs_uav_state_estimators::LatGeneric::getCovarianceMatrix() const124378
mrs_uav_state_estimators::LatGeneric::getStates() const124391
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&)135256
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) const135264
mrs_uav_state_estimators::LatGeneric::doCorrection(mrs_uav_state_estimators::Correction<2>::MeasurementStamped const&, double, mrs_uav_managers::estimation_manager::StateId_t const&)135291
mrs_uav_state_estimators::LatGeneric::timerUpdate(ros::TimerEvent const&)141422
mrs_uav_state_estimators::LatGeneric::generateA()248811
mrs_uav_state_estimators::LatGeneric::generateB()248832
mrs_uav_state_estimators::LatGeneric::getInnovation(int const&) const271272
mrs_uav_state_estimators::LatGeneric::getInnovation(int const&, int const&) const271370
mrs_uav_state_estimators::LatGeneric::getCovariance(int const&) const542647
mrs_uav_state_estimators::LatGeneric::getCovariance(int const&, int const&) const542797
mrs_uav_state_estimators::LatGeneric::getState(int const&) const1073667
mrs_uav_state_estimators::LatGeneric::getState(int const&, int const&) const1074046
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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:23640558.3 %
Date:2024-01-20 21:44:18Functions:253083.3 %
Legend: Lines: + hit + not hit +
+
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::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&)69
mrs_uav_state_estimators::LatGeneric::isConverged()69
mrs_uav_state_estimators::LatGeneric::timerUpdate(ros::TimerEvent const&)141422
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&)135256
mrs_uav_state_estimators::LatGeneric::doCorrection(mrs_uav_state_estimators::Correction<2>::MeasurementStamped const&, double, mrs_uav_managers::estimation_manager::StateId_t const&)135291
mrs_uav_state_estimators::LatGeneric::setInputCoeff(double const&)124364
mrs_uav_state_estimators::LatGeneric::timerCheckHealth(ros::TimerEvent const&)0
mrs_uav_state_estimators::LatGeneric::callbackReconfigure(mrs_uav_state_estimators::LateralEstimatorConfig&, unsigned int)69
mrs_uav_state_estimators::LatGeneric::setCovarianceMatrix(Eigen::Matrix<double, 6, 6, 0, 6, 6> const&)0
mrs_uav_state_estimators::LatGeneric::pause()0
mrs_uav_state_estimators::LatGeneric::reset()0
mrs_uav_state_estimators::LatGeneric::setDt(double const&)124377
mrs_uav_state_estimators::LatGeneric::start()1547
mrs_uav_state_estimators::LatGeneric::setState(double const&, int const&)262
mrs_uav_state_estimators::LatGeneric::setState(double const&, int const&, int const&)262
mrs_uav_state_estimators::LatGeneric::generateA()248811
mrs_uav_state_estimators::LatGeneric::generateB()248832
mrs_uav_state_estimators::LatGeneric::setStates(Eigen::Matrix<double, 6, 1, 0, 6, 1> const&)0
mrs_uav_state_estimators::LatGeneric::getPrintName[abi:cxx11]() const619
mrs_uav_state_estimators::LatGeneric::getCovariance(int const&) const542647
mrs_uav_state_estimators::LatGeneric::getCovariance(int const&, int const&) const542797
mrs_uav_state_estimators::LatGeneric::getInnovation(int const&) const271272
mrs_uav_state_estimators::LatGeneric::getInnovation(int const&, int const&) const271370
mrs_uav_state_estimators::LatGeneric::getNamespacedName[abi:cxx11]() const418
mrs_uav_state_estimators::LatGeneric::getCovarianceMatrix() const124378
mrs_uav_state_estimators::LatGeneric::getState(int const&) const1073667
mrs_uav_state_estimators::LatGeneric::getState(int const&, int const&) const1074046
mrs_uav_state_estimators::LatGeneric::getStates() const124391
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) const135264
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) const10891
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+ + + diff --git a/mrs_uav_state_estimators/src/estimators/lateral/lat_generic.cpp.gcov.frameset.html b/mrs_uav_state_estimators/src/estimators/lateral/lat_generic.cpp.gcov.frameset.html new file mode 100644 index 0000000000..20cba12156 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/lateral/lat_generic.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/lateral/lat_generic.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/src/estimators/lateral/lat_generic.cpp.gcov.html b/mrs_uav_state_estimators/src/estimators/lateral/lat_generic.cpp.gcov.html new file mode 100644 index 0000000000..24cdaf1c01 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/lateral/lat_generic.cpp.gcov.html @@ -0,0 +1,838 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/lateral/lat_generic.cpp + + + + + + + + + + + + + + +
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:23640558.3 %
Date:2024-01-20 21:44:18Functions:253083.3 %
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          69 : void LatGeneric::initialize(ros::NodeHandle &nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) {
+      14             : 
+      15          69 :   ch_ = ch;
+      16          69 :   ph_ = ph;
+      17             : 
+      18          69 :   ns_frame_id_ = ch_->uav_name + "/" + frame_id_;
+      19             : 
+      20             :   // clang-format off
+      21          69 :   dt_ = 0.01;
+      22          69 :   input_coeff_ = 10;
+      23          69 :   default_input_coeff_ = 10;
+      24             : 
+      25          69 :   generateA();
+      26          69 :   generateB();
+      27             : 
+      28          69 :   H_ <<
+      29          69 :     1, 0, 0, 0, 0, 0,
+      30          69 :     0, 1, 0, 0, 0, 0;
+      31             : 
+      32             :   // clang-format on
+      33             : 
+      34             :   // | --------------- initialize parameter loader -------------- |
+      35             : 
+      36          69 :   if (is_core_plugin_) {
+      37             : 
+      38          69 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/private/" + parent_state_est_name_ + "/" + getName() + ".yaml");
+      39          69 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/public/" + parent_state_est_name_ + "/" + getName() + ".yaml");
+      40             :   }
+      41             : 
+      42          69 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getNamespacedName() + "/");
+      43             : 
+      44             :   // | --------------------- load parameters -------------------- |
+      45          69 :   ph->param_loader->loadParam("hdg_source_topic", hdg_source_topic_);
+      46          69 :   ph->param_loader->loadParam("max_flight_z", max_flight_z_);
+      47          69 :   ph->param_loader->loadParam("innovation/limit", pos_innovation_limit_);
+      48          69 :   ph->param_loader->loadParam("innovation/action", exc_innovation_action_name_);
+      49          69 :   exc_innovation_action_ = map_exc_inno_action.at(exc_innovation_action_name_);
+      50          69 :   ph->param_loader->loadParam("repredictor/enabled", is_repredictor_enabled_);
+      51          69 :   if (is_repredictor_enabled_) {
+      52           0 :     ph->param_loader->loadParam("repredictor/buffer_size", rep_buffer_size_);
+      53             :   }
+      54             : 
+      55             :   // | --------------- corrections initialization --------------- |
+      56          69 :   ph->param_loader->loadParam("corrections", correction_names_);
+      57             : 
+      58         142 :   for (auto corr_name : correction_names_) {
+      59          73 :     corrections_.push_back(std::make_shared<Correction<lat_generic::n_measurements>>(
+      60       11037 :         nh, getNamespacedName(), corr_name, ns_frame_id_, EstimatorType_t::LATERAL, ch_, ph_, [this](int a, int b) { return this->getState(a, b); },
+      61      135264 :         [this](const Correction<lat_generic::n_measurements>::MeasurementStamped &meas, const double R, const StateId_t state) {
+      62      135264 :           return this->doCorrection(meas, R, state);
+      63             :         }));
+      64             :   }
+      65             : 
+      66             :   // | ------- check if all parameters loaded successfully ------ |
+      67          69 :   if (!ph->param_loader->loadedSuccessfully()) {
+      68           0 :     ROS_ERROR("[%s]: Could not load all non-optional parameters. Shutting down.", getPrintName().c_str());
+      69           0 :     ros::shutdown();
+      70             :   }
+      71             : 
+      72          69 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getNamespacedName() + "/");
+      73             : 
+      74             :   // | ----------- initialize process noise covariance ---------- |
+      75          69 :   Q_ = Q_t::Zero();
+      76             :   double tmp_noise;
+      77          69 :   ph->param_loader->loadParam("process_noise/pos", tmp_noise);
+      78          69 :   Q_(stateIdToIndex(POSITION, AXIS_X), stateIdToIndex(POSITION, AXIS_X)) = tmp_noise;
+      79          69 :   Q_(stateIdToIndex(POSITION, AXIS_Y), stateIdToIndex(POSITION, AXIS_Y)) = tmp_noise;
+      80          69 :   ph->param_loader->loadParam("process_noise/vel", tmp_noise);
+      81          69 :   Q_(stateIdToIndex(VELOCITY, AXIS_X), stateIdToIndex(VELOCITY, AXIS_X)) = tmp_noise;
+      82          69 :   Q_(stateIdToIndex(VELOCITY, AXIS_Y), stateIdToIndex(VELOCITY, AXIS_Y)) = tmp_noise;
+      83          69 :   ph->param_loader->loadParam("process_noise/acc", tmp_noise);
+      84          69 :   Q_(stateIdToIndex(ACCELERATION, AXIS_X), stateIdToIndex(ACCELERATION, AXIS_X)) = tmp_noise;
+      85          69 :   Q_(stateIdToIndex(ACCELERATION, AXIS_Y), stateIdToIndex(ACCELERATION, AXIS_Y)) = tmp_noise;
+      86             : 
+      87             :   // | ------------- initialize dynamic reconfigure ------------- |
+      88             :   drmgr_ =
+      89          69 :       std::make_unique<drmgr_t>(ros::NodeHandle("~/" + getNamespacedName()), true, getPrintName(), boost::bind(&LatGeneric::callbackReconfigure, this, _1, _2));
+      90          69 :   drmgr_->config.pos = Q_(stateIdToIndex(POSITION, AXIS_X), stateIdToIndex(POSITION, AXIS_X));
+      91          69 :   drmgr_->config.vel = Q_(stateIdToIndex(VELOCITY, AXIS_X), stateIdToIndex(VELOCITY, AXIS_X));
+      92          69 :   drmgr_->config.acc = Q_(stateIdToIndex(ACCELERATION, AXIS_X), stateIdToIndex(ACCELERATION, AXIS_X));
+      93          69 :   drmgr_->update_config(drmgr_->config);
+      94             : 
+      95             :   // | --------------- Kalman filter intialization -------------- |
+      96          69 :   const x_t        x0 = x_t::Zero();
+      97          69 :   const P_t        P0 = 1e3 * P_t::Identity();
+      98          69 :   const statecov_t sc0({x0, P0});
+      99          69 :   sc_ = sc0;
+     100             : 
+     101          69 :   lkf_ = std::make_shared<lkf_t>(A_, B_, H_);
+     102          69 :   if (is_repredictor_enabled_) {
+     103             : 
+     104           0 :     for (int i = 0; i < lat_generic::n_states; i++) {
+     105           0 :       H_t H                = H_t::Zero();
+     106           0 :       H(AXIS_X, i * 2)     = 1;
+     107           0 :       H(AXIS_Y, i * 2 + 1) = 1;
+     108           0 :       models_.push_back(std::make_shared<lkf_t>(A_, B_, H));
+     109             :     }
+     110             : 
+     111           0 :     const u_t       u0 = u_t::Zero();
+     112           0 :     const ros::Time t0 = ros::Time::now();
+     113           0 :     lkf_rep_           = std::make_unique<mrs_lib::Repredictor<lkf_t>>(x0, P0, u0, Q_, t0, lkf_, rep_buffer_size_);
+     114             : 
+     115           0 :     setDt(1.0 / ch_->desired_uav_state_rate);
+     116             :   }
+     117             : 
+     118             :   // | ------------------ timers initialization ----------------- |
+     119          69 :   timer_update_ = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &LatGeneric::timerUpdate, this);  // not running after init
+     120             :   /* timer_check_health_       = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &LatGeneric::timerCheckHealth, this); */
+     121             : 
+     122             :   // | --------------- subscribers initialization --------------- |
+     123             :   // subscriber to odometry
+     124         138 :   mrs_lib::SubscribeHandlerOptions shopts;
+     125          69 :   shopts.nh                 = nh;
+     126          69 :   shopts.node_name          = getPrintName();
+     127          69 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     128          69 :   shopts.threadsafe         = true;
+     129          69 :   shopts.autostart          = true;
+     130          69 :   shopts.queue_size         = 10;
+     131          69 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     132             : 
+     133          69 :   sh_control_input_ = mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput>(shopts, "control_input_in");
+     134             :   sh_hdg_state_ =
+     135          69 :       mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput>(shopts, hdg_source_topic_);  // for transformation of desired accelerations from body to global frame
+     136             : 
+     137             :   // | ---------------- publishers initialization --------------- |
+     138          69 :   if (ch_->debug_topics.input) {
+     139          69 :     ph_input_ = mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped>(nh, getNamespacedName() + "/input", 10);
+     140             :   }
+     141          69 :   if (ch_->debug_topics.output) {
+     142          69 :     ph_output_ = mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput>(nh, getNamespacedName() + "/output", 10);
+     143             :   }
+     144          69 :   if (ch_->debug_topics.diag) {
+     145           0 :     ph_diagnostics_ = mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics>(nh, getNamespacedName() + "/diagnostics", 10);
+     146             :   }
+     147             : 
+     148             :   // | ------------------ finish initialization ----------------- |
+     149             : 
+     150          69 :   if (changeState(INITIALIZED_STATE)) {
+     151          69 :     ROS_INFO("[%s]: Estimator initialized, version %s", getPrintName().c_str(), VERSION);
+     152             :   } else {
+     153           0 :     ROS_INFO("[%s]: Estimator could not be initialized", getPrintName().c_str());
+     154             :   }
+     155          69 : }
+     156             : /*//}*/
+     157             : 
+     158             : /*//{ start() */
+     159        1547 : bool LatGeneric::start(void) {
+     160             : 
+     161        1547 :   if (isInState(READY_STATE)) {
+     162             :     /* timer_update_.start(); */
+     163          69 :     changeState(STARTED_STATE);
+     164          69 :     return true;
+     165             : 
+     166             :   } else {
+     167        1478 :     ROS_WARN_THROTTLE(1.0, "[%s]: Estimator must be in READY_STATE to start it", getPrintName().c_str());
+     168        1478 :     return false;
+     169             :   }
+     170             : }
+     171             : /*//}*/
+     172             : 
+     173             : /*//{ pause() */
+     174           0 : bool LatGeneric::pause(void) {
+     175             : 
+     176           0 :   if (isInState(RUNNING_STATE)) {
+     177           0 :     changeState(STOPPED_STATE);
+     178           0 :     return true;
+     179             : 
+     180             :   } else {
+     181           0 :     return false;
+     182             :   }
+     183             : }
+     184             : /*//}*/
+     185             : 
+     186             : /*//{ reset() */
+     187           0 : bool LatGeneric::reset(void) {
+     188             : 
+     189           0 :   if (!isInitialized()) {
+     190           0 :     ROS_ERROR("[%s]: Cannot reset uninitialized estimator", getPrintName().c_str());
+     191           0 :     return false;
+     192             :   }
+     193             : 
+     194           0 :   changeState(STOPPED_STATE);
+     195             : 
+     196             :   // Initialize LKF state and covariance
+     197           0 :   const x_t        x0 = x_t::Zero();
+     198           0 :   const P_t        P0 = 1e6 * P_t::Identity();
+     199           0 :   const statecov_t sc0({x0, P0});
+     200           0 :   sc_ = sc0;
+     201             : 
+     202             :   // Instantiate the LKF itself
+     203           0 :   lkf_ = std::make_shared<lkf_t>(A_, B_, H_);
+     204           0 :   if (is_repredictor_enabled_) {
+     205             : 
+     206           0 :     const u_t       u0 = u_t::Zero();
+     207           0 :     const ros::Time t0 = ros::Time(0);
+     208           0 :     lkf_rep_           = std::make_unique<mrs_lib::Repredictor<lkf_t>>(x0, P0, u0, Q_, t0, lkf_, rep_buffer_size_);
+     209             :   }
+     210             : 
+     211           0 :   ROS_INFO("[%s]: Estimator reset", getPrintName().c_str());
+     212             : 
+     213           0 :   return true;
+     214             : }
+     215             : /*//}*/
+     216             : 
+     217             : /* timerUpdate() //{*/
+     218      141422 : void LatGeneric::timerUpdate(const ros::TimerEvent &event) {
+     219             : 
+     220      141422 :   if (!isInitialized()) {
+     221       17035 :     return;
+     222             :   }
+     223             : 
+     224      141397 :   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          27 :     case READY_STATE: {
+     232          27 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s estimator start", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     233          27 :       break;
+     234             :     }
+     235             : 
+     236        2666 :     case INITIALIZED_STATE: {
+     237             :       // initialize the estimator with current corrections
+     238        2797 :       for (auto correction : corrections_) {
+     239        2728 :         auto res = correction->getProcessedCorrection();
+     240        2728 :         if (res) {
+     241         131 :           auto measurement_stamped = res.value(); 
+     242         131 :           setState(measurement_stamped.value(AXIS_X), correction->getStateId(), AXIS_X);
+     243         131 :           setState(measurement_stamped.value(AXIS_Y), correction->getStateId(), AXIS_Y);
+     244         131 :           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        2596 :           ROS_INFO_THROTTLE(1.0, "[%s]: %s correction %s", getPrintName().c_str(), Support::waiting_for_string.c_str(), correction->getNamespacedName().c_str());
+     248        2597 :           return;
+     249             :         }
+     250             :       }
+     251          69 :       ROS_INFO_THROTTLE(1.0, "[%s]: Ready to start", getPrintName().c_str());
+     252          69 :       changeState(READY_STATE);
+     253          69 :       break;
+     254             :     }
+     255             : 
+     256          69 :     case STARTED_STATE: {
+     257          69 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s convergence of LKF", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     258          69 :       if (isConverged()) {
+     259          69 :         ROS_INFO_THROTTLE(1.0, "[%s]: LKF converged", getPrintName().c_str());
+     260          69 :         changeState(RUNNING_STATE);
+     261             :       }
+     262          69 :       break;
+     263             :     }
+     264             : 
+     265      138642 :     case RUNNING_STATE: {
+     266      288450 :       for (auto correction : corrections_) {
+     267      149808 :         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      138635 :       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      138802 :   if (sh_control_input_.newMsg()) {
+     319       73388 :     is_input_ready_ = true;
+     320             :   }
+     321             : 
+     322             :   // check age of input
+     323      138794 :   if (is_input_ready_ && (ros::Time::now() - sh_control_input_.lastMsgTime()).toSec() > 0.1) {  // TODO: parametrize, if older than say 1 second, eland
+     324          13 :     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          13 :     is_input_ready_ = false;
+     327             :   }
+     328             : 
+     329      138796 :   if (fun_get_hdg_()) {
+     330      138630 :     is_hdg_state_ready_ = true;
+     331             :   }
+     332             : 
+     333      138808 :   if (!isRunning() && !isStarted()) {
+     334          84 :     return;
+     335             :   }
+     336             : 
+     337      138710 :   if (first_iter_) {
+     338          69 :     first_iter_ = false;
+     339          69 :     return;
+     340             :   }
+     341             : 
+     342             :   // obtain dt for state prediction
+     343      138641 :   double dt = (event.current_real - event.last_real).toSec();
+     344      138626 :   if (dt <= 0.0) {  // sometimes the timer ticks twice simultaneously in simulation - we ignore the second tick
+     345       14267 :     return;
+     346             :   }
+     347             : 
+     348      124359 :   if (!is_repredictor_enabled_) {  // repredictor requires constant dt TODO: how to handle repredictor + variable rate?
+     349      124362 :     setDt(dt);
+     350             :   }
+     351             : 
+     352             :   // obtain unbiased desired control acceleration in the estimator frame that will be used as input to the estimator
+     353      124334 :   u_t       u;
+     354      124339 :   ros::Time input_stamp;
+     355      124323 :   if (is_input_ready_ && is_hdg_state_ready_) {
+     356       82407 :     auto res = fun_get_hdg_();
+     357       82419 :     if (!res) {
+     358           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: could not obtain heading", getPrintName().c_str());
+     359           0 :       return;
+     360             :     }
+     361             : 
+     362       82395 :     const tf2::Vector3 des_acc_global = getAccGlobal(sh_control_input_.getMsg(), res.value());
+     363       82273 :     input_stamp                       = sh_control_input_.getMsg()->header.stamp;
+     364       82313 :     setInputCoeff(default_input_coeff_);
+     365       82403 :     u(0) = des_acc_global.getX();
+     366       82292 :     u(1) = des_acc_global.getY();
+     367             : 
+     368             :   } else {  // this is ok before the controller starts controlling but bad during actual flight (causes delayed estimated acceleration and velocity)
+     369       41913 :     ROS_DEBUG_THROTTLE(1.0, "[%s]: not receiving control input, estimation suboptimal, potentially unstable", getPrintName().c_str());
+     370       41931 :     input_stamp = ros::Time::now();
+     371       41932 :     setInputCoeff(0);
+     372       41922 :     u = u_t::Zero();
+     373             :   }
+     374             : 
+     375             :   // go through available corrections and apply them
+     376             :   /* for (auto correction : corrections_) { */
+     377             :   /*   auto res = correction->getProcessedCorrection(); */
+     378             :   /*   if (res) { */
+     379             :   /*     auto measurement_stamped = res.value(); */
+     380             :   /*     doCorrection(measurement_stamped.value, correction->getR(), correction->getStateId(), measurement_stamped.stamp); */
+     381             :   /*   } */
+     382             :   /* } */
+     383             : 
+     384             :   // get current state, covariance, and process noise
+     385      124267 :   statecov_t sc = mrs_lib::get_mutexed(mutex_sc_, sc_);
+     386      124268 :   Q_t        Q  = mrs_lib::get_mutexed(mtx_Q_, Q_);
+     387             : 
+     388             :   // prediction step
+     389             :   try {
+     390             :     // Apply the prediction step
+     391      248658 :     std::scoped_lock lock(mutex_lkf_);
+     392      124283 :     if (is_repredictor_enabled_) {
+     393           0 :       lkf_rep_->addInputChangeWithNoise(u, Q, input_stamp, lkf_);
+     394           0 :       sc = lkf_rep_->predictTo(ros::Time::now());
+     395             :     } else {
+     396      124283 :       sc = lkf_->predict(sc, u, Q, dt_);
+     397             :     }
+     398             :   }
+     399           0 :   catch (const std::exception &e) {
+     400           0 :     ROS_ERROR("[%s]: LKF prediction failed: %s", getPrintName().c_str(), e.what());
+     401           0 :     changeState(ERROR_STATE);
+     402             :   }
+     403             : 
+     404             :   // update the state and covariance variable that is queried by the estimation manager
+     405      124285 :   mrs_lib::set_mutexed(mutex_sc_, sc, sc_);
+     406             : 
+     407             :   // publishing
+     408      124278 :   publishInput(u, input_stamp);
+     409      124392 :   publishOutput();
+     410      124392 :   publishDiagnostics();
+     411             : }
+     412             : /*//}*/
+     413             : 
+     414             : /*//{ timerCheckHealth() */
+     415           0 : void LatGeneric::timerCheckHealth(const ros::TimerEvent &event) {
+     416             : 
+     417           0 :   if (!isInitialized()) {
+     418           0 :     return;
+     419             :   }
+     420             : 
+     421           0 :   switch (getCurrentSmState()) {
+     422             : 
+     423           0 :     case UNINITIALIZED_STATE: {
+     424           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s initialization", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     425           0 :       break;
+     426             :     }
+     427             : 
+     428           0 :     case READY_STATE: {
+     429           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s estimator start", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     430           0 :       break;
+     431             :     }
+     432             : 
+     433           0 :     case INITIALIZED_STATE: {
+     434             :       // initialize the estimator with current corrections
+     435           0 :       for (auto correction : corrections_) {
+     436           0 :         auto res = correction->getProcessedCorrection();
+     437           0 :         if (res) {
+     438           0 :           auto measurement_stamped = res.value();
+     439           0 :           setState(measurement_stamped.value(AXIS_X), correction->getStateId(), AXIS_X);
+     440           0 :           setState(measurement_stamped.value(AXIS_Y), correction->getStateId(), AXIS_Y);
+     441           0 :           ROS_INFO_THROTTLE(1.0, "[%s]: Setting initial state to: %.2f %.2f", getPrintName().c_str(), measurement_stamped.value(AXIS_X),
+     442             :                             measurement_stamped.value(AXIS_Y));
+     443             :         } else {
+     444           0 :           ROS_INFO_THROTTLE(1.0, "[%s]: %s correction %s", getPrintName().c_str(), Support::waiting_for_string.c_str(), correction->getPrintName().c_str());
+     445           0 :           return;
+     446             :         }
+     447             :       }
+     448           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: Ready to start", getPrintName().c_str());
+     449           0 :       changeState(READY_STATE);
+     450           0 :       break;
+     451             :     }
+     452             : 
+     453           0 :     case STARTED_STATE: {
+     454           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s convergence of LKF", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     455           0 :       if (isConverged()) {
+     456           0 :         ROS_INFO_THROTTLE(1.0, "[%s]: LKF converged", getPrintName().c_str());
+     457           0 :         changeState(RUNNING_STATE);
+     458             :       }
+     459           0 :       break;
+     460             :     }
+     461             : 
+     462           0 :     case RUNNING_STATE: {
+     463           0 :       for (auto correction : corrections_) {
+     464           0 :         if (!correction->isHealthy()) {
+     465           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: Correction %s is not healthy!", getPrintName().c_str(), correction->getNamespacedName().c_str());
+     466           0 :           changeState(ERROR_STATE);
+     467             :         }
+     468             :       }
+     469           0 :       break;
+     470             :     }
+     471             : 
+     472           0 :     case STOPPED_STATE: {
+     473           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: Estimator is stopped", getPrintName().c_str());
+     474           0 :       break;
+     475             :     }
+     476             : 
+     477           0 :     case ERROR_STATE: {
+     478           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: Estimator is in ERROR state", getPrintName().c_str());
+     479           0 :       bool all_corrections_healthy = true;
+     480           0 :       for (auto correction : corrections_) {
+     481           0 :         if (!correction->isHealthy()) {
+     482           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: Correction %s is not healthy!", getPrintName().c_str(), correction->getNamespacedName().c_str());
+     483           0 :           correction->resetProcessors();
+     484           0 :           all_corrections_healthy = false;
+     485             :         }
+     486             :       }
+     487             :       // initialize the estimator again if corrections become healthy
+     488           0 :       if (all_corrections_healthy) {
+     489           0 :         changeState(INITIALIZED_STATE);
+     490             :       }
+     491           0 :       break;
+     492             :     }
+     493             :   }
+     494             : 
+     495           0 :   if (sh_control_input_.newMsg()) {
+     496           0 :     is_input_ready_ = true;
+     497             :   }
+     498             : 
+     499             :   // check age of input
+     500           0 :   if (is_input_ready_ && (ros::Time::now() - sh_control_input_.lastMsgTime()).toSec() > 0.1) {  // TODO: parametrize, if older than say 1 second, eland
+     501           0 :     ROS_WARN_THROTTLE(1.0, "[%s]: input too old (%.4f s), using zero input instead", getPrintName().c_str(),
+     502             :                       (ros::Time::now() - sh_control_input_.lastMsgTime()).toSec());
+     503           0 :     is_input_ready_ = false;
+     504             :   }
+     505             : 
+     506           0 :   if (fun_get_hdg_()) {
+     507           0 :     is_hdg_state_ready_ = true;
+     508             :   }
+     509             : }
+     510             : /*//}*/
+     511             : 
+     512             : /*//{ doCorrection() */
+     513      135291 : void LatGeneric::doCorrection(const Correction<lat_generic::n_measurements>::MeasurementStamped &meas, const double R, const StateId_t &state_id) {
+     514      135291 :   doCorrection(meas.value, R, state_id, meas.stamp);
+     515      135266 : }
+     516             : /*//}*/
+     517             : 
+     518             : /*//{ doCorrection() */
+     519      135256 : void LatGeneric::doCorrection(const z_t &z, const double R, const StateId_t &state_id, const ros::Time &meas_stamp) {
+     520             : 
+     521      135256 :   if (!isInitialized()) {
+     522         113 :     return;
+     523             :   }
+     524             : 
+     525             :   // we do not want to perform corrections until the estimator is initialized
+     526      135220 :   if (!(isInState(SMStates_t::READY_STATE) || isInState(SMStates_t::RUNNING_STATE) || isInState(SMStates_t::STARTED_STATE))) {
+     527         110 :     return;
+     528             :   }
+     529             : 
+     530             :   // for position state check the innovation
+     531      135070 :   if (state_id == POSITION) {
+     532             :     {
+     533      124252 :       std::scoped_lock lock(mtx_innovation_);
+     534             : 
+     535      124306 :       is_mitigating_jump_ = false;
+     536      124347 :       innovation_(0)      = z(0) - getState(POSITION, AXIS_X);
+     537      124262 :       innovation_(1)      = z(1) - getState(POSITION, AXIS_Y);
+     538             : 
+     539      124285 :       if (fabs(innovation_(0)) > pos_innovation_limit_ || fabs(innovation_(1)) > pos_innovation_limit_) {
+     540           0 :         ROS_WARN_THROTTLE(1.0, "[%s]: innovation too large - [%.2f %.2f] lim: %.2f", getPrintName().c_str(), innovation_(0), innovation_(1),
+     541             :                           pos_innovation_limit_);
+     542           0 :         innovation_ok_ = false;
+     543           0 :         switch (exc_innovation_action_) {
+     544           0 :           case ExcInnoAction_t::ELAND: {
+     545           0 :             ROS_WARN_THROTTLE(1.0, "[%s]: large innovation should trigger eland in control manager", ros::this_node::getName().c_str());
+     546           0 :             changeState(ERROR_STATE);
+     547           0 :             break;
+     548             :           }
+     549           0 :           case ExcInnoAction_t::SWITCH: {
+     550           0 :             ROS_WARN_THROTTLE(1.0, "[%s]: innovation should trigger estimator switch but no eland", ros::this_node::getName().c_str());
+     551           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?
+     552           0 :             innovation_(1) = 0.0;
+     553           0 :             changeState(ERROR_STATE);
+     554           0 :             break;
+     555             :           }
+     556           0 :           case ExcInnoAction_t::MITIGATE: {
+     557           0 :             ROS_WARN_THROTTLE(1.0, "[%s]: large innovation should trigger estimate jump mitigation", ros::this_node::getName().c_str());
+     558           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?
+     559           0 :             innovation_(1)      = 0.0;
+     560           0 :             is_mitigating_jump_ = true;
+     561           0 :             setState(z(0), POSITION, AXIS_X);
+     562           0 :             setState(z(1), POSITION, AXIS_Y);
+     563           0 :             break;
+     564             :           }
+     565           0 :           case ExcInnoAction_t::NONE: {
+     566           0 :             ROS_WARN_THROTTLE(1.0, "[%s]: large innovation ignored", ros::this_node::getName().c_str());
+     567           0 :             break;
+     568             :           }
+     569             :         }
+     570             :       }
+     571      124344 :       innovation_ok_ = true;
+     572             :     }
+     573             :   }
+     574             : 
+     575      135100 :   statecov_t sc = mrs_lib::get_mutexed(mutex_sc_, sc_);
+     576             :   try {
+     577             :     // Apply the correction step
+     578      270250 :     std::scoped_lock lock(mutex_lkf_);
+     579      135110 :     H_                           = H_t::Zero();
+     580      135066 :     H_(AXIS_X, state_id * 2)     = 1;
+     581      134989 :     H_(AXIS_Y, state_id * 2 + 1) = 1;
+     582      135018 :     lkf_->H                      = H_;
+     583             : 
+     584      134774 :     if (is_repredictor_enabled_) {
+     585             : 
+     586           0 :       lkf_rep_->addMeasurement(z, R_t::Ones() * R, meas_stamp, models_[state_id]);
+     587             :     } else {
+     588      134774 :       sc = lkf_->correct(sc, z, R_t::Ones() * R);
+     589             :     }
+     590             :   }
+     591           0 :   catch (const std::exception &e) {
+     592             :     // In case of error, alert the user
+     593           0 :     ROS_ERROR("[%s]: LKF correction failed: %s", getPrintName().c_str(), e.what());
+     594             :   }
+     595             : 
+     596      134871 :   mrs_lib::set_mutexed(mutex_sc_, sc, sc_);
+     597             : }  // namespace mrs_uav_state_estimators
+     598             : /*//}*/
+     599             : 
+     600             : /*//{ isConverged() */
+     601          69 : bool LatGeneric::isConverged() {
+     602             : 
+     603             :   // TODO: check convergence by rate of change of determinant
+     604             : 
+     605          69 :   return true;
+     606             : }
+     607             : /*//}*/
+     608             : 
+     609             : /*//{ getState() */
+     610     1074046 : double LatGeneric::getState(const int &state_id_in, const int &axis_in) const {
+     611     1074046 :   return getState(stateIdToIndex(state_id_in, axis_in));
+     612             : }
+     613             : 
+     614     1073667 : double LatGeneric::getState(const int &state_idx_in) const {
+     615     1073667 :   return mrs_lib::get_mutexed(mutex_sc_, sc_).x(state_idx_in);
+     616             : }
+     617             : /*//}*/
+     618             : 
+     619             : /*//{ setState() */
+     620         262 : void LatGeneric::setState(const double &state_in, const int &state_id_in, const int &axis_in) {
+     621         262 :   setState(state_in, stateIdToIndex(state_id_in, axis_in));
+     622         262 : }
+     623             : 
+     624         262 : void LatGeneric::setState(const double &state_in, const int &state_idx_in) {
+     625         262 :   mrs_lib::set_mutexed(mutex_sc_, state_in, sc_.x(state_idx_in));
+     626         262 : }
+     627             : /*//}*/
+     628             : 
+     629             : /*//{ getStates() */
+     630      124391 : LatGeneric::states_t LatGeneric::getStates(void) const {
+     631      248778 :   return mrs_lib::get_mutexed(mutex_sc_, sc_).x;
+     632             : }
+     633             : /*//}*/
+     634             : 
+     635             : /*//{ setStates() */
+     636           0 : void LatGeneric::setStates(const states_t &states_in) {
+     637           0 :   mrs_lib::set_mutexed(mutex_sc_, states_in, sc_.x);
+     638           0 : }
+     639             : /*//}*/
+     640             : 
+     641             : /*//{ getCovariance() */
+     642      542797 : double LatGeneric::getCovariance(const int &state_id_in, const int &axis_in) const {
+     643      542797 :   return getCovariance(stateIdToIndex(state_id_in, axis_in));
+     644             : }
+     645             : 
+     646      542647 : double LatGeneric::getCovariance(const int &state_idx_in) const {
+     647      542647 :   return mrs_lib::get_mutexed(mutex_sc_, sc_).P(state_idx_in, state_idx_in);
+     648             : }
+     649             : /*//}*/
+     650             : 
+     651             : /*//{ getCovarianceMatrix() */
+     652      124378 : LatGeneric::covariance_t LatGeneric::getCovarianceMatrix(void) const {
+     653      248758 :   return mrs_lib::get_mutexed(mutex_sc_, sc_).P;
+     654             : }
+     655             : /*//}*/
+     656             : 
+     657             : /*//{ setCovarianceMatrix() */
+     658           0 : void LatGeneric::setCovarianceMatrix(const covariance_t &cov_in) {
+     659           0 :   mrs_lib::set_mutexed(mutex_sc_, cov_in, sc_.P);
+     660           0 : }
+     661             : /*//}*/
+     662             : 
+     663             : /*//{ getInnovation() */
+     664      271272 : double LatGeneric::getInnovation(const int &state_idx) const {
+     665      271272 :   return mrs_lib::get_mutexed(mtx_innovation_, innovation_)(state_idx);
+     666             : }
+     667             : 
+     668      271370 : double LatGeneric::getInnovation(const int &state_id_in, const int &axis_in) const {
+     669      271370 :   return getInnovation(stateIdToIndex(state_id_in, axis_in));
+     670             : }
+     671             : /*//}*/
+     672             : 
+     673             : /*//{ setDt() */
+     674      124377 : void LatGeneric::setDt(const double &dt) {
+     675      124377 :   dt_ = dt;
+     676      124377 :   generateA();
+     677      124371 :   generateB();
+     678      248713 :   std::scoped_lock lock(mutex_lkf_);
+     679      124349 :   lkf_->A = A_;
+     680      124354 :   lkf_->B = B_;
+     681      124320 : }
+     682             : /*//}*/
+     683             : 
+     684             : /*//{ setInputCoeff() */
+     685      124364 : void LatGeneric::setInputCoeff(const double &input_coeff) {
+     686      124364 :   input_coeff_ = input_coeff;
+     687      124364 :   generateA();
+     688      124345 :   generateB();
+     689      248616 :   std::scoped_lock lock(mutex_lkf_);
+     690      124256 :   lkf_->A = A_;
+     691      124297 :   lkf_->B = B_;
+     692      124235 : }
+     693             : /*//}*/
+     694             : 
+     695             : /*//{ generateA() */
+     696      248811 : void LatGeneric::generateA() {
+     697             : 
+     698             :   // clang-format off
+     699      248811 :     A_ <<
+     700      248588 :       1, 0, dt_, 0, 0.5 * dt_ * dt_, 0,
+     701      248739 :       0, 1, 0, dt_, 0, 0.5 * dt_ * dt_,
+     702      248742 :       0, 0, 1, 0, dt_, 0,
+     703      248788 :       0, 0, 0, 1, 0, dt_,
+     704      248779 :       0, 0, 0, 0, 1-(input_coeff_ * dt_), 0,
+     705      248799 :       0, 0, 0, 0, 0, 1-(input_coeff_ * dt_);
+     706             :   // clang-format on
+     707      248735 : }
+     708             : /*//}*/
+     709             : 
+     710             : /*//{ generateB() */
+     711      248832 : void LatGeneric::generateB() {
+     712             : 
+     713             :   // clang-format off
+     714      248832 :     B_ <<
+     715      248773 :       0, 0,
+     716      248593 :       0, 0,
+     717      248648 :       0, 0,
+     718      248721 :       0, 0,
+     719      248747 :       input_coeff_ * dt_, 0,
+     720      248767 :       0, input_coeff_ * dt_;
+     721             :   // clang-format on
+     722      248652 : }
+     723             : /*//}*/
+     724             : 
+     725             : /*//{ callbackReconfigure() */
+     726          69 : void LatGeneric::callbackReconfigure(LateralEstimatorConfig &config, [[maybe_unused]] uint32_t level) {
+     727             : 
+     728          69 :   if (!isInitialized()) {
+     729          69 :     return;
+     730             :   }
+     731             : 
+     732           0 :   Q_t Q;
+     733           0 :   Q(stateIdToIndex(POSITION, AXIS_X), stateIdToIndex(POSITION, AXIS_X))         = config.pos;
+     734           0 :   Q(stateIdToIndex(POSITION, AXIS_Y), stateIdToIndex(POSITION, AXIS_Y))         = config.pos;
+     735           0 :   Q(stateIdToIndex(VELOCITY, AXIS_X), stateIdToIndex(VELOCITY, AXIS_X))         = config.vel;
+     736           0 :   Q(stateIdToIndex(VELOCITY, AXIS_Y), stateIdToIndex(VELOCITY, AXIS_Y))         = config.vel;
+     737           0 :   Q(stateIdToIndex(ACCELERATION, AXIS_X), stateIdToIndex(ACCELERATION, AXIS_X)) = config.acc;
+     738           0 :   Q(stateIdToIndex(ACCELERATION, AXIS_Y), stateIdToIndex(ACCELERATION, AXIS_Y)) = config.acc;
+     739           0 :   mrs_lib::set_mutexed(mtx_Q_, Q, Q_);
+     740             : }
+     741             : /*//}*/
+     742             : 
+     743             : /*//{ getNamespacedName() */
+     744         418 : std::string LatGeneric::getNamespacedName() const {
+     745         836 :   return parent_state_est_name_ + "/" + getName();
+     746             : }
+     747             : /*//}*/
+     748             : 
+     749             : /*//{ getPrintName() */
+     750         619 : std::string LatGeneric::getPrintName() const {
+     751        1238 :   return ch_->nodelet_name + "/" + parent_state_est_name_ + "/" + getName();
+     752             : }
+     753             : /*//}*/
+     754             : };  // namespace mrs_uav_state_estimators
+
+
+
+ + + + +
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+ + diff --git a/mrs_uav_state_estimators/src/estimators/lateral/lat_generic.cpp.gcov.png b/mrs_uav_state_estimators/src/estimators/lateral/lat_generic.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..c3b67fa41f0c650fd83d52174734d752690228e0 GIT binary patch literal 2974 zcmV;P3t{w$P)_0;S;5*sS;5}G*?*N6>jy}HP-&t2xe=DV_f0De-3RF5u(g9?kIKUGj@*F^*|@c>nOH z0@@!PhI8fb__BV89V0NZ!^c33ff_VN8({0zE3I1t*e)55ajC$3_*XN>1I|G8C2q`` zsYs3mkR9E@NAWgumod z^swKWqwcy+*>;EgnS!t}d#$5a^cvX_IsXC}6JX+&0$6iX1oR1`@a*={T|jRoCLnEB z+!sLOK#$hs2R0<%3yPK9H4T?BTIYzwY*xi=z=j)04jzCt2T(m)WK#~Ml=wDomhV1V zULc4SYJ*mdPg*ncXhSKUa)@1h`4MH%(Nx8B=#!d^YWbLc9Gm5qx0iSLXk6-LdRTI^ z%ScWtd(>S(>c-2A8cL?x1a~2jUUU%aJcWue(9@rzaZJ-}jy^COK`fn5M7o%iDRb;w zT&txpD_Likeq)%$jH=Kk>x@mc4nTsj_PzKP zh=dU$hiL1;^gq!)dcn$=hf!`vBM$wIJg~Q1E;W*i&WEX~;gTvT&ciBmG(P%}aFA@--dE|cVDR(*!;-lt zK#M${o;N#I#`RaQ4#Zt9o2A$XMglbOaWO9TJH+VpggK^SVsV%Y9W`LCYC;DMk1;%) zi^N+%*N+WzsS@xBMXFNMYzN6m`1b)*T#>$gVwbOzE-l(J$77hBQufig?u&R^04*6L zlc0qu8pW(-j&BsfH_0n4fcyrX>Dh38U2=qpR|dA04#ozhZ{@K8R8pTt{`?w-+ii~_ zVHo`$yz?Z#_}G|s?PlG_{rEnCv4av2zY{>q?@y%)tb8~d~D?#Su=@kc9DE+hZOz(csuq9wGMZD8FC2 zuJ$Y!3?C!qHO~oqAZ-+|Z?)}d%JGsGGD`C&3_sws#2RH!|H%VdIJATYDI3bAoNnw- z?=7tBT#^TZ>RfsQ{{<0yv}K1i>!eD67!PDI0T@>#@zK{zKhnVt9M1rU8hjXI`1Oyn z2T|RN*wHep(Z_XjbY7k6XA?uROWn?~yV9Q}W{O>Sx2QTwk};&ikW5qYCJp&6te#tP zp2t1l3zY6FmN3)eQ26Nb6kSo*Pt0*D&D%HhT^1|$c^_4)B{0!?4oU5$EP#xCWK?mg zQdbJbfU?`QvsAll^7S?pT_7(-@Jrs_G|kde8c87@Z%sWIdrY+oNQT5mvQer1Jw`y= zNNKnra<@5Er$`%3Dpyfr{3BU_k|-@LxWqnclSCN1htu?4VF0{BUE!231XFWcT*1b+ zG>>y7nEP}vdoJBcFe>mD;4C4j0H+&tI~CNo#^?vYcHF90;nD5?=GkL|vyUW!w|f=5 z)>~NWbZd09c5RX&b+wK*ecHokAQ>TOh%vXGB`3Fs7j&jr0YMdv?TUPp_6FyHaGs*B zOS3`bWQ_LKm>C97-Ag@F1GzmbyH}KP2;s7v(JVa4f%`KC*N9tBa#l);tTV>u|2$E$jfBy)_$vrhJaQxpVlJX<){ zgJh7&i#jwA-6u7${58e+Kgrpb+5_zw{sv-ndLWq!DN>-L2DB%o5BtsRUM=9(-@I~; z6z~b%Qf$_>m9i*i?*VRQOUljS@vTZ{TC`=3$1oM+*+=J1k;^sryA{{7bM_o__C^u* z=5SiiQW)lVsm=^nAX8CcCjvw&6`GXSsrap^W7S31=IoW)@JQv%1o%;ge@Q{?2aECR zFIkyNZlC`|G5*(8a-RbGKV0%f&FSfih;saNh6thIj$ln&`zR>vNA2V3g+*H<2ad0I zr5k^}E^M|G7J(QD5;$jaVttRj_+@)adlTP`2)T?=EJ$C*9z=D|ND)m{JgHxEYN#8p zGwt)jd0(1zarm6*yLpOU#-jlK2-Ue}4vn9F>?XwTKQs`k0Jm5qL4}c0vP+q2;R+_# zO2(&a!?(P(Y3HwUrPp`X#-5&CnDjM&U4n6tE@Z7Dj{uiYu7kX@C#pCEXrCiKa)Mvu z+sxRQE51nGgW;O4Kg zy#~M%405L`hXL7{)qw9YT#LCBhG!fX%<&jjpKJ8|j8iX7xS$MZ9wXIet8aEe$(Ot# z-C|g7iHUpW0jRa(WxyAx4v2my-Nig~li>xvmdU$M7)TPxBR} z^KO69qvE(PJqGwZulM!QZ?NE%6xpdZ4{?sw(O-6s=-Wh$Z{<>)S1Bz$pcOF5#{ zPPGwkG0pK9!2A!qrHlB9F}+zd#a%@gP$ zF9i?*Ewi)(et|n``;{9SDlM`xkQy + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/gps_baro.cpp - functions + + + + + + + + + + + + + + +
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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 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           7 :   GpsBaro() : StateGeneric(estimator_name, is_core_plugin) {
+      15           7 :   }
+      16             : 
+      17          14 :   ~GpsBaro(void) {
+      18          14 :   }
+      19             : };
+      20             : 
+      21             : }  // namespace gps_baro
+      22             : }  // namespace mrs_uav_state_estimators
+      23             : 
+      24             : #include <pluginlib/class_list_macros.h>
+      25           7 : PLUGINLIB_EXPORT_CLASS(mrs_uav_state_estimators::gps_baro::GpsBaro, mrs_uav_managers::StateEstimator)
+
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Current view:top level - mrs_uav_state_estimators/src/estimators/state - gps_garmin.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-01-20 21:44:18Functions: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()58
mrs_uav_state_estimators::gps_garmin::GpsGarmin::GpsGarmin()58
mrs_uav_state_estimators::gps_garmin::GpsGarmin::~GpsGarmin()58
mrs_uav_state_estimators::gps_garmin::GpsGarmin::~GpsGarmin().258
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Generated by: LCOV version 1.14
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Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-01-20 21:44:18Functions:44100.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()58
mrs_uav_state_estimators::gps_garmin::GpsGarmin::GpsGarmin()58
mrs_uav_state_estimators::gps_garmin::GpsGarmin::~GpsGarmin()58
mrs_uav_state_estimators::gps_garmin::GpsGarmin::~GpsGarmin().258
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Generated by: LCOV version 1.14
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Current view:top level - mrs_uav_state_estimators/src/estimators/state - gps_garmin.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-01-20 21:44:18Functions: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          58 :   GpsGarmin() : StateGeneric(estimator_name, is_core_plugin) {
+      15          58 :   }
+      16             : 
+      17         116 :   ~GpsGarmin(void) {
+      18         116 :   }
+      19             : };
+      20             : 
+      21             : }  // namespace gps_garmin
+      22             : }  // namespace mrs_uav_state_estimators
+      23             : 
+      24             : #include <pluginlib/class_list_macros.h>
+      25          58 : PLUGINLIB_EXPORT_CLASS(mrs_uav_state_estimators::gps_garmin::GpsGarmin, mrs_uav_managers::StateEstimator)
+
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+
+ + + + +
Generated by: LCOV version 1.14
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Test:MRS UAV System - Test coverage reportLines:31144070.7 %
Date:2024-01-20 21:44:18Functions:283775.7 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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passthrough.cpp +
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Test:MRS UAV System - Test coverage reportLines:31144070.7 %
Date:2024-01-20 21:44:18Functions:283775.7 %
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state_generic.cpp +
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Current view:top level - mrs_uav_state_estimators/src/estimators/stateHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:31144070.7 %
Date:2024-01-20 21:44:18Functions:283775.7 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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gps_baro.cpp +
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state_generic.cpp +
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Test:MRS UAV System - Test coverage reportLines:31144070.7 %
Date:2024-01-20 21:44:18Functions:283775.7 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
passthrough.cpp +
76.4%76.4%
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state_generic.cpp +
66.2%66.2%
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rtk.cpp +
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gps_garmin.cpp +
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gps_baro.cpp +
100.0%
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Generated by: LCOV version 1.14
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LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/src/estimators/stateHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:31144070.7 %
Date:2024-01-20 21:44:18Functions:283775.7 %
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Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
state_generic.cpp +
66.2%66.2%
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passthrough.cpp +
76.4%76.4%
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rtk.cpp +
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100.0%
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gps_garmin.cpp +
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gps_baro.cpp +
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LCOV - code coverage report
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Test:MRS UAV System - Test coverage reportLines:31144070.7 %
Date:2024-01-20 21:44:18Functions:283775.7 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
gps_baro.cpp +
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gps_garmin.cpp +
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passthrough.cpp +
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state_generic.cpp +
66.2%66.2%
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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:9712776.4 %
Date:2024-01-20 21:44:18Functions:5955.6 %
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::isConverged()0
mrs_uav_state_estimators::passthrough::Passthrough::setUavState(mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_state_estimators::passthrough::Passthrough::pause()0
mrs_uav_state_estimators::passthrough::Passthrough::reset()0
(anonymous namespace)::ProxyExec0::ProxyExec0()1
mrs_uav_state_estimators::passthrough::Passthrough::initialize(ros::NodeHandle&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)1
mrs_uav_state_estimators::passthrough::Passthrough::start()1
mrs_uav_state_estimators::passthrough::Passthrough::timerUpdate(ros::TimerEvent const&)1018
mrs_uav_state_estimators::passthrough::Passthrough::timerCheckHealth(ros::TimerEvent const&)1031
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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&)1018
mrs_uav_state_estimators::passthrough::Passthrough::timerCheckHealth(ros::TimerEvent const&)1031
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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Current view:top level - mrs_uav_state_estimators/src/estimators/state - passthrough.cpp (source / functions)HitTotalCoverage
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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 &nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) {
+      15             : 
+      16           1 :   ch_ = ch;
+      17           1 :   ph_ = ph;
+      18             : 
+      19           1 :   ns_frame_id_ = ch_->uav_name + "/" + frame_id_;
+      20             : 
+      21             :   // | --------------- param loader initialization -------------- |
+      22             : 
+      23           1 :   if (is_core_plugin_) {
+      24             : 
+      25           1 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/private/" + getName() + "/" + getName() + ".yaml");
+      26           1 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/public/" + getName() + "/" + getName() + ".yaml");
+      27             :   }
+      28             : 
+      29           1 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getName() + "/");
+      30             : 
+      31             :   // | --------------------- load parameters -------------------- |
+      32           1 :   ph->param_loader->loadParam("max_flight_z", max_flight_z_);
+      33           1 :   ph->param_loader->loadParam("message/topic", msg_topic_);
+      34           1 :   msg_topic_ = "/" + ch_->uav_name + "/" + msg_topic_;
+      35             : 
+      36             :   // | ------------------ timers initialization ----------------- |
+      37           1 :   timer_update_       = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &Passthrough::timerUpdate, this, false, false);  // not running after init
+      38           1 :   timer_check_health_ = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &Passthrough::timerCheckHealth, this);
+      39             : 
+      40             :   // | --------------- subscribers initialization --------------- |
+      41           2 :   mrs_lib::SubscribeHandlerOptions shopts;
+      42           1 :   shopts.nh                 = nh;
+      43           1 :   shopts.node_name          = getPrintName();
+      44           1 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+      45           1 :   shopts.threadsafe         = true;
+      46           1 :   shopts.autostart          = true;
+      47           1 :   shopts.queue_size         = 10;
+      48           1 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+      49             : 
+      50           1 :   sh_passthrough_odom_ = mrs_lib::SubscribeHandler<nav_msgs::Odometry>(shopts, msg_topic_);
+      51             : 
+      52             :   // | ---------------- publishers initialization --------------- |
+      53           1 :   ph_odom_ = mrs_lib::PublisherHandler<nav_msgs::Odometry>(nh, Support::toSnakeCase(getName()) + "/odom", 10);  // needed for tf
+      54           1 :   if (ch_->debug_topics.state) {
+      55           1 :     ph_uav_state_ = mrs_lib::PublisherHandler<mrs_msgs::UavState>(nh, Support::toSnakeCase(getName()) + "/uav_state", 10);
+      56             :   }
+      57           1 :   if (ch_->debug_topics.covariance) {
+      58           0 :     ph_pose_covariance_  = mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped>(nh, Support::toSnakeCase(getName()) + "/pose_covariance", 10);
+      59           0 :     ph_twist_covariance_ = mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped>(nh, Support::toSnakeCase(getName()) + "/twist_covariance", 10);
+      60             :   }
+      61           1 :   if (ch_->debug_topics.innovation) {
+      62           0 :     ph_innovation_ = mrs_lib::PublisherHandler<nav_msgs::Odometry>(nh, Support::toSnakeCase(getName()) + "/innovation", 10);
+      63             :   }
+      64           1 :   if (ch_->debug_topics.diag) {
+      65           0 :     ph_diagnostics_ = mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics>(nh, Support::toSnakeCase(getName()) + "/diagnostics", 10);
+      66             :   }
+      67             : 
+      68             :   // | ------------------ initialize published messages ------------------ |
+      69           1 :   uav_state_init_.header.frame_id = ns_frame_id_;
+      70           1 :   uav_state_init_.child_frame_id  = ch_->frames.ns_fcu;
+      71             : 
+      72           1 :   uav_state_init_.estimator_horizontal = est_lat_name_;
+      73           1 :   uav_state_init_.estimator_vertical   = est_alt_name_;
+      74           1 :   uav_state_init_.estimator_heading    = est_hdg_name_;
+      75             : 
+      76           1 :   innovation_init_.header.frame_id         = ns_frame_id_;
+      77           1 :   innovation_init_.child_frame_id          = ch_->frames.ns_fcu;
+      78           1 :   innovation_init_.pose.pose.orientation.w = 1.0;
+      79             : 
+      80             :   // | ------------------ finish initialization ----------------- |
+      81             : 
+      82           1 :   if (changeState(INITIALIZED_STATE)) {
+      83           1 :     ROS_INFO("[%s]: Estimator initialized", getPrintName().c_str());
+      84             :   } else {
+      85           0 :     ROS_INFO("[%s]: Estimator could not be initialized", getPrintName().c_str());
+      86             :   }
+      87           1 : }
+      88             : /*//}*/
+      89             : 
+      90             : /*//{ start() */
+      91           1 : bool Passthrough::start(void) {
+      92             : 
+      93             : 
+      94           1 :   if (isInState(READY_STATE)) {
+      95             : 
+      96           1 :     timer_update_.start();
+      97           1 :     changeState(STARTED_STATE);
+      98           1 :     return true;
+      99             : 
+     100             :   } else {
+     101           0 :     ROS_WARN("[%s]: Estimator must be in READY_STATE to start it", getPrintName().c_str());
+     102           0 :     ros::Duration(1.0).sleep();
+     103             :   }
+     104           0 :   return false;
+     105             : 
+     106             :   ROS_ERROR("[%s]: Failed to start", getPrintName().c_str());
+     107             :   return false;
+     108             : }
+     109             : /*//}*/
+     110             : 
+     111             : /*//{ pause() */
+     112           0 : bool Passthrough::pause(void) {
+     113             : 
+     114           0 :   if (isInState(RUNNING_STATE)) {
+     115           0 :     changeState(STOPPED_STATE);
+     116           0 :     return true;
+     117             :   }
+     118           0 :   return false;
+     119             : }
+     120             : /*//}*/
+     121             : 
+     122             : /*//{ reset() */
+     123           0 : bool Passthrough::reset(void) {
+     124             : 
+     125           0 :   if (!isInitialized()) {
+     126           0 :     ROS_ERROR("[%s]: Cannot reset uninitialized estimator", getPrintName().c_str());
+     127           0 :     return false;
+     128             :   }
+     129             : 
+     130           0 :   changeState(STOPPED_STATE);
+     131             : 
+     132           0 :   ROS_INFO("[%s]: Estimator reset", getPrintName().c_str());
+     133             : 
+     134           0 :   return true;
+     135             : }
+     136             : /*//}*/
+     137             : 
+     138             : /* timerUpdate() //{*/
+     139        1018 : void Passthrough::timerUpdate(const ros::TimerEvent &event) {
+     140             : 
+     141             : 
+     142        1018 :   if (!isInitialized()) {
+     143           0 :     return;
+     144             :   }
+     145             : 
+     146        1018 :   const ros::Time time_now = ros::Time::now();
+     147             : 
+     148        2036 :   nav_msgs::OdometryConstPtr msg = sh_passthrough_odom_.getMsg();
+     149             : 
+     150        1018 :   if (first_iter_) {
+     151           1 :     prev_msg_   = msg;
+     152           1 :     first_iter_ = false;
+     153             :   }
+     154             : 
+     155        2036 :   mrs_msgs::UavState uav_state = uav_state_init_;
+     156             : 
+     157        1018 :   uav_state.header.stamp = time_now;
+     158             : 
+     159        1018 :   uav_state.pose.position    = msg->pose.pose.position;
+     160        1018 :   uav_state.pose.orientation = msg->pose.pose.orientation;
+     161             : 
+     162        1018 :   uav_state.velocity.linear  = Support::rotateVector(msg->twist.twist.linear, msg->pose.pose.orientation);
+     163        1018 :   uav_state.velocity.angular = msg->twist.twist.angular;
+     164             : 
+     165        2036 :   const nav_msgs::Odometry odom = Support::uavStateToOdom(uav_state);
+     166             : 
+     167        2036 :   nav_msgs::Odometry innovation = innovation_init_;
+     168        1018 :   innovation.header.stamp       = time_now;
+     169             : 
+     170        1018 :   innovation.pose.pose.position.x = prev_msg_->pose.pose.position.x - msg->pose.pose.position.x;
+     171        1018 :   innovation.pose.pose.position.y = prev_msg_->pose.pose.position.y - msg->pose.pose.position.y;
+     172        1018 :   innovation.pose.pose.position.z = prev_msg_->pose.pose.position.z - msg->pose.pose.position.z;
+     173             : 
+     174        2036 :   mrs_msgs::Float64ArrayStamped pose_covariance, twist_covariance;
+     175        1018 :   pose_covariance.header.stamp  = time_now;
+     176        1018 :   twist_covariance.header.stamp = time_now;
+     177             : 
+     178        1018 :   const int n_states = 6;  // TODO this should be defined somewhere else
+     179        1018 :   pose_covariance.values.resize(n_states * n_states);
+     180        1018 :   pose_covariance.values.at(n_states * AXIS_X + AXIS_X) = 1e-10;
+     181        1018 :   pose_covariance.values.at(n_states * AXIS_Y + AXIS_Y) = 1e-10;
+     182        1018 :   pose_covariance.values.at(n_states * AXIS_Z + AXIS_Z) = 1e-10;
+     183             : 
+     184        1018 :   twist_covariance.values.resize(n_states * n_states);
+     185        1018 :   twist_covariance.values.at(n_states * AXIS_X + AXIS_X) = 1e-10;
+     186        1018 :   twist_covariance.values.at(n_states * AXIS_Y + AXIS_Y) = 1e-10;
+     187        1018 :   twist_covariance.values.at(n_states * AXIS_Z + AXIS_Z) = 1e-10;
+     188             : 
+     189        1018 :   mrs_lib::set_mutexed(mtx_uav_state_, uav_state, uav_state_);
+     190        1018 :   mrs_lib::set_mutexed(mtx_odom_, odom, odom_);
+     191        1018 :   mrs_lib::set_mutexed(mtx_innovation_, innovation, innovation_);
+     192        1018 :   mrs_lib::set_mutexed(mtx_covariance_, pose_covariance, pose_covariance_);
+     193        1018 :   mrs_lib::set_mutexed(mtx_covariance_, twist_covariance, twist_covariance_);
+     194             : 
+     195        1018 :   publishUavState();
+     196        1018 :   publishOdom();
+     197        1018 :   publishCovariance();
+     198        1018 :   publishInnovation();
+     199        1018 :   publishDiagnostics();
+     200             : 
+     201        1018 :   prev_msg_ = msg;
+     202             : }
+     203             : /*//}*/
+     204             : 
+     205             : /*//{ timerCheckHealth() */
+     206        1031 : void Passthrough::timerCheckHealth(const ros::TimerEvent &event) {
+     207             : 
+     208        1031 :   if (!isInitialized()) {
+     209           0 :     return;
+     210             :   }
+     211             : 
+     212        1031 :   if (isInState(INITIALIZED_STATE)) {
+     213             : 
+     214          13 :     if (sh_passthrough_odom_.hasMsg()) {
+     215           1 :       changeState(READY_STATE);
+     216           1 :       ROS_INFO_THROTTLE(1.0, "[%s]: Estimator is ready to start", getPrintName().c_str());
+     217             :     } else {
+     218          12 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s msg on topic %s", getPrintName().c_str(), Support::waiting_for_string.c_str(), sh_passthrough_odom_.topicName().c_str());
+     219          12 :       return;
+     220             :     }
+     221             :   }
+     222             : 
+     223             : 
+     224        1019 :   if (isInState(STARTED_STATE)) {
+     225             : 
+     226           1 :     changeState(RUNNING_STATE);
+     227             :   }
+     228             : }
+     229             : /*//}*/
+     230             : 
+     231             : /*//{ isConverged() */
+     232           0 : bool Passthrough::isConverged() {
+     233             : 
+     234             :   // TODO: check convergence by rate of change of determinant
+     235             :   // most likely not used in top-level estimator
+     236             : 
+     237           0 :   return true;
+     238             : }
+     239             : /*//}*/
+     240             : 
+     241             : /*//{ setUavState() */
+     242           0 : bool Passthrough::setUavState(const mrs_msgs::UavState &uav_state) {
+     243             : 
+     244           0 :   if (!isInState(STOPPED_STATE)) {
+     245           0 :     ROS_WARN("[%s]: Estimator state can be set only in the STOPPED state", getPrintName().c_str());
+     246           0 :     return false;
+     247             :   }
+     248             : 
+     249           0 :   ROS_WARN("[%s]: Setting the state of this estimator is not implemented.", getPrintName().c_str());
+     250           0 :   return false;
+     251             : }
+     252             : /*//}*/
+     253             : 
+     254             : }  // namespace passthrough
+     255             : 
+     256             : }  // namespace mrs_uav_state_estimators
+     257             : 
+     258             : #include <pluginlib/class_list_macros.h>
+     259           1 : PLUGINLIB_EXPORT_CLASS(mrs_uav_state_estimators::passthrough::Passthrough, mrs_uav_managers::StateEstimator)
+
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Current view:top level - mrs_uav_state_estimators/src/estimators/state - rtk.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-01-20 21:44:18Functions: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::Rtk::Rtk()2
mrs_uav_state_estimators::rtk::Rtk::~Rtk()2
mrs_uav_state_estimators::rtk::Rtk::~Rtk().22
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/src/estimators/state/rtk.cpp.gcov.frameset.html b/mrs_uav_state_estimators/src/estimators/state/rtk.cpp.gcov.frameset.html new file mode 100644 index 0000000000..5de9a9f3df --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/rtk.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/rtk.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/src/estimators/state/rtk.cpp.gcov.html b/mrs_uav_state_estimators/src/estimators/state/rtk.cpp.gcov.html new file mode 100644 index 0000000000..3e8ba88159 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/rtk.cpp.gcov.html @@ -0,0 +1,109 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/rtk.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/src/estimators/state - rtk.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-01-20 21:44:18Functions:44100.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #include <mrs_uav_state_estimators/estimators/state/state_generic.h>
+       2             : 
+       3             : namespace mrs_uav_state_estimators
+       4             : {
+       5             : 
+       6             : namespace rtk
+       7             : {
+       8             : 
+       9             : const char estimator_name[] = "rtk";
+      10             : const bool is_core_plugin = true;
+      11             : 
+      12             : class Rtk : public StateGeneric {
+      13             : public:
+      14           2 :   Rtk() : StateGeneric(estimator_name, is_core_plugin) {
+      15           2 :   }
+      16             : 
+      17           4 :   ~Rtk(void) {
+      18           4 :   }
+      19             : };
+      20             : 
+      21             : }  // namespace rtk
+      22             : }  // namespace mrs_uav_state_estimators
+      23             : 
+      24             : #include <pluginlib/class_list_macros.h>
+      25           2 : PLUGINLIB_EXPORT_CLASS(mrs_uav_state_estimators::rtk::Rtk, mrs_uav_managers::StateEstimator)
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + 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..2c8d7826e8 --- /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
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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:2024-01-20 21:44:18Functions: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
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+
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/src/estimators/state/rtk_garmin.cpp.func.html b/mrs_uav_state_estimators/src/estimators/state/rtk_garmin.cpp.func.html new file mode 100644 index 0000000000..2ca67289e6 --- /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:2024-01-20 21:44:18Functions: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
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+
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/src/estimators/state/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..b8625334ec --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/rtk_garmin.cpp.gcov.html @@ -0,0 +1,109 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/rtk_garmin.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
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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:2024-01-20 21:44:18Functions: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
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+ + + 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..6aae8b201e --- /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:19429366.2 %
Date:2024-01-20 21:44:18Functions: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&)69
mrs_uav_state_estimators::StateGeneric::start()4365
mrs_uav_state_estimators::StateGeneric::updateUavState()135809
mrs_uav_state_estimators::StateGeneric::timerPubAttitude(ros::TimerEvent const&)141661
mrs_uav_state_estimators::StateGeneric::timerUpdate(ros::TimerEvent const&)141665
mrs_uav_state_estimators::StateGeneric::getHeading() const221203
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()() const221220
+
+
+ + + +
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..8b1e26c1f3 --- /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
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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:19429366.2 %
Date:2024-01-20 21:44:18Functions:71258.3 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::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&)69
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&)141665
mrs_uav_state_estimators::StateGeneric::updateUavState()135809
mrs_uav_state_estimators::StateGeneric::timerCheckHealth(ros::TimerEvent const&)0
mrs_uav_state_estimators::StateGeneric::timerPubAttitude(ros::TimerEvent const&)141661
mrs_uav_state_estimators::StateGeneric::pause()0
mrs_uav_state_estimators::StateGeneric::reset()0
mrs_uav_state_estimators::StateGeneric::start()4365
mrs_uav_state_estimators::StateGeneric::getHeading() const221203
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()() const221220
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+
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/src/estimators/state/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..d0007f0ac8 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/state_generic.cpp.gcov.html @@ -0,0 +1,633 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/state_generic.cpp + + + + + + + + + + + + + + +
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:19429366.2 %
Date:2024-01-20 21:44:18Functions: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          69 : void StateGeneric::initialize(ros::NodeHandle &parent_nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) {
+      12             : 
+      13          69 :   ch_ = ch;
+      14          69 :   ph_ = ph;
+      15             : 
+      16         138 :   ros::NodeHandle nh(parent_nh);
+      17             : 
+      18          69 :   if (is_core_plugin_) {
+      19             : 
+      20          69 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/private/" + getName() + "/" + getName() + ".yaml");
+      21          69 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/public/" + getName() + "/" + getName() + ".yaml");
+      22             :   }
+      23             : 
+      24          69 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getName() + "/");
+      25             : 
+      26          69 :   ph->param_loader->loadParam("estimators/lateral/name", est_lat_name_);
+      27          69 :   ph->param_loader->loadParam("estimators/altitude/name", est_alt_name_);
+      28          69 :   ph->param_loader->loadParam("estimators/heading/name", est_hdg_name_);
+      29          69 :   ph->param_loader->loadParam("estimators/heading/passthrough", is_hdg_passthrough_);
+      30             : 
+      31          69 :   ph->param_loader->loadParam("override_frame_id/enabled", is_override_frame_id_);
+      32          69 :   if (is_override_frame_id_) {
+      33           0 :     ph->param_loader->loadParam("override_frame_id/frame_id", frame_id_);
+      34             :   }
+      35             : 
+      36         138 :   std::string topic_orientation;
+      37          69 :   ph->param_loader->loadParam("topics/orientation", topic_orientation);
+      38          69 :   topic_orientation_ = "/" + ch_->uav_name + "/" + topic_orientation;
+      39         138 :   std::string topic_angular_velocity;
+      40          69 :   ph->param_loader->loadParam("topics/angular_velocity", topic_angular_velocity);
+      41          69 :   topic_angular_velocity_ = "/" + ch_->uav_name + "/" + topic_angular_velocity;
+      42             : 
+      43          69 :   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          69 :   ns_frame_id_ = ch_->uav_name + "/" + frame_id_;
+      49             : 
+      50             :   // | ------------------ timers initialization ----------------- |
+      51          69 :   timer_update_ = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &StateGeneric::timerUpdate, this);  // not running after init
+      52             :   /* timer_check_health_ = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &StateGeneric::timerCheckHealth, this); */
+      53          69 :   timer_pub_attitude_ = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &StateGeneric::timerPubAttitude, this);
+      54             : 
+      55             :   // | --------------- subscribers initialization --------------- |
+      56         138 :   mrs_lib::SubscribeHandlerOptions shopts;
+      57          69 :   shopts.nh                 = nh;
+      58          69 :   shopts.node_name          = getPrintName();
+      59          69 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+      60          69 :   shopts.threadsafe         = true;
+      61          69 :   shopts.autostart          = true;
+      62          69 :   shopts.queue_size         = 10;
+      63          69 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+      64             : 
+      65          69 :   sh_hw_api_orient_  = mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped>(shopts, topic_orientation_);
+      66          69 :   sh_hw_api_ang_vel_ = mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped>(shopts, topic_angular_velocity_);
+      67             : 
+      68             :   // | ---------------- publishers initialization --------------- |
+      69          69 :   ph_odom_     = mrs_lib::PublisherHandler<nav_msgs::Odometry>(nh, Support::toSnakeCase(getName()) + "/odom", 10);
+      70          69 :   ph_attitude_ = mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped>(nh, Support::toSnakeCase(getName()) + "/attitude", 10);
+      71             : 
+      72          69 :   if (ch_->debug_topics.state) {
+      73          69 :     ph_uav_state_ = mrs_lib::PublisherHandler<mrs_msgs::UavState>(nh, Support::toSnakeCase(getName()) + "/uav_state", 10);
+      74             :   }
+      75          69 :   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          69 :   if (ch_->debug_topics.innovation) {
+      80           0 :     ph_innovation_ = mrs_lib::PublisherHandler<nav_msgs::Odometry>(nh, Support::toSnakeCase(getName()) + "/innovation", 10);
+      81             :   }
+      82          69 :   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         138 :   std::vector<double> max_altitudes;
+      88             : 
+      89          69 :   if (is_hdg_passthrough_) {
+      90          69 :     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          69 :   est_hdg_->initialize(nh, ch_, ph_);
+      95          69 :   max_altitudes.push_back(est_hdg_->getMaxFlightZ());
+      96             : 
+      97      221289 :   est_lat_ = std::make_unique<LatGeneric>(est_lat_name_, frame_id_, getName(), is_core_plugin_, [this](void) { return this->getHeading(); });
+      98          69 :   est_lat_->initialize(nh, ch_, ph_);
+      99          69 :   max_altitudes.push_back(est_lat_->getMaxFlightZ());
+     100             : 
+     101          69 :   est_alt_ = std::make_unique<AltGeneric>(est_alt_name_, frame_id_, getName(), is_core_plugin_);
+     102          69 :   est_alt_->initialize(nh, ch_, ph_);
+     103          69 :   max_altitudes.push_back(est_alt_->getMaxFlightZ());
+     104             : 
+     105          69 :   max_flight_z_ = *std::min_element(max_altitudes.begin(), max_altitudes.end());
+     106             : 
+     107             :   // | ------------------ initialize published messages ------------------ |
+     108          69 :   uav_state_init_.header.frame_id = ns_frame_id_;
+     109          69 :   uav_state_init_.child_frame_id  = ch_->frames.ns_fcu;
+     110             : 
+     111          69 :   uav_state_init_.estimator_horizontal = est_lat_name_;
+     112          69 :   uav_state_init_.estimator_vertical   = est_alt_name_;
+     113          69 :   uav_state_init_.estimator_heading    = est_hdg_name_;
+     114             : 
+     115          69 :   innovation_init_.header.frame_id         = ns_frame_id_;
+     116          69 :   innovation_init_.child_frame_id          = ch_->frames.ns_fcu;
+     117          69 :   innovation_init_.pose.pose.orientation.w = 1.0;
+     118             : 
+     119             :   // | ------------------ finish initialization ----------------- |
+     120             : 
+     121          69 :   if (changeState(INITIALIZED_STATE)) {
+     122          69 :     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          69 : }
+     127             : /*//}*/
+     128             : 
+     129             : /*//{ start() */
+     130        4365 : bool StateGeneric::start(void) {
+     131             : 
+     132        4365 :   if (isInState(READY_STATE)) {
+     133             : 
+     134             :     bool est_lat_start_successful, est_alt_start_successful, est_hdg_start_successful;
+     135             : 
+     136        4365 :     if (est_lat_->isStarted() || est_lat_->isRunning()) {
+     137        2818 :       est_lat_start_successful = true;
+     138             :     } else {
+     139        1547 :       est_lat_start_successful = est_lat_->start();
+     140             :     }
+     141             : 
+     142        4365 :     if (est_alt_->isStarted() || est_alt_->isRunning()) {
+     143        1205 :       est_alt_start_successful = true;
+     144             :     } else {
+     145        3160 :       est_alt_start_successful = est_alt_->start();
+     146             :     }
+     147             : 
+     148        4365 :     if (est_hdg_->isStarted() || est_hdg_->isRunning()) {
+     149        4250 :       timer_pub_attitude_.start();
+     150        4250 :       est_hdg_start_successful = true;
+     151             :     } else {
+     152         115 :       est_hdg_start_successful = est_hdg_->start();
+     153             :     }
+     154             : 
+     155        4365 :     if (est_lat_start_successful && est_alt_start_successful && est_hdg_start_successful) {
+     156             :       /* timer_update_.start(); */
+     157          69 :       changeState(STARTED_STATE);
+     158          69 :       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        4296 :   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 :   est_lat_->pause();
+     197           0 :   est_alt_->pause();
+     198           0 :   est_hdg_->pause();
+     199           0 :   changeState(STOPPED_STATE);
+     200             : 
+     201           0 :   ROS_INFO("[%s]: Estimator reset", getPrintName().c_str());
+     202             : 
+     203           0 :   return true;
+     204             : }
+     205             : /*//}*/
+     206             : 
+     207             : /* timerUpdate() //{*/
+     208      141665 : void StateGeneric::timerUpdate(const ros::TimerEvent &event) {
+     209             : 
+     210             : 
+     211      141665 :   if (!isInitialized()) {
+     212        5813 :     return;
+     213             :   }
+     214             : 
+     215      282307 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("StateGeneric::timerUpdate", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     216             : 
+     217      141139 :   switch (getCurrentSmState()) {
+     218             : 
+     219           0 :     case UNINITIALIZED_STATE: {
+     220           0 :       break;
+     221             :     }
+     222         942 :     case INITIALIZED_STATE: {
+     223             : 
+     224         942 :       if (sh_hw_api_orient_.hasMsg() && sh_hw_api_ang_vel_.hasMsg()) {
+     225          69 :         if (est_lat_->isInitialized() && est_alt_->isInitialized() && est_hdg_->isInitialized()) {
+     226          69 :           changeState(READY_STATE);
+     227          69 :           ROS_INFO_THROTTLE(1.0, "[%s]: Estimator is ready to start", getPrintName().c_str());
+     228             :         } else {
+     229           0 :           ROS_INFO_THROTTLE(1.0, "[%s]: %s subestimators to be initialized", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     230           0 :           return;
+     231             :         }
+     232             :       } else {
+     233         873 :         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());
+     234         873 :         return;
+     235             :       }
+     236             : 
+     237          69 :       break;
+     238             :     }
+     239             : 
+     240        4349 :     case READY_STATE: {
+     241        4349 :       break;
+     242             :     }
+     243             : 
+     244          88 :     case STARTED_STATE: {
+     245             : 
+     246          88 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s convergence of LKF", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     247             : 
+     248          88 :       if (est_lat_->isRunning() && est_alt_->isRunning() && est_hdg_->isRunning()) {
+     249          69 :         ROS_INFO_THROTTLE(1.0, "[%s]: Subestimators converged", getPrintName().c_str());
+     250          69 :         changeState(RUNNING_STATE);
+     251             :       } else {
+     252          19 :         return;
+     253             :       }
+     254          69 :       break;
+     255             :     }
+     256             : 
+     257      135779 :     case RUNNING_STATE: {
+     258      135779 :       if (est_lat_->isError() || est_alt_->isError() || est_hdg_->isError()) {
+     259           0 :         changeState(ERROR_STATE);
+     260             :       }
+     261      135757 :       break;
+     262             :     }
+     263             : 
+     264           0 :     case STOPPED_STATE: {
+     265           0 :       break;
+     266             :     }
+     267             : 
+     268           0 :     case ERROR_STATE: {
+     269           0 :       if ((est_lat_->isReady() || est_lat_->isRunning()) && (est_alt_->isReady() || est_alt_->isRunning()) && (est_hdg_->isReady() || est_hdg_->isRunning())) {
+     270           0 :         changeState(READY_STATE);
+     271             :       }
+     272           0 :       break;
+     273             :     }
+     274             :   }
+     275             : 
+     276      140221 :   if (!isRunning() && !isStarted()) {
+     277        4418 :     return;
+     278             :   }
+     279             : 
+     280      135816 :   updateUavState();
+     281             : 
+     282      135773 :   publishUavState();
+     283      135855 :   publishOdom();
+     284      135855 :   publishCovariance();
+     285      135855 :   publishInnovation();
+     286      135855 :   publishDiagnostics();
+     287             : }
+     288             : /*//}*/
+     289             : 
+     290             : /*//{ timerCheckHealth() */
+     291           0 : void StateGeneric::timerCheckHealth(const ros::TimerEvent &event) {
+     292             : 
+     293           0 :   if (!isInitialized()) {
+     294           0 :     return;
+     295             :   }
+     296             : 
+     297           0 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("StateGeneric::timerCheckHealth", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     298             : 
+     299           0 :   switch (getCurrentSmState()) {
+     300             : 
+     301           0 :     case UNINITIALIZED_STATE: {
+     302           0 :       break;
+     303             :     }
+     304           0 :     case INITIALIZED_STATE: {
+     305             : 
+     306           0 :       if (sh_hw_api_orient_.hasMsg() && sh_hw_api_ang_vel_.hasMsg()) {
+     307           0 :         if (est_lat_->isInitialized() && est_alt_->isInitialized() && est_hdg_->isInitialized()) {
+     308           0 :           changeState(READY_STATE);
+     309           0 :           ROS_INFO_THROTTLE(1.0, "[%s]: Estimator is ready to start", getPrintName().c_str());
+     310             :         } else {
+     311           0 :           ROS_INFO_THROTTLE(1.0, "[%s]: %s subestimators to be initialized", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     312           0 :           return;
+     313             :         }
+     314             :       } else {
+     315           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());
+     316           0 :         return;
+     317             :       }
+     318             : 
+     319           0 :       break;
+     320             :     }
+     321             : 
+     322           0 :     case READY_STATE: {
+     323           0 :       break;
+     324             :     }
+     325             : 
+     326           0 :     case STARTED_STATE: {
+     327             : 
+     328           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s for convergence of LKF", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     329             : 
+     330           0 :       if (est_lat_->isError() || est_alt_->isError() || est_hdg_->isError()) {
+     331           0 :         changeState(ERROR_STATE);
+     332             :       }
+     333             : 
+     334           0 :       if (est_lat_->isRunning() && est_alt_->isRunning() && est_hdg_->isRunning()) {
+     335           0 :         ROS_INFO_THROTTLE(1.0, "[%s]: Subestimators converged", getPrintName().c_str());
+     336           0 :         changeState(RUNNING_STATE);
+     337             :       } else {
+     338           0 :         return;
+     339             :       }
+     340           0 :       break;
+     341             :     }
+     342             : 
+     343           0 :     case RUNNING_STATE: {
+     344           0 :       if (est_lat_->isError() || est_alt_->isError() || est_hdg_->isError()) {
+     345           0 :         changeState(ERROR_STATE);
+     346             :       }
+     347           0 :       break;
+     348             :     }
+     349             : 
+     350           0 :     case STOPPED_STATE: {
+     351           0 :       break;
+     352             :     }
+     353             : 
+     354           0 :     case ERROR_STATE: {
+     355           0 :       if (est_lat_->isReady() && est_alt_->isReady() && est_hdg_->isReady()) {
+     356           0 :         changeState(READY_STATE);
+     357             :       }
+     358           0 :       break;
+     359             :     }
+     360             :   }
+     361             : }
+     362             : /*//}*/
+     363             : 
+     364             : /* timerPubAttitude() //{*/
+     365      141661 : void StateGeneric::timerPubAttitude(const ros::TimerEvent &event) {
+     366             : 
+     367      141661 :   if (!isInitialized()) {
+     368        1596 :     return;
+     369             :   }
+     370             : 
+     371      282298 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("StateGeneric::timerPubAttitude", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     372             : 
+     373      141131 :   if (!sh_hw_api_orient_.hasMsg()) {
+     374         149 :     ROS_WARN_THROTTLE(1.0, "[%s]: has not received orientation on topic %s yet", getPrintName().c_str(), sh_hw_api_orient_.topicName().c_str());
+     375         149 :     return;
+     376             :   }
+     377             : 
+     378      140992 :   if (!est_hdg_->isRunning() && !isError()) {
+     379         946 :     ROS_WARN_THROTTLE(1.0, "[%s]: cannot publish attitude, heading estimator is not running", getPrintName().c_str());
+     380         946 :     return;
+     381             :   }
+     382             : 
+     383      140045 :   scope_timer.checkpoint("checks");
+     384             : 
+     385      140024 :   const ros::Time time_now = ros::Time::now();
+     386             : 
+     387      140068 :   geometry_msgs::QuaternionStamped att;
+     388      140042 :   att.header.stamp    = time_now;
+     389      140042 :   att.header.frame_id = ns_frame_id_ + "_att_only";
+     390             : 
+     391             :   double hdg;
+     392      140050 :   if (isError()) {
+     393           0 :     hdg = est_hdg_->getLastValidHdg();
+     394             :   } else {
+     395      140021 :     hdg = est_hdg_->getState(POSITION);
+     396             :   }
+     397             : 
+     398      139989 :   auto res = rotateQuaternionByHeading(sh_hw_api_orient_.getMsg()->quaternion, hdg);
+     399      139738 :   if (res) {
+     400      139948 :     att.quaternion = res.value();
+     401             :   } else {
+     402           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: could not rotate orientation by heading", getPrintName().c_str());
+     403           0 :     return;
+     404             :   }
+     405             : 
+     406      139702 :   scope_timer.checkpoint("rotate");
+     407             : 
+     408      139902 :   if (!Support::noNans(att.quaternion)) {
+     409           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaNs in timerPubAttitude quaternion", getPrintName().c_str());
+     410           0 :     return;
+     411             :   }
+     412             : 
+     413      139854 :   scope_timer.checkpoint("nan check");
+     414             : 
+     415      139755 :   ph_attitude_.publish(att);
+     416      140072 :   scope_timer.checkpoint("publish");
+     417             : }
+     418             : /*//}*/
+     419             : 
+     420             : /*//{ isConverged() */
+     421           0 : bool StateGeneric::isConverged() {
+     422             : 
+     423             :   // TODO: check convergence by rate of change of determinant
+     424             :   // most likely not used in top-level estimator
+     425             : 
+     426           0 :   return true;
+     427             : }
+     428             : /*//}*/
+     429             : 
+     430             : /*//{ updateUavState() */
+     431      135809 : void StateGeneric::updateUavState() {
+     432             : 
+     433      135809 :   if (!sh_hw_api_orient_.hasMsg()) {
+     434           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());
+     435           0 :     return;
+     436             :   }
+     437             : 
+     438      135814 :   if (!sh_hw_api_ang_vel_.hasMsg()) {
+     439           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());
+     440           0 :     return;
+     441             :   }
+     442      271644 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("StateGeneric::updateUavState", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     443             : 
+     444      135824 :   const ros::Time time_now = ros::Time::now();
+     445             : 
+     446      135853 :   mrs_msgs::UavState uav_state = uav_state_init_;
+     447      135839 :   uav_state.header.stamp       = time_now;
+     448             : 
+     449             :   // do not rotate orientation if passthrough hdg
+     450      135839 :   if (est_hdg_name_ == "hdg_passthrough") {
+     451           0 :     uav_state.pose.orientation = sh_hw_api_orient_.getMsg()->quaternion;
+     452             :   } else {
+     453             :     double hdg;
+     454      135825 :     if (isError()) {
+     455           0 :       hdg = est_hdg_->getLastValidHdg();
+     456             :     } else {
+     457      135816 :       hdg = est_hdg_->getState(POSITION);
+     458             :     }
+     459             : 
+     460      135764 :     auto res = rotateQuaternionByHeading(sh_hw_api_orient_.getMsg()->quaternion, hdg);
+     461      135683 :     if (res) {
+     462      135760 :       uav_state.pose.orientation = res.value();
+     463             :     } else {
+     464           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: could not rotate orientation by heading", getPrintName().c_str());
+     465           0 :       return;
+     466             :     }
+     467             :   }
+     468             : 
+     469      135627 :   scope_timer.checkpoint("rotate orientation");
+     470             : 
+     471      135804 :   uav_state.velocity.angular = sh_hw_api_ang_vel_.getMsg()->vector;
+     472             : 
+     473      135705 :   uav_state.pose.position.x = est_lat_->getState(POSITION, AXIS_X);
+     474      135787 :   uav_state.pose.position.y = est_lat_->getState(POSITION, AXIS_Y);
+     475      135776 :   uav_state.pose.position.z = est_alt_->getState(POSITION);
+     476             : 
+     477      135700 :   uav_state.velocity.linear.x = est_lat_->getState(VELOCITY, AXIS_X);  // in global frame
+     478      135777 :   uav_state.velocity.linear.y = est_lat_->getState(VELOCITY, AXIS_Y);  // in global frame
+     479      135792 :   uav_state.velocity.linear.z = est_alt_->getState(VELOCITY);          // in global frame
+     480             : 
+     481      135757 :   uav_state.acceleration.linear.x = est_lat_->getState(ACCELERATION, AXIS_X);  // in global frame
+     482      135759 :   uav_state.acceleration.linear.y = est_lat_->getState(ACCELERATION, AXIS_Y);  // in global frame
+     483      135787 :   uav_state.acceleration.linear.z = est_alt_->getState(ACCELERATION);          // in global frame
+     484             : 
+     485      135768 :   scope_timer.checkpoint("fill uav state");
+     486             : 
+     487      271493 :   const nav_msgs::Odometry odom = Support::uavStateToOdom(uav_state);
+     488      135833 :   scope_timer.checkpoint("uav state to odom");
+     489             : 
+     490      271450 :   nav_msgs::Odometry innovation = innovation_init_;
+     491      135823 :   innovation.header.stamp       = time_now;
+     492             : 
+     493      135823 :   innovation.pose.pose.position.x = est_lat_->getInnovation(POSITION, AXIS_X);
+     494      135670 :   innovation.pose.pose.position.y = est_lat_->getInnovation(POSITION, AXIS_Y);
+     495      135691 :   innovation.pose.pose.position.z = est_alt_->getInnovation(POSITION);
+     496             : 
+     497      135634 :   is_mitigating_jump_ = est_alt_->isMitigatingJump() || est_lat_->isMitigatingJump() || est_hdg_->isMitigatingJump();
+     498             : 
+     499      135804 :   scope_timer.checkpoint("innovation");
+     500             : 
+     501      271391 :   mrs_msgs::Float64ArrayStamped pose_covariance, twist_covariance;
+     502      135516 :   pose_covariance.header.stamp  = time_now;
+     503      135516 :   twist_covariance.header.stamp = time_now;
+     504             : 
+     505      135516 :   const int n_states = 6;  // TODO this should be defined somewhere else
+     506      135516 :   pose_covariance.values.resize(n_states * n_states);
+     507      135650 :   pose_covariance.values.at(n_states * AXIS_X + AXIS_X) = est_lat_->getCovariance(POSITION, AXIS_X);
+     508      135515 :   pose_covariance.values.at(n_states * AXIS_Y + AXIS_Y) = est_lat_->getCovariance(POSITION, AXIS_Y);
+     509      135646 :   pose_covariance.values.at(n_states * AXIS_Z + AXIS_Z) = est_alt_->getCovariance(POSITION);
+     510             : 
+     511      135528 :   twist_covariance.values.resize(n_states * n_states);
+     512      135680 :   twist_covariance.values.at(n_states * AXIS_X + AXIS_X) = est_lat_->getCovariance(VELOCITY, AXIS_X);
+     513      135722 :   twist_covariance.values.at(n_states * AXIS_Y + AXIS_Y) = est_lat_->getCovariance(VELOCITY, AXIS_Y);
+     514      135765 :   twist_covariance.values.at(n_states * AXIS_Z + AXIS_Z) = est_alt_->getCovariance(VELOCITY);
+     515             : 
+     516      135684 :   scope_timer.checkpoint("covariance");
+     517             : 
+     518      135679 :   mrs_lib::set_mutexed(mtx_uav_state_, uav_state, uav_state_);
+     519      135738 :   mrs_lib::set_mutexed(mtx_odom_, odom, odom_);
+     520      135624 :   mrs_lib::set_mutexed(mtx_innovation_, innovation, innovation_);
+     521      135751 :   mrs_lib::set_mutexed(mtx_covariance_, pose_covariance, pose_covariance_);
+     522      135642 :   mrs_lib::set_mutexed(mtx_covariance_, twist_covariance, twist_covariance_);
+     523             : }
+     524             : /*//}*/
+     525             : 
+     526             : /*//{ getHeading() */
+     527      221203 : std::optional<double> StateGeneric::getHeading() const {
+     528      221203 :   if (!est_hdg_->isRunning()) {
+     529         114 :     return {};
+     530             :   }
+     531      221086 :   return est_hdg_->getState(POSITION);
+     532             : }
+     533             : /*//}*/
+     534             : 
+     535             : /*//{ setUavState() */
+     536           0 : bool StateGeneric::setUavState(const mrs_msgs::UavState &uav_state) {
+     537             : 
+     538           0 :   if (!isInState(STOPPED_STATE)) {
+     539           0 :     ROS_WARN("[%s]: Estimator state can be set only in the STOPPED state", getPrintName().c_str());
+     540           0 :     return false;
+     541             :   }
+     542             : 
+     543           0 :   ROS_WARN("[%s]: Setting the state of this estimator is not implemented.", getPrintName().c_str());
+     544           0 :   return false;
+     545             : }
+     546             : /*//}*/
+     547             : 
+     548             : }  // namespace mrs_uav_state_estimators
+     549             : 
+
+
+
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+ + diff --git a/mrs_uav_state_estimators/src/estimators/state/state_generic.cpp.gcov.png b/mrs_uav_state_estimators/src/estimators/state/state_generic.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..2900f2b854c8fdbf8391333f47e3b1b1066a5d06 GIT binary patch literal 1971 zcmV;k2Tb^hP)RX!#_;9zBJ-wZR?-u9;XlY|Hk&&Tum9N+(j ztHvAOj#M7a7{|+)BRq}>OP5m~oNnIKE4b%b&FRqos{JR!1dd^vwVw5*fH-N&{yblS zF{npf#N#yAhEi7HC?KH2oiscI%A2_~{h-}4St;CW70}bxmtmYwdN@FP$H*p^>_CGt zufkaE)fh9F?Fx)mTOVd^m-_gwjsV~OsZ{c-gPRi4vk(m+TRVjlT!**Dj;l`v07kW7 z!e#rvysfr|_wKrVKmaQy>}BiJCb8Oa^}G{J$im~1l0()TM^2i@kBljq!c|uHiLJ{> zPYLrN*C0(S4Cg%WJyg4LwmUF7KqpuMFcw?{)DELSJ0)EO)Tl5!($qLQ0D^;%F1ZAA ziW(qFnmEN+cZz9}=_<}+nZYI=qaY@qEY)(jENihwvm&gi-Gu&Q0$J6&~ zku3v`!ElVLWKrrA6^uOrEB%r%aP&h=y0LWXet(Mqsv@0W^&1F%=#m&6EMtoAHXg9+gweS^*rS zn32~glV52 zadp~%l(on8cyTYqQU)+~S)4g76l2u%9XwV8DK?@7q&nu7(yYgKdS0`+s$z_pNk}$` z)R3oUUM zzNom`gywqnT)s6m__udx>1O;l6q*&xXKr7CfDIVSu%`ga*%iK#)2plCmQy9%QCHzu zb^3+pddwMYDztSKfce$6S>SpY!e)}@^>qkf1*uVt_pOi^>4Fhkgo&D;Jl+S5*sTnnZvWBjreQl3SA^C3tLu-K4Y@mcsIRm$x=)~h{? zw8{EJm{u!u3K$~^Qsj3!zZcV?h--2);_<6gb!O*``^s_602X5p5>ZTtS!jO4aqsdT z^CRlHoyVqC+^?Gut-|lTUr4vkm2l@yENb%V*ORBVX#G|9J|aB|O}Qa$0cy(x?LsPl zV(~8Zu#HaZ^&2ZzCHh)tmUXMt-FwY zq3RA-hSGJ<%ggJ|rc00Mnph>9m~!elN)>Ya^n28!Z7BFqJ#@f;GVoV)G;3R>;*O>i zUK%#0Z8g^;9CjV;kG(|uA0O^O!^3Tqw3qWz|HQVPqt{$)HK!G+d`km#Gq^TO7xwPh zIqiNdcL#v>BciD=ix2n9+Ci8uTZ_7tT#Df=o)DY-;ioJ{l=QF#h2uz*j}YmM3%1tf zHC4PHH+v4#nGmd`;Bs#Q%e{Rej+A=?*bTGy*pYIt+ZKd+x#!e_?a*M~l!`w5+=l_n zJqK8y-1pw-<|B9h(d!W!Lss1xS2~F?c1%SvUIM5o>2p$NX{#;TTm@(kj9S2RJm%7e zC4VKLmA1BPoGSt6(>x~A z;JOERNhgudVGMl5rBV!7Fkw!OpL@8g;I`mlA4fp;AM3(H#&XYA$^dR)TF;TGdH|lZ z3{mD>1Kh!O!D)Kx0r-J1*E;St$nz^^8PILl%~Svx9?6wFFi8TO$-L1OK>EChujqV~ zSJ&J6I%VBS%&N+kv-bPf0bAqGK}xy+dBAT_cx$VP?wYdK)tA@Uh>wVtnpc!icUM!T4Yo>L2r{{ZriD^SDq$1eZ?002ovPDHLk FV1hK7w8;Pf literal 0 HcmV?d00001 diff --git a/mrs_uav_trackers/src/joy_tracker/index-detail-sort-f.html b/mrs_uav_trackers/src/joy_tracker/index-detail-sort-f.html new file mode 100644 index 0000000000..caa561fa5e --- /dev/null +++ b/mrs_uav_trackers/src/joy_tracker/index-detail-sort-f.html @@ -0,0 +1,110 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trackers/src/joy_tracker + + + + + + + + + + + + + + +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_trackers::joy_tracker::JoyTracker::resetStatic()0
mrs_uav_trackers::joy_tracker::JoyTracker::setReference(boost::shared_ptr<mrs_msgs::ReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::joy_tracker::JoyTracker::gotoTrajectoryStart(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::joy_tracker::JoyTracker::setVelocityReference(boost::shared_ptr<mrs_msgs::VelocityReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::joy_tracker::JoyTracker::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_trackers::joy_tracker::JoyTracker::stopTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::joy_tracker::JoyTracker::startTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::joy_tracker::JoyTracker::resumeTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::joy_tracker::JoyTracker::hover(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::joy_tracker::JoyTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)0
mrs_uav_trackers::joy_tracker::JoyTracker::getStatus()0
mrs_uav_trackers::joy_tracker::JoyTracker::setTrajectoryReference(boost::shared_ptr<mrs_msgs::TrajectoryReferenceSrvRequest_<std::allocator<void> > const> const&)4
mrs_uav_trackers::joy_tracker::JoyTracker::deactivate()17
(anonymous namespace)::ProxyExec0::ProxyExec0()65
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>)65
mrs_uav_trackers::joy_tracker::JoyTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)170
mrs_uav_trackers::joy_tracker::JoyTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)206
mrs_uav_trackers::joy_tracker::JoyTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)77966
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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:2024-01-20 21:44:18Functions: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()65
mrs_uav_trackers::joy_tracker::JoyTracker::deactivate()17
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>)65
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&)206
mrs_uav_trackers::joy_tracker::JoyTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)170
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&)4
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&)77966
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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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:2024-01-20 21:44:18Functions:71838.9 %
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+
          Line data    Source code
+
+       1             : /* includes //{ */
+       2             : 
+       3             : #include <ros/ros.h>
+       4             : #include <ros/package.h>
+       5             : 
+       6             : #include <mrs_uav_managers/tracker.h>
+       7             : 
+       8             : #include <nav_msgs/Odometry.h>
+       9             : #include <sensor_msgs/Joy.h>
+      10             : 
+      11             : #include <mrs_lib/profiler.h>
+      12             : #include <mrs_lib/mutex.h>
+      13             : #include <mrs_lib/attitude_converter.h>
+      14             : #include <mrs_lib/subscribe_handler.h>
+      15             : #include <mrs_lib/geometry/cyclic.h>
+      16             : 
+      17             : #include <mrs_msgs/VelocityReferenceSrv.h>
+      18             : 
+      19             : //}
+      20             : 
+      21             : /* defines //{ */
+      22             : 
+      23             : #define STOP_THR 1e-3
+      24             : 
+      25             : //}
+      26             : 
+      27             : /* using //{ */
+      28             : 
+      29             : using vec2_t = mrs_lib::geometry::vec_t<2>;
+      30             : using vec3_t = mrs_lib::geometry::vec_t<3>;
+      31             : 
+      32             : using radians  = mrs_lib::geometry::radians;
+      33             : using sradians = mrs_lib::geometry::sradians;
+      34             : 
+      35             : //}
+      36             : 
+      37             : namespace mrs_uav_trackers
+      38             : {
+      39             : 
+      40             : namespace joy_tracker
+      41             : {
+      42             : 
+      43             : /* //{ class JoyTracker */
+      44             : 
+      45             : class JoyTracker : public mrs_uav_managers::Tracker {
+      46             : public:
+      47             :   bool initialize(const ros::NodeHandle &nh, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t> common_handlers,
+      48             :                   std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers);
+      49             : 
+      50             :   std::tuple<bool, std::string> activate(const std::optional<mrs_msgs::TrackerCommand> &last_tracker_cmd);
+      51             :   void                          deactivate(void);
+      52             :   bool                          resetStatic(void);
+      53             : 
+      54             :   std::optional<mrs_msgs::TrackerCommand>   update(const mrs_msgs::UavState &uav_state, const mrs_uav_managers::Controller::ControlOutput &last_control_output);
+      55             :   const mrs_msgs::TrackerStatus             getStatus();
+      56             :   const std_srvs::SetBoolResponse::ConstPtr enableCallbacks(const std_srvs::SetBoolRequest::ConstPtr &cmd);
+      57             :   const std_srvs::TriggerResponse::ConstPtr switchOdometrySource(const mrs_msgs::UavState &new_uav_state);
+      58             : 
+      59             :   const mrs_msgs::ReferenceSrvResponse::ConstPtr           setReference(const mrs_msgs::ReferenceSrvRequest::ConstPtr &cmd);
+      60             :   const mrs_msgs::VelocityReferenceSrvResponse::ConstPtr   setVelocityReference(const mrs_msgs::VelocityReferenceSrvRequest::ConstPtr &cmd);
+      61             :   const mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr setTrajectoryReference(const mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr &cmd);
+      62             : 
+      63             :   const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr setConstraints(const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &cmd);
+      64             : 
+      65             :   const std_srvs::TriggerResponse::ConstPtr hover(const std_srvs::TriggerRequest::ConstPtr &cmd);
+      66             :   const std_srvs::TriggerResponse::ConstPtr startTrajectoryTracking(const std_srvs::TriggerRequest::ConstPtr &cmd);
+      67             :   const std_srvs::TriggerResponse::ConstPtr stopTrajectoryTracking(const std_srvs::TriggerRequest::ConstPtr &cmd);
+      68             :   const std_srvs::TriggerResponse::ConstPtr resumeTrajectoryTracking(const std_srvs::TriggerRequest::ConstPtr &cmd);
+      69             :   const std_srvs::TriggerResponse::ConstPtr gotoTrajectoryStart(const std_srvs::TriggerRequest::ConstPtr &cmd);
+      70             : 
+      71             : private:
+      72             :   ros::NodeHandle nh_;
+      73             : 
+      74             :   std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t>  common_handlers_;
+      75             :   std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers_;
+      76             : 
+      77             :   bool callbacks_enabled_ = true;
+      78             : 
+      79             :   std::string _uav_name_;
+      80             : 
+      81             :   bool is_initialized_ = false;
+      82             :   bool is_active_      = false;
+      83             : 
+      84             :   ros::Time last_update;
+      85             : 
+      86             :   // | ------------------------ uav state ----------------------- |
+      87             : 
+      88             :   mrs_msgs::UavState uav_state_;
+      89             :   bool               got_uav_state_ = false;
+      90             :   std::mutex         mutex_uav_state_;
+      91             : 
+      92             :   // | ------------------ dynamics constraints ------------------ |
+      93             : 
+      94             :   double     _heading_rate_;
+      95             :   std::mutex mutex_constraints_;
+      96             : 
+      97             :   // | ------------------ tracker's inner state ----------------- |
+      98             : 
+      99             :   double     state_z_;
+     100             :   double     state_heading_;
+     101             :   std::mutex mutex_state_;
+     102             : 
+     103             :   // | ------------------- joystick subscriber ------------------ |
+     104             : 
+     105             :   mrs_lib::SubscribeHandler<sensor_msgs::Joy> sh_joystick_;
+     106             : 
+     107             :   double _max_tilt_;
+     108             :   double _vertical_speed_;
+     109             : 
+     110             :   // channel numbers and channel multipliers
+     111             :   int    _channel_pitch_;
+     112             :   int    _channel_roll_;
+     113             :   int    _channel_heading_;
+     114             :   int    _channel_throttle_;
+     115             :   double _channel_mult_pitch_;
+     116             :   double _channel_mult_roll_;
+     117             :   double _channel_mult_heading_;
+     118             :   double _channel_mult_throttle_;
+     119             : 
+     120             :   // | ------------------------ profiler ------------------------ |
+     121             : 
+     122             :   mrs_lib::Profiler profiler_;
+     123             :   bool              _profiler_enabled_ = false;
+     124             : };
+     125             : 
+     126             : //}
+     127             : 
+     128             : // | -------------- tracker's interface routines -------------- |
+     129             : 
+     130             : /* //{ initialize() */
+     131             : 
+     132          65 : 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          65 :   this->common_handlers_  = common_handlers;
+     136          65 :   this->private_handlers_ = private_handlers;
+     137             : 
+     138          65 :   _uav_name_ = common_handlers->uav_name;
+     139             : 
+     140          65 :   nh_ = nh;
+     141             : 
+     142          65 :   ros::Time::waitForValid();
+     143             : 
+     144             :   // --------------------------------------------------------------
+     145             :   // |                     loading parameters                     |
+     146             :   // --------------------------------------------------------------
+     147             : 
+     148             :   // | ---------- loading params using the parent's nh ---------- |
+     149             : 
+     150         130 :   mrs_lib::ParamLoader param_loader_parent(common_handlers->parent_nh, "ControlManager");
+     151             : 
+     152          65 :   param_loader_parent.loadParam("enable_profiler", _profiler_enabled_);
+     153             : 
+     154          65 :   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          65 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/private/joy_tracker.yaml");
+     162          65 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/public/joy_tracker.yaml");
+     163             : 
+     164         130 :   const std::string yaml_prefix = "mrs_uav_trackers/joy_tracker/";
+     165             : 
+     166          65 :   private_handlers->param_loader->loadParam(yaml_prefix + "vertical_tracker/vertical_speed", _vertical_speed_);
+     167             : 
+     168          65 :   private_handlers->param_loader->loadParam(yaml_prefix + "max_tilt", _max_tilt_);
+     169             : 
+     170          65 :   private_handlers->param_loader->loadParam(yaml_prefix + "heading_tracker/heading_rate", _heading_rate_);
+     171             : 
+     172             :   // load channels
+     173          65 :   private_handlers->param_loader->loadParam(yaml_prefix + "channels/pitch", _channel_pitch_);
+     174          65 :   private_handlers->param_loader->loadParam(yaml_prefix + "channels/roll", _channel_roll_);
+     175          65 :   private_handlers->param_loader->loadParam(yaml_prefix + "channels/heading", _channel_heading_);
+     176          65 :   private_handlers->param_loader->loadParam(yaml_prefix + "channels/throttle", _channel_throttle_);
+     177             : 
+     178             :   // load channel multipliers
+     179          65 :   private_handlers->param_loader->loadParam(yaml_prefix + "channel_multipliers/pitch", _channel_mult_pitch_);
+     180          65 :   private_handlers->param_loader->loadParam(yaml_prefix + "channel_multipliers/roll", _channel_mult_roll_);
+     181          65 :   private_handlers->param_loader->loadParam(yaml_prefix + "channel_multipliers/heading", _channel_mult_heading_);
+     182          65 :   private_handlers->param_loader->loadParam(yaml_prefix + "channel_multipliers/throttle", _channel_mult_throttle_);
+     183             : 
+     184          65 :   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          65 :   profiler_ = mrs_lib::Profiler(common_handlers->parent_nh, "JoyTracker", _profiler_enabled_);
+     192             : 
+     193             :   // | ----------------------- subscribers ---------------------- |
+     194             : 
+     195          65 :   mrs_lib::SubscribeHandlerOptions shopts;
+     196          65 :   shopts.nh              = nh_;
+     197          65 :   shopts.node_name       = "JoyTracker";
+     198          65 :   shopts.queue_size      = 1;
+     199          65 :   shopts.transport_hints = ros::TransportHints().tcpNoDelay();
+     200             : 
+     201          65 :   sh_joystick_ = mrs_lib::SubscribeHandler<sensor_msgs::Joy>(shopts, "joystick");
+     202             : 
+     203             :   // | --------------------- finish the init -------------------- |
+     204             : 
+     205          65 :   last_update = ros::Time(0);
+     206             : 
+     207          65 :   is_initialized_ = true;
+     208             : 
+     209          65 :   ROS_INFO("[JoyTracker]: initialized");
+     210             : 
+     211          65 :   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          17 : void JoyTracker::deactivate(void) {
+     277             : 
+     278          17 :   is_active_ = false;
+     279             : 
+     280          17 :   ROS_INFO("[JoyTracker]: deactivated");
+     281          17 : }
+     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       77966 : 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      233898 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("update");
+     300      233898 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("JoyTracker::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     301             : 
+     302             :   {
+     303       77966 :     std::scoped_lock lock(mutex_uav_state_);
+     304             : 
+     305       77966 :     uav_state_ = uav_state;
+     306             : 
+     307       77966 :     got_uav_state_ = true;
+     308             :   }
+     309             : 
+     310       77966 :   double dt = (ros::Time::now() - last_update).toSec();
+     311             : 
+     312       77966 :   last_update = ros::Time::now();
+     313             : 
+     314             :   // up to this part the update() method is evaluated even when the tracker is not active
+     315       77966 :   if (!is_active_) {
+     316       77966 :     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         170 : const std_srvs::SetBoolResponse::ConstPtr JoyTracker::enableCallbacks(const std_srvs::SetBoolRequest::ConstPtr &cmd) {
+     388             : 
+     389         340 :   std_srvs::SetBoolResponse res;
+     390         340 :   std::stringstream         ss;
+     391             : 
+     392         170 :   if (cmd->data != callbacks_enabled_) {
+     393             : 
+     394          13 :     callbacks_enabled_ = cmd->data;
+     395             : 
+     396          13 :     ss << "callbacks " << (callbacks_enabled_ ? "enabled" : "disabled");
+     397          13 :     ROS_INFO_STREAM_THROTTLE(1.0, "[JoyTracker]: " << ss.str());
+     398             : 
+     399             :   } else {
+     400             : 
+     401         157 :     ss << "callbacks were already " << (callbacks_enabled_ ? "enabled" : "disabled");
+     402         157 :     ROS_WARN_STREAM_THROTTLE(1.0, "[JoyTracker]: " << ss.str());
+     403             :   }
+     404             : 
+     405         170 :   res.message = ss.str();
+     406         170 :   res.success = true;
+     407             : 
+     408         340 :   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         206 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr JoyTracker::setConstraints([
+     465             :     [maybe_unused]] const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &cmd) {
+     466             : 
+     467         206 :   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           4 : const mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr JoyTracker::setTrajectoryReference([
+     493             :     [maybe_unused]] const mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr &cmd) {
+     494           4 :   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          65 : PLUGINLIB_EXPORT_CLASS(mrs_uav_trackers::joy_tracker::JoyTracker, mrs_uav_managers::Tracker)
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_trackers::landoff_tracker::LandoffTracker::resetStatic()0
mrs_uav_trackers::landoff_tracker::LandoffTracker::setReference(boost::shared_ptr<mrs_msgs::ReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::landoff_tracker::LandoffTracker::stopVertical()0
mrs_uav_trackers::landoff_tracker::LandoffTracker::gotoTrajectoryStart(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::landoff_tracker::LandoffTracker::setVelocityReference(boost::shared_ptr<mrs_msgs::VelocityReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::landoff_tracker::LandoffTracker::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_trackers::landoff_tracker::LandoffTracker::stopTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::landoff_tracker::LandoffTracker::startTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::landoff_tracker::LandoffTracker::resumeTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::landoff_tracker::LandoffTracker::hover(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::landoff_tracker::LandoffTracker::callbackLand(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)4
mrs_uav_trackers::landoff_tracker::LandoffTracker::setTrajectoryReference(boost::shared_ptr<mrs_msgs::TrajectoryReferenceSrvRequest_<std::allocator<void> > const> const&)4
mrs_uav_trackers::landoff_tracker::LandoffTracker::callbackELand(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)5
mrs_uav_trackers::landoff_tracker::LandoffTracker::callbackTakeoff(mrs_msgs::Vec1Request_<std::allocator<void> >&, mrs_msgs::Vec1Response_<std::allocator<void> >&)13
mrs_uav_trackers::landoff_tracker::LandoffTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)27
mrs_uav_trackers::landoff_tracker::LandoffTracker::deactivate()44
(anonymous namespace)::ProxyExec0::ProxyExec0()65
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>)65
mrs_uav_trackers::landoff_tracker::LandoffTracker::changeState(mrs_uav_trackers::landoff_tracker::States_t)92
mrs_uav_trackers::landoff_tracker::LandoffTracker::changeStateHorizontal(mrs_uav_trackers::landoff_tracker::States_t)114
mrs_uav_trackers::landoff_tracker::LandoffTracker::changeStateVertical(mrs_uav_trackers::landoff_tracker::States_t)140
mrs_uav_trackers::landoff_tracker::LandoffTracker::stopVerticalMotion()162
mrs_uav_trackers::landoff_tracker::LandoffTracker::stopHorizontalMotion()162
mrs_uav_trackers::landoff_tracker::LandoffTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)170
mrs_uav_trackers::landoff_tracker::LandoffTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)206
mrs_uav_trackers::landoff_tracker::LandoffTracker::getStatus()1645
mrs_uav_trackers::landoff_tracker::LandoffTracker::decelerateVertical()2912
mrs_uav_trackers::landoff_tracker::LandoffTracker::accelerateVertical()11891
mrs_uav_trackers::landoff_tracker::LandoffTracker::stopHorizontal()14803
mrs_uav_trackers::landoff_tracker::LandoffTracker::timerMain(ros::TimerEvent const&)16441
mrs_uav_trackers::landoff_tracker::LandoffTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)77966
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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:42759272.1 %
Date:2024-01-20 21:44:18Functions:213167.7 %
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(anonymous namespace)::ProxyExec0::ProxyExec0()65
mrs_uav_trackers::landoff_tracker::LandoffTracker::deactivate()44
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>)65
mrs_uav_trackers::landoff_tracker::LandoffTracker::changeState(mrs_uav_trackers::landoff_tracker::States_t)92
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> >&)4
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> >&)5
mrs_uav_trackers::landoff_tracker::LandoffTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)206
mrs_uav_trackers::landoff_tracker::LandoffTracker::stopHorizontal()14803
mrs_uav_trackers::landoff_tracker::LandoffTracker::callbackTakeoff(mrs_msgs::Vec1Request_<std::allocator<void> >&, mrs_msgs::Vec1Response_<std::allocator<void> >&)13
mrs_uav_trackers::landoff_tracker::LandoffTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)170
mrs_uav_trackers::landoff_tracker::LandoffTracker::accelerateVertical()11891
mrs_uav_trackers::landoff_tracker::LandoffTracker::decelerateVertical()2912
mrs_uav_trackers::landoff_tracker::LandoffTracker::stopVerticalMotion()162
mrs_uav_trackers::landoff_tracker::LandoffTracker::changeStateVertical(mrs_uav_trackers::landoff_tracker::States_t)140
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()162
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)114
mrs_uav_trackers::landoff_tracker::LandoffTracker::setTrajectoryReference(boost::shared_ptr<mrs_msgs::TrajectoryReferenceSrvRequest_<std::allocator<void> > const> const&)4
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&)77966
mrs_uav_trackers::landoff_tracker::LandoffTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)27
mrs_uav_trackers::landoff_tracker::LandoffTracker::getStatus()1645
mrs_uav_trackers::landoff_tracker::LandoffTracker::timerMain(ros::TimerEvent const&)16441
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LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_trackers/src/landoff_tracker - landoff_tracker.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:42759272.1 %
Date:2024-01-20 21:44:18Functions:213167.7 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : /* includes //{ */
+       2             : 
+       3             : #include <ros/ros.h>
+       4             : #include <ros/package.h>
+       5             : 
+       6             : #include <mrs_uav_managers/tracker.h>
+       7             : 
+       8             : #include <mrs_msgs/Vec1.h>
+       9             : #include <mrs_msgs/UavState.h>
+      10             : #include <mrs_msgs/VelocityReferenceSrv.h>
+      11             : 
+      12             : #include <mrs_lib/profiler.h>
+      13             : #include <mrs_lib/mutex.h>
+      14             : #include <mrs_lib/attitude_converter.h>
+      15             : #include <mrs_lib/utils.h>
+      16             : #include <mrs_lib/geometry/cyclic.h>
+      17             : #include <mrs_lib/geometry/misc.h>
+      18             : 
+      19             : //}
+      20             : 
+      21             : /* defines //{ */
+      22             : 
+      23             : #define STOP_THR 1e-3
+      24             : 
+      25             : //}
+      26             : 
+      27             : /* using //{ */
+      28             : 
+      29             : using vec2_t = mrs_lib::geometry::vec_t<2>;
+      30             : using vec3_t = mrs_lib::geometry::vec_t<3>;
+      31             : 
+      32             : using radians  = mrs_lib::geometry::radians;
+      33             : using sradians = mrs_lib::geometry::sradians;
+      34             : 
+      35             : //}
+      36             : 
+      37             : namespace mrs_uav_trackers
+      38             : {
+      39             : 
+      40             : namespace landoff_tracker
+      41             : {
+      42             : 
+      43             : /* //{ class LandoffTracker */
+      44             : 
+      45             : // state machine
+      46             : typedef enum
+      47             : {
+      48             : 
+      49             :   IDLE_STATE,
+      50             :   LANDED_STATE,
+      51             :   STOP_MOTION_STATE,
+      52             :   HOVER_STATE,
+      53             :   ACCELERATING_STATE,
+      54             :   DECELERATING_STATE,
+      55             :   STOPPING_STATE,
+      56             : 
+      57             : } States_t;
+      58             : 
+      59             : const char* state_names[7] = {
+      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             :   // | ------------------------ uav state ----------------------- |
+     107             : 
+     108             :   mrs_msgs::UavState uav_state_;
+     109             :   bool               got_uav_state_ = false;
+     110             :   std::mutex         mutex_uav_state_;
+     111             : 
+     112             :   // | ---------------- the tracker's inner state --------------- |
+     113             : 
+     114             :   int    _main_timer_rate_;
+     115             :   double _landing_reference_;
+     116             :   double _tracker_dt_;
+     117             :   bool   is_initialized_ = false;
+     118             :   bool   is_active_      = false;
+     119             : 
+     120             :   bool   _takeoff_disable_lateral_gains_ = false;
+     121             :   double _takeoff_disable_lateral_gains_z_;
+     122             : 
+     123             :   // | --------------- the tracker's state machine -------------- |
+     124             : 
+     125             :   States_t current_state_vertical_    = IDLE_STATE;
+     126             :   States_t previous_state_vertical_   = IDLE_STATE;
+     127             :   States_t current_state_horizontal_  = IDLE_STATE;
+     128             :   States_t previous_state_horizontal_ = IDLE_STATE;
+     129             : 
+     130             :   void changeStateHorizontal(States_t new_state);
+     131             :   void changeStateVertical(States_t new_state);
+     132             :   void changeState(States_t new_state);
+     133             : 
+     134             :   std::atomic<bool> taking_off_ = false;
+     135             :   std::atomic<bool> landing_    = false;
+     136             :   std::atomic<bool> elanding_   = false;
+     137             : 
+     138             :   std::atomic<bool> cause_failsafe_ = false;
+     139             : 
+     140             :   void stopHorizontalMotion(void);
+     141             :   void stopVerticalMotion(void);
+     142             :   void accelerateVertical(void);
+     143             :   void decelerateVertical(void);
+     144             :   void stopHorizontal(void);
+     145             :   void stopVertical(void);
+     146             : 
+     147             :   // | --------------- takeoff / landing services --------------- |
+     148             : 
+     149             :   ros::ServiceServer service_takeoff_;
+     150             :   ros::ServiceServer service_land_;
+     151             :   ros::ServiceServer service_eland_;
+     152             : 
+     153             :   bool callbackTakeoff(mrs_msgs::Vec1::Request& req, mrs_msgs::Vec1::Response& res);
+     154             :   bool callbackLand(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     155             :   bool callbackELand(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     156             : 
+     157             :   // | ------------------ dynamics constraints ------------------ |
+     158             : 
+     159             :   double _horizontal_speed_;
+     160             :   double _vertical_speed_;
+     161             :   double _takeoff_speed_;
+     162             :   double _landing_speed_;
+     163             :   double _elanding_speed_;
+     164             : 
+     165             :   double _horizontal_acceleration_;
+     166             :   double _vertical_acceleration_;
+     167             :   double _takeoff_acceleration_;
+     168             :   double _landing_acceleration_;
+     169             :   double _elanding_acceleration_;
+     170             : 
+     171             :   double _heading_rate_;
+     172             :   double _heading_gain_;
+     173             : 
+     174             :   double _max_position_difference_;
+     175             : 
+     176             :   // | -------------------------- goal -------------------------- |
+     177             : 
+     178             :   double            goal_x_, goal_y_, goal_z_, goal_heading_;
+     179             :   std::atomic<bool> have_goal_ = false;
+     180             :   std::mutex        mutex_goal_;
+     181             : 
+     182             :   // | ---------------- tracker's internal state ---------------- |
+     183             : 
+     184             :   double     state_x_, state_y_, state_z_, state_heading_;
+     185             :   double     speed_x_, speed_y_, speed_heading_;
+     186             :   double     current_heading_, current_vertical_direction_, current_vertical_speed_, current_horizontal_speed_;
+     187             :   double     current_horizontal_acceleration_, current_vertical_acceleration_;
+     188             :   std::mutex mutex_state_;
+     189             : 
+     190             :   // | -------------------- tracker's output -------------------- |
+     191             : 
+     192             :   mrs_msgs::TrackerCommand position_output_;
+     193             : 
+     194             :   // | ------------------------ profiler ------------------------ |
+     195             : 
+     196             :   mrs_lib::Profiler profiler_;
+     197             :   bool              _profiler_enabled_ = false;
+     198             : 
+     199             :   // | ----------------------- constraints ---------------------- |
+     200             : 
+     201             :   mrs_msgs::DynamicsConstraints constraints_;
+     202             :   std::mutex                    mutex_constraints_;
+     203             : };
+     204             : 
+     205             : //}
+     206             : 
+     207             : // | -------------- tracker's interface routines -------------- |
+     208             : 
+     209             : /* //{ initialize() */
+     210             : 
+     211          65 : bool LandoffTracker::initialize(const ros::NodeHandle& nh, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t> common_handlers,
+     212             :                                 std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers) {
+     213             : 
+     214          65 :   this->common_handlers_  = common_handlers;
+     215          65 :   this->private_handlers_ = private_handlers;
+     216             : 
+     217          65 :   _uav_name_ = common_handlers->uav_name;
+     218             : 
+     219          65 :   nh_ = nh;
+     220             : 
+     221          65 :   ros::Time::waitForValid();
+     222             : 
+     223             :   // --------------------------------------------------------------
+     224             :   // |                     loading parameters                     |
+     225             :   // --------------------------------------------------------------
+     226             : 
+     227             :   // | ---------- loading params using the parent's nh ---------- |
+     228             : 
+     229         130 :   mrs_lib::ParamLoader param_loader_parent(common_handlers->parent_nh, "ControlManager");
+     230             : 
+     231          65 :   param_loader_parent.loadParam("enable_profiler", _profiler_enabled_);
+     232             : 
+     233          65 :   if (!param_loader_parent.loadedSuccessfully()) {
+     234           0 :     ROS_ERROR("[LandoffTracker]: Could not load all parameters!");
+     235           0 :     return false;
+     236             :   }
+     237             : 
+     238             :   // | --------------- loading plugin's parameters -------------- |
+     239             : 
+     240          65 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/private/landoff_tracker.yaml");
+     241          65 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/public/landoff_tracker.yaml");
+     242             : 
+     243         130 :   const std::string yaml_prefix = "mrs_uav_trackers/landoff_tracker/";
+     244             : 
+     245          65 :   private_handlers->param_loader->loadParam(yaml_prefix + "horizontal_tracker/horizontal_speed", _horizontal_speed_);
+     246          65 :   private_handlers->param_loader->loadParam(yaml_prefix + "horizontal_tracker/horizontal_acceleration", _horizontal_acceleration_);
+     247             : 
+     248          65 :   private_handlers->param_loader->loadParam(yaml_prefix + "vertical_tracker/vertical_speed", _vertical_speed_);
+     249          65 :   private_handlers->param_loader->loadParam(yaml_prefix + "vertical_tracker/vertical_acceleration", _vertical_acceleration_);
+     250             : 
+     251          65 :   private_handlers->param_loader->loadParam(yaml_prefix + "vertical_tracker/takeoff_speed", _takeoff_speed_);
+     252          65 :   private_handlers->param_loader->loadParam(yaml_prefix + "vertical_tracker/takeoff_acceleration", _takeoff_acceleration_);
+     253             : 
+     254          65 :   private_handlers->param_loader->loadParam(yaml_prefix + "vertical_tracker/landing_speed", _landing_speed_);
+     255          65 :   private_handlers->param_loader->loadParam(yaml_prefix + "vertical_tracker/landing_acceleration", _landing_acceleration_);
+     256             : 
+     257          65 :   private_handlers->param_loader->loadParam(yaml_prefix + "vertical_tracker/elanding_speed", _elanding_speed_);
+     258          65 :   private_handlers->param_loader->loadParam(yaml_prefix + "vertical_tracker/elanding_acceleration", _elanding_acceleration_);
+     259             : 
+     260          65 :   private_handlers->param_loader->loadParam(yaml_prefix + "heading_tracker/heading_rate", _heading_rate_);
+     261          65 :   private_handlers->param_loader->loadParam(yaml_prefix + "heading_tracker/heading_gain", _heading_gain_);
+     262             : 
+     263          65 :   private_handlers->param_loader->loadParam(yaml_prefix + "main_timer_rate", _main_timer_rate_);
+     264             : 
+     265          65 :   private_handlers->param_loader->loadParam(yaml_prefix + "landing_reference", _landing_reference_);
+     266             : 
+     267          65 :   private_handlers->param_loader->loadParam(yaml_prefix + "max_position_difference", _max_position_difference_);
+     268             : 
+     269          65 :   private_handlers->param_loader->loadParam(yaml_prefix + "takeoff_disable_lateral_gains", _takeoff_disable_lateral_gains_);
+     270          65 :   private_handlers->param_loader->loadParam(yaml_prefix + "takeoff_disable_lateral_gains_z", _takeoff_disable_lateral_gains_z_);
+     271             : 
+     272          65 :   if (!private_handlers->param_loader->loadedSuccessfully()) {
+     273           0 :     ROS_ERROR("[LandoffTracker]: Could not load all parameters!");
+     274           0 :     return false;
+     275             :   }
+     276             : 
+     277          65 :   _tracker_dt_ = 1.0 / double(_main_timer_rate_);
+     278             : 
+     279          65 :   ROS_INFO("[LandoffTracker]: tracker_dt: %f", _tracker_dt_);
+     280             : 
+     281          65 :   state_x_       = 0;
+     282          65 :   state_y_       = 0;
+     283          65 :   state_z_       = 0;
+     284          65 :   state_heading_ = 0;
+     285             : 
+     286          65 :   speed_x_       = 0;
+     287          65 :   speed_y_       = 0;
+     288          65 :   speed_heading_ = 0;
+     289             : 
+     290          65 :   current_horizontal_speed_ = 0;
+     291          65 :   current_vertical_speed_   = 0;
+     292             : 
+     293          65 :   current_horizontal_acceleration_ = 0;
+     294          65 :   current_vertical_acceleration_   = 0;
+     295             : 
+     296          65 :   current_vertical_direction_ = 0;
+     297             : 
+     298          65 :   current_state_vertical_  = LANDED_STATE;
+     299          65 :   previous_state_vertical_ = LANDED_STATE;
+     300             : 
+     301          65 :   current_state_horizontal_  = LANDED_STATE;
+     302          65 :   previous_state_horizontal_ = LANDED_STATE;
+     303             : 
+     304             :   // | ------------------------ profiler ------------------------ |
+     305             : 
+     306          65 :   profiler_ = mrs_lib::Profiler(common_handlers->parent_nh, "LandoffTracker", _profiler_enabled_);
+     307             : 
+     308             :   // | ------------------------ services ------------------------ |
+     309             : 
+     310          65 :   service_takeoff_ = nh_.advertiseService("takeoff", &LandoffTracker::callbackTakeoff, this);
+     311          65 :   service_land_    = nh_.advertiseService("land", &LandoffTracker::callbackLand, this);
+     312          65 :   service_eland_   = nh_.advertiseService("eland", &LandoffTracker::callbackELand, this);
+     313             : 
+     314             :   // | ------------------------- timers ------------------------- |
+     315             : 
+     316          65 :   timer_main_ = nh_.createTimer(ros::Rate(_main_timer_rate_), &LandoffTracker::timerMain, this, false, false);
+     317             : 
+     318             :   // | ----------------------- finish init ---------------------- |
+     319             : 
+     320          65 :   is_initialized_ = true;
+     321             : 
+     322          65 :   ROS_INFO("[LandoffTracker]: initialized");
+     323             : 
+     324          65 :   return true;
+     325             : }
+     326             : 
+     327             : //}
+     328             : 
+     329             : /* //{ activate() */
+     330             : 
+     331          27 : std::tuple<bool, std::string> LandoffTracker::activate([[maybe_unused]] const std::optional<mrs_msgs::TrackerCommand>& last_tracker_cmd) {
+     332             : 
+     333          54 :   std::stringstream ss;
+     334             : 
+     335          27 :   if (!got_uav_state_) {
+     336             : 
+     337           0 :     ss << "odometry not set";
+     338           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[LandoffTracker]: " << ss.str());
+     339           0 :     return std::tuple(false, ss.str());
+     340             :   }
+     341             : 
+     342             :   // copy member variables
+     343          54 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     344             : 
+     345             :   double uav_heading;
+     346             : 
+     347             :   try {
+     348          27 :     uav_heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+     349             :   }
+     350           0 :   catch (...) {
+     351             : 
+     352           0 :     ss << "could not initialize the UAV heading";
+     353           0 :     ROS_ERROR_STREAM("[LandoffTracker]: " << ss.str());
+     354           0 :     return std::tuple(false, ss.str());
+     355             :   }
+     356             : 
+     357             :   // --------------------------------------------------------------
+     358             :   // |                      initial condition                     |
+     359             :   // --------------------------------------------------------------
+     360             : 
+     361             :   {
+     362          54 :     std::scoped_lock lock(mutex_goal_);
+     363             : 
+     364             :     // the last command is usable
+     365          27 :     state_x_       = uav_state.pose.position.x;
+     366          27 :     state_y_       = uav_state.pose.position.y;
+     367          27 :     state_z_       = uav_state.pose.position.z;
+     368          27 :     state_heading_ = uav_heading;
+     369             : 
+     370          27 :     speed_x_         = uav_state.velocity.linear.x;
+     371          27 :     speed_y_         = uav_state.velocity.linear.y;
+     372          27 :     current_heading_ = atan2(speed_y_, speed_x_);
+     373             : 
+     374          27 :     current_horizontal_speed_ = sqrt(pow(speed_x_, 2) + pow(speed_y_, 2));
+     375             : 
+     376          27 :     current_vertical_speed_     = fabs(uav_state.velocity.linear.z);
+     377          27 :     current_vertical_direction_ = uav_state.velocity.linear.z > 0 ? +1 : -1;
+     378             : 
+     379          27 :     current_horizontal_acceleration_ = 0;
+     380          27 :     current_vertical_acceleration_   = 0;
+     381             : 
+     382          27 :     goal_heading_ = uav_heading;
+     383             : 
+     384          27 :     ROS_INFO("[LandoffTracker]: initial condition: x: %.2f, y: %.2f, z: %.2f, heading: %.2f", state_x_, state_y_, state_z_, state_heading_);
+     385             :   }
+     386             : 
+     387             :   // --------------------------------------------------------------
+     388             :   // |          horizontal initial conditions prediction          |
+     389             :   // --------------------------------------------------------------
+     390             : 
+     391             :   double horizontal_t_stop, horizontal_stop_dist, stop_dist_x, stop_dist_y;
+     392             : 
+     393             :   {
+     394          27 :     std::scoped_lock lock(mutex_state_);
+     395             : 
+     396          27 :     horizontal_t_stop    = current_horizontal_speed_ / _horizontal_acceleration_;
+     397          27 :     horizontal_stop_dist = (horizontal_t_stop * current_horizontal_speed_) / 2.0;
+     398          27 :     stop_dist_x          = cos(current_heading_) * horizontal_stop_dist;
+     399          27 :     stop_dist_y          = sin(current_heading_) * horizontal_stop_dist;
+     400             :   }
+     401             : 
+     402             :   // --------------------------------------------------------------
+     403             :   // |           vertical initial conditions prediction           |
+     404             :   // --------------------------------------------------------------
+     405             : 
+     406             :   double vertical_t_stop, vertical_stop_dist;
+     407             : 
+     408             :   {
+     409          27 :     std::scoped_lock lock(mutex_state_);
+     410             : 
+     411          27 :     vertical_t_stop    = current_vertical_speed_ / _vertical_acceleration_;
+     412          27 :     vertical_stop_dist = current_vertical_direction_ * (vertical_t_stop * current_vertical_speed_) / 2.0;
+     413             :   }
+     414             : 
+     415             :   // --------------------------------------------------------------
+     416             :   // |               heading initial condition prediction             |
+     417             :   // --------------------------------------------------------------
+     418             : 
+     419             :   {
+     420          27 :     std::scoped_lock lock(mutex_goal_, mutex_state_);
+     421             : 
+     422          27 :     goal_x_ = state_x_ + stop_dist_x;
+     423          27 :     goal_y_ = state_y_ + stop_dist_y;
+     424          27 :     goal_z_ = state_z_ + vertical_stop_dist;
+     425             :   }
+     426             : 
+     427          27 :   landing_        = false;
+     428          27 :   taking_off_     = false;
+     429          27 :   is_active_      = true;
+     430          27 :   have_goal_      = false;
+     431          27 :   cause_failsafe_ = false;
+     432             : 
+     433          27 :   timer_main_.start();
+     434             : 
+     435             :   {
+     436          54 :     std::scoped_lock lock(mutex_goal_);
+     437             : 
+     438          27 :     ROS_INFO("[LandoffTracker]: stopping goal: x: %.2f, y: %.2f, z: %.2f, heading: %.2f", goal_x_, goal_y_, goal_z_, goal_heading_);
+     439             :   }
+     440             : 
+     441          27 :   changeState(STOP_MOTION_STATE);
+     442             : 
+     443          27 :   ss << "activated";
+     444          27 :   ROS_INFO_STREAM("[LandoffTracker]: " << ss.str());
+     445             : 
+     446          27 :   return std::tuple(true, ss.str());
+     447             : }
+     448             : 
+     449             : //}
+     450             : 
+     451             : /* //{ deactivate() */
+     452             : 
+     453          44 : void LandoffTracker::deactivate(void) {
+     454             : 
+     455          44 :   is_active_                = false;
+     456          44 :   landing_                  = false;
+     457          44 :   taking_off_               = false;
+     458          44 :   current_state_vertical_   = IDLE_STATE;
+     459          44 :   current_state_horizontal_ = IDLE_STATE;
+     460             : 
+     461          44 :   timer_main_.stop();
+     462             : 
+     463          44 :   ROS_INFO("[LandoffTracker]: deactivated");
+     464          44 : }
+     465             : 
+     466             : //}
+     467             : 
+     468             : /* //{ resetStatic() */
+     469             : 
+     470           0 : bool LandoffTracker::resetStatic(void) {
+     471             : 
+     472           0 :   return false;
+     473             : }
+     474             : 
+     475             : //}
+     476             : 
+     477             : /* //{ update() */
+     478             : 
+     479       77966 : std::optional<mrs_msgs::TrackerCommand> LandoffTracker::update(const mrs_msgs::UavState&                                           uav_state,
+     480             :                                                                [[maybe_unused]] const mrs_uav_managers::Controller::ControlOutput& last_control_output) {
+     481             : 
+     482      233898 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("update");
+     483      233898 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("LandoffTracker::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     484             : 
+     485             :   {
+     486       77966 :     std::scoped_lock lock(mutex_uav_state_);
+     487             : 
+     488       77966 :     uav_state_ = uav_state;
+     489             : 
+     490       77966 :     got_uav_state_ = true;
+     491             :   }
+     492             : 
+     493             :   // up to this part the update() method is evaluated even when the tracker is not active
+     494       77966 :   if (!is_active_ || cause_failsafe_) {
+     495       65787 :     return {};
+     496             :   }
+     497             : 
+     498       12179 :   position_output_.header.stamp    = ros::Time::now();
+     499       12179 :   position_output_.header.frame_id = uav_state_.header.frame_id;
+     500             : 
+     501             :   {
+     502       12179 :     std::scoped_lock lock(mutex_state_);
+     503             : 
+     504       12179 :     position_output_.position.x = state_x_;
+     505       12179 :     position_output_.position.y = state_y_;
+     506       12179 :     position_output_.position.z = state_z_;
+     507       12179 :     position_output_.heading    = state_heading_;
+     508             : 
+     509       12179 :     position_output_.velocity.x   = cos(current_heading_) * current_horizontal_speed_;
+     510       12179 :     position_output_.velocity.y   = sin(current_heading_) * current_horizontal_speed_;
+     511       12179 :     position_output_.velocity.z   = current_vertical_direction_ * current_vertical_speed_;
+     512       12179 :     position_output_.heading_rate = speed_heading_;
+     513             : 
+     514       12179 :     position_output_.use_position_vertical   = 1;
+     515       12179 :     position_output_.use_position_horizontal = 1;
+     516       12179 :     position_output_.use_heading             = 1;
+     517       12179 :     position_output_.use_heading_rate        = 1;
+     518       12179 :     position_output_.use_velocity_vertical   = 1;
+     519       12179 :     position_output_.use_velocity_horizontal = 1;
+     520             :   }
+     521             : 
+     522             :   {
+     523       24358 :     std::scoped_lock lock(mutex_last_control_output_);
+     524             : 
+     525       12179 :     last_control_output_ = last_control_output;
+     526             :   }
+     527             : 
+     528       12179 :   if (_takeoff_disable_lateral_gains_ && taking_off_ && uav_state_.pose.position.z < _takeoff_disable_lateral_gains_z_) {
+     529           0 :     position_output_.disable_position_gains = true;
+     530             :   } else {
+     531       12179 :     position_output_.disable_position_gains = false;
+     532             :   }
+     533             : 
+     534       12179 :   if (taking_off_) {
+     535        5461 :     position_output_.disable_antiwindups = true;
+     536             :   } else {
+     537        6718 :     position_output_.disable_antiwindups = false;
+     538             :   }
+     539             : 
+     540       12179 :   return {position_output_};
+     541             : }
+     542             : 
+     543             : //}
+     544             : 
+     545             : /* //{ getStatus() */
+     546             : 
+     547        1645 : const mrs_msgs::TrackerStatus LandoffTracker::getStatus() {
+     548             : 
+     549        1645 :   mrs_msgs::TrackerStatus tracker_status;
+     550             : 
+     551        1645 :   tracker_status.active            = is_active_;
+     552        1645 :   tracker_status.callbacks_enabled = callbacks_enabled_;
+     553             : 
+     554        1645 :   bool hovering = current_state_vertical_ == HOVER_STATE && current_state_horizontal_ == HOVER_STATE;
+     555        1645 :   bool idling   = current_state_vertical_ == IDLE_STATE && current_state_horizontal_ == IDLE_STATE;
+     556             : 
+     557        1645 :   tracker_status.have_goal = landing_ || taking_off_ || !(hovering || idling);
+     558             : 
+     559        1645 :   tracker_status.tracking_trajectory = false;
+     560             : 
+     561        1645 :   return tracker_status;
+     562             : }
+     563             : 
+     564             : //}
+     565             : 
+     566             : /* //{ enableCallbacks() */
+     567             : 
+     568         170 : const std_srvs::SetBoolResponse::ConstPtr LandoffTracker::enableCallbacks(const std_srvs::SetBoolRequest::ConstPtr& cmd) {
+     569             : 
+     570         340 :   std_srvs::SetBoolResponse res;
+     571         340 :   std::stringstream         ss;
+     572             : 
+     573         170 :   if (cmd->data != callbacks_enabled_) {
+     574             : 
+     575          13 :     callbacks_enabled_ = cmd->data;
+     576             : 
+     577          13 :     ss << "callbacks " << (callbacks_enabled_ ? "enabled" : "disabled");
+     578          13 :     ROS_INFO_STREAM_THROTTLE(1.0, "[LandoffTrakcer]: " << ss.str());
+     579             : 
+     580             :   } else {
+     581             : 
+     582         157 :     ss << "callbacks were already " << (callbacks_enabled_ ? "enabled" : "disabled");
+     583         157 :     ROS_WARN_STREAM_THROTTLE(1.0, "[LandoffTrakcer]: " << ss.str());
+     584             :   }
+     585             : 
+     586         170 :   res.message = ss.str();
+     587         170 :   res.success = true;
+     588             : 
+     589         340 :   return std_srvs::SetBoolResponse::ConstPtr(new std_srvs::SetBoolResponse(res));
+     590             : }
+     591             : 
+     592             : //}
+     593             : 
+     594             : /* switchOdometrySource() //{ */
+     595             : 
+     596           0 : const std_srvs::TriggerResponse::ConstPtr LandoffTracker::switchOdometrySource([[maybe_unused]] const mrs_msgs::UavState& new_uav_state) {
+     597             : 
+     598           0 :   std::scoped_lock lock(mutex_goal_, mutex_state_);
+     599             : 
+     600           0 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     601             : 
+     602           0 :   double old_heading  = 0;
+     603           0 :   double new_heading  = 0;
+     604           0 :   bool   got_headings = true;
+     605             : 
+     606             :   try {
+     607           0 :     old_heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+     608             :   }
+     609           0 :   catch (...) {
+     610           0 :     ROS_ERROR_THROTTLE(1.0, "[LandoffTracker]: could not calculate the old UAV heading");
+     611           0 :     got_headings = false;
+     612             :   }
+     613             : 
+     614             :   try {
+     615           0 :     new_heading = mrs_lib::AttitudeConverter(new_uav_state.pose.orientation).getHeading();
+     616             :   }
+     617           0 :   catch (...) {
+     618           0 :     ROS_ERROR_THROTTLE(1.0, "[LandoffTracker]: could not calculate the new UAV heading");
+     619           0 :     got_headings = false;
+     620             :   }
+     621             : 
+     622           0 :   std_srvs::TriggerResponse res;
+     623             : 
+     624           0 :   if (!got_headings) {
+     625           0 :     res.message = "could not calculate the heading difference";
+     626           0 :     res.success = false;
+     627             : 
+     628           0 :     return std_srvs::TriggerResponse::ConstPtr(new std_srvs::TriggerResponse(res));
+     629             :   }
+     630             : 
+     631             :   // | --------- recalculate the goal to new coordinates -------- |
+     632             : 
+     633           0 :   double dx       = new_uav_state.pose.position.x - uav_state.pose.position.x;
+     634           0 :   double dy       = new_uav_state.pose.position.y - uav_state.pose.position.y;
+     635           0 :   double dz       = new_uav_state.pose.position.z - uav_state.pose.position.z;
+     636           0 :   double dheading = new_heading - old_heading;
+     637             : 
+     638           0 :   goal_x_ += dx;
+     639           0 :   goal_y_ += dy;
+     640           0 :   goal_z_ += dz;
+     641           0 :   goal_heading_ += dheading;
+     642             : 
+     643             :   // | -------------------- update the state -------------------- |
+     644             : 
+     645           0 :   state_x_ += dx;
+     646           0 :   state_y_ += dy;
+     647           0 :   state_z_ += dz;
+     648           0 :   state_heading_ += dheading;
+     649             : 
+     650           0 :   current_heading_ = atan2(goal_y_ - state_y_, goal_x_ - state_x_);
+     651             : 
+     652           0 :   res.message = "odometry source switched";
+     653           0 :   res.success = true;
+     654             : 
+     655           0 :   return std_srvs::TriggerResponse::ConstPtr(new std_srvs::TriggerResponse(res));
+     656             : }
+     657             : 
+     658             : //}
+     659             : 
+     660             : /* //{ hover() */
+     661           0 : const std_srvs::TriggerResponse::ConstPtr LandoffTracker::hover([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr& cmd) {
+     662             : 
+     663           0 :   std::scoped_lock lock(mutex_main_timer_);
+     664             : 
+     665             :   // copy member variables
+     666           0 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     667             : 
+     668           0 :   auto [current_horizontal_speed, current_vertical_speed, current_heading, current_vertical_direction] =
+     669           0 :       mrs_lib::get_mutexed(mutex_state_, current_horizontal_speed_, current_vertical_speed_, current_heading_, current_vertical_direction_);
+     670             : 
+     671           0 :   std_srvs::TriggerResponse res;
+     672             : 
+     673             :   // --------------------------------------------------------------
+     674             :   // |          horizontal initial conditions prediction          |
+     675             :   // --------------------------------------------------------------
+     676             :   {
+     677           0 :     std::scoped_lock lock(mutex_state_);
+     678             : 
+     679           0 :     current_horizontal_speed_ = sqrt(pow(uav_state.velocity.linear.x, 2) + pow(uav_state.velocity.linear.y, 2));
+     680           0 :     current_vertical_speed_   = uav_state.velocity.linear.z;
+     681           0 :     current_heading_          = atan2(uav_state.velocity.linear.y, uav_state.velocity.linear.x);
+     682             :   }
+     683             : 
+     684             :   double horizontal_t_stop, horizontal_stop_dist, stop_dist_x, stop_dist_y;
+     685             : 
+     686           0 :   horizontal_t_stop    = current_horizontal_speed / _horizontal_acceleration_;
+     687           0 :   horizontal_stop_dist = (horizontal_t_stop * current_horizontal_speed) / 2.0;
+     688           0 :   stop_dist_x          = cos(current_heading) * horizontal_stop_dist;
+     689           0 :   stop_dist_y          = sin(current_heading) * horizontal_stop_dist;
+     690             : 
+     691             :   // --------------------------------------------------------------
+     692             :   // |           vertical initial conditions prediction           |
+     693             :   // --------------------------------------------------------------
+     694             : 
+     695           0 :   double vertical_t_stop    = current_vertical_speed / _vertical_acceleration_;
+     696           0 :   double vertical_stop_dist = current_vertical_direction * (vertical_t_stop * current_vertical_speed) / 2.0;
+     697             : 
+     698             :   // --------------------------------------------------------------
+     699             :   // |                        set the goal                        |
+     700             :   // --------------------------------------------------------------
+     701             : 
+     702             :   {
+     703           0 :     std::scoped_lock lock(mutex_state_, mutex_goal_);
+     704             : 
+     705           0 :     goal_x_ = state_x_ + stop_dist_x;
+     706           0 :     goal_y_ = state_y_ + stop_dist_y;
+     707           0 :     goal_z_ = state_z_ + vertical_stop_dist;
+     708             :   }
+     709             : 
+     710           0 :   res.message = "hover initiated";
+     711           0 :   res.success = true;
+     712             : 
+     713           0 :   changeState(STOP_MOTION_STATE);
+     714             : 
+     715           0 :   return std_srvs::TriggerResponse::ConstPtr(new std_srvs::TriggerResponse(res));
+     716             : }
+     717             : 
+     718             : //}
+     719             : 
+     720             : /* //{ startTrajectoryTracking() */
+     721             : 
+     722           0 : const std_srvs::TriggerResponse::ConstPtr LandoffTracker::startTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr& cmd) {
+     723           0 :   return std_srvs::TriggerResponse::Ptr();
+     724             : }
+     725             : 
+     726             : //}
+     727             : 
+     728             : /* //{ stopTrajectoryTracking() */
+     729             : 
+     730           0 : const std_srvs::TriggerResponse::ConstPtr LandoffTracker::stopTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr& cmd) {
+     731           0 :   return std_srvs::TriggerResponse::Ptr();
+     732             : }
+     733             : 
+     734             : //}
+     735             : 
+     736             : /* //{ resumeTrajectoryTracking() */
+     737             : 
+     738           0 : const std_srvs::TriggerResponse::ConstPtr LandoffTracker::resumeTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr& cmd) {
+     739           0 :   return std_srvs::TriggerResponse::Ptr();
+     740             : }
+     741             : 
+     742             : //}
+     743             : 
+     744             : /* //{ gotoTrajectoryStart() */
+     745             : 
+     746           0 : const std_srvs::TriggerResponse::ConstPtr LandoffTracker::gotoTrajectoryStart([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr& cmd) {
+     747           0 :   return std_srvs::TriggerResponse::Ptr();
+     748             : }
+     749             : 
+     750             : //}
+     751             : 
+     752             : /* //{ setConstraints() */
+     753             : 
+     754         206 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr LandoffTracker::setConstraints([
+     755             :     [maybe_unused]] const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr& cmd) {
+     756             : 
+     757             : 
+     758         206 :   mrs_lib::set_mutexed(mutex_constraints_, cmd->constraints, constraints_);
+     759             : 
+     760         206 :   ROS_INFO("[LandoffTracker]: updating constraints");
+     761             : 
+     762         412 :   mrs_msgs::DynamicsConstraintsSrvResponse res;
+     763         206 :   res.success = true;
+     764         206 :   res.message = "constraints updated";
+     765             : 
+     766         412 :   return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse(res));
+     767             : }
+     768             : 
+     769             : //}
+     770             : 
+     771             : /* //{ setReference() */
+     772             : 
+     773           0 : const mrs_msgs::ReferenceSrvResponse::ConstPtr LandoffTracker::setReference([[maybe_unused]] const mrs_msgs::ReferenceSrvRequest::ConstPtr& cmd) {
+     774             : 
+     775           0 :   return mrs_msgs::ReferenceSrvResponse::Ptr();
+     776             : }
+     777             : 
+     778             : //}
+     779             : 
+     780             : /* //{ setVelocityReference() */
+     781             : 
+     782           0 : const mrs_msgs::VelocityReferenceSrvResponse::ConstPtr LandoffTracker::setVelocityReference([
+     783             :     [maybe_unused]] const mrs_msgs::VelocityReferenceSrvRequest::ConstPtr& cmd) {
+     784           0 :   return mrs_msgs::VelocityReferenceSrvResponse::Ptr();
+     785             : }
+     786             : 
+     787             : //}
+     788             : 
+     789             : /* //{ setTrajectoryReference() */
+     790             : 
+     791           4 : const mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr LandoffTracker::setTrajectoryReference([
+     792             :     [maybe_unused]] const mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr& cmd) {
+     793           4 :   return mrs_msgs::TrajectoryReferenceSrvResponse::Ptr();
+     794             : }
+     795             : 
+     796             : //}
+     797             : 
+     798             : // | ----------------- state machine routines ----------------- |
+     799             : 
+     800             : /* //{ changeStateHorizontal() */
+     801             : 
+     802         114 : void LandoffTracker::changeStateHorizontal(States_t new_state) {
+     803             : 
+     804         114 :   previous_state_horizontal_ = current_state_horizontal_;
+     805         114 :   current_state_horizontal_  = new_state;
+     806             : 
+     807         114 :   switch (current_state_horizontal_) {
+     808             : 
+     809          37 :     case STOPPING_STATE: {
+     810             : 
+     811          74 :       std::scoped_lock lock(mutex_state_);
+     812          37 :       current_horizontal_speed_ = 0;
+     813             : 
+     814          37 :       break;
+     815             :     };
+     816             : 
+     817          77 :     default: {
+     818             : 
+     819          77 :       break;
+     820             :     }
+     821             :   }
+     822             : 
+     823         114 :   ROS_INFO("[LandoffTracker]: Switching horizontal state %s -> %s", state_names[previous_state_horizontal_], state_names[current_state_horizontal_]);
+     824         114 : }
+     825             : 
+     826             : //}
+     827             : 
+     828             : /* //{ changeStateVertical() */
+     829             : 
+     830         140 : void LandoffTracker::changeStateVertical(States_t new_state) {
+     831             : 
+     832         140 :   previous_state_vertical_ = current_state_vertical_;
+     833         140 :   current_state_vertical_  = new_state;
+     834             : 
+     835         140 :   switch (current_state_vertical_) {
+     836             : 
+     837          28 :     case HOVER_STATE: {
+     838          28 :       taking_off_ = false;
+     839          28 :       break;
+     840             :     }
+     841             : 
+     842         112 :     default: {
+     843         112 :       break;
+     844             :     }
+     845             :   }
+     846             : 
+     847         140 :   ROS_INFO("[LandoffTracker]: Switching vertical state %s -> %s", state_names[previous_state_vertical_], state_names[current_state_vertical_]);
+     848         140 : }
+     849             : 
+     850             : //}
+     851             : 
+     852             : /* //{ changeState() */
+     853             : 
+     854          92 : void LandoffTracker::changeState(States_t new_state) {
+     855             : 
+     856          92 :   changeStateVertical(new_state);
+     857          92 :   changeStateHorizontal(new_state);
+     858          92 : }
+     859             : 
+     860             : //}
+     861             : 
+     862             : // | --------------------- motion routines -------------------- |
+     863             : 
+     864             : /* //{ stopHorizontalMotion() */
+     865             : 
+     866         162 : void LandoffTracker::stopHorizontalMotion(void) {
+     867             : 
+     868             :   {
+     869         324 :     std::scoped_lock lock(mutex_state_);
+     870             : 
+     871         162 :     current_horizontal_speed_ -= _horizontal_acceleration_ * _tracker_dt_;
+     872             : 
+     873         162 :     if (current_horizontal_speed_ < 0) {
+     874          83 :       current_horizontal_speed_        = 0;
+     875          83 :       current_horizontal_acceleration_ = 0;
+     876             :     } else {
+     877          79 :       current_horizontal_acceleration_ = -_horizontal_acceleration_;
+     878             :     }
+     879             :   }
+     880         162 : }
+     881             : 
+     882             : //}
+     883             : 
+     884             : /* //{ stopVerticalMotion() */
+     885             : 
+     886         162 : void LandoffTracker::stopVerticalMotion(void) {
+     887             : 
+     888             :   {
+     889         324 :     std::scoped_lock lock(mutex_state_);
+     890             : 
+     891         162 :     current_vertical_speed_ -= _vertical_acceleration_ * _tracker_dt_;
+     892             : 
+     893         162 :     if (current_vertical_speed_ < 0) {
+     894          55 :       current_vertical_speed_        = 0;
+     895          55 :       current_vertical_acceleration_ = 0;
+     896             :     } else {
+     897         107 :       current_vertical_acceleration_ = -_vertical_acceleration_;
+     898             :     }
+     899             :   }
+     900         162 : }
+     901             : 
+     902             : //}
+     903             : 
+     904             : /* //{ accelerateVertical() */
+     905             : 
+     906       11891 : void LandoffTracker::accelerateVertical(void) {
+     907             : 
+     908             :   // copy member variables
+     909       11891 :   auto [current_vertical_speed, state_z] = mrs_lib::get_mutexed(mutex_state_, current_vertical_speed_, state_z_);
+     910       11891 :   auto goal_z                            = mrs_lib::get_mutexed(mutex_goal_, goal_z_);
+     911       11891 :   auto constraints                       = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+     912             : 
+     913             :   double used_acceleration;
+     914             :   double used_speed;
+     915             : 
+     916       11891 :   if (taking_off_) {
+     917             : 
+     918        2912 :     used_speed        = _takeoff_speed_;
+     919        2912 :     used_acceleration = _takeoff_acceleration_;
+     920             : 
+     921        2912 :     if (used_speed > constraints.vertical_ascending_speed) {
+     922           0 :       used_speed = constraints.vertical_ascending_speed;
+     923           0 :       ROS_WARN_THROTTLE(1.0, "[LandoffTracker]: saturating takeoff speed");
+     924             :     }
+     925             : 
+     926        2912 :     if (used_acceleration > constraints.vertical_ascending_acceleration) {
+     927           0 :       used_acceleration = constraints.vertical_ascending_acceleration;
+     928           0 :       ROS_WARN_THROTTLE(1.0, "[LandoffTracker]: saturating takeoff acceleration");
+     929             :     }
+     930             : 
+     931        8979 :   } else if (landing_) {
+     932             : 
+     933        8979 :     if (elanding_) {
+     934             : 
+     935        5600 :       used_speed        = _elanding_speed_;
+     936        5600 :       used_acceleration = _elanding_acceleration_;
+     937             : 
+     938             :     } else {
+     939             : 
+     940        3379 :       used_speed        = _landing_speed_;
+     941        3379 :       used_acceleration = _landing_acceleration_;
+     942             : 
+     943        3379 :       if (used_speed > constraints.vertical_descending_speed) {
+     944           0 :         used_speed = constraints.vertical_descending_speed;
+     945           0 :         ROS_WARN_THROTTLE(1.0, "[LandoffTracker]: saturating landing speed");
+     946             :       }
+     947             : 
+     948        3379 :       if (used_acceleration > constraints.vertical_descending_acceleration) {
+     949           0 :         used_acceleration = constraints.vertical_descending_acceleration;
+     950           0 :         ROS_WARN_THROTTLE(1.0, "[LandoffTracker]: saturating landing acceleration");
+     951             :       }
+     952             :     }
+     953             : 
+     954             :   } else {
+     955             : 
+     956             :     // TODO take this from constraints
+     957           0 :     used_speed        = _vertical_speed_;
+     958           0 :     used_acceleration = _vertical_acceleration_;
+     959             :   }
+     960             : 
+     961             :   // set the right heading
+     962       11891 :   double tar_z = goal_z - state_z;
+     963             : 
+     964             :   // set the right vertical direction
+     965             :   {
+     966       11891 :     std::scoped_lock lock(mutex_state_);
+     967             : 
+     968       11891 :     current_vertical_direction_ = mrs_lib::signum(tar_z);
+     969             :   }
+     970             : 
+     971       11891 :   auto current_vertical_direction = mrs_lib::get_mutexed(mutex_state_, current_vertical_direction_);
+     972             : 
+     973             :   // calculate the time to stop and the distance it will take to stop [vertical]
+     974       11891 :   double vertical_t_stop    = current_vertical_speed / used_acceleration;
+     975       11891 :   double vertical_stop_dist = (vertical_t_stop * current_vertical_speed) / 2.0;
+     976       11891 :   double stop_dist_z        = current_vertical_direction * vertical_stop_dist;
+     977             : 
+     978             :   {
+     979       23782 :     std::scoped_lock lock(mutex_state_);
+     980             : 
+     981       11891 :     current_vertical_speed_ += used_acceleration * _tracker_dt_;
+     982             : 
+     983       11891 :     if (current_vertical_speed_ >= used_speed) {
+     984        3104 :       current_vertical_speed_ -= _vertical_acceleration_ * _tracker_dt_;
+     985        3104 :       current_vertical_acceleration_ = 0;
+     986             :     } else {
+     987        8787 :       current_vertical_acceleration_ = used_acceleration;
+     988             :     }
+     989             :   }
+     990             : 
+     991             :   // stopping condition to change to decelerate state
+     992             :   //
+     993             :   // It does not apply if landing or elanding, cause,
+     994             :   // it could potentially stop in mid air if odometry jumps (this happened),
+     995             :   // Instead, landing and elanding is stopped by sensing the throttle.
+     996       11891 :   if (!elanding_ && !landing_) {
+     997        2912 :     if (fabs(state_z + stop_dist_z - goal_z) < (2 * (used_speed * _tracker_dt_))) {
+     998             : 
+     999             :       {
+    1000          13 :         std::scoped_lock lock(mutex_state_);
+    1001             : 
+    1002          13 :         current_vertical_acceleration_ = 0;
+    1003             :       }
+    1004             : 
+    1005          13 :       changeStateVertical(DECELERATING_STATE);
+    1006             :     }
+    1007             :   }
+    1008       11891 : }
+    1009             : 
+    1010             : //}
+    1011             : 
+    1012             : /* //{ decelerateVertical() */
+    1013             : 
+    1014        2912 : void LandoffTracker::decelerateVertical(void) {
+    1015             : 
+    1016             :   double used_acceleration;
+    1017             : 
+    1018        2912 :   if (taking_off_) {
+    1019             : 
+    1020        2912 :     used_acceleration = _takeoff_acceleration_;
+    1021             : 
+    1022           0 :   } else if (landing_) {
+    1023             : 
+    1024           0 :     if (elanding_) {
+    1025             : 
+    1026           0 :       used_acceleration = _elanding_acceleration_;
+    1027             : 
+    1028             :     } else {
+    1029             : 
+    1030           0 :       used_acceleration = _landing_acceleration_;
+    1031             :     }
+    1032             : 
+    1033             :   } else {
+    1034           0 :     used_acceleration = _vertical_acceleration_;
+    1035             :   }
+    1036             : 
+    1037             :   {
+    1038        5824 :     std::scoped_lock lock(mutex_state_);
+    1039             : 
+    1040        2912 :     current_vertical_speed_ -= used_acceleration * _tracker_dt_;
+    1041             : 
+    1042        2912 :     if (current_vertical_speed_ < 0) {
+    1043          13 :       current_vertical_speed_ = 0;
+    1044             :     } else {
+    1045        2899 :       current_vertical_acceleration_ = -used_acceleration;
+    1046             :     }
+    1047             :   }
+    1048             : 
+    1049        2912 :   auto current_vertical_speed = mrs_lib::get_mutexed(mutex_state_, current_vertical_speed_);
+    1050             : 
+    1051        2912 :   if (current_vertical_speed == 0) {
+    1052             : 
+    1053             :     {
+    1054          13 :       std::scoped_lock lock(mutex_state_);
+    1055             : 
+    1056          13 :       current_vertical_acceleration_ = 0;
+    1057             :     }
+    1058             : 
+    1059          13 :     changeStateVertical(STOPPING_STATE);
+    1060             :   }
+    1061        2912 : }
+    1062             : 
+    1063             : //}
+    1064             : 
+    1065             : /* //{ stopHorizontal() */
+    1066             : 
+    1067       14803 : void LandoffTracker::stopHorizontal(void) {
+    1068             : 
+    1069             :   {
+    1070       14803 :     std::scoped_lock lock(mutex_state_, mutex_goal_);
+    1071             : 
+    1072       14803 :     double new_state_x = 0.95 * state_x_ + 0.05 * goal_x_;
+    1073       14803 :     double new_state_y = 0.95 * state_y_ + 0.05 * goal_y_;
+    1074             : 
+    1075       14803 :     double dist_x = new_state_x - state_x_;
+    1076       14803 :     double dist_y = new_state_y - state_y_;
+    1077             : 
+    1078       14803 :     double dt = 1.0 / _main_timer_rate_;
+    1079             : 
+    1080       14803 :     if (std::abs(dist_x / dt) > 1.0) {
+    1081           0 :       dist_x = mrs_lib::signum(dist_x) * (1.0 * dt);
+    1082             :     }
+    1083             : 
+    1084       14803 :     if (std::abs(dist_y / dt) > 1.0) {
+    1085           0 :       dist_y = mrs_lib::signum(dist_y) * (1.0 * dt);
+    1086             :     }
+    1087             : 
+    1088       14803 :     state_x_ += dist_x;
+    1089       14803 :     state_y_ += dist_y;
+    1090             : 
+    1091       14803 :     current_horizontal_acceleration_ = 0;
+    1092             :   }
+    1093       14803 : }
+    1094             : 
+    1095             : //}
+    1096             : 
+    1097             : /* //{ stopVertical() */
+    1098             : 
+    1099           0 : void LandoffTracker::stopVertical(void) {
+    1100             : 
+    1101             :   {
+    1102           0 :     std::scoped_lock lock(mutex_state_, mutex_goal_);
+    1103             : 
+    1104           0 :     double new_state_z = 0.95 * state_z_ + 0.05 * goal_z_;
+    1105             : 
+    1106           0 :     double dist_z = new_state_z - state_z_;
+    1107             : 
+    1108           0 :     double dt = 1.0 / _main_timer_rate_;
+    1109             : 
+    1110           0 :     if (std::abs(dist_z / dt) > 1.0) {
+    1111           0 :       dist_z = mrs_lib::signum(dist_z) * (1.0 * dt);
+    1112             :     }
+    1113             : 
+    1114           0 :     state_z_ += dist_z;
+    1115             : 
+    1116           0 :     current_vertical_acceleration_ = 0;
+    1117             :   }
+    1118           0 : }
+    1119             : 
+    1120             : //}
+    1121             : 
+    1122             : // | --------------------- timer routines --------------------- |
+    1123             : 
+    1124             : /* //{ timerMain() */
+    1125             : 
+    1126       16441 : void LandoffTracker::timerMain(const ros::TimerEvent& event) {
+    1127             : 
+    1128       16441 :   std::scoped_lock lock(mutex_main_timer_);
+    1129             : 
+    1130       16441 :   if (!is_active_) {
+    1131           0 :     return;
+    1132             :   }
+    1133             : 
+    1134             :   // copy member variables
+    1135       32882 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    1136       16441 :   auto [state_x, state_y, state_z, current_horizontal_speed, current_vertical_speed, current_heading, current_vertical_direction] = mrs_lib::get_mutexed(
+    1137       16441 :       mutex_state_, state_x_, state_y_, state_z_, current_horizontal_speed_, current_vertical_speed_, current_heading_, current_vertical_direction_);
+    1138       16441 :   auto [goal_x, goal_y, goal_z] = mrs_lib::get_mutexed(mutex_goal_, goal_x_, goal_y_, goal_z_);
+    1139       32882 :   auto last_control_output      = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    1140             : 
+    1141             :   double uav_x, uav_y, uav_z;
+    1142       16441 :   uav_x = uav_state.pose.position.x;
+    1143       16441 :   uav_y = uav_state.pose.position.y;
+    1144       16441 :   uav_z = uav_state.pose.position.z;
+    1145             : 
+    1146       49323 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("main", _main_timer_rate_, 0.002, event);
+    1147       49323 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("LandoffTracker::main", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    1148             : 
+    1149       16441 :   bool takeoff_saturated = false;
+    1150             : 
+    1151       16441 :   if (taking_off_) {
+    1152             : 
+    1153             :     // calculate the vector
+    1154        6079 :     double err_x      = uav_x - state_x;
+    1155        6079 :     double err_y      = uav_y - state_y;
+    1156        6079 :     double err_z      = uav_z - state_z;
+    1157        6079 :     double error_size = sqrt(pow(err_x, 2) + pow(err_y, 2) + pow(err_z, 2));
+    1158             : 
+    1159        6079 :     if (error_size > _max_position_difference_) {
+    1160             : 
+    1161             :       // calculate the potential next step
+    1162           0 :       double future_state_x = state_x + cos(current_heading) * current_horizontal_speed * _tracker_dt_;
+    1163           0 :       double future_state_y = state_y + sin(current_heading) * current_horizontal_speed * _tracker_dt_;
+    1164           0 :       double future_state_z = state_z + current_vertical_direction * current_vertical_speed * _tracker_dt_;
+    1165             : 
+    1166             :       // if the step would lead to a greater control error than the threshold
+    1167           0 :       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) {
+    1168             : 
+    1169             :         // set this to true... later, we will not update the model if this is true, thus the tracker's motion will stop
+    1170             :         // => the tracker will wait for the controller
+    1171           0 :         takeoff_saturated = true;
+    1172             : 
+    1173           0 :         ROS_WARN_THROTTLE(
+    1174             :             0.1, "[LandoffTracker]: position difference %.3f > %.3f, saturating the motion. Reference: x=%.2f, y=%.2f, z=%.2f, Odometry: %.2f, %.2f, %.2f",
+    1175             :             error_size, _max_position_difference_, future_state_x, future_state_y, future_state_z, uav_x, uav_y, uav_z);
+    1176             :       }
+    1177             :     }
+    1178             : 
+    1179             :     // saturate while ramping up during takeoff
+    1180        6079 :     if (last_control_output.diagnostics.ramping_up) {
+    1181             : 
+    1182         255 :       ROS_INFO_THROTTLE(1.0, "[LandoffTracker]: waiting for the controller to rampup");
+    1183         255 :       takeoff_saturated = true;
+    1184             :     }
+    1185             :   }
+    1186             : 
+    1187       16441 :   if (!takeoff_saturated) {
+    1188             : 
+    1189       16186 :     switch (current_state_horizontal_) {
+    1190             : 
+    1191         162 :       case STOP_MOTION_STATE: {
+    1192             : 
+    1193         162 :         stopHorizontalMotion();
+    1194         162 :         break;
+    1195             :       }
+    1196             : 
+    1197       14803 :       case STOPPING_STATE: {
+    1198             : 
+    1199       14803 :         stopHorizontal();
+    1200       14803 :         break;
+    1201             :       }
+    1202             : 
+    1203        1221 :       default: {
+    1204             : 
+    1205        1221 :         break;
+    1206             :       }
+    1207             :     }
+    1208             : 
+    1209       16186 :     switch (current_state_vertical_) {
+    1210             : 
+    1211         162 :       case STOP_MOTION_STATE: {
+    1212             : 
+    1213         162 :         stopVerticalMotion();
+    1214         162 :         break;
+    1215             :       }
+    1216             : 
+    1217       11891 :       case ACCELERATING_STATE: {
+    1218             : 
+    1219       11891 :         accelerateVertical();
+    1220       11891 :         break;
+    1221             :       }
+    1222             : 
+    1223        2912 :       case DECELERATING_STATE: {
+    1224             : 
+    1225        2912 :         decelerateVertical();
+    1226        2912 :         break;
+    1227             :       }
+    1228             : 
+    1229           0 :       case STOPPING_STATE: {
+    1230             : 
+    1231           0 :         stopVertical();
+    1232           0 :         break;
+    1233             :       }
+    1234             : 
+    1235        1221 :       default: {
+    1236             : 
+    1237        1221 :         break;
+    1238             :       }
+    1239             :     }
+    1240             :   }
+    1241             : 
+    1242       16441 :   if (current_state_horizontal_ == STOP_MOTION_STATE && current_state_vertical_ == STOP_MOTION_STATE) {
+    1243         175 :     if (fabs(current_vertical_speed) <= 0.1 && fabs(current_horizontal_speed) <= 0.1) {
+    1244             : 
+    1245             :       // if the current motion was stopped (the conditions above) but we still have a goal (landing or taking off)
+    1246             :       // -> we should start accelerating towards the goal in the vertical direction
+    1247             :       // This is important, do not modify without testing, otherwise your landing routine may crash into the ground
+    1248             :       // while having large lateral speed
+    1249          37 :       if (have_goal_) {
+    1250             : 
+    1251          22 :         changeStateVertical(ACCELERATING_STATE);
+    1252          22 :         changeStateHorizontal(STOPPING_STATE);
+    1253             : 
+    1254             :       } else {
+    1255             : 
+    1256          15 :         changeState(STOPPING_STATE);
+    1257             : 
+    1258             :         {
+    1259          15 :           std::scoped_lock lock(mutex_state_);
+    1260             : 
+    1261          15 :           current_horizontal_speed_ = 0;
+    1262          15 :           current_vertical_speed_   = 0;
+    1263             :         }
+    1264             :       }
+    1265             :     }
+    1266             :   }
+    1267             : 
+    1268       16441 :   if (current_state_vertical_ == STOPPING_STATE && current_state_horizontal_ == STOPPING_STATE) {
+    1269             : 
+    1270          28 :     if (fabs(state_x - goal_x) > 1.0 || fabs(state_y - goal_y) > 1.0 || fabs(state_z - goal_z) > 1.0) {
+    1271             : 
+    1272           0 :       ROS_ERROR("[LandoffTracker]: distance to the goal is too large when STOPPING, this could have been caused by a race condition!");
+    1273           0 :       ROS_ERROR("[LandoffTracker]: call for Tomas!!");
+    1274             : 
+    1275           0 :       cause_failsafe_ = true;
+    1276             : 
+    1277           0 :       changeState(HOVER_STATE);
+    1278             : 
+    1279          28 :     } else if (fabs(state_x - goal_x) < 0.1 && fabs(state_y - goal_y) < 0.1 && fabs(state_z - goal_z) < 0.1) {
+    1280             : 
+    1281             :       {
+    1282          28 :         std::scoped_lock lock(mutex_state_);
+    1283             : 
+    1284          28 :         if (!taking_off_) {
+    1285          15 :           state_x_ = goal_x;
+    1286          15 :           state_y_ = goal_y;
+    1287          15 :           state_z_ = goal_z;
+    1288             :         }
+    1289             : 
+    1290          28 :         current_horizontal_speed_ = 0;
+    1291          28 :         current_vertical_speed_   = 0;
+    1292             :       }
+    1293             : 
+    1294          28 :       changeState(HOVER_STATE);
+    1295             : 
+    1296          28 :       have_goal_ = false;
+    1297             :     }
+    1298             :   }
+    1299             : 
+    1300       16441 :   if (current_state_horizontal_ == LANDED_STATE && current_state_vertical_ == LANDED_STATE) {
+    1301             :     {
+    1302           0 :       std::scoped_lock lock(mutex_state_);
+    1303             : 
+    1304           0 :       state_x_ = goal_x = uav_x;
+    1305           0 :       state_y_ = goal_y = uav_y;
+    1306           0 :       state_z_ = goal_z = uav_z;
+    1307             : 
+    1308           0 :       have_goal_ = false;
+    1309             :     }
+    1310             :   }
+    1311             : 
+    1312             :   // --------------------------------------------------------------
+    1313             :   // |              motion saturation during takeoff              |
+    1314             :   // --------------------------------------------------------------
+    1315             : 
+    1316             :   // update the inner states
+    1317       16441 :   if (!takeoff_saturated) {
+    1318             :     {
+    1319       16186 :       std::scoped_lock lock(mutex_state_);
+    1320             : 
+    1321       16186 :       state_x_ += cos(current_heading) * current_horizontal_speed * _tracker_dt_;
+    1322       16186 :       state_y_ += sin(current_heading) * current_horizontal_speed * _tracker_dt_;
+    1323       16186 :       state_z_ += current_vertical_direction * current_vertical_speed * _tracker_dt_;
+    1324             :     }
+    1325             :   }
+    1326             : 
+    1327             :   // --------------------------------------------------------------
+    1328             :   // |                        heading tracking                        |
+    1329             :   // --------------------------------------------------------------
+    1330             : 
+    1331             :   // compute the desired heading rate
+    1332             :   {
+    1333       32882 :     std::scoped_lock lock(mutex_state_);
+    1334             : 
+    1335             :     double current_heading_rate;
+    1336             : 
+    1337       16441 :     if (fabs(goal_heading_ - state_heading_) > M_PI)
+    1338           0 :       current_heading_rate = -_heading_gain_ * (goal_heading_ - state_heading_);
+    1339             :     else
+    1340       16441 :       current_heading_rate = _heading_gain_ * (goal_heading_ - state_heading_);
+    1341             : 
+    1342       16441 :     if (current_heading_rate > _heading_rate_) {
+    1343           0 :       current_heading_rate = _heading_rate_;
+    1344       16441 :     } else if (current_heading_rate < -_heading_rate_) {
+    1345           0 :       current_heading_rate = -_heading_rate_;
+    1346             :     }
+    1347             : 
+    1348             :     // flap the resulted state_heading_ aroud PI
+    1349       16441 :     state_heading_ += current_heading_rate * _tracker_dt_;
+    1350             : 
+    1351       16441 :     if (state_heading_ > M_PI) {
+    1352           0 :       state_heading_ -= 2 * M_PI;
+    1353       16441 :     } else if (state_heading_ < -M_PI) {
+    1354           0 :       state_heading_ += 2 * M_PI;
+    1355             :     }
+    1356             : 
+    1357       16441 :     if (fabs(state_heading_ - goal_heading_) < (2 * (_heading_rate_ * _tracker_dt_))) {
+    1358       16441 :       state_heading_ = goal_heading_;
+    1359             :     }
+    1360             :   }
+    1361             : 
+    1362             :   // --------------------------------------------------------------
+    1363             :   // |                      landing setpoint                      |
+    1364             :   // --------------------------------------------------------------
+    1365             : 
+    1366       16441 :   if (landing_) {
+    1367             :     {
+    1368        9095 :       std::scoped_lock lock(mutex_goal_);
+    1369             : 
+    1370        9095 :       goal_z_ = uav_z + _landing_reference_;
+    1371             :     }
+    1372             :   }
+    1373             : }
+    1374             : 
+    1375             : //}
+    1376             : 
+    1377             : // | ------------------------ callbacks ----------------------- |
+    1378             : 
+    1379             : /* //{ callbackTakeoff() */
+    1380             : 
+    1381          13 : bool LandoffTracker::callbackTakeoff(mrs_msgs::Vec1::Request& req, mrs_msgs::Vec1::Response& res) {
+    1382             : 
+    1383          26 :   std::stringstream ss;
+    1384             : 
+    1385             :   // copy member variables
+    1386          26 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    1387             : 
+    1388          13 :   double uav_heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+    1389             : 
+    1390             :   double uav_x, uav_y, uav_z;
+    1391          13 :   uav_x = uav_state.pose.position.x;
+    1392          13 :   uav_y = uav_state.pose.position.y;
+    1393          13 :   uav_z = uav_state.pose.position.z;
+    1394             : 
+    1395          13 :   if (!is_active_) {
+    1396           0 :     ss << "can not takeoff, the tracker is not active";
+    1397           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[LandoffTracker]: " << ss.str());
+    1398           0 :     res.success = false;
+    1399           0 :     res.message = ss.str();
+    1400           0 :     return true;
+    1401             :   }
+    1402             : 
+    1403          13 :   if (!callbacks_enabled_) {
+    1404           0 :     ss << "can not takeoff, the callbacks are disabled";
+    1405           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[LandoffTracker]: " << ss.str());
+    1406           0 :     res.success = false;
+    1407           0 :     res.message = ss.str();
+    1408           0 :     return true;
+    1409             :   }
+    1410             : 
+    1411          13 :   if (req.goal < 0.5 || req.goal > 10.0) {
+    1412             : 
+    1413           0 :     ss << "can not takeoff, the goal should be within [0.5, 10.0] m!";
+    1414           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[LandoffTracker]: " << ss.str());
+    1415           0 :     res.success = false;
+    1416           0 :     res.message = ss.str();
+    1417           0 :     return true;
+    1418             :   }
+    1419             : 
+    1420             :   {
+    1421          26 :     std::scoped_lock lock(mutex_goal_, mutex_state_);
+    1422             : 
+    1423          13 :     state_x_ = uav_x;
+    1424          13 :     goal_x_  = uav_x;
+    1425             : 
+    1426          13 :     state_y_ = uav_y;
+    1427          13 :     goal_y_  = uav_y;
+    1428             : 
+    1429          13 :     state_z_ = uav_z;
+    1430          13 :     goal_z_  = uav_z + req.goal;
+    1431             : 
+    1432          13 :     state_heading_ = uav_heading;
+    1433          13 :     goal_heading_  = uav_heading;
+    1434             : 
+    1435          13 :     speed_x_                = 0;
+    1436          13 :     speed_y_                = 0;
+    1437          13 :     current_vertical_speed_ = 0;
+    1438             : 
+    1439          13 :     have_goal_ = true;
+    1440             :   }
+    1441             : 
+    1442          13 :   ROS_INFO("[LandoffTracker]: taking off");
+    1443             : 
+    1444          13 :   taking_off_ = true;
+    1445          13 :   landing_    = false;
+    1446          13 :   elanding_   = false;
+    1447             : 
+    1448          13 :   res.success = true;
+    1449          13 :   res.message = "taking off";
+    1450             : 
+    1451          13 :   changeState(STOP_MOTION_STATE);
+    1452             : 
+    1453          13 :   return true;
+    1454             : }
+    1455             : 
+    1456             : //}
+    1457             : 
+    1458             : /* //{ callbackLand() */
+    1459             : 
+    1460           4 : bool LandoffTracker::callbackLand([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    1461             : 
+    1462           8 :   std::scoped_lock lock(mutex_main_timer_);
+    1463             : 
+    1464           8 :   std::stringstream ss;
+    1465             : 
+    1466             :   // copy member variables
+    1467           8 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    1468             : 
+    1469           4 :   if (!is_active_) {
+    1470           0 :     ss << "can not land, the tracker is not active";
+    1471           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[LandoffTracker]: " << ss.str());
+    1472           0 :     res.success = false;
+    1473           0 :     res.message = ss.str();
+    1474           0 :     return true;
+    1475             :   }
+    1476             : 
+    1477             :   {
+    1478           4 :     std::scoped_lock lock(mutex_goal_);
+    1479             : 
+    1480           4 :     goal_z_ = uav_state.pose.position.z + _landing_reference_;
+    1481             :   }
+    1482             : 
+    1483           4 :   ROS_INFO("[LandoffTracker]: landing");
+    1484             : 
+    1485           4 :   landing_    = true;
+    1486           4 :   elanding_   = false;
+    1487           4 :   taking_off_ = false;
+    1488           4 :   have_goal_  = true;
+    1489             : 
+    1490           4 :   res.success = true;
+    1491           4 :   res.message = "landing";
+    1492             : 
+    1493           4 :   changeState(STOP_MOTION_STATE);
+    1494             : 
+    1495           4 :   return true;
+    1496             : }
+    1497             : 
+    1498             : //}
+    1499             : 
+    1500             : /* //{ callbackELand() */
+    1501             : 
+    1502           5 : bool LandoffTracker::callbackELand([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    1503             : 
+    1504          10 :   std::scoped_lock lock(mutex_main_timer_);
+    1505             : 
+    1506          10 :   std::stringstream ss;
+    1507             : 
+    1508             :   // copy member variables
+    1509          10 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    1510             : 
+    1511           5 :   if (!is_active_) {
+    1512             : 
+    1513           0 :     ss << "can not eland, the tracker is not active";
+    1514           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[LandoffTracker]: " << ss.str());
+    1515           0 :     res.success = false;
+    1516           0 :     res.message = ss.str();
+    1517           0 :     taking_off_ = false;
+    1518           0 :     landing_    = false;
+    1519           0 :     elanding_   = false;
+    1520           0 :     changeState(LANDED_STATE);
+    1521           0 :     return true;
+    1522             :   }
+    1523             : 
+    1524             :   {
+    1525           5 :     std::scoped_lock lock(mutex_goal_);
+    1526             : 
+    1527           5 :     goal_z_ = uav_state.pose.position.z + _landing_reference_;
+    1528             :   }
+    1529             : 
+    1530           5 :   ROS_WARN("[LandoffTracker]: emergency landing");
+    1531             : 
+    1532           5 :   landing_    = true;
+    1533           5 :   elanding_   = true;
+    1534           5 :   taking_off_ = false;
+    1535           5 :   have_goal_  = true;
+    1536             : 
+    1537           5 :   res.success = true;
+    1538           5 :   res.message = "elanding";
+    1539             : 
+    1540           5 :   changeState(STOP_MOTION_STATE);
+    1541             : 
+    1542           5 :   return true;
+    1543             : }
+    1544             : 
+    1545             : //}
+    1546             : 
+    1547             : }  // namespace landoff_tracker
+    1548             : 
+    1549             : }  // namespace mrs_uav_trackers
+    1550             : 
+    1551             : #include <pluginlib/class_list_macros.h>
+    1552          65 : PLUGINLIB_EXPORT_CLASS(mrs_uav_trackers::landoff_tracker::LandoffTracker, mrs_uav_managers::Tracker)
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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Test:MRS UAV System - Test coverage reportLines:32247467.9 %
Date:2024-01-20 21:44:18Functions:193063.3 %
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Current view:top level - mrs_uav_trackers/src/line_trackerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:32247467.9 %
Date:2024-01-20 21:44:18Functions:193063.3 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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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:32247467.9 %
Date:2024-01-20 21:44:18Functions:193063.3 %
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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::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)4
mrs_uav_trackers::line_tracker::LineTracker::changeStateVertical(mrs_uav_trackers::line_tracker::States_t)6
mrs_uav_trackers::line_tracker::LineTracker::changeStateHorizontal(mrs_uav_trackers::line_tracker::States_t)6
mrs_uav_trackers::line_tracker::LineTracker::stopVerticalMotion()23
mrs_uav_trackers::line_tracker::LineTracker::stopHorizontalMotion()23
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()200
mrs_uav_trackers::line_tracker::LineTracker::stopVertical()850
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&)1713
mrs_uav_trackers::line_tracker::LineTracker::mainTimer(ros::TimerEvent const&)2216
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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:32247467.9 %
Date:2024-01-20 21:44:18Functions:193063.3 %
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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)4
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()850
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()200
mrs_uav_trackers::line_tracker::LineTracker::decelerateVertical()100
mrs_uav_trackers::line_tracker::LineTracker::stopVerticalMotion()23
mrs_uav_trackers::line_tracker::LineTracker::changeStateVertical(mrs_uav_trackers::line_tracker::States_t)6
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()23
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)6
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&)1713
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&)2216
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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:32247467.9 %
Date:2024-01-20 21:44:18Functions: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        1713 : 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        5139 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("update");
+     519        5139 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("LineTracker::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     520             : 
+     521             :   {
+     522        1713 :     std::scoped_lock lock(mutex_uav_state_);
+     523             : 
+     524        1713 :     uav_state_ = uav_state;
+     525        1713 :     uav_x_     = uav_state_.pose.position.x;
+     526        1713 :     uav_y_     = uav_state_.pose.position.y;
+     527        1713 :     uav_z_     = uav_state_.pose.position.z;
+     528             : 
+     529        1713 :     got_uav_state_ = true;
+     530             :   }
+     531             : 
+     532             :   // up to this part the update() method is evaluated even when the tracker is not active
+     533        1713 :   if (!is_active_) {
+     534         101 :     return {};
+     535             :   }
+     536             : 
+     537        3224 :   mrs_msgs::TrackerCommand tracker_cmd;
+     538             : 
+     539        1612 :   tracker_cmd.header.stamp    = ros::Time::now();
+     540        1612 :   tracker_cmd.header.frame_id = uav_state.header.frame_id;
+     541             : 
+     542             :   {
+     543        1612 :     std::scoped_lock lock(mutex_state_);
+     544             : 
+     545        1612 :     tracker_cmd.position.x = state_x_;
+     546        1612 :     tracker_cmd.position.y = state_y_;
+     547        1612 :     tracker_cmd.position.z = state_z_;
+     548        1612 :     tracker_cmd.heading    = radians::wrap(state_heading_);
+     549             : 
+     550        1612 :     tracker_cmd.velocity.x   = cos(current_heading_) * current_horizontal_speed_;
+     551        1612 :     tracker_cmd.velocity.y   = sin(current_heading_) * current_horizontal_speed_;
+     552        1612 :     tracker_cmd.velocity.z   = current_vertical_direction_ * current_vertical_speed_;
+     553        1612 :     tracker_cmd.heading_rate = speed_heading_;
+     554             : 
+     555        1612 :     tracker_cmd.acceleration.x = 0;
+     556        1612 :     tracker_cmd.acceleration.y = 0;
+     557        1612 :     tracker_cmd.acceleration.z = current_vertical_direction_ * current_vertical_acceleration_;
+     558             : 
+     559        1612 :     tracker_cmd.use_position_vertical   = 1;
+     560        1612 :     tracker_cmd.use_position_horizontal = 1;
+     561        1612 :     tracker_cmd.use_heading             = 1;
+     562        1612 :     tracker_cmd.use_heading_rate        = 1;
+     563        1612 :     tracker_cmd.use_velocity_vertical   = 1;
+     564        1612 :     tracker_cmd.use_velocity_horizontal = 1;
+     565        1612 :     tracker_cmd.use_acceleration        = 1;
+     566             :   }
+     567             : 
+     568        1612 :   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 :   bool idling = current_state_vertical_ == IDLE_STATE && current_state_horizontal_ == IDLE_STATE;
+     583             : 
+     584         180 :   tracker_status.have_goal = !idling;
+     585             : 
+     586         180 :   tracker_status.tracking_trajectory = false;
+     587             : 
+     588         180 :   return tracker_status;
+     589             : }
+     590             : 
+     591             : //}
+     592             : 
+     593             : /* //{ enableCallbacks() */
+     594             : 
+     595           0 : const std_srvs::SetBoolResponse::ConstPtr LineTracker::enableCallbacks(const std_srvs::SetBoolRequest::ConstPtr &cmd) {
+     596             : 
+     597           0 :   std_srvs::SetBoolResponse res;
+     598           0 :   std::stringstream         ss;
+     599             : 
+     600           0 :   if (cmd->data != callbacks_enabled_) {
+     601             : 
+     602           0 :     callbacks_enabled_ = cmd->data;
+     603             : 
+     604           0 :     ss << "callbacks " << (callbacks_enabled_ ? "enabled" : "disabled");
+     605           0 :     ROS_INFO_STREAM_THROTTLE(1.0, "[LineTracker]: " << ss.str());
+     606             : 
+     607             :   } else {
+     608             : 
+     609           0 :     ss << "callbacks were already " << (callbacks_enabled_ ? "enabled" : "disabled");
+     610           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[LineTracker]: " << ss.str());
+     611             :   }
+     612             : 
+     613           0 :   res.message = ss.str();
+     614           0 :   res.success = true;
+     615             : 
+     616           0 :   return std_srvs::SetBoolResponse::ConstPtr(new std_srvs::SetBoolResponse(res));
+     617             : }
+     618             : 
+     619             : //}
+     620             : 
+     621             : /* switchOdometrySource() //{ */
+     622             : 
+     623           0 : const std_srvs::TriggerResponse::ConstPtr LineTracker::switchOdometrySource(const mrs_msgs::UavState &new_uav_state) {
+     624             : 
+     625           0 :   std::scoped_lock lock(mutex_goal_, mutex_state_);
+     626             : 
+     627           0 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     628             : 
+     629           0 :   double old_heading  = 0;
+     630           0 :   double new_heading  = 0;
+     631           0 :   bool   got_headings = true;
+     632             : 
+     633             :   try {
+     634           0 :     old_heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+     635             :   }
+     636           0 :   catch (...) {
+     637           0 :     ROS_ERROR_THROTTLE(1.0, "[LineTracker]: could not calculate the old UAV heading");
+     638           0 :     got_headings = false;
+     639             :   }
+     640             : 
+     641             :   try {
+     642           0 :     new_heading = mrs_lib::AttitudeConverter(new_uav_state.pose.orientation).getHeading();
+     643             :   }
+     644           0 :   catch (...) {
+     645           0 :     ROS_ERROR_THROTTLE(1.0, "[LineTracker]: could not calculate the new UAV heading");
+     646           0 :     got_headings = false;
+     647             :   }
+     648             : 
+     649           0 :   std_srvs::TriggerResponse res;
+     650             : 
+     651           0 :   if (!got_headings) {
+     652           0 :     res.message = "could not calculate the heading difference";
+     653           0 :     res.success = false;
+     654             : 
+     655           0 :     return std_srvs::TriggerResponse::ConstPtr(new std_srvs::TriggerResponse(res));
+     656             :   }
+     657             : 
+     658             :   // | --------- recalculate the goal to new coordinates -------- |
+     659             : 
+     660           0 :   double dx       = new_uav_state.pose.position.x - uav_state.pose.position.x;
+     661           0 :   double dy       = new_uav_state.pose.position.y - uav_state.pose.position.y;
+     662           0 :   double dz       = new_uav_state.pose.position.z - uav_state.pose.position.z;
+     663           0 :   double dheading = new_heading - old_heading;
+     664             : 
+     665           0 :   goal_x_ += dx;
+     666           0 :   goal_y_ += dy;
+     667           0 :   goal_z_ += dz;
+     668           0 :   goal_heading_ += dheading;
+     669             : 
+     670             :   // | -------------------- update the state -------------------- |
+     671             : 
+     672           0 :   state_x_ += dx;
+     673           0 :   state_y_ += dy;
+     674           0 :   state_z_ += dz;
+     675           0 :   state_heading_ += dheading;
+     676             : 
+     677           0 :   current_heading_ = atan2(goal_y_ - state_y_, goal_x_ - state_x_);
+     678             : 
+     679           0 :   res.message = "odometry source switched";
+     680           0 :   res.success = true;
+     681             : 
+     682           0 :   return std_srvs::TriggerResponse::ConstPtr(new std_srvs::TriggerResponse(res));
+     683             : }
+     684             : 
+     685             : //}
+     686             : 
+     687             : /* //{ hover() */
+     688             : 
+     689           0 : const std_srvs::TriggerResponse::ConstPtr LineTracker::hover([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     690             : 
+     691           0 :   std_srvs::TriggerResponse res;
+     692             : 
+     693             :   // --------------------------------------------------------------
+     694             :   // |          horizontal initial conditions prediction          |
+     695             :   // --------------------------------------------------------------
+     696             :   {
+     697           0 :     std::scoped_lock lock(mutex_state_, mutex_uav_state_);
+     698             : 
+     699           0 :     current_horizontal_speed_ = sqrt(pow(uav_state_.velocity.linear.x, 2) + pow(uav_state_.velocity.linear.y, 2));
+     700           0 :     current_vertical_speed_   = uav_state_.velocity.linear.z;
+     701           0 :     current_heading_          = atan2(uav_state_.velocity.linear.y, uav_state_.velocity.linear.x);
+     702             :   }
+     703             : 
+     704             :   double horizontal_t_stop, horizontal_stop_dist, stop_dist_x, stop_dist_y;
+     705             : 
+     706             :   {
+     707           0 :     std::scoped_lock lock(mutex_state_);
+     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             :   // --------------------------------------------------------------
+     716             :   // |           vertical initial conditions prediction           |
+     717             :   // --------------------------------------------------------------
+     718             : 
+     719             :   double vertical_t_stop, vertical_stop_dist;
+     720             : 
+     721             :   {
+     722           0 :     std::scoped_lock lock(mutex_state_);
+     723             : 
+     724           0 :     vertical_t_stop    = current_vertical_speed_ / _vertical_acceleration_;
+     725           0 :     vertical_stop_dist = current_vertical_direction_ * (vertical_t_stop * current_vertical_speed_) / 2.0;
+     726             :   }
+     727             : 
+     728             :   // --------------------------------------------------------------
+     729             :   // |                        set the goal                        |
+     730             :   // --------------------------------------------------------------
+     731             : 
+     732             :   {
+     733           0 :     std::scoped_lock lock(mutex_goal_, mutex_state_);
+     734             : 
+     735           0 :     goal_x_ = state_x_ + stop_dist_x;
+     736           0 :     goal_y_ = state_y_ + stop_dist_y;
+     737           0 :     goal_z_ = state_z_ + vertical_stop_dist;
+     738             :   }
+     739             : 
+     740           0 :   res.message = "hover initiated";
+     741           0 :   res.success = true;
+     742             : 
+     743           0 :   changeState(STOP_MOTION_STATE);
+     744             : 
+     745           0 :   return std_srvs::TriggerResponse::ConstPtr(new std_srvs::TriggerResponse(res));
+     746             : }
+     747             : 
+     748             : //}
+     749             : 
+     750             : /* //{ startTrajectoryTracking() */
+     751             : 
+     752           0 : const std_srvs::TriggerResponse::ConstPtr LineTracker::startTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     753           0 :   return std_srvs::TriggerResponse::Ptr();
+     754             : }
+     755             : 
+     756             : //}
+     757             : 
+     758             : /* //{ stopTrajectoryTracking() */
+     759             : 
+     760           0 : const std_srvs::TriggerResponse::ConstPtr LineTracker::stopTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     761           0 :   return std_srvs::TriggerResponse::Ptr();
+     762             : }
+     763             : 
+     764             : //}
+     765             : 
+     766             : /* //{ resumeTrajectoryTracking() */
+     767             : 
+     768           0 : const std_srvs::TriggerResponse::ConstPtr LineTracker::resumeTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     769           0 :   return std_srvs::TriggerResponse::Ptr();
+     770             : }
+     771             : 
+     772             : //}
+     773             : 
+     774             : /* //{ gotoTrajectoryStart() */
+     775             : 
+     776           0 : const std_srvs::TriggerResponse::ConstPtr LineTracker::gotoTrajectoryStart([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     777           0 :   return std_srvs::TriggerResponse::Ptr();
+     778             : }
+     779             : 
+     780             : //}
+     781             : 
+     782             : /* //{ setConstraints() */
+     783             : 
+     784           3 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr LineTracker::setConstraints(const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &cmd) {
+     785             : 
+     786           6 :   mrs_msgs::DynamicsConstraintsSrvResponse res;
+     787             : 
+     788             :   // this is the place to copy the constraints
+     789             :   {
+     790           3 :     std::scoped_lock lock(mutex_constraints_);
+     791             : 
+     792           3 :     _horizontal_speed_        = cmd->constraints.horizontal_speed;
+     793           3 :     _horizontal_acceleration_ = cmd->constraints.horizontal_acceleration;
+     794             : 
+     795           3 :     _vertical_speed_        = cmd->constraints.vertical_ascending_speed;
+     796           3 :     _vertical_acceleration_ = cmd->constraints.vertical_ascending_acceleration;
+     797             : 
+     798           3 :     _heading_rate_ = cmd->constraints.heading_speed;
+     799             :   }
+     800             : 
+     801           3 :   res.success = true;
+     802           3 :   res.message = "constraints updated";
+     803             : 
+     804           6 :   return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse(res));
+     805             : }
+     806             : 
+     807             : //}
+     808             : 
+     809             : /* //{ setReference() */
+     810             : 
+     811           1 : const mrs_msgs::ReferenceSrvResponse::ConstPtr LineTracker::setReference(const mrs_msgs::ReferenceSrvRequest::ConstPtr &cmd) {
+     812             : 
+     813           2 :   mrs_msgs::ReferenceSrvResponse res;
+     814             : 
+     815           1 :   auto state_heading = mrs_lib::get_mutexed(mutex_state_, state_heading_);
+     816             : 
+     817             :   {
+     818           1 :     std::scoped_lock lock(mutex_goal_);
+     819             : 
+     820           1 :     goal_x_       = cmd->reference.position.x;
+     821           1 :     goal_y_       = cmd->reference.position.y;
+     822           1 :     goal_z_       = cmd->reference.position.z;
+     823           1 :     goal_heading_ = radians::unwrap(cmd->reference.heading, state_heading);
+     824             : 
+     825           1 :     ROS_INFO("[LineTracker]: received new setpoint %.2f, %.2f, %.2f, %.2f", goal_x_, goal_y_, goal_z_, goal_heading_);
+     826             : 
+     827           1 :     have_goal_ = true;
+     828             :   }
+     829             : 
+     830           1 :   changeState(STOP_MOTION_STATE);
+     831             : 
+     832           1 :   res.success = true;
+     833           1 :   res.message = "reference set";
+     834             : 
+     835           2 :   return mrs_msgs::ReferenceSrvResponse::ConstPtr(new mrs_msgs::ReferenceSrvResponse(res));
+     836             : }
+     837             : 
+     838             : //}
+     839             : 
+     840             : /* //{ setVelocityReference() */
+     841             : 
+     842           0 : const mrs_msgs::VelocityReferenceSrvResponse::ConstPtr LineTracker::setVelocityReference([
+     843             :     [maybe_unused]] const mrs_msgs::VelocityReferenceSrvRequest::ConstPtr &cmd) {
+     844           0 :   return mrs_msgs::VelocityReferenceSrvResponse::Ptr();
+     845             : }
+     846             : 
+     847             : //}
+     848             : 
+     849             : /* //{ setTrajectoryReference() */
+     850             : 
+     851           0 : const mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr LineTracker::setTrajectoryReference([
+     852             :     [maybe_unused]] const mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr &cmd) {
+     853           0 :   return mrs_msgs::TrajectoryReferenceSrvResponse::Ptr();
+     854             : }
+     855             : 
+     856             : //}
+     857             : 
+     858             : // | ----------------- state machine routines ----------------- |
+     859             : 
+     860             : /* //{ changeStateHorizontal() */
+     861             : 
+     862           6 : void LineTracker::changeStateHorizontal(States_t new_state) {
+     863             : 
+     864           6 :   previous_state_horizontal_ = current_state_horizontal_;
+     865           6 :   current_state_horizontal_  = new_state;
+     866             : 
+     867             :   // just for ROS_INFO
+     868           6 :   ROS_DEBUG("[LineTracker]: Switching horizontal state %s -> %s", state_names[previous_state_horizontal_], state_names[current_state_horizontal_]);
+     869           6 : }
+     870             : 
+     871             : //}
+     872             : 
+     873             : /* //{ changeStateVertical() */
+     874             : 
+     875           6 : void LineTracker::changeStateVertical(States_t new_state) {
+     876             : 
+     877           6 :   previous_state_vertical_ = current_state_vertical_;
+     878           6 :   current_state_vertical_  = new_state;
+     879             : 
+     880             :   // just for ROS_INFO
+     881           6 :   ROS_DEBUG("[LineTracker]: Switching vertical state %s -> %s", state_names[previous_state_vertical_], state_names[current_state_vertical_]);
+     882           6 : }
+     883             : 
+     884             : //}
+     885             : 
+     886             : /* //{ changeState() */
+     887             : 
+     888           4 : void LineTracker::changeState(States_t new_state) {
+     889             : 
+     890           4 :   changeStateVertical(new_state);
+     891           4 :   changeStateHorizontal(new_state);
+     892           4 : }
+     893             : 
+     894             : //}
+     895             : 
+     896             : // | --------------------- motion routines -------------------- |
+     897             : 
+     898             : /* //{ stopHorizontalMotion() */
+     899             : 
+     900          23 : void LineTracker::stopHorizontalMotion(void) {
+     901             : 
+     902             :   {
+     903          46 :     std::scoped_lock lock(mutex_state_);
+     904             : 
+     905          23 :     current_horizontal_speed_ -= _horizontal_acceleration_ * _tracker_dt_;
+     906             : 
+     907          23 :     if (current_horizontal_speed_ < 0) {
+     908          23 :       current_horizontal_speed_        = 0;
+     909          23 :       current_horizontal_acceleration_ = 0;
+     910             :     } else {
+     911           0 :       current_horizontal_acceleration_ = -_horizontal_acceleration_;
+     912             :     }
+     913             :   }
+     914          23 : }
+     915             : 
+     916             : //}
+     917             : 
+     918             : /* //{ stopVerticalMotion() */
+     919             : 
+     920          23 : void LineTracker::stopVerticalMotion(void) {
+     921             : 
+     922             :   {
+     923          46 :     std::scoped_lock lock(mutex_state_);
+     924             : 
+     925          23 :     current_vertical_speed_ -= _vertical_acceleration_ * _tracker_dt_;
+     926             : 
+     927          23 :     if (current_vertical_speed_ < 0) {
+     928           1 :       current_vertical_speed_        = 0;
+     929           1 :       current_vertical_acceleration_ = 0;
+     930             :     } else {
+     931          22 :       current_vertical_acceleration_ = -_vertical_acceleration_;
+     932             :     }
+     933             :   }
+     934          23 : }
+     935             : 
+     936             : //}
+     937             : 
+     938             : /* //{ accelerateHorizontal() */
+     939             : 
+     940        1004 : void LineTracker::accelerateHorizontal(void) {
+     941             : 
+     942             :   // copy member variables
+     943        1004 :   auto [goal_x, goal_y]                             = mrs_lib::get_mutexed(mutex_goal_, goal_x_, goal_y_);
+     944        1004 :   auto [state_x, state_y, current_horizontal_speed] = mrs_lib::get_mutexed(mutex_state_, state_x_, state_y_, current_horizontal_speed_);
+     945             : 
+     946             :   {
+     947        1004 :     std::scoped_lock lock(mutex_state_);
+     948             : 
+     949        1004 :     current_heading_ = atan2(goal_y - state_y, goal_x - state_x);
+     950             :   }
+     951             : 
+     952        1004 :   auto current_heading = mrs_lib::get_mutexed(mutex_state_, current_heading_);
+     953             : 
+     954             :   double horizontal_t_stop, horizontal_stop_dist, stop_dist_x, stop_dist_y;
+     955             : 
+     956        1004 :   horizontal_t_stop    = current_horizontal_speed / _horizontal_acceleration_;
+     957        1004 :   horizontal_stop_dist = (horizontal_t_stop * current_horizontal_speed) / 2.0;
+     958        1004 :   stop_dist_x          = cos(current_heading) * horizontal_stop_dist;
+     959        1004 :   stop_dist_y          = sin(current_heading) * horizontal_stop_dist;
+     960             : 
+     961             :   {
+     962        2008 :     std::scoped_lock lock(mutex_state_);
+     963             : 
+     964        1004 :     current_horizontal_speed_ += _horizontal_acceleration_ * _tracker_dt_;
+     965             : 
+     966        1004 :     if (current_horizontal_speed_ >= _horizontal_speed_) {
+     967         905 :       current_horizontal_speed_        = _horizontal_speed_;
+     968         905 :       current_horizontal_acceleration_ = 0;
+     969             :     } else {
+     970          99 :       current_horizontal_acceleration_ = _horizontal_acceleration_;
+     971             :     }
+     972             :   }
+     973             : 
+     974        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_))) {
+     975             : 
+     976             :     {
+     977           1 :       std::scoped_lock lock(mutex_state_);
+     978             : 
+     979           1 :       current_horizontal_acceleration_ = 0;
+     980             :     }
+     981             : 
+     982           1 :     changeStateHorizontal(DECELERATING_STATE);
+     983             :   }
+     984        1004 : }
+     985             : 
+     986             : //}
+     987             : 
+     988             : /* //{ accelerateVertical() */
+     989             : 
+     990         200 : void LineTracker::accelerateVertical(void) {
+     991             : 
+     992         200 :   auto goal_z                            = mrs_lib::get_mutexed(mutex_goal_, goal_z_);
+     993         200 :   auto [state_z, current_vertical_speed] = mrs_lib::get_mutexed(mutex_state_, state_z_, current_vertical_speed_);
+     994             : 
+     995             :   // set the right heading
+     996         200 :   double tar_z = goal_z - state_z;
+     997             : 
+     998             :   // set the right vertical direction
+     999             :   {
+    1000         200 :     std::scoped_lock lock(mutex_state_);
+    1001             : 
+    1002         200 :     current_vertical_direction_ = mrs_lib::signum(tar_z);
+    1003             :   }
+    1004             : 
+    1005         200 :   auto current_vertical_direction = mrs_lib::get_mutexed(mutex_state_, current_vertical_direction_);
+    1006             : 
+    1007             :   // calculate the time to stop and the distance it will take to stop [vertical]
+    1008         200 :   double vertical_t_stop    = current_vertical_speed / _vertical_acceleration_;
+    1009         200 :   double vertical_stop_dist = (vertical_t_stop * current_vertical_speed) / 2.0;
+    1010         200 :   double stop_dist_z        = current_vertical_direction * vertical_stop_dist;
+    1011             : 
+    1012             :   {
+    1013         400 :     std::scoped_lock lock(mutex_state_);
+    1014             : 
+    1015         200 :     current_vertical_speed_ += _vertical_acceleration_ * _tracker_dt_;
+    1016             : 
+    1017         200 :     if (current_vertical_speed_ >= _vertical_speed_) {
+    1018         101 :       current_vertical_speed_        = _vertical_speed_;
+    1019         101 :       current_vertical_acceleration_ = 0;
+    1020             :     } else {
+    1021          99 :       current_vertical_acceleration_ = _vertical_acceleration_;
+    1022             :     }
+    1023             :   }
+    1024             : 
+    1025         200 :   if (fabs(state_z + stop_dist_z - goal_z) < (2 * (_vertical_speed_ * _tracker_dt_))) {
+    1026             : 
+    1027             :     {
+    1028           1 :       std::scoped_lock lock(mutex_state_);
+    1029             : 
+    1030           1 :       current_vertical_acceleration_ = 0;
+    1031             :     }
+    1032             : 
+    1033           1 :     changeStateVertical(DECELERATING_STATE);
+    1034             :   }
+    1035         200 : }
+    1036             : 
+    1037             : //}
+    1038             : 
+    1039             : /* //{ decelerateHorizontal() */
+    1040             : 
+    1041         100 : void LineTracker::decelerateHorizontal(void) {
+    1042             : 
+    1043             :   {
+    1044         200 :     std::scoped_lock lock(mutex_state_);
+    1045             : 
+    1046         100 :     current_horizontal_speed_ -= _horizontal_acceleration_ * _tracker_dt_;
+    1047             : 
+    1048         100 :     if (current_horizontal_speed_ < 0) {
+    1049           1 :       current_horizontal_speed_ = 0;
+    1050             :     } else {
+    1051          99 :       current_horizontal_acceleration_ = -_horizontal_acceleration_;
+    1052             :     }
+    1053             :   }
+    1054             : 
+    1055         100 :   auto current_horizontal_speed = mrs_lib::get_mutexed(mutex_state_, current_horizontal_speed_);
+    1056             : 
+    1057         100 :   if (current_horizontal_speed == 0) {
+    1058             : 
+    1059             :     {
+    1060           1 :       std::scoped_lock lock(mutex_state_);
+    1061             : 
+    1062           1 :       current_horizontal_acceleration_ = 0;
+    1063             :     }
+    1064             : 
+    1065           1 :     changeStateHorizontal(STOPPING_STATE);
+    1066             :   }
+    1067         100 : }
+    1068             : 
+    1069             : //}
+    1070             : 
+    1071             : /* //{ decelerateVertical() */
+    1072             : 
+    1073         100 : void LineTracker::decelerateVertical(void) {
+    1074             : 
+    1075             :   {
+    1076         200 :     std::scoped_lock lock(mutex_state_);
+    1077             : 
+    1078         100 :     current_vertical_speed_ -= _vertical_acceleration_ * _tracker_dt_;
+    1079             : 
+    1080         100 :     if (current_vertical_speed_ < 0) {
+    1081           1 :       current_vertical_speed_ = 0;
+    1082             :     } else {
+    1083          99 :       current_vertical_acceleration_ = -_vertical_acceleration_;
+    1084             :     }
+    1085             :   }
+    1086             : 
+    1087         100 :   auto current_vertical_speed = mrs_lib::get_mutexed(mutex_state_, current_vertical_speed_);
+    1088             : 
+    1089         100 :   if (current_vertical_speed == 0) {
+    1090           1 :     current_vertical_acceleration_ = 0;
+    1091           1 :     changeStateVertical(STOPPING_STATE);
+    1092             :   }
+    1093         100 : }
+    1094             : 
+    1095             : //}
+    1096             : 
+    1097             : /* //{ stopHorizontal() */
+    1098             : 
+    1099          46 : void LineTracker::stopHorizontal(void) {
+    1100             : 
+    1101             :   {
+    1102          46 :     std::scoped_lock lock(mutex_state_);
+    1103             : 
+    1104          46 :     state_x_                         = 0.95 * state_x_ + 0.05 * goal_x_;
+    1105          46 :     state_y_                         = 0.95 * state_y_ + 0.05 * goal_y_;
+    1106          46 :     current_horizontal_acceleration_ = 0;
+    1107             :   }
+    1108          46 : }
+    1109             : 
+    1110             : //}
+    1111             : 
+    1112             : /* //{ stopVertical() */
+    1113             : 
+    1114         850 : void LineTracker::stopVertical(void) {
+    1115             : 
+    1116             :   {
+    1117         850 :     std::scoped_lock lock(mutex_state_);
+    1118             : 
+    1119         850 :     state_z_                       = 0.95 * state_z_ + 0.05 * goal_z_;
+    1120         850 :     current_vertical_acceleration_ = 0;
+    1121             :   }
+    1122         850 : }
+    1123             : 
+    1124             : //}
+    1125             : 
+    1126             : // | ------------------------- timers ------------------------- |
+    1127             : 
+    1128             : /* //{ mainTimer() */
+    1129             : 
+    1130        2216 : void LineTracker::mainTimer(const ros::TimerEvent &event) {
+    1131             : 
+    1132        2216 :   if (!is_active_) {
+    1133         419 :     return;
+    1134             :   }
+    1135             : 
+    1136        5391 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("main", _tracker_loop_rate_, 0.01, event);
+    1137        5391 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("LineTracker::main", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    1138             : 
+    1139        1797 :   auto [goal_x, goal_y, goal_z]    = mrs_lib::get_mutexed(mutex_goal_, goal_x_, goal_y_, goal_z_);
+    1140        1797 :   auto [state_x, state_y, state_z] = mrs_lib::get_mutexed(mutex_state_, state_x_, state_y_, state_z_);
+    1141             : 
+    1142        1797 :   switch (current_state_horizontal_) {
+    1143             : 
+    1144         624 :     case IDLE_STATE:
+    1145             : 
+    1146         624 :       break;
+    1147             : 
+    1148          23 :     case STOP_MOTION_STATE:
+    1149             : 
+    1150          23 :       stopHorizontalMotion();
+    1151             : 
+    1152          23 :       break;
+    1153             : 
+    1154        1004 :     case ACCELERATING_STATE:
+    1155             : 
+    1156        1004 :       accelerateHorizontal();
+    1157             : 
+    1158        1004 :       break;
+    1159             : 
+    1160         100 :     case DECELERATING_STATE:
+    1161             : 
+    1162         100 :       decelerateHorizontal();
+    1163             : 
+    1164         100 :       break;
+    1165             : 
+    1166          46 :     case STOPPING_STATE:
+    1167             : 
+    1168          46 :       stopHorizontal();
+    1169             : 
+    1170          46 :       break;
+    1171             :   }
+    1172             : 
+    1173        1797 :   switch (current_state_vertical_) {
+    1174             : 
+    1175         624 :     case IDLE_STATE:
+    1176             : 
+    1177         624 :       break;
+    1178             : 
+    1179          23 :     case STOP_MOTION_STATE:
+    1180             : 
+    1181          23 :       stopVerticalMotion();
+    1182             : 
+    1183          23 :       break;
+    1184             : 
+    1185         200 :     case ACCELERATING_STATE:
+    1186             : 
+    1187         200 :       accelerateVertical();
+    1188             : 
+    1189         200 :       break;
+    1190             : 
+    1191         100 :     case DECELERATING_STATE:
+    1192             : 
+    1193         100 :       decelerateVertical();
+    1194             : 
+    1195         100 :       break;
+    1196             : 
+    1197         850 :     case STOPPING_STATE:
+    1198             : 
+    1199         850 :       stopVertical();
+    1200             : 
+    1201         850 :       break;
+    1202             :   }
+    1203             : 
+    1204        1797 :   if (current_state_horizontal_ == STOP_MOTION_STATE && current_state_vertical_ == STOP_MOTION_STATE) {
+    1205          23 :     if (current_vertical_speed_ == 0 && current_horizontal_speed_ == 0) {
+    1206           1 :       if (have_goal_) {
+    1207           1 :         changeState(ACCELERATING_STATE);
+    1208             :       } else {
+    1209           0 :         changeState(STOPPING_STATE);
+    1210             :       }
+    1211             :     }
+    1212             :   }
+    1213             : 
+    1214        1797 :   if (current_state_horizontal_ == STOPPING_STATE && current_state_vertical_ == STOPPING_STATE) {
+    1215          47 :     if (fabs(state_x - goal_x) < 1e-3 && fabs(state_y - goal_y) < 1e-3 && fabs(state_z - goal_z) < 1e-3) {
+    1216             : 
+    1217             :       {
+    1218           1 :         std::scoped_lock lock(mutex_state_);
+    1219             : 
+    1220           1 :         state_x_ = goal_x;
+    1221           1 :         state_y_ = goal_y;
+    1222           1 :         state_z_ = goal_z;
+    1223             :       }
+    1224             : 
+    1225           1 :       changeState(IDLE_STATE);
+    1226             : 
+    1227           1 :       have_goal_ = false;
+    1228             :     }
+    1229             :   }
+    1230             : 
+    1231             :   {
+    1232        1797 :     std::scoped_lock lock(mutex_state_);
+    1233             : 
+    1234        1797 :     state_x_ += cos(current_heading_) * current_horizontal_speed_ * _tracker_dt_;
+    1235        1797 :     state_y_ += sin(current_heading_) * current_horizontal_speed_ * _tracker_dt_;
+    1236        1797 :     state_z_ += current_vertical_direction_ * current_vertical_speed_ * _tracker_dt_;
+    1237             :   }
+    1238             : 
+    1239             :   // --------------------------------------------------------------
+    1240             :   // |                        heading tracking                        |
+    1241             :   // --------------------------------------------------------------
+    1242             : 
+    1243             :   {
+    1244        3594 :     std::scoped_lock lock(mutex_state_);
+    1245             : 
+    1246             :     // compute the desired heading rate
+    1247             :     double current_heading_rate;
+    1248        1797 :     if (fabs(goal_heading_ - state_heading_) > M_PI)
+    1249           0 :       current_heading_rate = -_heading_gain_ * (goal_heading_ - state_heading_);
+    1250             :     else
+    1251        1797 :       current_heading_rate = _heading_gain_ * (goal_heading_ - state_heading_);
+    1252             : 
+    1253        1797 :     if (current_heading_rate > _heading_rate_) {
+    1254          50 :       current_heading_rate = _heading_rate_;
+    1255        1747 :     } else if (current_heading_rate < -_heading_rate_) {
+    1256           0 :       current_heading_rate = -_heading_rate_;
+    1257             :     }
+    1258             : 
+    1259             :     // flap the resulted state_heading_ aroud PI
+    1260        1797 :     state_heading_ += current_heading_rate * _tracker_dt_;
+    1261             : 
+    1262        1797 :     if (fabs(state_heading_ - goal_heading_) < (2 * (_heading_rate_ * _tracker_dt_))) {
+    1263        1358 :       state_heading_ = goal_heading_;
+    1264             :     }
+    1265             :   }
+    1266             : }
+    1267             : 
+    1268             : //}
+    1269             : 
+    1270             : }  // namespace line_tracker
+    1271             : 
+    1272             : }  // namespace mrs_uav_trackers
+    1273             : 
+    1274             : #include <pluginlib/class_list_macros.h>
+    1275           1 : PLUGINLIB_EXPORT_CLASS(mrs_uav_trackers::line_tracker::LineTracker, mrs_uav_managers::Tracker)
+
+
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+ + + diff --git a/mrs_uav_trackers/src/midair_activation_tracker/midair_activation_tracker.cpp.func-sort-c.html b/mrs_uav_trackers/src/midair_activation_tracker/midair_activation_tracker.cpp.func-sort-c.html new file mode 100644 index 0000000000..0d341c44d1 --- /dev/null +++ b/mrs_uav_trackers/src/midair_activation_tracker/midair_activation_tracker.cpp.func-sort-c.html @@ -0,0 +1,152 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trackers/src/midair_activation_tracker/midair_activation_tracker.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_trackers/src/midair_activation_tracker - midair_activation_tracker.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:679272.8 %
Date:2024-01-20 21:44:18Functions:91850.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::resetStatic()0
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::setReference(boost::shared_ptr<mrs_msgs::ReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::gotoTrajectoryStart(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::setVelocityReference(boost::shared_ptr<mrs_msgs::VelocityReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::stopTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::startTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::resumeTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::hover(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::setTrajectoryReference(boost::shared_ptr<mrs_msgs::TrajectoryReferenceSrvRequest_<std::allocator<void> > const> const&)4
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::getStatus()24
(anonymous namespace)::ProxyExec0::ProxyExec0()65
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>)65
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)89
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::deactivate()106
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)170
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)206
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)77966
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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..dcac3a0acc --- /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:2024-01-20 21:44:18Functions: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()65
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::deactivate()106
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>)65
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&)206
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)170
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&)4
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&)77966
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)89
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::getStatus()24
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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.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..0118f8b52c --- /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:2024-01-20 21:44:18Functions:91850.0 %
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             : 
+       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          65 : 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          65 :   this->common_handlers_  = common_handlers;
+      81          65 :   this->private_handlers_ = private_handlers;
+      82             : 
+      83          65 :   _uav_name_ = common_handlers->uav_name;
+      84             : 
+      85          65 :   nh_ = nh;
+      86             : 
+      87          65 :   ros::Time::waitForValid();
+      88             : 
+      89             :   // --------------------------------------------------------------
+      90             :   // |                     loading parameters                     |
+      91             :   // --------------------------------------------------------------
+      92             : 
+      93             :   // | ---------- loading params using the parent's nh ---------- |
+      94             : 
+      95         130 :   mrs_lib::ParamLoader param_loader_parent(common_handlers->parent_nh, "ControlManager");
+      96             : 
+      97          65 :   param_loader_parent.loadParam("enable_profiler", _profiler_enabled_);
+      98             : 
+      99          65 :   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          65 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/private/midair_activation_tracker.yaml");
+     107          65 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/public/midair_activation_tracker.yaml");
+     108             : 
+     109         130 :   const std::string yaml_prefix = "mrs_uav_trackers/midair_activation_tracker/";
+     110             : 
+     111          65 :   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          65 :   profiler_ = mrs_lib::Profiler(common_handlers->parent_nh, "MidairActivationTracker", _profiler_enabled_);
+     119             : 
+     120             :   // | --------------------- finish the init -------------------- |
+     121             : 
+     122          65 :   is_initialized_ = true;
+     123             : 
+     124          65 :   ROS_INFO("[MidairActivationTracker]: initialized");
+     125             : 
+     126          65 :   return true;
+     127             : }
+     128             : 
+     129             : //}
+     130             : 
+     131             : /* //{ activate() */
+     132             : 
+     133          89 : std::tuple<bool, std::string> MidairActivationTracker::activate([[maybe_unused]] const std::optional<mrs_msgs::TrackerCommand> &last_tracker_cmd) {
+     134             : 
+     135          89 :   std::stringstream ss;
+     136             : 
+     137          89 :   is_active_ = true;
+     138             : 
+     139          89 :   ss << "activated";
+     140          89 :   ROS_INFO_STREAM("[MidairActivationTracker]: " << ss.str());
+     141             : 
+     142         178 :   return std::tuple(true, ss.str());
+     143             : }
+     144             : 
+     145             : //}
+     146             : 
+     147             : /* //{ deactivate() */
+     148             : 
+     149         106 : void MidairActivationTracker::deactivate(void) {
+     150             : 
+     151         106 :   is_active_ = false;
+     152             : 
+     153         106 :   ROS_INFO("[MidairActivationTracker]: deactivated");
+     154         106 : }
+     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       77966 : 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       77966 :   if (!is_active_) {
+     174       77761 :     return {};
+     175             :   }
+     176             : 
+     177         615 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("update");
+     178             :   mrs_lib::ScopeTimer timer =
+     179         615 :       mrs_lib::ScopeTimer("MidairActivationTracker::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     180             : 
+     181         410 :   mrs_msgs::TrackerCommand tracker_cmd;
+     182             : 
+     183         205 :   tracker_cmd.header.frame_id = uav_state.header.frame_id;
+     184         205 :   tracker_cmd.header.stamp    = ros::Time::now();
+     185             : 
+     186         205 :   tracker_cmd.position.x = uav_state.pose.position.x;
+     187         205 :   tracker_cmd.position.y = uav_state.pose.position.y;
+     188         205 :   tracker_cmd.position.z = uav_state.pose.position.z;
+     189             : 
+     190         205 :   tracker_cmd.velocity.x = uav_state.velocity.linear.x;
+     191         205 :   tracker_cmd.velocity.y = uav_state.velocity.linear.y;
+     192         205 :   tracker_cmd.velocity.z = uav_state.velocity.linear.z;
+     193             : 
+     194             :   try {
+     195         205 :     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         205 :   tracker_cmd.use_position_vertical   = true;
+     203         205 :   tracker_cmd.use_position_horizontal = true;
+     204             : 
+     205         205 :   tracker_cmd.use_velocity_vertical   = true;
+     206         205 :   tracker_cmd.use_velocity_horizontal = true;
+     207             : 
+     208         205 :   tracker_cmd.use_heading = true;
+     209             : 
+     210         205 :   ROS_WARN_THROTTLE(0.1, "[MidairActivationTracker]: outputting cmd");
+     211             : 
+     212         205 :   return {tracker_cmd};
+     213             : }
+     214             : 
+     215             : //}
+     216             : 
+     217             : /* //{ getStatus() */
+     218             : 
+     219          24 : const mrs_msgs::TrackerStatus MidairActivationTracker::getStatus() {
+     220             : 
+     221          24 :   mrs_msgs::TrackerStatus tracker_status;
+     222             : 
+     223          24 :   tracker_status.active            = is_active_;
+     224          24 :   tracker_status.callbacks_enabled = callbacks_enabled_;
+     225             : 
+     226          24 :   return tracker_status;
+     227             : }
+     228             : 
+     229             : //}
+     230             : 
+     231             : /* //{ enableCallbacks() */
+     232             : 
+     233         170 : const std_srvs::SetBoolResponse::ConstPtr MidairActivationTracker::enableCallbacks([[maybe_unused]] const std_srvs::SetBoolRequest::ConstPtr &cmd) {
+     234             : 
+     235         340 :   std_srvs::SetBoolResponse res;
+     236             : 
+     237         170 :   res.message = "callbacks are always disabled";
+     238         170 :   res.success = true;
+     239             : 
+     240         340 :   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         206 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr MidairActivationTracker::setConstraints([
+     298             :     [maybe_unused]] const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &cmd) {
+     299             : 
+     300         412 :   mrs_msgs::DynamicsConstraintsSrvResponse res;
+     301             : 
+     302         206 :   res.success = true;
+     303         206 :   res.message = "constraints updated";
+     304             : 
+     305         412 :   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           4 : const mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr MidairActivationTracker::setTrajectoryReference([
+     331             :     [maybe_unused]] const mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr &cmd) {
+     332           4 :   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          65 : PLUGINLIB_EXPORT_CLASS(mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker, mrs_uav_managers::Tracker)
+
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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::checkCollision(double, double, double, double, double, double)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::checkCollisionInflated(double, double, double, double, double, double)0
mrs_uav_trackers::mpc_tracker::MpcTracker::stopTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::mpc_tracker::MpcTracker::resumeTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::mpc_tracker::MpcTracker::callbackOtherMavTrajectory(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const>)0
mrs_uav_trackers::mpc_tracker::MpcTracker::stopTrajectoryTrackingImpl[abi:cxx11]()0
mrs_uav_trackers::mpc_tracker::MpcTracker::callbackOtherMavDiagnostics(boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const>)0
mrs_uav_trackers::mpc_tracker::MpcTracker::resumeTrajectoryTrackingImpl[abi:cxx11]()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::hover(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::mpc_tracker::MpcTracker::gotoTrajectoryStart(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)1
mrs_uav_trackers::mpc_tracker::MpcTracker::gotoTrajectoryStartImpl[abi:cxx11]()1
mrs_uav_trackers::mpc_tracker::MpcTracker::startTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)1
mrs_uav_trackers::mpc_tracker::MpcTracker::startTrajectoryTrackingImpl[abi:cxx11]()1
mrs_uav_trackers::mpc_tracker::MpcTracker::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)4
mrs_uav_trackers::mpc_tracker::MpcTracker::setTrajectoryReference(boost::shared_ptr<mrs_msgs::TrajectoryReferenceSrvRequest_<std::allocator<void> > const> const&)4
mrs_uav_trackers::mpc_tracker::MpcTracker::deactivate()31
mrs_uav_trackers::mpc_tracker::MpcTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)56
(anonymous namespace)::ProxyExec0::ProxyExec0()65
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>)65
mrs_uav_trackers::mpc_tracker::MpcTracker::dynamicReconfigureCallback(mrs_uav_trackers::mpc_trackerConfig&, unsigned int)65
mrs_uav_trackers::mpc_tracker::MpcTracker::setReference(boost::shared_ptr<mrs_msgs::ReferenceSrvRequest_<std::allocator<void> > const> const&)123
mrs_uav_trackers::mpc_tracker::MpcTracker::setGoal(double, double, double, double, bool)124
mrs_uav_trackers::mpc_tracker::MpcTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)206
mrs_uav_trackers::mpc_tracker::MpcTracker::setVelocityReference(boost::shared_ptr<mrs_msgs::VelocityReferenceSrvRequest_<std::allocator<void> > const> const&)471
mrs_uav_trackers::mpc_tracker::MpcTracker::timerVelocityTracking(ros::TimerEvent const&)499
mrs_uav_trackers::mpc_tracker::MpcTracker::loadTrajectory[abi:cxx11](mrs_msgs::TrajectoryReference_<std::allocator<void> >)501
mrs_uav_trackers::mpc_tracker::MpcTracker::timerHover(ros::TimerEvent const&)626
mrs_uav_trackers::mpc_tracker::MpcTracker::setRelativeGoal(double, double, double, double, bool)682
mrs_uav_trackers::mpc_tracker::MpcTracker::toggleHover(bool)741
mrs_uav_trackers::mpc_tracker::MpcTracker::setSinglePointReference(double, double, double, double)806
mrs_uav_trackers::mpc_tracker::MpcTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)1278
mrs_uav_trackers::mpc_tracker::MpcTracker::timerAvoidanceTrajectory(ros::TimerEvent const&)2529
mrs_uav_trackers::mpc_tracker::MpcTracker::getCurrentTrajectoryIdx()5744
mrs_uav_trackers::mpc_tracker::MpcTracker::getStatus()5744
mrs_uav_trackers::mpc_tracker::MpcTracker::increaseCurrentTrajectoryTime(double)11238
mrs_uav_trackers::mpc_tracker::MpcTracker::timerDiagnostics(ros::TimerEvent const&)12801
mrs_uav_trackers::mpc_tracker::MpcTracker::publishDiagnostics()14141
mrs_uav_trackers::mpc_tracker::MpcTracker::iterateModel(double const&)47501
mrs_uav_trackers::mpc_tracker::MpcTracker::checkTrajectoryForCollisions(int&)54336
mrs_uav_trackers::mpc_tracker::MpcTracker::calculateMPC()54432
mrs_uav_trackers::mpc_tracker::MpcTracker::filterReferenceZ(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, double, double)54432
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)54432
mrs_uav_trackers::mpc_tracker::MpcTracker::manageConstraints()54432
mrs_uav_trackers::mpc_tracker::MpcTracker::timerMPC(ros::TimerEvent const&)54432
mrs_uav_trackers::mpc_tracker::MpcTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)77966
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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:1232165474.5 %
Date:2024-01-20 21:44:18Functions:365072.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()65
mrs_uav_trackers::mpc_tracker::MpcTracker::deactivate()31
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>)65
mrs_uav_trackers::mpc_tracker::MpcTracker::timerHover(ros::TimerEvent const&)626
mrs_uav_trackers::mpc_tracker::MpcTracker::resetStatic()0
mrs_uav_trackers::mpc_tracker::MpcTracker::toggleHover(bool)741
mrs_uav_trackers::mpc_tracker::MpcTracker::calculateMPC()54432
mrs_uav_trackers::mpc_tracker::MpcTracker::iterateModel(double const&)47501
mrs_uav_trackers::mpc_tracker::MpcTracker::setReference(boost::shared_ptr<mrs_msgs::ReferenceSrvRequest_<std::allocator<void> > const> const&)123
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)0
mrs_uav_trackers::mpc_tracker::MpcTracker::loadTrajectory[abi:cxx11](mrs_msgs::TrajectoryReference_<std::allocator<void> >)501
mrs_uav_trackers::mpc_tracker::MpcTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)206
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&)1278
mrs_uav_trackers::mpc_tracker::MpcTracker::setRelativeGoal(double, double, double, double, bool)682
mrs_uav_trackers::mpc_tracker::MpcTracker::filterReferenceZ(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, double, double)54432
mrs_uav_trackers::mpc_tracker::MpcTracker::timerDiagnostics(ros::TimerEvent const&)12801
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)54432
mrs_uav_trackers::mpc_tracker::MpcTracker::manageConstraints()54432
mrs_uav_trackers::mpc_tracker::MpcTracker::publishDiagnostics()14141
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&)1
mrs_uav_trackers::mpc_tracker::MpcTracker::setVelocityReference(boost::shared_ptr<mrs_msgs::VelocityReferenceSrvRequest_<std::allocator<void> > const> const&)471
mrs_uav_trackers::mpc_tracker::MpcTracker::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)4
mrs_uav_trackers::mpc_tracker::MpcTracker::timerVelocityTracking(ros::TimerEvent const&)499
mrs_uav_trackers::mpc_tracker::MpcTracker::checkCollisionInflated(double, double, double, double, double, double)0
mrs_uav_trackers::mpc_tracker::MpcTracker::setTrajectoryReference(boost::shared_ptr<mrs_msgs::TrajectoryReferenceSrvRequest_<std::allocator<void> > const> const&)4
mrs_uav_trackers::mpc_tracker::MpcTracker::stopTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::mpc_tracker::MpcTracker::getCurrentTrajectoryIdx()5744
mrs_uav_trackers::mpc_tracker::MpcTracker::gotoTrajectoryStartImpl[abi:cxx11]()1
mrs_uav_trackers::mpc_tracker::MpcTracker::setSinglePointReference(double, double, double, double)806
mrs_uav_trackers::mpc_tracker::MpcTracker::startTrajectoryTracking(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&)0
mrs_uav_trackers::mpc_tracker::MpcTracker::timerAvoidanceTrajectory(ros::TimerEvent const&)2529
mrs_uav_trackers::mpc_tracker::MpcTracker::callbackOtherMavTrajectory(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const>)0
mrs_uav_trackers::mpc_tracker::MpcTracker::dynamicReconfigureCallback(mrs_uav_trackers::mpc_trackerConfig&, unsigned int)65
mrs_uav_trackers::mpc_tracker::MpcTracker::stopTrajectoryTrackingImpl[abi:cxx11]()0
mrs_uav_trackers::mpc_tracker::MpcTracker::callbackOtherMavDiagnostics(boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const>)0
mrs_uav_trackers::mpc_tracker::MpcTracker::startTrajectoryTrackingImpl[abi:cxx11]()1
mrs_uav_trackers::mpc_tracker::MpcTracker::checkTrajectoryForCollisions(int&)54336
mrs_uav_trackers::mpc_tracker::MpcTracker::resumeTrajectoryTrackingImpl[abi:cxx11]()0
mrs_uav_trackers::mpc_tracker::MpcTracker::increaseCurrentTrajectoryTime(double)11238
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&)0
mrs_uav_trackers::mpc_tracker::MpcTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)77966
mrs_uav_trackers::mpc_tracker::MpcTracker::setGoal(double, double, double, double, bool)124
mrs_uav_trackers::mpc_tracker::MpcTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)56
mrs_uav_trackers::mpc_tracker::MpcTracker::timerMPC(ros::TimerEvent const&)54432
mrs_uav_trackers::mpc_tracker::MpcTracker::getStatus()5744
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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..39e843f865 --- /dev/null +++ b/mrs_uav_trackers/src/mpc_tracker/mpc_tracker.cpp.gcov.html @@ -0,0 +1,3926 @@ + + + + + + + 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:1232165474.5 %
Date:2024-01-20 21:44:18Functions:365072.0 %
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             : using quat_t = Eigen::Quaterniond;
+      45             : 
+      46             : //}
+      47             : 
+      48             : /* using //{ */
+      49             : 
+      50             : using namespace Eigen;
+      51             : 
+      52             : using vec2_t = mrs_lib::geometry::vec_t<2>;
+      53             : using vec3_t = mrs_lib::geometry::vec_t<3>;
+      54             : 
+      55             : using radians  = mrs_lib::geometry::radians;
+      56             : using sradians = mrs_lib::geometry::sradians;
+      57             : 
+      58             : //}
+      59             : 
+      60             : namespace mrs_uav_trackers
+      61             : {
+      62             : 
+      63             : namespace mpc_tracker
+      64             : {
+      65             : 
+      66             : /* //{ class MpcTracker */
+      67             : 
+      68             : class MpcTracker : public mrs_uav_managers::Tracker {
+      69             : public:
+      70             :   bool initialize(const ros::NodeHandle& nh, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t> common_handlers,
+      71             :                   std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers);
+      72             : 
+      73             :   std::tuple<bool, std::string> activate(const std::optional<mrs_msgs::TrackerCommand>& last_tracker_cmd);
+      74             :   void                          deactivate(void);
+      75             :   bool                          resetStatic(void);
+      76             : 
+      77             :   std::optional<mrs_msgs::TrackerCommand>   update(const mrs_msgs::UavState& uav_state, const mrs_uav_managers::Controller::ControlOutput& last_control_output);
+      78             :   const std_srvs::SetBoolResponse::ConstPtr enableCallbacks(const std_srvs::SetBoolRequest::ConstPtr& cmd);
+      79             :   const mrs_msgs::TrackerStatus             getStatus();
+      80             :   const std_srvs::TriggerResponse::ConstPtr switchOdometrySource(const mrs_msgs::UavState& new_uav_state);
+      81             : 
+      82             :   const mrs_msgs::ReferenceSrvResponse::ConstPtr           setReference(const mrs_msgs::ReferenceSrvRequest::ConstPtr& cmd);
+      83             :   const mrs_msgs::VelocityReferenceSrvResponse::ConstPtr   setVelocityReference(const mrs_msgs::VelocityReferenceSrvRequest::ConstPtr& cmd);
+      84             :   const mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr setTrajectoryReference(const mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr& cmd);
+      85             : 
+      86             :   const std_srvs::TriggerResponse::ConstPtr hover(const std_srvs::TriggerRequest::ConstPtr& cmd);
+      87             :   const std_srvs::TriggerResponse::ConstPtr startTrajectoryTracking(const std_srvs::TriggerRequest::ConstPtr& cmd);
+      88             :   const std_srvs::TriggerResponse::ConstPtr stopTrajectoryTracking(const std_srvs::TriggerRequest::ConstPtr& cmd);
+      89             :   const std_srvs::TriggerResponse::ConstPtr resumeTrajectoryTracking(const std_srvs::TriggerRequest::ConstPtr& cmd);
+      90             :   const std_srvs::TriggerResponse::ConstPtr gotoTrajectoryStart(const std_srvs::TriggerRequest::ConstPtr& cmd);
+      91             : 
+      92             :   const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr setConstraints(const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr& cmd);
+      93             : 
+      94             : private:
+      95             :   ros::NodeHandle nh_;
+      96             : 
+      97             :   std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t>  common_handlers_;
+      98             :   std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers_;
+      99             : 
+     100             :   std::atomic<bool> callbacks_enabled_ = true;
+     101             : 
+     102             :   std::string _uav_name_;
+     103             : 
+     104             :   // debugging publishers
+     105             :   mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics> pub_diagnostics_;
+     106             :   mrs_lib::PublisherHandler<std_msgs::String>                pub_status_string_;
+     107             : 
+     108             :   mrs_lib::PublisherHandler<geometry_msgs::PoseArray>        pub_debug_processed_trajectory_poses_;
+     109             :   mrs_lib::PublisherHandler<visualization_msgs::MarkerArray> pub_debug_processed_trajectory_markers_;
+     110             : 
+     111             :   mrs_msgs::UavState uav_state_;
+     112             :   std::mutex         mutex_uav_state_;
+     113             : 
+     114             :   bool is_active_      = false;
+     115             :   bool is_initialized_ = false;
+     116             : 
+     117             :   // | --------------------- MPC base params -------------------- |
+     118             : 
+     119             :   int _mpc_n_states_;          // number of states
+     120             :   int _mpc_m_states_;          // number of inputs
+     121             :   int _mpc_n_states_heading_;  // number of states - heading
+     122             :   int _mpc_n_inputs_heading_;  // number of inputs - heading
+     123             :   int _mpc_horizon_len_;       // lenght of the prediction horizon
+     124             : 
+     125             :   // | ----------------------- constraints ---------------------- |
+     126             : 
+     127             :   mrs_msgs::DynamicsConstraints constraints_;
+     128             :   std::mutex                    mutex_constraints_;
+     129             : 
+     130             :   mrs_msgs::DynamicsConstraints constraints_filtered_;
+     131             :   std::mutex                    mutex_constraints_filtered_;
+     132             : 
+     133             :   std::atomic<bool> got_constraints_     = false;
+     134             :   std::atomic<bool> all_constraints_set_ = false;
+     135             : 
+     136             :   double _diag_pos_tracking_thr_;
+     137             :   double _diag_heading_tracking_thr_;
+     138             : 
+     139             :   double _mpc_synchronous_rate_limit_;
+     140             :   double _mpc_asynchronous_rate_;
+     141             : 
+     142             :   double update_rate_ = 100.0;
+     143             : 
+     144             :   double     dt1_;
+     145             :   std::mutex mutex_dt1_;
+     146             : 
+     147             :   double _dt2_;
+     148             : 
+     149             :   MatrixXd          _mat_A_;  // system matrix for virtual UAV
+     150             :   MatrixXd          _mat_B_;  // input matrix for virtual UAV
+     151             :   MatrixXd          A_;       // system matrix for virtual UAV
+     152             :   MatrixXd          B_;       // input matrix for virtual UAV
+     153             :   std::atomic<bool> model_first_iteration_ = true;
+     154             :   ros::Time         model_iteration_last_time_;
+     155             : 
+     156             :   MatrixXd _mat_A_heading_;  // system matrix for heading
+     157             :   MatrixXd _mat_B_heading_;  // input matrix for heading
+     158             :   MatrixXd A_heading_;       // system matrix for heading
+     159             :   MatrixXd B_heading_;       // input matrix for heading
+     160             : 
+     161             :   // the reference over the prediction horizon per axis
+     162             :   MatrixXd   des_x_trajectory_;
+     163             :   MatrixXd   des_y_trajectory_;
+     164             :   MatrixXd   des_z_trajectory_;
+     165             :   MatrixXd   des_heading_trajectory_;
+     166             :   std::mutex mutex_des_trajectory_;
+     167             : 
+     168             :   // the reference filtered over the prediction horizon per axis
+     169             :   MatrixXd des_z_filtered_offset_;
+     170             : 
+     171             :   // the whole trajectory reference split per axis
+     172             :   std::shared_ptr<VectorXd> des_x_whole_trajectory_;
+     173             :   std::shared_ptr<VectorXd> des_y_whole_trajectory_;
+     174             :   std::shared_ptr<VectorXd> des_z_whole_trajectory_;
+     175             :   std::shared_ptr<VectorXd> des_heading_whole_trajectory_;
+     176             :   int                       des_whole_trajectory_id_ = 0;
+     177             :   std::mutex                mutex_des_whole_trajectory_;
+     178             : 
+     179             :   int  getCurrentTrajectoryIdx();
+     180             :   void increaseCurrentTrajectoryTime(const double dt);
+     181             : 
+     182             :   // trajectory tracking
+     183             :   std::atomic<bool> trajectory_tracking_in_progress_ = false;
+     184             :   double            trajectory_current_time_;
+     185             :   std::mutex        mutex_trajectory_tracking_states_;
+     186             : 
+     187             :   // params of the loaded trajectory
+     188             :   int    trajectory_size_          = 0;
+     189             :   double trajectory_dt_            = 0.2;
+     190             :   bool   trajectory_track_heading_ = false;
+     191             :   bool   trajectory_tracking_loop_ = false;
+     192             :   bool   trajectory_set_           = false;
+     193             :   int    trajectory_count_         = 0;  // counts how many trajectories we have received
+     194             : 
+     195             :   // mpc output
+     196             :   VectorXd   mpc_u_;
+     197             :   double     mpc_u_heading_;
+     198             :   std::mutex mutex_mpc_u_;
+     199             : 
+     200             :   // current state of the dynamical system
+     201             :   MatrixXd   mpc_x_;          // translation state
+     202             :   MatrixXd   mpc_x_heading_;  // heading state
+     203             :   std::mutex mutex_mpc_x_;
+     204             : 
+     205             :   // odometry reset
+     206             :   std::atomic<bool> odometry_reset_in_progress_ = false;
+     207             :   std::atomic<bool> mpc_result_invalid_         = false;
+     208             : 
+     209             :   // predicting the future
+     210             :   MatrixXd   predicted_trajectory_;
+     211             :   MatrixXd   predicted_heading_trajectory_;
+     212             :   std::mutex mutex_predicted_trajectory_;
+     213             : 
+     214             :   mrs_msgs::MpcPredictionFullState prediction_full_state_;
+     215             :   std::mutex                       mutex_prediction_full_state_;
+     216             : 
+     217             :   mrs_lib::PublisherHandler<geometry_msgs::PoseArray>   ph_predicted_trajectory_debugging_;
+     218             :   mrs_lib::PublisherHandler<geometry_msgs::PoseArray>   ph_mpc_reference_debugging_;
+     219             :   mrs_lib::PublisherHandler<geometry_msgs::PoseStamped> ph_current_trajectory_point_;
+     220             : 
+     221             :   std::atomic<bool> mpc_computed_ = false;
+     222             : 
+     223             :   bool brake_ = false;
+     224             : 
+     225             :   // | ----------------------- MPC solver ----------------------- |
+     226             : 
+     227             :   std::shared_ptr<mrs_mpc_solvers::mpc_tracker::Solver> mpc_solver_y_;
+     228             :   std::shared_ptr<mrs_mpc_solvers::mpc_tracker::Solver> mpc_solver_x_;
+     229             :   std::shared_ptr<mrs_mpc_solvers::mpc_tracker::Solver> mpc_solver_z_;
+     230             :   std::shared_ptr<mrs_mpc_solvers::mpc_tracker::Solver> mpc_solver_heading_;
+     231             : 
+     232             :   std::mutex mutex_mpc_calculation_;
+     233             : 
+     234             :   int _max_iters_xy_;
+     235             :   int _max_iters_z_;
+     236             :   int _max_iters_heading_;
+     237             : 
+     238             :   // | ----------- measuring the "MPC realtime factor" ---------- |
+     239             : 
+     240             :   double mpc_rtf_ = 0.0;
+     241             : 
+     242             :   // | ------------------- collision avoidance ------------------ |
+     243             : 
+     244             :   // configurable params
+     245             :   bool collision_avoidance_enabled_           = false;
+     246             :   bool collision_avoidance_enabled_passively_ = true;
+     247             : 
+     248             :   // TODO what is this?
+     249             :   double    coef_scaler = 0;
+     250             :   ros::Time coef_time;
+     251             : 
+     252             :   double minimum_collison_free_altitude_ = std::numeric_limits<double>::lowest();
+     253             : 
+     254             :   // params
+     255             :   double                   _avoidance_trajectory_rate_;
+     256             :   double                   _avoidance_radius_threshold_;
+     257             :   double                   _avoidance_z_correction_;
+     258             :   std::string              _avoidance_diagnostics_topic_name_;
+     259             :   std::vector<std::string> _avoidance_other_uav_names_;
+     260             :   double                   _avoidance_z_threshold_;
+     261             : 
+     262             :   // how old can the other UAV trajectory be (since receive time)
+     263             :   double _collision_trajectory_timeout_;
+     264             : 
+     265             :   // when collision detected, slow down during the manouver
+     266             :   double _avoidance_collision_horizontal_speed_coef_;
+     267             : 
+     268             :   // when collision detected, slow down fully this number of steps before it
+     269             :   int _avoidance_collision_slow_down_fully_;
+     270             : 
+     271             :   // when collision detected, start slowing down this number of steps before it
+     272             :   int _avoidance_collision_slow_down_;
+     273             : 
+     274             :   // when avoiding, start climbing this number of steps before it
+     275             :   int _avoidance_collision_start_climbing_;
+     276             : 
+     277             :   int avoidance_this_uav_number_;
+     278             :   int avoidance_this_uav_priority_;
+     279             : 
+     280             :   double            collision_free_altitude_;
+     281             :   std::atomic<bool> avoiding_collision_               = false;
+     282             :   bool              collision_avoidance_affecting_me_ = false;
+     283             : 
+     284             :   // avoidance trajectory will not be published unless we computed it at least once
+     285             :   std::atomic<bool> future_was_predicted_ = false;
+     286             : 
+     287             :   // subscribing to the other UAV future trajectories
+     288             :   void callbackOtherMavTrajectory(const mrs_msgs::FutureTrajectory::ConstPtr msg);
+     289             : 
+     290             :   std::vector<mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory>> other_uav_trajectory_subscribers_;
+     291             :   std::map<std::string, mrs_msgs::FutureTrajectory>                  other_uav_avoidance_trajectories_;
+     292             :   std::mutex                                                         mutex_other_uav_avoidance_trajectories_;
+     293             : 
+     294             :   // subscribing to the other UAV diagnostics'
+     295             :   void callbackOtherMavDiagnostics(const mrs_msgs::MpcTrackerDiagnostics::ConstPtr msg);
+     296             : 
+     297             :   std::vector<mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics>> other_uav_diag_subscribers_;
+     298             :   std::map<std::string, mrs_msgs::MpcTrackerDiagnostics>                  other_uav_diagnostics_;
+     299             :   std::mutex                                                              mutex_other_uav_diagnostics_;
+     300             : 
+     301             :   bool checkCollision(const double ax, const double ay, const double az, const double bx, const double by, const double bz);
+     302             :   bool checkCollisionInflated(const double ax, const double ay, const double az, const double bx, const double by, const double bz);
+     303             : 
+     304             :   mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory> ph_avoidance_trajectory_;
+     305             : 
+     306             :   ros::ServiceServer service_server_toggle_avoidance_;
+     307             :   bool               callbackToggleCollisionAvoidance(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res);
+     308             : 
+     309             :   mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics> sh_estimation_diag_;
+     310             : 
+     311             :   // | --------------------- MPC calculation -------------------- |
+     312             : 
+     313             :   ros::Timer        timer_mpc_iteration_;
+     314             :   std::atomic<bool> mpc_synchronous_ = false;
+     315             : 
+     316             :   std::atomic<bool> mpc_timer_running_ = false;
+     317             :   void              timerMPC(const ros::TimerEvent& event);
+     318             : 
+     319             :   // | -------------------- velocity tracking ------------------- |
+     320             : 
+     321             :   ros::Timer                  timer_velocity_tracking_;
+     322             :   void                        timerVelocityTracking(const ros::TimerEvent& event);
+     323             :   ros::Time                   velocity_reference_time_;
+     324             :   mrs_msgs::VelocityReference velocity_reference_;
+     325             :   std::mutex                  mutex_velocity_reference_;
+     326             :   std::atomic<bool>           velocity_tracking_active_ = false;
+     327             : 
+     328             :   // | ------------------ avoidance trajectory ------------------ |
+     329             : 
+     330             :   ros::Timer timer_avoidance_trajectory_;
+     331             :   void       timerAvoidanceTrajectory(const ros::TimerEvent& event);
+     332             : 
+     333             :   // | ----------------------- diagnostics ---------------------- |
+     334             : 
+     335             :   ros::Timer timer_diagnostics_;
+     336             :   double     _diagnostics_rate_;
+     337             :   void       timerDiagnostics(const ros::TimerEvent& event);
+     338             : 
+     339             :   // | ------------------------ hovering ------------------------ |
+     340             : 
+     341             :   ros::Timer        timer_hover_;
+     342             :   void              timerHover(const ros::TimerEvent& event);
+     343             :   std::atomic<bool> hovering_in_progress_ = false;
+     344             :   void              toggleHover(bool in);
+     345             : 
+     346             :   // | ------------------- trajectory tracking ------------------ |
+     347             : 
+     348             :   std::tuple<bool, std::string> resumeTrajectoryTrackingImpl(void);
+     349             :   std::tuple<bool, std::string> startTrajectoryTrackingImpl(void);
+     350             :   std::tuple<bool, std::string> stopTrajectoryTrackingImpl(void);
+     351             :   std::tuple<bool, std::string> gotoTrajectoryStartImpl(void);
+     352             : 
+     353             :   // | --------------------- other routines --------------------- |
+     354             : 
+     355             :   void publishDiagnostics();
+     356             : 
+     357             :   void debugPrintState(const double throttle);
+     358             :   void debugPrintMPCResult(const double throttle);
+     359             : 
+     360             :   void setGoal(const double pos_x, const double pos_y, const double pos_z, const double heading, const bool use_heading);
+     361             :   void setRelativeGoal(const double pos_x, const double pos_y, const double pos_z, const double heading, const bool use_heading);
+     362             :   void setSinglePointReference(const double x, const double y, const double z, const double heading);
+     363             : 
+     364             :   std::tuple<bool, std::string, bool> loadTrajectory(const mrs_msgs::TrajectoryReference msg);
+     365             : 
+     366             :   MatrixXd                       filterReferenceZ(const VectorXd& des_z_trajectory, const double max_ascending_speed, const double max_descending_speed);
+     367             :   std::tuple<MatrixXd, MatrixXd> filterReferenceXY(const VectorXd& des_x_trajectory, const VectorXd& des_y_trajectory, double max_speed_x, double max_speed_y);
+     368             : 
+     369             :   double checkTrajectoryForCollisions(int& first_collision_index);
+     370             : 
+     371             :   void manageConstraints(void);
+     372             :   void calculateMPC(void);
+     373             :   void iterateModel(const double& dt);
+     374             : 
+     375             :   // | ------------------------ profiler ------------------------ |
+     376             : 
+     377             :   mrs_lib::Profiler profiler;
+     378             :   bool              _profiler_enabled_ = false;
+     379             : 
+     380             :   // | ------------------------- wiggle ------------------------- |
+     381             : 
+     382             :   ros::ServiceServer service_server_wiggle_;
+     383             :   bool               callbackWiggle(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res);
+     384             : 
+     385             :   double wiggle_phase_ = 0;
+     386             : 
+     387             :   // | --------------- dynamic reconfigure server --------------- |
+     388             : 
+     389             :   void dynamicReconfigureCallback(mrs_uav_trackers::mpc_trackerConfig& config, uint32_t level);
+     390             : 
+     391             :   boost::recursive_mutex                      config_mutex_;
+     392             :   typedef mrs_uav_trackers::mpc_trackerConfig Config;
+     393             :   typedef dynamic_reconfigure::Server<Config> ReconfigureServer;
+     394             :   boost::shared_ptr<ReconfigureServer>        reconfigure_server_;
+     395             :   mrs_uav_trackers::mpc_trackerConfig         drs_params_;
+     396             :   std::mutex                                  mutex_drs_params_;
+     397             : };
+     398             : 
+     399             : //}
+     400             : 
+     401             : // | -------------- tracker's interface routines -------------- |
+     402             : 
+     403             : /* //{ initialize() */
+     404             : 
+     405          65 : bool MpcTracker::initialize(const ros::NodeHandle& nh, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t> common_handlers,
+     406             :                             std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers) {
+     407             : 
+     408          65 :   nh_ = nh;
+     409             : 
+     410          65 :   common_handlers_  = common_handlers;
+     411          65 :   private_handlers_ = private_handlers;
+     412             : 
+     413          65 :   _uav_name_ = common_handlers->uav_name;
+     414             : 
+     415          65 :   ros::Time::waitForValid();
+     416             : 
+     417             :   // --------------------------------------------------------------
+     418             :   // |                     loading parameters                     |
+     419             :   // --------------------------------------------------------------
+     420             : 
+     421             :   // | ---------- loading params using the parent's nh ---------- |
+     422             : 
+     423         130 :   mrs_lib::ParamLoader param_loader_parent(common_handlers->parent_nh, "ControlManager");
+     424             : 
+     425          65 :   param_loader_parent.loadParam("enable_profiler", _profiler_enabled_);
+     426             : 
+     427          65 :   if (!param_loader_parent.loadedSuccessfully()) {
+     428           0 :     ROS_ERROR("[MpcTracker]: Could not load all parameters!");
+     429           0 :     return false;
+     430             :   }
+     431             : 
+     432             :   // | --------------- loading plugin's parameters -------------- |
+     433             : 
+     434          65 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/private/mpc_tracker.yaml");
+     435          65 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/public/mpc_tracker.yaml");
+     436             : 
+     437         130 :   const std::string yaml_prefix = "mrs_uav_trackers/mpc_tracker/";
+     438             : 
+     439          65 :   private_handlers->param_loader->loadParam("network/robot_names", _avoidance_other_uav_names_);
+     440             : 
+     441          65 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_loop/synchronous_rate_limit", _mpc_synchronous_rate_limit_);
+     442          65 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_loop/asynchronous_loop_rate", _mpc_asynchronous_rate_);
+     443             : 
+     444          65 :   if (_mpc_asynchronous_rate_ < 15) {
+     445           0 :     ROS_ERROR("[MpcTracker]: the asynchronous_loop_rate must be > 15 Hz");
+     446           0 :     return false;
+     447             :   }
+     448             : 
+     449          65 :   dt1_ = 1.0 / _mpc_asynchronous_rate_;
+     450             : 
+     451          65 :   private_handlers->param_loader->loadParam(yaml_prefix + "braking/enabled", drs_params_.braking_enabled);
+     452          65 :   private_handlers->param_loader->loadParam(yaml_prefix + "braking/q_vel_braking", drs_params_.q_vel_braking);
+     453          65 :   private_handlers->param_loader->loadParam(yaml_prefix + "braking/q_vel_no_braking", drs_params_.q_vel_no_braking);
+     454             : 
+     455          65 :   private_handlers->param_loader->loadParam(yaml_prefix + "model/translation/n_states", _mpc_n_states_);
+     456          65 :   private_handlers->param_loader->loadParam(yaml_prefix + "model/translation/n_inputs", _mpc_m_states_);
+     457          65 :   private_handlers->param_loader->loadMatrixStatic(yaml_prefix + "model/translation/A", _mat_A_, _mpc_n_states_, _mpc_n_states_);
+     458          65 :   private_handlers->param_loader->loadMatrixStatic(yaml_prefix + "model/translation/B", _mat_B_, _mpc_n_states_, _mpc_m_states_);
+     459             : 
+     460          65 :   A_ = _mat_A_;
+     461          65 :   B_ = _mat_B_;
+     462             : 
+     463          65 :   private_handlers->param_loader->loadParam(yaml_prefix + "model/heading/n_states", _mpc_n_states_heading_);
+     464          65 :   private_handlers->param_loader->loadParam(yaml_prefix + "model/heading/n_inputs", _mpc_n_inputs_heading_);
+     465          65 :   private_handlers->param_loader->loadMatrixStatic(yaml_prefix + "model/heading/A", _mat_A_heading_, _mpc_n_states_heading_, _mpc_n_states_heading_);
+     466          65 :   private_handlers->param_loader->loadMatrixStatic(yaml_prefix + "model/heading/B", _mat_B_heading_, _mpc_n_states_heading_, _mpc_n_inputs_heading_);
+     467             : 
+     468          65 :   A_heading_ = _mat_A_heading_;
+     469          65 :   B_heading_ = _mat_B_heading_;
+     470             : 
+     471             :   // load the MPC parameters
+     472          65 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/horizon_len", _mpc_horizon_len_);
+     473             : 
+     474          65 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/dt2", _dt2_);
+     475             : 
+     476          65 :   private_handlers->param_loader->loadParam(yaml_prefix + "diagnostics/rate", _diagnostics_rate_);
+     477          65 :   private_handlers->param_loader->loadParam(yaml_prefix + "diagnostics/position_tracking_threshold", _diag_pos_tracking_thr_);
+     478          65 :   private_handlers->param_loader->loadParam(yaml_prefix + "diagnostics/orientation_tracking_threshold", _diag_heading_tracking_thr_);
+     479             : 
+     480          65 :   bool verbose_xy      = false;
+     481          65 :   bool verbose_z       = false;
+     482          65 :   bool verbose_heading = false;
+     483             : 
+     484         130 :   std::vector<double> xy_Q;
+     485         130 :   std::vector<double> z_Q;
+     486         130 :   std::vector<double> heading_Q;
+     487             : 
+     488          65 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/xy/verbose", verbose_xy);
+     489          65 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/xy/max_n_iterations", _max_iters_xy_);
+     490          65 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/xy/Q", xy_Q);
+     491             : 
+     492          65 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/z/verbose", verbose_z);
+     493          65 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/z/max_n_iterations", _max_iters_z_);
+     494          65 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/z/Q", z_Q);
+     495             : 
+     496          65 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/heading/verbose", verbose_heading);
+     497          65 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/heading/max_n_iterations", _max_iters_heading_);
+     498          65 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/heading/Q", heading_Q);
+     499             : 
+     500          65 :   private_handlers->param_loader->loadParam(yaml_prefix + "wiggle/enabled", drs_params_.wiggle_enabled);
+     501          65 :   private_handlers->param_loader->loadParam(yaml_prefix + "wiggle/amplitude", drs_params_.wiggle_amplitude);
+     502          65 :   private_handlers->param_loader->loadParam(yaml_prefix + "wiggle/frequency", drs_params_.wiggle_frequency);
+     503             : 
+     504          65 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/enabled", collision_avoidance_enabled_);
+     505          65 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/enabled_passively", collision_avoidance_enabled_passively_);
+     506          65 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/predicted_trajectory_publish_rate", _avoidance_trajectory_rate_);
+     507          65 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/correction", _avoidance_z_correction_);
+     508          65 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/radius", _avoidance_radius_threshold_);
+     509          65 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/altitude_threshold", _avoidance_z_threshold_);
+     510          65 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/collision_horizontal_speed_coef", _avoidance_collision_horizontal_speed_coef_);
+     511          65 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/collision_slow_down_fully", _avoidance_collision_slow_down_fully_);
+     512          65 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/collision_slow_down_start", _avoidance_collision_slow_down_);
+     513          65 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/collision_start_climbing", _avoidance_collision_start_climbing_);
+     514          65 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/trajectory_timeout", _collision_trajectory_timeout_);
+     515             : 
+     516          65 :   if (!private_handlers->param_loader->loadedSuccessfully()) {
+     517           0 :     ROS_ERROR("[MpcTracker]: could not load all parameters!");
+     518           0 :     return false;
+     519             :   }
+     520             : 
+     521          65 :   ROS_INFO_STREAM("[MpcTracker]: initializing solvers with dt1 = " << dt1_);
+     522             : 
+     523          65 :   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          65 :   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          65 :   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          65 :       std::make_shared<mrs_mpc_solvers::mpc_tracker::Solver>("MpcTracker_hdg", verbose_heading, _max_iters_heading_, heading_Q, dt1_, _dt2_, 0);
+     528             : 
+     529          65 :   mpc_x_         = MatrixXd::Zero(_mpc_n_states_, 1);
+     530          65 :   mpc_x_heading_ = MatrixXd::Zero(_mpc_n_states_heading_, 1);
+     531             : 
+     532          65 :   mpc_u_ = VectorXd::Zero(_mpc_m_states_);
+     533             : 
+     534          65 :   coef_time = ros::Time(0);
+     535             : 
+     536          65 :   des_x_trajectory_       = MatrixXd::Zero(_mpc_horizon_len_, 1);
+     537          65 :   des_y_trajectory_       = MatrixXd::Zero(_mpc_horizon_len_, 1);
+     538          65 :   des_z_trajectory_       = MatrixXd::Zero(_mpc_horizon_len_, 1);
+     539          65 :   des_z_filtered_offset_  = MatrixXd::Zero(_mpc_horizon_len_, 1);
+     540          65 :   des_heading_trajectory_ = MatrixXd::Zero(_mpc_horizon_len_, 1);
+     541             : 
+     542          65 :   service_server_wiggle_ = nh_.advertiseService("wiggle", &MpcTracker::callbackWiggle, this);
+     543             : 
+     544          65 :   pub_diagnostics_   = mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics>(nh_, "diagnostics", 1);
+     545          65 :   pub_status_string_ = mrs_lib::PublisherHandler<std_msgs::String>(nh_, "string", 1);
+     546             : 
+     547             :   // extract the numerical name
+     548          65 :   sscanf(_uav_name_.c_str(), "uav%d", &avoidance_this_uav_number_);
+     549          65 :   ROS_INFO("[MpcTracker]: Numerical ID of this UAV is %d", avoidance_this_uav_number_);
+     550          65 :   avoidance_this_uav_priority_ = avoidance_this_uav_number_;
+     551             : 
+     552             :   // exclude this drone from the list
+     553          65 :   std::vector<std::string>::iterator it = _avoidance_other_uav_names_.begin();
+     554         130 :   while (it != _avoidance_other_uav_names_.end()) {
+     555             : 
+     556          65 :     std::string temp_str = *it;
+     557             : 
+     558             :     int other_uav_priority;
+     559          65 :     sscanf(temp_str.c_str(), "uav%d", &other_uav_priority);
+     560             : 
+     561          65 :     if (other_uav_priority == avoidance_this_uav_number_) {
+     562             : 
+     563          65 :       _avoidance_other_uav_names_.erase(it);
+     564          65 :       continue;
+     565             :     }
+     566             : 
+     567           0 :     it++;
+     568             :   }
+     569             : 
+     570             :   // initialize velocity tracker
+     571             : 
+     572          65 :   velocity_reference_time_ = ros::Time(0);
+     573             : 
+     574             :   // create publishers for predicted trajectory
+     575             : 
+     576          65 :   ph_avoidance_trajectory_           = mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory>(nh_, "predicted_trajectory", 1);
+     577          65 :   ph_predicted_trajectory_debugging_ = mrs_lib::PublisherHandler<geometry_msgs::PoseArray>(nh_, "predicted_trajectory_debugging", 1);
+     578          65 :   ph_mpc_reference_debugging_        = mrs_lib::PublisherHandler<geometry_msgs::PoseArray>(nh_, "mpc_reference_debugging", 1, true);
+     579          65 :   ph_current_trajectory_point_       = mrs_lib::PublisherHandler<geometry_msgs::PoseStamped>(nh_, "current_trajectory_point", 1, true);
+     580             : 
+     581          65 :   pub_debug_processed_trajectory_poses_   = mrs_lib::PublisherHandler<geometry_msgs::PoseArray>(nh_, "trajectory_processed/poses", 1, true);
+     582          65 :   pub_debug_processed_trajectory_markers_ = mrs_lib::PublisherHandler<visualization_msgs::MarkerArray>(nh_, "trajectory_processed/markers", 1, true);
+     583             : 
+     584             :   // preallocate predicted trajectory
+     585          65 :   predicted_trajectory_         = MatrixXd::Zero(_mpc_horizon_len_ * _mpc_n_states_, 1);
+     586          65 :   predicted_heading_trajectory_ = MatrixXd::Zero(_mpc_horizon_len_ * _mpc_n_states_, 1);
+     587             : 
+     588          65 :   collision_free_altitude_ = std::numeric_limits<float>::lowest();
+     589             : 
+     590             :   // collision avoidance toggle service
+     591          65 :   service_server_toggle_avoidance_ = nh_.advertiseService("collision_avoidance", &MpcTracker::callbackToggleCollisionAvoidance, this);
+     592             : 
+     593         130 :   mrs_lib::SubscribeHandlerOptions shopts;
+     594          65 :   shopts.nh                 = nh_;
+     595          65 :   shopts.node_name          = "MpcTracker";
+     596          65 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     597          65 :   shopts.threadsafe         = true;
+     598          65 :   shopts.autostart          = true;
+     599          65 :   shopts.queue_size         = 10;
+     600          65 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     601             : 
+     602             :   // create subscribers on other drones diagnostics
+     603          65 :   if (collision_avoidance_enabled_ || collision_avoidance_enabled_passively_) {
+     604             : 
+     605          65 :     for (int i = 0; i < int(_avoidance_other_uav_names_.size()); i++) {
+     606             : 
+     607           0 :       std::string prediction_topic_name = std::string("/") + _avoidance_other_uav_names_[i] + "/control_manager/mpc_tracker/predicted_trajectory";
+     608           0 :       std::string diag_topic_name       = std::string("/") + _avoidance_other_uav_names_[i] + "/control_manager/mpc_tracker/diagnostics";
+     609             : 
+     610           0 :       ROS_INFO("[MpcTracker]: subscribing to %s", prediction_topic_name.c_str());
+     611             : 
+     612           0 :       other_uav_trajectory_subscribers_.push_back(
+     613           0 :           mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory>(shopts, prediction_topic_name, &MpcTracker::callbackOtherMavTrajectory, this));
+     614             : 
+     615           0 :       ROS_INFO("[MpcTracker]: subscribing to %s", diag_topic_name.c_str());
+     616             : 
+     617           0 :       other_uav_diag_subscribers_.push_back(
+     618           0 :           mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics>(shopts, diag_topic_name, &MpcTracker::callbackOtherMavDiagnostics, this));
+     619             :     }
+     620             :   }
+     621             : 
+     622          65 :   sh_estimation_diag_ = mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics>(shopts, std::string("/") + _uav_name_ + "/estimation_manager/diagnostics");
+     623             : 
+     624             :   // | --------------- dynamic reconfigure server --------------- |
+     625             : 
+     626          65 :   reconfigure_server_.reset(new ReconfigureServer(config_mutex_, nh_));
+     627          65 :   reconfigure_server_->updateConfig(drs_params_);
+     628          65 :   ReconfigureServer::CallbackType f = boost::bind(&MpcTracker::dynamicReconfigureCallback, this, _1, _2);
+     629          65 :   reconfigure_server_->setCallback(f);
+     630             : 
+     631             :   // | ------------------------ profiler ------------------------ |
+     632             : 
+     633          65 :   profiler = mrs_lib::Profiler(common_handlers->parent_nh, "MpcTracker", _profiler_enabled_);
+     634             : 
+     635             :   // | ------------------------- timers ------------------------- |
+     636             : 
+     637         130 :   timer_avoidance_trajectory_ = nh_.createTimer(ros::Rate(_avoidance_trajectory_rate_), &MpcTracker::timerAvoidanceTrajectory, this, false,
+     638         130 :                                                 collision_avoidance_enabled_ || collision_avoidance_enabled_passively_);
+     639          65 :   timer_diagnostics_          = nh_.createTimer(ros::Rate(_diagnostics_rate_), &MpcTracker::timerDiagnostics, this);
+     640          65 :   timer_mpc_iteration_        = nh_.createTimer(ros::Rate(_mpc_asynchronous_rate_), &MpcTracker::timerMPC, this, false, false);
+     641          65 :   timer_velocity_tracking_    = nh_.createTimer(ros::Rate(30.0), &MpcTracker::timerVelocityTracking, this, false, false);
+     642          65 :   timer_hover_                = nh_.createTimer(ros::Rate(10.0), &MpcTracker::timerHover, this, false, false);
+     643             : 
+     644             :   // | ----------------------- finish init ---------------------- |
+     645             : 
+     646          65 :   is_initialized_ = true;
+     647             : 
+     648          65 :   ROS_INFO("[MpcTracker]: initialized");
+     649             : 
+     650          65 :   return true;
+     651             : }
+     652             : 
+     653             : //}
+     654             : 
+     655             : /* //{ activate() */
+     656             : 
+     657          56 : std::tuple<bool, std::string> MpcTracker::activate(const std::optional<mrs_msgs::TrackerCommand>& last_tracker_cmd) {
+     658             : 
+     659         112 :   std::stringstream ss;
+     660             : 
+     661          56 :   if (!got_constraints_) {
+     662             : 
+     663           0 :     ss << "can not activate, missing constraints";
+     664           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+     665             : 
+     666           0 :     return std::tuple(false, ss.str());
+     667             :   }
+     668             : 
+     669         112 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     670             : 
+     671             :   double uav_state_heading;
+     672             : 
+     673             :   try {
+     674          56 :     uav_state_heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+     675             :   }
+     676           0 :   catch (...) {
+     677           0 :     ss << "could not calculate the UAV heading";
+     678           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+     679           0 :     return std::tuple(false, ss.str());
+     680             :   }
+     681             : 
+     682         112 :   MatrixXd mpc_x         = MatrixXd::Zero(_mpc_n_states_, 1);
+     683          56 :   MatrixXd mpc_x_heading = MatrixXd::Zero(_mpc_n_states_heading_, 1);
+     684             : 
+     685          56 :   if (last_tracker_cmd) {
+     686             : 
+     687             :     // set the initial condition from the last tracker's cmd
+     688             : 
+     689          54 :     if (last_tracker_cmd->use_position_horizontal) {
+     690          54 :       mpc_x(0, 0) = last_tracker_cmd->position.x;
+     691          54 :       mpc_x(4, 0) = last_tracker_cmd->position.y;
+     692             :     } else {
+     693           0 :       mpc_x(0, 0) = uav_state.pose.position.x;
+     694           0 :       mpc_x(4, 0) = uav_state.pose.position.y;
+     695             :     }
+     696             : 
+     697          54 :     if (last_tracker_cmd->use_position_vertical) {
+     698          54 :       mpc_x(8, 0) = last_tracker_cmd->position.z;
+     699             :     } else {
+     700           0 :       mpc_x(8, 0) = uav_state.pose.position.z;
+     701             :     }
+     702             : 
+     703          54 :     if (last_tracker_cmd->use_velocity_horizontal) {
+     704          54 :       mpc_x(1, 0) = last_tracker_cmd->velocity.x;
+     705          54 :       mpc_x(5, 0) = last_tracker_cmd->velocity.y;
+     706             :     } else {
+     707           0 :       mpc_x(1, 0) = uav_state.velocity.linear.x;
+     708           0 :       mpc_x(5, 0) = uav_state.velocity.linear.y;
+     709             :     }
+     710             : 
+     711          54 :     if (last_tracker_cmd->use_velocity_vertical) {
+     712          54 :       mpc_x(9, 0) = last_tracker_cmd->velocity.z;
+     713             :     } else {
+     714           0 :       mpc_x(9, 0) = uav_state.velocity.linear.z;
+     715             :     }
+     716             : 
+     717          54 :     if (last_tracker_cmd->use_acceleration) {
+     718           0 :       mpc_x(2, 0)  = last_tracker_cmd->acceleration.x;
+     719           0 :       mpc_x(6, 0)  = last_tracker_cmd->acceleration.y;
+     720           0 :       mpc_x(10, 0) = last_tracker_cmd->acceleration.z;
+     721             :     } else {
+     722          54 :       mpc_x(2, 0)  = 0;
+     723          54 :       mpc_x(6, 0)  = 0;
+     724          54 :       mpc_x(10, 0) = 0;
+     725             :     }
+     726             : 
+     727             :     // the jerks
+     728          54 :     mpc_x(3, 0)  = 0;
+     729          54 :     mpc_x(7, 0)  = 0;
+     730          54 :     mpc_x(11, 0) = 0;
+     731             : 
+     732          54 :     if (last_tracker_cmd->use_heading) {
+     733          54 :       mpc_x_heading(0, 0) = last_tracker_cmd->heading;
+     734           0 :     } else if (last_tracker_cmd->use_orientation) {
+     735             :       try {
+     736           0 :         mpc_x_heading(0, 0) = mrs_lib::AttitudeConverter(last_tracker_cmd->orientation).getHeading();
+     737             :       }
+     738           0 :       catch (...) {
+     739           0 :         mpc_x_heading(0, 0) = uav_state_heading;
+     740             :       }
+     741             :     } else {
+     742           0 :       mpc_x_heading(0, 0) = uav_state_heading;
+     743             :     }
+     744             : 
+     745          54 :     if (last_tracker_cmd->use_heading_rate) {
+     746          13 :       mpc_x_heading(1, 0) = last_tracker_cmd->heading_rate;
+     747             :     } else {
+     748          41 :       mpc_x_heading(1, 0) = uav_state.velocity.angular.z;
+     749             :     }
+     750             : 
+     751          54 :     mpc_x_heading(2, 0) = 0;
+     752          54 :     mpc_x_heading(3, 0) = 0;
+     753             : 
+     754          54 :     ROS_INFO("[MpcTracker]: activated with last tracker's command");
+     755             : 
+     756             :   } else {
+     757             : 
+     758             :     // set the initial condition completely from the uav_state
+     759             : 
+     760           2 :     mpc_x(0, 0) = uav_state.pose.position.x;
+     761           2 :     mpc_x(1, 0) = uav_state.velocity.linear.x;
+     762           2 :     mpc_x(2, 0) = 0;
+     763           2 :     mpc_x(3, 0) = 0;
+     764             : 
+     765           2 :     mpc_x(4, 0) = uav_state.pose.position.y;
+     766           2 :     mpc_x(5, 0) = uav_state.velocity.linear.y;
+     767           2 :     mpc_x(6, 0) = 0;
+     768           2 :     mpc_x(7, 0) = 0;
+     769             : 
+     770           2 :     mpc_x(8, 0)  = uav_state.pose.position.z;
+     771           2 :     mpc_x(9, 0)  = uav_state.velocity.linear.z;
+     772           2 :     mpc_x(10, 0) = 0;
+     773           2 :     mpc_x(11, 0) = 0;
+     774             : 
+     775           2 :     mpc_x_heading(0, 0) = uav_state_heading;
+     776           2 :     mpc_x_heading(1, 0) = uav_state.velocity.angular.z;
+     777           2 :     mpc_x_heading(2, 0) = 0;
+     778           2 :     mpc_x_heading(3, 0) = 0;
+     779             : 
+     780           2 :     ROS_INFO("[MpcTracker]: activated with uav state");
+     781             :   }
+     782             : 
+     783             :   {
+     784         112 :     std::scoped_lock lock(mutex_mpc_x_);
+     785             : 
+     786          56 :     mpc_x_         = mpc_x;
+     787          56 :     mpc_x_heading_ = mpc_x_heading;
+     788             :   }
+     789             : 
+     790          56 :   trajectory_tracking_in_progress_ = false;
+     791             : 
+     792          56 :   ss << "activated";
+     793          56 :   ROS_INFO_STREAM("[MpcTracker]: " << ss.str());
+     794             : 
+     795             :   // this is here to initialize the desired_trajectory vector
+     796             :   // if deleted (and I tried) the UAV will briefly fly to the
+     797             :   // origin after activation
+     798          56 :   setRelativeGoal(0, 0, 0, 0, false);  // do not delete
+     799             : 
+     800          56 :   toggleHover(true);
+     801             : 
+     802          56 :   model_first_iteration_ = true;
+     803             : 
+     804          56 :   A_ = _mat_A_;
+     805          56 :   B_ = _mat_B_;
+     806             : 
+     807          56 :   A_heading_ = _mat_A_heading_;
+     808          56 :   B_heading_ = _mat_B_heading_;
+     809             : 
+     810          56 :   is_active_ = true;
+     811             : 
+     812          56 :   if (!mpc_synchronous_) {
+     813          52 :     timer_mpc_iteration_.start();
+     814             :   }
+     815             : 
+     816          56 :   return std::tuple(true, ss.str());
+     817             : }
+     818             : 
+     819             : //}
+     820             : 
+     821             : /* //{ deactivate() */
+     822             : 
+     823          31 : void MpcTracker::deactivate(void) {
+     824             : 
+     825          31 :   toggleHover(false);
+     826             : 
+     827          31 :   is_active_                       = false;
+     828          31 :   trajectory_tracking_in_progress_ = false;
+     829          31 :   model_first_iteration_           = true;
+     830             : 
+     831             :   {
+     832          31 :     std::scoped_lock lock(mutex_trajectory_tracking_states_);
+     833             : 
+     834          31 :     trajectory_current_time_ = 0;
+     835             :   }
+     836             : 
+     837          31 :   ROS_INFO("[MpcTracker]: deactivated");
+     838             : 
+     839          31 :   timer_mpc_iteration_.stop();
+     840             : 
+     841          31 :   publishDiagnostics();
+     842          31 : }
+     843             : 
+     844             : //}
+     845             : 
+     846             : /* //{ resetStatic() */
+     847             : 
+     848           0 : bool MpcTracker::resetStatic(void) {
+     849             : 
+     850           0 :   if (!is_initialized_) {
+     851           0 :     ROS_ERROR("[MpcTracker]: can not reset, not initialized");
+     852           0 :     return false;
+     853             :   }
+     854             : 
+     855           0 :   if (!is_active_) {
+     856           0 :     ROS_ERROR("[MpcTracker]: can not reset, not active");
+     857           0 :     return false;
+     858             :   }
+     859             : 
+     860           0 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     861             : 
+     862             :   double uav_state_heading;
+     863             : 
+     864             :   try {
+     865           0 :     uav_state_heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+     866             :   }
+     867           0 :   catch (...) {
+     868           0 :     ROS_ERROR_THROTTLE(1.0, "[MpcTracker]: could not calculate the UAV heading");
+     869           0 :     return false;
+     870             :   }
+     871             : 
+     872             :   {
+     873           0 :     std::scoped_lock lock(mutex_mpc_x_);
+     874             : 
+     875             :     // set the initial condition from the odometry
+     876             : 
+     877           0 :     ROS_INFO("[MpcTracker]: reseting with uav state with no dynamics");
+     878             : 
+     879           0 :     mpc_x_(0, 0) = uav_state.pose.position.x;
+     880           0 :     mpc_x_(1, 0) = 0;
+     881           0 :     mpc_x_(2, 0) = 0;
+     882           0 :     mpc_x_(3, 0) = 0;
+     883             : 
+     884           0 :     mpc_x_(4, 0) = uav_state.pose.position.y;
+     885           0 :     mpc_x_(5, 0) = 0;
+     886           0 :     mpc_x_(6, 0) = 0;
+     887           0 :     mpc_x_(7, 0) = 0;
+     888             : 
+     889           0 :     mpc_x_(8, 0)  = uav_state.pose.position.z;
+     890           0 :     mpc_x_(9, 0)  = 0;
+     891           0 :     mpc_x_(10, 0) = 0;
+     892           0 :     mpc_x_(11, 0) = 0;
+     893             : 
+     894           0 :     mpc_x_heading_(0, 0) = uav_state_heading;
+     895           0 :     mpc_x_heading_(1, 0) = 0;
+     896           0 :     mpc_x_heading_(2, 0) = 0;
+     897           0 :     mpc_x_heading_(3, 0) = 0;
+     898             : 
+     899           0 :     trajectory_tracking_in_progress_ = false;
+     900             : 
+     901           0 :     ROS_INFO("[MpcTracker]: reseted");
+     902             :   }
+     903             : 
+     904             :   // this is here to initialize the desired_trajectory vector
+     905             :   // if deleted (and I tried) the UAV will briefly fly to the
+     906             :   // origin after activation
+     907           0 :   setRelativeGoal(0, 0, 0, 0, false);  // do not delete
+     908             : 
+     909           0 :   return true;
+     910             : }
+     911             : 
+     912             : //}
+     913             : 
+     914             : /* //{ update() */
+     915             : 
+     916       77966 : std::optional<mrs_msgs::TrackerCommand> MpcTracker::update(const mrs_msgs::UavState&                                           uav_state,
+     917             :                                                            [[maybe_unused]] const mrs_uav_managers::Controller::ControlOutput& last_control_output) {
+     918             : 
+     919      233898 :   mrs_lib::Routine    profiler_routine = profiler.createRoutine("update");
+     920      233898 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("MpcTracker::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     921             : 
+     922      155932 :   auto old_uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     923             : 
+     924             :   // the time from the last update call
+     925       77966 :   double dt = (uav_state.header.stamp - old_uav_state.header.stamp).toSec();
+     926             : 
+     927             :   // save the uav state
+     928       77966 :   mrs_lib::set_mutexed(mutex_uav_state_, uav_state, uav_state_);
+     929             : 
+     930       77966 :   if (dt > 0) {
+     931             : 
+     932       77966 :     double rate = 1.0 / dt;
+     933             : 
+     934       77966 :     update_rate_ = 0.9 * update_rate_ + 0.1 * rate;
+     935             : 
+     936       77966 :     if (mpc_synchronous_ && (update_rate_ > _mpc_synchronous_rate_limit_)) {
+     937           0 :       mpc_synchronous_ = false;
+     938           0 :       ROS_INFO("[MpcTracker]: detecting high update date (%.1f Hz > %.1f Hz), switching to asynchronous mode.", rate, _mpc_synchronous_rate_limit_);
+     939           0 :       if (is_active_) {
+     940           0 :         timer_mpc_iteration_.start();
+     941             :       }
+     942       77966 :     } else if (!mpc_synchronous_ && (update_rate_ <= _mpc_synchronous_rate_limit_)) {
+     943           6 :       mpc_synchronous_ = true;
+     944           6 :       ROS_INFO("[MpcTracker]: detecting low update rate (%.1f Hz < %.1f Hz), switching to synchronous mode.", rate, _mpc_synchronous_rate_limit_);
+     945           6 :       timer_mpc_iteration_.stop();
+     946             :     }
+     947             :   }
+     948             : 
+     949             :   // up to this part the update() method is evaluated even when the tracker is not active
+     950       77966 :   if (!is_active_) {
+     951       30424 :     return {};
+     952             :   }
+     953             : 
+     954       95084 :   mrs_msgs::TrackerCommand tracker_cmd;
+     955             : 
+     956       47542 :   if (!mpc_synchronous_ && (!mpc_computed_ || mpc_result_invalid_)) {
+     957             : 
+     958          41 :     ROS_WARN_THROTTLE(0.1, "[MpcTracker]: MPC not ready, returning current odom as the command");
+     959             : 
+     960             :     // set the header
+     961          41 :     tracker_cmd.header.stamp    = uav_state.header.stamp;
+     962          41 :     tracker_cmd.header.frame_id = uav_state.header.frame_id;
+     963             : 
+     964             :     // set positions from odom
+     965          41 :     tracker_cmd.position.x              = uav_state.pose.position.x;
+     966          41 :     tracker_cmd.position.y              = uav_state.pose.position.y;
+     967          41 :     tracker_cmd.position.z              = uav_state.pose.position.z;
+     968          41 :     tracker_cmd.use_position_vertical   = 1;
+     969          41 :     tracker_cmd.use_position_horizontal = 1;
+     970             : 
+     971             :     // set velocities from odom
+     972          41 :     tracker_cmd.velocity.x              = uav_state.velocity.linear.x;
+     973          41 :     tracker_cmd.velocity.y              = uav_state.velocity.linear.y;
+     974          41 :     tracker_cmd.velocity.z              = uav_state.velocity.linear.z;
+     975          41 :     tracker_cmd.use_velocity_vertical   = 1;
+     976          41 :     tracker_cmd.use_velocity_horizontal = 1;
+     977             : 
+     978             :     // set zero accelerations
+     979          41 :     tracker_cmd.acceleration.x   = 0;
+     980          41 :     tracker_cmd.acceleration.y   = 0;
+     981          41 :     tracker_cmd.acceleration.z   = 0;
+     982          41 :     tracker_cmd.use_acceleration = 1;
+     983             : 
+     984             :     try {
+     985          41 :       tracker_cmd.heading     = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+     986          41 :       tracker_cmd.use_heading = 1;
+     987             :     }
+     988           0 :     catch (...) {
+     989           0 :       tracker_cmd.use_heading = 0;
+     990           0 :       ROS_WARN_THROTTLE(1.0, "[MpcTracker]: could not calculate the current UAV heading");
+     991             :     }
+     992             : 
+     993             :     // set zero jerk
+     994          41 :     tracker_cmd.jerk.x = 0;
+     995          41 :     tracker_cmd.jerk.y = 0;
+     996          41 :     tracker_cmd.jerk.z = 0;
+     997             : 
+     998             :     try {
+     999          41 :       tracker_cmd.heading_rate     = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeadingRate(uav_state.velocity.angular);
+    1000          41 :       tracker_cmd.use_heading_rate = 1;
+    1001             :     }
+    1002           0 :     catch (...) {
+    1003           0 :       tracker_cmd.use_heading_rate = 0;
+    1004           0 :       ROS_WARN_THROTTLE(1.0, "[MpcTracker]: could not calculate the current UAV heading rate");
+    1005             :     }
+    1006             : 
+    1007          41 :     return {tracker_cmd};
+    1008             :   }
+    1009             : 
+    1010       47501 :   ros::TimerEvent event;
+    1011             : 
+    1012       47501 :   if (mpc_synchronous_) {
+    1013        1431 :     ROS_DEBUG_THROTTLE(1.0, "[MpcTracker]: running in SYNCHRONOUS mode");
+    1014        1431 :     timerMPC(event);
+    1015             :   } else {
+    1016       46070 :     ROS_DEBUG_THROTTLE(1.0, "[MpcTracker]: running in ASYNCHRONOUS mode");
+    1017             :   }
+    1018             : 
+    1019       47501 :   if (dt > 0) {
+    1020       47501 :     iterateModel(dt);
+    1021             :   } else {
+    1022           0 :     ROS_WARN_THROTTLE(1.0, "[MpcTracker]: dt !> 0, not iterating the model");
+    1023             :   }
+    1024             : 
+    1025       95002 :   auto [mpc_x, mpc_x_heading] = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_, mpc_x_heading_);
+    1026       95002 :   auto prediction_full_state  = mrs_lib::get_mutexed(mutex_prediction_full_state_, prediction_full_state_);
+    1027             : 
+    1028             :   // check whether all outputs are finite
+    1029       47501 :   bool arefinite = true;
+    1030      617513 :   for (int i = 0; i < 12; i++) {
+    1031      570012 :     if (!std::isfinite(mpc_x(i, 0))) {
+    1032           0 :       arefinite = false;
+    1033             :     }
+    1034             :   }
+    1035             : 
+    1036       47501 :   if (arefinite) {
+    1037             : 
+    1038             :     // set the desired states base on the result of the mpc
+    1039       47501 :     tracker_cmd.position.x     = mpc_x(0, 0);
+    1040       47501 :     tracker_cmd.velocity.x     = mpc_x(1, 0);
+    1041       47501 :     tracker_cmd.acceleration.x = mpc_x(2, 0);
+    1042       47501 :     tracker_cmd.jerk.x         = mpc_x(3, 0);
+    1043             : 
+    1044       47501 :     tracker_cmd.position.y     = mpc_x(4, 0);
+    1045       47501 :     tracker_cmd.velocity.y     = mpc_x(5, 0);
+    1046       47501 :     tracker_cmd.acceleration.y = mpc_x(6, 0);
+    1047       47501 :     tracker_cmd.jerk.y         = mpc_x(7, 0);
+    1048             : 
+    1049       47501 :     tracker_cmd.position.z     = mpc_x(8, 0);
+    1050       47501 :     tracker_cmd.velocity.z     = mpc_x(9, 0);
+    1051       47501 :     tracker_cmd.acceleration.z = mpc_x(10, 0);
+    1052       47501 :     tracker_cmd.jerk.z         = mpc_x(11, 0);
+    1053             : 
+    1054       47501 :     tracker_cmd.full_state_prediction = prediction_full_state;
+    1055             : 
+    1056       47501 :     tracker_cmd.use_position_vertical     = 1;
+    1057       47501 :     tracker_cmd.use_position_horizontal   = 1;
+    1058       47501 :     tracker_cmd.use_velocity_vertical     = 1;
+    1059       47501 :     tracker_cmd.use_velocity_horizontal   = 1;
+    1060       47501 :     tracker_cmd.use_acceleration          = 1;
+    1061       47501 :     tracker_cmd.use_jerk                  = 1;
+    1062       47501 :     tracker_cmd.use_full_state_prediction = 1;
+    1063             : 
+    1064             :   } else {
+    1065             : 
+    1066           0 :     ROS_ERROR_THROTTLE(1.0, "[MpcTracker]: MPC translation outputs are not finite!");
+    1067             : 
+    1068           0 :     return {};
+    1069             :   }
+    1070             : 
+    1071       47501 :   bool heading_finite = true;
+    1072      237505 :   for (int i = 0; i < _mpc_n_states_heading_; i++) {
+    1073      190004 :     if (!std::isfinite(mpc_x_heading(i, 0))) {
+    1074           0 :       heading_finite = false;
+    1075             :     }
+    1076             :   }
+    1077             : 
+    1078       47501 :   if (heading_finite) {
+    1079             : 
+    1080       47501 :     tracker_cmd.heading              = mpc_x_heading(0, 0);
+    1081       47501 :     tracker_cmd.heading_rate         = mpc_x_heading(1, 0);
+    1082       47501 :     tracker_cmd.heading_acceleration = mpc_x_heading(2, 0);
+    1083       47501 :     tracker_cmd.heading_jerk         = mpc_x_heading(3, 0);
+    1084             : 
+    1085       47501 :     tracker_cmd.use_heading              = 1;
+    1086       47501 :     tracker_cmd.use_heading_rate         = 1;
+    1087       47501 :     tracker_cmd.use_heading_acceleration = 1;
+    1088       47501 :     tracker_cmd.use_heading_jerk         = 1;
+    1089             : 
+    1090             :   } else {
+    1091             : 
+    1092           0 :     ROS_ERROR_THROTTLE(1.0, "[MpcTracker]: MPC heading output is not finite!");
+    1093             : 
+    1094           0 :     return {};
+    1095             :   }
+    1096             : 
+    1097             :   // set the header
+    1098       47501 :   tracker_cmd.header.stamp    = uav_state.header.stamp;
+    1099       47501 :   tracker_cmd.header.frame_id = uav_state.header.frame_id;
+    1100             : 
+    1101             :   // u have to return a position command
+    1102             :   // can set the jerk to 0
+    1103       47501 :   return {tracker_cmd};
+    1104             : }  // namespace mpc_tracker
+    1105             : 
+    1106             : //}
+    1107             : 
+    1108             : /* //{ getStatus() */
+    1109             : 
+    1110        5744 : const mrs_msgs::TrackerStatus MpcTracker::getStatus() {
+    1111             : 
+    1112       11488 :   auto [mpc_x, mpc_x_heading] = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_, mpc_x_heading_);
+    1113        5744 :   auto trajectory_size        = mrs_lib::get_mutexed(mutex_des_trajectory_, trajectory_size_);
+    1114             : 
+    1115             :   double des_x, des_y, des_z, des_heading;
+    1116             :   {
+    1117        5744 :     std::scoped_lock lock(mutex_des_trajectory_);
+    1118             : 
+    1119        5744 :     des_x       = des_x_trajectory_(0);
+    1120        5744 :     des_y       = des_y_trajectory_(0);
+    1121        5744 :     des_z       = des_z_trajectory_(0);
+    1122        5744 :     des_heading = des_heading_trajectory_(0);
+    1123             :   }
+    1124             : 
+    1125        5744 :   mrs_msgs::TrackerStatus tracker_status;
+    1126             : 
+    1127        5744 :   tracker_status.active            = is_active_;
+    1128        5744 :   tracker_status.callbacks_enabled = is_active_ && callbacks_enabled_ && !hovering_in_progress_;
+    1129             : 
+    1130        5744 :   tracker_status.tracking_trajectory = trajectory_tracking_in_progress_;
+    1131             : 
+    1132        5744 :   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_;
+    1133        5744 :   bool have_heading_error    = fabs(radians::diff(mpc_x_heading(0), des_heading)) > _diag_heading_tracking_thr_;
+    1134        5744 :   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;
+    1135             : 
+    1136        5744 :   tracker_status.have_goal = trajectory_tracking_in_progress_ || hovering_in_progress_ || have_position_error || have_heading_error || have_nonzero_velocity;
+    1137             : 
+    1138        5744 :   int trajectory_tracking_idx = getCurrentTrajectoryIdx();
+    1139             : 
+    1140        5744 :   tracker_status.trajectory_length = trajectory_size;
+    1141        5744 :   tracker_status.trajectory_idx    = trajectory_tracking_idx;
+    1142             : 
+    1143        5744 :   if (trajectory_tracking_in_progress_) {
+    1144             : 
+    1145        2456 :     auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    1146             : 
+    1147        2456 :     std::scoped_lock lock(mutex_des_whole_trajectory_);
+    1148             : 
+    1149        1228 :     tracker_status.trajectory_reference.header.stamp    = ros::Time::now();
+    1150        1228 :     tracker_status.trajectory_reference.header.frame_id = uav_state.header.frame_id;
+    1151             : 
+    1152        1228 :     tracker_status.trajectory_reference.reference.position.x = (*des_x_whole_trajectory_)(trajectory_tracking_idx);
+    1153        1228 :     tracker_status.trajectory_reference.reference.position.y = (*des_y_whole_trajectory_)(trajectory_tracking_idx);
+    1154        1228 :     tracker_status.trajectory_reference.reference.position.z = (*des_z_whole_trajectory_)(trajectory_tracking_idx);
+    1155        1228 :     tracker_status.trajectory_reference.reference.heading    = (*des_heading_whole_trajectory_)(trajectory_tracking_idx);
+    1156             : 
+    1157             :     // | ---------- publish the current trajectory point ---------- |
+    1158             : 
+    1159        2456 :     geometry_msgs::PoseStamped debug_trajectory_point;
+    1160        1228 :     debug_trajectory_point.header.stamp    = ros::Time::now();
+    1161        1228 :     debug_trajectory_point.header.frame_id = uav_state_.header.frame_id;
+    1162             : 
+    1163        1228 :     debug_trajectory_point.pose.position.x = (*des_x_whole_trajectory_)(trajectory_tracking_idx);
+    1164        1228 :     debug_trajectory_point.pose.position.y = (*des_y_whole_trajectory_)(trajectory_tracking_idx);
+    1165        1228 :     debug_trajectory_point.pose.position.z = (*des_z_whole_trajectory_)(trajectory_tracking_idx);
+    1166             : 
+    1167        1228 :     debug_trajectory_point.pose.orientation = mrs_lib::AttitudeConverter(0, 0, (*des_heading_whole_trajectory_)(trajectory_tracking_idx));
+    1168             : 
+    1169        1228 :     ph_current_trajectory_point_.publish(debug_trajectory_point);
+    1170             :   }
+    1171             : 
+    1172       11488 :   return tracker_status;
+    1173             : }
+    1174             : 
+    1175             : //}
+    1176             : 
+    1177             : /* //{ enableCallbacks() */
+    1178             : 
+    1179        1278 : const std_srvs::SetBoolResponse::ConstPtr MpcTracker::enableCallbacks(const std_srvs::SetBoolRequest::ConstPtr& cmd) {
+    1180             : 
+    1181        2556 :   std::stringstream ss;
+    1182             : 
+    1183        1278 :   if (cmd->data != callbacks_enabled_) {
+    1184             : 
+    1185        1121 :     callbacks_enabled_ = cmd->data;
+    1186        1121 :     ss << "callbacks %s" << (callbacks_enabled_ ? "enabled" : "disabled");
+    1187             : 
+    1188             :   } else {
+    1189             : 
+    1190         157 :     ss << "callbacks were already %s" << (callbacks_enabled_ ? "enabled" : "disabled");
+    1191             :   }
+    1192             : 
+    1193        2556 :   std_srvs::SetBoolResponse res;
+    1194        1278 :   res.message = ss.str();
+    1195        1278 :   res.success = true;
+    1196             : 
+    1197        2556 :   return std_srvs::SetBoolResponse::ConstPtr(new std_srvs::SetBoolResponse(res));
+    1198             : }
+    1199             : 
+    1200             : //}
+    1201             : 
+    1202             : /* switchOdometrySource() //{ */
+    1203             : 
+    1204           4 : const std_srvs::TriggerResponse::ConstPtr MpcTracker::switchOdometrySource(const mrs_msgs::UavState& new_uav_state) {
+    1205             : 
+    1206           4 :   odometry_reset_in_progress_ = true;
+    1207           4 :   mpc_result_invalid_         = true;
+    1208             : 
+    1209           8 :   auto x         = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_);
+    1210           8 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    1211             : 
+    1212           4 :   ROS_INFO(
+    1213             :       "[MpcTracker]: start of odmetry 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: "
+    1214             :       "%.2f], "
+    1215             :       "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]",
+    1216             :       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,
+    1217             :       new_uav_state.pose.position.z, new_uav_state.velocity.linear.x, new_uav_state.velocity.linear.y, new_uav_state.velocity.linear.z,
+    1218             :       new_uav_state.acceleration.linear.x, new_uav_state.acceleration.linear.y, new_uav_state.acceleration.linear.z);
+    1219             : 
+    1220           4 :   timer_mpc_iteration_.stop();
+    1221           4 :   ROS_INFO("[MpcTracker]: mpc timer stopped");
+    1222             : 
+    1223           4 :   while (mpc_timer_running_) {
+    1224             : 
+    1225           1 :     ROS_DEBUG("[MpcTracker]: the mpc is in the middle of an iteration, waiting for it to finish");
+    1226           1 :     ros::Duration wait(0.001);
+    1227           1 :     wait.sleep();
+    1228             : 
+    1229           1 :     if (!mpc_timer_running_) {
+    1230           1 :       ROS_DEBUG("[ControlManager]: mpc timer finished");
+    1231           1 :       break;
+    1232             :     }
+    1233             :   }
+    1234             : 
+    1235             :   // | --------- recalculate the goal to new coordinates -------- |
+    1236             : 
+    1237           4 :   double old_heading  = 0;
+    1238           4 :   double new_heading  = 0;
+    1239           4 :   bool   got_headings = true;
+    1240             : 
+    1241             :   try {
+    1242           4 :     old_heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+    1243             :   }
+    1244           0 :   catch (...) {
+    1245           0 :     ROS_ERROR_THROTTLE(1.0, "[LineTracker]: could not calculate the old UAV heading");
+    1246           0 :     got_headings = false;
+    1247             :   }
+    1248             : 
+    1249             :   try {
+    1250           4 :     new_heading = mrs_lib::AttitudeConverter(new_uav_state.pose.orientation).getHeading();
+    1251             :   }
+    1252           0 :   catch (...) {
+    1253           0 :     ROS_ERROR_THROTTLE(1.0, "[LineTracker]: could not calculate the new UAV heading");
+    1254           0 :     got_headings = false;
+    1255             :   }
+    1256             : 
+    1257           8 :   std_srvs::TriggerResponse res;
+    1258             : 
+    1259           4 :   if (!got_headings) {
+    1260           0 :     res.message = "could not calculate the heading difference";
+    1261           0 :     res.success = false;
+    1262             : 
+    1263           0 :     return std_srvs::TriggerResponse::ConstPtr(new std_srvs::TriggerResponse(res));
+    1264             :   }
+    1265             : 
+    1266             :   // calculate the difference of position
+    1267           4 :   double dx       = new_uav_state.pose.position.x - uav_state_.pose.position.x;
+    1268           4 :   double dy       = new_uav_state.pose.position.y - uav_state_.pose.position.y;
+    1269           4 :   double dz       = new_uav_state.pose.position.z - uav_state_.pose.position.z;
+    1270           4 :   double dheading = new_heading - old_heading;
+    1271             : 
+    1272           4 :   ROS_INFO("[MpcTracker]: dx %f dy %f dz %f dheading %f", dx, dy, dz, dheading);
+    1273             : 
+    1274             :   {
+    1275           4 :     std::scoped_lock lock(mutex_mpc_x_, mutex_des_trajectory_, mutex_des_whole_trajectory_, mutex_uav_state_);
+    1276             : 
+    1277           4 :     if (trajectory_set_) {
+    1278             : 
+    1279           0 :       for (int i = 0; i < trajectory_size_ + _mpc_horizon_len_; i++) {
+    1280             : 
+    1281           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);
+    1282           0 :         temp_vec = Eigen::Rotation2D<double>(dheading).toRotationMatrix() * temp_vec;
+    1283             : 
+    1284           0 :         (*des_x_whole_trajectory_)(i) = new_uav_state.pose.position.x + temp_vec[0];
+    1285           0 :         (*des_y_whole_trajectory_)(i) = new_uav_state.pose.position.y + temp_vec[1];
+    1286           0 :         (*des_z_whole_trajectory_)(i) += dz;
+    1287           0 :         (*des_heading_whole_trajectory_)(i) += dheading;
+    1288             :       }
+    1289             :     }
+    1290             : 
+    1291         164 :     for (int i = 0; i < _mpc_horizon_len_; i++) {
+    1292             : 
+    1293         160 :       Eigen::Vector2d temp_vec(des_x_trajectory_(i) - uav_state_.pose.position.x, des_y_trajectory_(i) - uav_state_.pose.position.y);
+    1294         160 :       temp_vec = Eigen::Rotation2D<double>(dheading).toRotationMatrix() * temp_vec;
+    1295             : 
+    1296         160 :       des_x_trajectory_(i, 0) = new_uav_state.pose.position.x + temp_vec[0];
+    1297         160 :       des_y_trajectory_(i, 0) = new_uav_state.pose.position.y + temp_vec[1];
+    1298         160 :       des_z_trajectory_(i, 0) += dz;
+    1299         160 :       des_heading_trajectory_(i, 0) += dheading;
+    1300             :     }
+    1301             : 
+    1302             :     // update the position
+    1303             :     {
+    1304           4 :       Eigen::Vector2d temp_vec(mpc_x_(0, 0) - uav_state_.pose.position.x, mpc_x_(4, 0) - uav_state_.pose.position.y);
+    1305           4 :       temp_vec     = Eigen::Rotation2D<double>(dheading).toRotationMatrix() * temp_vec;
+    1306           4 :       mpc_x_(0, 0) = new_uav_state.pose.position.x + temp_vec[0];
+    1307           4 :       mpc_x_(4, 0) = new_uav_state.pose.position.y + temp_vec[1];
+    1308           4 :       mpc_x_(8, 0) += dz;
+    1309             :     }
+    1310             : 
+    1311             :     // update the velocity
+    1312             :     {
+    1313           4 :       mpc_x_(1, 0) = new_uav_state.velocity.linear.x;
+    1314           4 :       mpc_x_(5, 0) = new_uav_state.velocity.linear.y;
+    1315             :       // we leave the z velocity as it was in the original frame
+    1316             :     }
+    1317             : 
+    1318             :     // update the acceleration
+    1319             :     {
+    1320           4 :       mpc_x_(2, 0)  = 0;
+    1321           4 :       mpc_x_(6, 0)  = 0;
+    1322           4 :       mpc_x_(10, 0) = 0;
+    1323             :     }
+    1324             : 
+    1325             :     // update the heading and its derivative
+    1326           4 :     mpc_x_heading_(0, 0) += dheading;
+    1327           4 :     mpc_x_heading_(1, 0) = new_uav_state.velocity.angular.x;
+    1328             :   }
+    1329             : 
+    1330           4 :   ROS_INFO(
+    1331             :       "[MpcTracker]: start of odmetry 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: "
+    1332             :       "%.2f]",
+    1333             :       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));
+    1334             : 
+    1335           4 :   ROS_INFO("[MpcTracker]: starting the MPC timer");
+    1336             : 
+    1337           4 :   if (!mpc_synchronous_) {
+    1338           4 :     timer_mpc_iteration_.start();
+    1339             :   }
+    1340             : 
+    1341           4 :   odometry_reset_in_progress_ = false;
+    1342             : 
+    1343           4 :   return std_srvs::TriggerResponse::ConstPtr(new std_srvs::TriggerResponse(res));
+    1344             : }
+    1345             : 
+    1346             : //}
+    1347             : 
+    1348             : /* //{ hover() */
+    1349             : 
+    1350           0 : const std_srvs::TriggerResponse::ConstPtr MpcTracker::hover([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr& cmd) {
+    1351             : 
+    1352           0 :   toggleHover(true);
+    1353             : 
+    1354           0 :   std::stringstream ss;
+    1355           0 :   ss << "initiating hover";
+    1356             : 
+    1357           0 :   std_srvs::TriggerResponse res;
+    1358           0 :   res.success = true;
+    1359           0 :   res.message = ss.str();
+    1360             : 
+    1361           0 :   return std_srvs::TriggerResponse::ConstPtr(new std_srvs::TriggerResponse(res));
+    1362             : }
+    1363             : 
+    1364             : //}
+    1365             : 
+    1366             : /* //{ startTrajectoryTracking() */
+    1367             : 
+    1368           1 : const std_srvs::TriggerResponse::ConstPtr MpcTracker::startTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr& cmd) {
+    1369           2 :   std::stringstream ss;
+    1370             : 
+    1371           2 :   auto [success, message] = startTrajectoryTrackingImpl();
+    1372             : 
+    1373           2 :   std_srvs::TriggerResponse res;
+    1374           1 :   res.success = success;
+    1375           1 :   res.message = message;
+    1376             : 
+    1377           2 :   return std_srvs::TriggerResponse::ConstPtr(new std_srvs::TriggerResponse(res));
+    1378             : }
+    1379             : 
+    1380             : //}
+    1381             : 
+    1382             : /* //{ stopTrajectoryTracking() */
+    1383             : 
+    1384           0 : const std_srvs::TriggerResponse::ConstPtr MpcTracker::stopTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr& cmd) {
+    1385             : 
+    1386           0 :   auto [success, message] = stopTrajectoryTrackingImpl();
+    1387             : 
+    1388           0 :   std_srvs::TriggerResponse res;
+    1389           0 :   res.success = success;
+    1390           0 :   res.message = message;
+    1391             : 
+    1392           0 :   return std_srvs::TriggerResponse::ConstPtr(new std_srvs::TriggerResponse(res));
+    1393             : }
+    1394             : 
+    1395             : //}
+    1396             : 
+    1397             : /* //{ resumeTrajectoryTracking() */
+    1398             : 
+    1399           0 : const std_srvs::TriggerResponse::ConstPtr MpcTracker::resumeTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr& cmd) {
+    1400             : 
+    1401           0 :   auto [success, message] = resumeTrajectoryTrackingImpl();
+    1402             : 
+    1403           0 :   std_srvs::TriggerResponse res;
+    1404           0 :   res.success = success;
+    1405           0 :   res.message = message;
+    1406             : 
+    1407           0 :   return std_srvs::TriggerResponse::ConstPtr(new std_srvs::TriggerResponse(res));
+    1408             : }
+    1409             : 
+    1410             : //}
+    1411             : 
+    1412             : /* //{ gotoTrajectoryStart() */
+    1413             : 
+    1414           1 : const std_srvs::TriggerResponse::ConstPtr MpcTracker::gotoTrajectoryStart([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr& cmd) {
+    1415             : 
+    1416           2 :   auto [success, message] = gotoTrajectoryStartImpl();
+    1417             : 
+    1418           2 :   std_srvs::TriggerResponse res;
+    1419           1 :   res.success = success;
+    1420           1 :   res.message = message;
+    1421             : 
+    1422           2 :   return std_srvs::TriggerResponse::ConstPtr(new std_srvs::TriggerResponse(res));
+    1423             : }
+    1424             : 
+    1425             : //}
+    1426             : 
+    1427             : /* //{ setConstraints() */
+    1428             : 
+    1429         206 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr MpcTracker::setConstraints(const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr& constraints) {
+    1430             : 
+    1431         206 :   if (!is_initialized_) {
+    1432           0 :     return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse());
+    1433             :   }
+    1434             : 
+    1435         206 :   mrs_lib::set_mutexed(mutex_constraints_, constraints->constraints, constraints_);
+    1436             : 
+    1437             :   // directly updated the speeds in the constraints
+    1438             :   // the reset needs to wait for manageConstraints()
+    1439             :   {
+    1440         412 :     std::scoped_lock lock(mutex_constraints_filtered_);
+    1441             : 
+    1442             :     // important! this needs to be done to initialize the full struct
+    1443         206 :     if (!got_constraints_) {
+    1444             : 
+    1445          65 :       constraints_filtered_ = constraints->constraints;
+    1446             : 
+    1447             :     } else {
+    1448             : 
+    1449         141 :       constraints_filtered_.horizontal_speed          = constraints->constraints.horizontal_speed;
+    1450         141 :       constraints_filtered_.vertical_ascending_speed  = constraints->constraints.vertical_ascending_speed;
+    1451         141 :       constraints_filtered_.vertical_descending_speed = constraints->constraints.vertical_descending_speed;
+    1452         141 :       constraints_filtered_.heading_speed             = constraints->constraints.heading_speed;
+    1453             :     }
+    1454             :   }
+    1455             : 
+    1456         206 :   got_constraints_ = true;
+    1457             : 
+    1458         206 :   all_constraints_set_ = false;
+    1459             : 
+    1460         206 :   ROS_INFO("[MpcTracker]: updating constraints");
+    1461             : 
+    1462         412 :   mrs_msgs::DynamicsConstraintsSrvResponse res;
+    1463         206 :   res.success = true;
+    1464         206 :   res.message = "constraints updated";
+    1465             : 
+    1466         206 :   return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse(res));
+    1467             : }
+    1468             : 
+    1469             : //}
+    1470             : 
+    1471             : /* //{ setReference() */
+    1472             : 
+    1473         123 : const mrs_msgs::ReferenceSrvResponse::ConstPtr MpcTracker::setReference(const mrs_msgs::ReferenceSrvRequest::ConstPtr& cmd) {
+    1474             : 
+    1475         123 :   toggleHover(false);
+    1476             : 
+    1477         123 :   setGoal(cmd->reference.position.x, cmd->reference.position.y, cmd->reference.position.z, cmd->reference.heading, true);
+    1478             : 
+    1479         246 :   mrs_msgs::ReferenceSrvResponse res;
+    1480         123 :   res.success = true;
+    1481         123 :   res.message = "reference set";
+    1482             : 
+    1483         246 :   return mrs_msgs::ReferenceSrvResponse::ConstPtr(new mrs_msgs::ReferenceSrvResponse(res));
+    1484             : }
+    1485             : 
+    1486             : //}
+    1487             : 
+    1488             : /* //{ setVelocityReference() */
+    1489             : 
+    1490         471 : const mrs_msgs::VelocityReferenceSrvResponse::ConstPtr MpcTracker::setVelocityReference(const mrs_msgs::VelocityReferenceSrvRequest::ConstPtr& cmd) {
+    1491             : 
+    1492         471 :   if (!is_initialized_) {
+    1493           0 :     return mrs_msgs::VelocityReferenceSrvResponse::Ptr();
+    1494             :   }
+    1495             : 
+    1496             :   {
+    1497         471 :     std::scoped_lock lock(mutex_velocity_reference_);
+    1498             : 
+    1499         471 :     velocity_reference_time_ = ros::Time::now();
+    1500             : 
+    1501         471 :     velocity_reference_ = cmd->reference;
+    1502             :   }
+    1503             : 
+    1504         471 :   if (!velocity_tracking_active_) {
+    1505             : 
+    1506           2 :     ROS_INFO("[MpcTracker]: starting velocity tracking timer");
+    1507             : 
+    1508           2 :     timer_velocity_tracking_.stop();
+    1509           2 :     timer_velocity_tracking_.start();
+    1510             : 
+    1511           2 :     velocity_tracking_active_ = true;
+    1512             :   }
+    1513             : 
+    1514         942 :   mrs_msgs::VelocityReferenceSrvResponse response;
+    1515         471 :   response.success = true;
+    1516         471 :   response.message = "reference set";
+    1517             : 
+    1518         471 :   return mrs_msgs::VelocityReferenceSrvResponse::ConstPtr(new mrs_msgs::VelocityReferenceSrvResponse(response));
+    1519             : }
+    1520             : 
+    1521             : //}
+    1522             : 
+    1523             : /* //{ setTrajectoryReference() */
+    1524             : 
+    1525           4 : const mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr MpcTracker::setTrajectoryReference([
+    1526             :     [maybe_unused]] const mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr& cmd) {
+    1527             : 
+    1528           8 :   std::stringstream ss;
+    1529             : 
+    1530          12 :   auto [success, message, modified] = loadTrajectory(cmd->trajectory);
+    1531             : 
+    1532           8 :   mrs_msgs::TrajectoryReferenceSrvResponse response;
+    1533           4 :   response.success  = success;
+    1534           4 :   response.message  = message;
+    1535           4 :   response.modified = modified;
+    1536             : 
+    1537           8 :   return mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr(new mrs_msgs::TrajectoryReferenceSrvResponse(response));
+    1538             : }
+    1539             : 
+    1540             : //}
+    1541             : 
+    1542             : // | ------------------------ callbacks ----------------------- |
+    1543             : 
+    1544             : /* //{ callbackOtherMavTrajectory() */
+    1545             : 
+    1546           0 : void MpcTracker::callbackOtherMavTrajectory(const mrs_msgs::FutureTrajectory::ConstPtr msg) {
+    1547             : 
+    1548           0 :   if (!is_initialized_) {
+    1549           0 :     return;
+    1550             :   }
+    1551             : 
+    1552           0 :   mrs_lib::Routine    profiler_routine = profiler.createRoutine("callbackOtherMavTrajectory");
+    1553             :   mrs_lib::ScopeTimer timer =
+    1554           0 :       mrs_lib::ScopeTimer("MpcTracker::callbackOtherMavTrajectory", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    1555             : 
+    1556           0 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    1557             : 
+    1558           0 :   mrs_msgs::FutureTrajectory trajectory = *msg;
+    1559             : 
+    1560             :   // the times might not be synchronized, so just remember the time of receiving it
+    1561           0 :   trajectory.stamp = ros::Time::now();
+    1562             : 
+    1563             :   // transform it from the utm origin to the currently used frame
+    1564           0 :   auto res = common_handlers_->transformer->getTransform("utm_origin", uav_state.header.frame_id, ros::Time::now());
+    1565             : 
+    1566           0 :   if (!res) {
+    1567             : 
+    1568           0 :     std::string message = "[MpcTracker]: can not transform other drone trajectory to the current frame";
+    1569           0 :     ROS_WARN_STREAM_ONCE(message);
+    1570           0 :     ROS_DEBUG_STREAM_THROTTLE(1.0, message);
+    1571             : 
+    1572           0 :     return;
+    1573             :   }
+    1574             : 
+    1575           0 :   geometry_msgs::TransformStamped tf = res.value();
+    1576             : 
+    1577           0 :   for (int i = 0; i < int(trajectory.points.size()); i++) {
+    1578             : 
+    1579           0 :     geometry_msgs::PoseStamped original_pose;
+    1580             : 
+    1581           0 :     original_pose.pose.position.x = trajectory.points[i].x;
+    1582           0 :     original_pose.pose.position.y = trajectory.points[i].y;
+    1583           0 :     original_pose.pose.position.z = trajectory.points[i].z;
+    1584             : 
+    1585           0 :     original_pose.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    1586             : 
+    1587           0 :     auto res = common_handlers_->transformer->transform(original_pose, tf);
+    1588             : 
+    1589           0 :     if (res) {
+    1590           0 :       trajectory.points[i].x = res.value().pose.position.x;
+    1591           0 :       trajectory.points[i].y = res.value().pose.position.y;
+    1592           0 :       trajectory.points[i].z = res.value().pose.position.z;
+    1593             :     } else {
+    1594             : 
+    1595           0 :       std::string message = "[MpcTracker]: could not transform point of other uav future trajectory!";
+    1596           0 :       ROS_WARN_STREAM_ONCE(message);
+    1597           0 :       ROS_DEBUG_STREAM_THROTTLE(1.0, message);
+    1598             : 
+    1599           0 :       return;
+    1600             :     }
+    1601             :   }
+    1602             : 
+    1603             :   {
+    1604           0 :     std::scoped_lock lock(mutex_other_uav_avoidance_trajectories_);
+    1605             : 
+    1606             :     // update the diagnostics
+    1607           0 :     other_uav_avoidance_trajectories_[trajectory.uav_name] = trajectory;
+    1608             :   }
+    1609             : }
+    1610             : 
+    1611             : //}
+    1612             : 
+    1613             : /* //{ callbackOtherMavDiagnostics() */
+    1614             : 
+    1615           0 : void MpcTracker::callbackOtherMavDiagnostics(const mrs_msgs::MpcTrackerDiagnostics::ConstPtr msg) {
+    1616             : 
+    1617           0 :   mrs_lib::Routine    profiler_routine = profiler.createRoutine("callbackOtherMavDiagnostics");
+    1618             :   mrs_lib::ScopeTimer timer =
+    1619           0 :       mrs_lib::ScopeTimer("MpcTracker::callbackOtherMavDiagnostics", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    1620             : 
+    1621           0 :   std::scoped_lock lock(mutex_other_uav_diagnostics_);
+    1622             : 
+    1623           0 :   mrs_msgs::MpcTrackerDiagnostics diagnostics = *msg;
+    1624             : 
+    1625             :   // fill in the current time
+    1626             :   // the other uav's time might not be synchronized with ours
+    1627           0 :   diagnostics.header.stamp = ros::Time::now();
+    1628             : 
+    1629             :   // update the diagnostics
+    1630           0 :   other_uav_diagnostics_[diagnostics.uav_name] = diagnostics;
+    1631           0 : }
+    1632             : 
+    1633             : //}
+    1634             : 
+    1635             : /* //{ callbackToggleCollisionAvoidance() */
+    1636             : 
+    1637           0 : bool MpcTracker::callbackToggleCollisionAvoidance(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res) {
+    1638             : 
+    1639           0 :   collision_avoidance_enabled_ = req.data;
+    1640             : 
+    1641           0 :   ROS_INFO("[MpcTracker]: Collision avoidance was switched %s", collision_avoidance_enabled_ ? "TRUE" : "FALSE");
+    1642             : 
+    1643           0 :   res.message = "Collision avoidance set.";
+    1644           0 :   res.success = true;
+    1645             : 
+    1646           0 :   return true;
+    1647             : }
+    1648             : 
+    1649             : //}
+    1650             : 
+    1651             : /* callbackWiggle() //{ */
+    1652             : 
+    1653           0 : bool MpcTracker::callbackWiggle(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res) {
+    1654             : 
+    1655           0 :   if (!is_initialized_) {
+    1656             : 
+    1657           0 :     res.success = false;
+    1658           0 :     res.message = "tracker not active";
+    1659           0 :     return true;
+    1660             :   }
+    1661             : 
+    1662             :   {
+    1663           0 :     std::scoped_lock lock(mutex_drs_params_);
+    1664             : 
+    1665           0 :     drs_params_.wiggle_enabled = req.data;
+    1666             : 
+    1667           0 :     reconfigure_server_->updateConfig(drs_params_);
+    1668             :   }
+    1669             : 
+    1670           0 :   res.success = true;
+    1671           0 :   res.message = "wiggle updated";
+    1672             : 
+    1673           0 :   return true;
+    1674             : }
+    1675             : 
+    1676             : //}
+    1677             : 
+    1678             : /* //{ dynamicReconfigureCallback() */
+    1679             : 
+    1680          65 : void MpcTracker::dynamicReconfigureCallback(mrs_uav_trackers::mpc_trackerConfig& config, [[maybe_unused]] uint32_t level) {
+    1681             : 
+    1682         130 :   std::scoped_lock lock(mutex_drs_params_);
+    1683             : 
+    1684          65 :   drs_params_ = config;
+    1685             : 
+    1686          65 :   ROS_INFO("[MpcTracker]: DRS updated");
+    1687          65 : }
+    1688             : 
+    1689             : //}
+    1690             : 
+    1691             : // --------------------------------------------------------------
+    1692             : // |                          routines                          |
+    1693             : // --------------------------------------------------------------
+    1694             : 
+    1695             : // | --------------- mutual collision avoidance --------------- |
+    1696             : 
+    1697             : /* //{ checkCollision() */
+    1698             : 
+    1699           0 : bool MpcTracker::checkCollision(const double ax, const double ay, const double az, const double bx, const double by, const double bz) {
+    1700             : 
+    1701           0 :   if (mrs_lib::geometry::dist(vec2_t(ax, ay), vec2_t(bx, by)) < _avoidance_radius_threshold_ && fabs(az - bz) < _avoidance_z_threshold_) {
+    1702             : 
+    1703           0 :     return true;
+    1704             : 
+    1705             :   } else {
+    1706             : 
+    1707           0 :     return false;
+    1708             :   }
+    1709             : }
+    1710             : 
+    1711             : //}
+    1712             : 
+    1713             : /* //{ checkCollisionInflated() */
+    1714             : 
+    1715           0 : bool MpcTracker::checkCollisionInflated(const double ax, const double ay, const double az, const double bx, const double by, const double bz) {
+    1716             : 
+    1717           0 :   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) {
+    1718             : 
+    1719           0 :     return true;
+    1720             : 
+    1721             :   } else {
+    1722             : 
+    1723           0 :     return false;
+    1724             :   }
+    1725             : }
+    1726             : 
+    1727             : //}
+    1728             : 
+    1729             : /* //{ checkTrajectoryForCollisions() */
+    1730             : 
+    1731             : // Check for potential collisions and return the needed altitude offset to avoid other drones
+    1732       54336 : double MpcTracker::checkTrajectoryForCollisions(int& first_collision_index) {
+    1733             : 
+    1734       54336 :   std::scoped_lock lock(mutex_predicted_trajectory_, mutex_des_trajectory_, mutex_other_uav_avoidance_trajectories_);
+    1735             : 
+    1736       54336 :   first_collision_index = INT_MAX;
+    1737       54336 :   avoiding_collision_   = false;
+    1738             : 
+    1739       54336 :   std::map<std::string, mrs_msgs::FutureTrajectory>::iterator u = other_uav_avoidance_trajectories_.begin();
+    1740             : 
+    1741       54336 :   while (u != other_uav_avoidance_trajectories_.end()) {
+    1742             : 
+    1743             :     // is the other's trajectory fresh enought?
+    1744           0 :     if ((ros::Time::now() - u->second.stamp).toSec() < _collision_trajectory_timeout_) {
+    1745             : 
+    1746           0 :       for (int v = 0; v < _mpc_horizon_len_; v++) {
+    1747             : 
+    1748             :         // check all points of the trajectory for possible collisions
+    1749           0 :         if (checkCollision(predicted_trajectory_(v * _mpc_n_states_, 0), predicted_trajectory_(v * _mpc_n_states_ + 4, 0),
+    1750           0 :                            predicted_trajectory_(v * _mpc_n_states_ + 8, 0), u->second.points[v].x, u->second.points[v].y, u->second.points[v].z)) {
+    1751             : 
+    1752             :           // collision is detected
+    1753           0 :           int other_uav_priority = INT_MAX;
+    1754             :           // get the priority of the other uav
+    1755             :           /* sscanf(u->first.c_str(), "uav%d", &other_uav_priority); */
+    1756           0 :           other_uav_priority = u->second.priority;
+    1757             : 
+    1758             :           // check if we should be avoiding (out priority is higher, or the other uav has collision avoidance turned off)
+    1759           0 :           if ((u->second.collision_avoidance == false) || (other_uav_priority < avoidance_this_uav_priority_)) {
+    1760             : 
+    1761             :             // we should be avoiding
+    1762           0 :             avoiding_collision_      = true;
+    1763           0 :             double tmp_safe_altitude = u->second.points[v].z + _avoidance_z_correction_;
+    1764             : 
+    1765           0 :             if (tmp_safe_altitude > collision_free_altitude_ && v <= _avoidance_collision_start_climbing_) {
+    1766           0 :               collision_free_altitude_ = tmp_safe_altitude;
+    1767             :             }
+    1768             : 
+    1769           0 :             ROS_ERROR_STREAM_THROTTLE(1, "[MpcTracker]: avoiding collision with uav" << other_uav_priority);
+    1770             : 
+    1771             :           } else {
+    1772             :             // the other uav should avoid us
+    1773           0 :             ROS_WARN_STREAM_THROTTLE(1, "[MpcTracker]: detected collision with uav" << other_uav_priority << ", not avoiding (my priority is higher)");
+    1774             :           }
+    1775             :         }
+    1776             : 
+    1777           0 :         if (checkCollisionInflated(predicted_trajectory_(v * _mpc_n_states_, 0), predicted_trajectory_(v * _mpc_n_states_ + 4, 0),
+    1778           0 :                                    predicted_trajectory_(v * _mpc_n_states_ + 8, 0), u->second.points[v].x, u->second.points[v].y, u->second.points[v].z)) {
+    1779             : 
+    1780             :           // collision is detected
+    1781           0 :           if (first_collision_index > v) {
+    1782           0 :             first_collision_index = v;
+    1783             :           }
+    1784             :         }
+    1785             :       }
+    1786             :     }
+    1787           0 :     u++;
+    1788             :   }
+    1789       54336 :   if (!avoiding_collision_) {
+    1790             : 
+    1791       54336 :     auto dt1 = mrs_lib::get_mutexed(mutex_dt1_, dt1_);
+    1792             : 
+    1793             :     // we are not avoiding any collisions, so we slowly reduce the collision avoidance offset to return to normal flight
+    1794       54336 :     collision_free_altitude_ -= 2.0 / (1.0 / dt1);
+    1795             : 
+    1796       54336 :     double safety_area_min_z = common_handlers_->safety_area.getMinZ("");
+    1797             : 
+    1798       54336 :     if (collision_free_altitude_ < safety_area_min_z) {
+    1799             : 
+    1800       45126 :       collision_free_altitude_ = safety_area_min_z;
+    1801             :     }
+    1802             :   }
+    1803             : 
+    1804      108672 :   return collision_free_altitude_;
+    1805             : }
+    1806             : 
+    1807             : //}
+    1808             : 
+    1809             : // | ------------------ trajectory filtering ------------------ |
+    1810             : 
+    1811             : /* //{ filterReferenceXY() */
+    1812             : 
+    1813       54432 : std::tuple<MatrixXd, MatrixXd> MpcTracker::filterReferenceXY(const VectorXd& des_x_trajectory, const VectorXd& des_y_trajectory, double max_speed_x,
+    1814             :                                                              double max_speed_y) {
+    1815             : 
+    1816       54432 :   auto dt1 = mrs_lib::get_mutexed(mutex_dt1_, dt1_);
+    1817             : 
+    1818      108864 :   auto mpc_x         = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_);
+    1819       54432 :   auto trajectory_dt = mrs_lib::get_mutexed(mutex_des_trajectory_, trajectory_dt_);
+    1820             : 
+    1821      108864 :   MatrixXd filtered_x_trajectory = MatrixXd::Zero(_mpc_horizon_len_, 1);
+    1822      108864 :   MatrixXd filtered_y_trajectory = MatrixXd::Zero(_mpc_horizon_len_, 1);
+    1823             : 
+    1824             :   double difference_x;
+    1825             :   double difference_y;
+    1826             :   double max_sample_x;
+    1827             :   double max_sample_y;
+    1828             : 
+    1829     2231712 :   for (int i = 0; i < _mpc_horizon_len_; i++) {
+    1830             : 
+    1831     2177280 :     if (i == 0) {
+    1832       54432 :       max_sample_x = max_speed_x * dt1;
+    1833       54432 :       max_sample_y = max_speed_y * dt1;
+    1834       54432 :       difference_x = des_x_trajectory(i, 0) - mpc_x(0, 0);
+    1835       54432 :       difference_y = des_y_trajectory(i, 0) - mpc_x(4, 0);
+    1836             :     } else {
+    1837     2122848 :       max_sample_x = max_speed_x * _dt2_;
+    1838     2122848 :       max_sample_y = max_speed_y * _dt2_;
+    1839     2122848 :       difference_x = des_x_trajectory(i, 0) - filtered_x_trajectory(i - 1, 0);
+    1840     2122848 :       difference_y = des_y_trajectory(i, 0) - filtered_y_trajectory(i - 1, 0);
+    1841             :     }
+    1842             : 
+    1843     2177280 :     if (!trajectory_tracking_in_progress_) {
+    1844             : 
+    1845     1727880 :       double direction_angle  = atan2(difference_y, difference_x);
+    1846     1727880 :       double max_dir_sample_x = abs(max_sample_x * cos(direction_angle));
+    1847     1727880 :       double max_dir_sample_y = abs(max_sample_y * sin(direction_angle));
+    1848             : 
+    1849     1727880 :       if (max_sample_x > max_dir_sample_x) {
+    1850      250863 :         max_sample_x = max_dir_sample_x;
+    1851             :       }
+    1852     1727880 :       if (max_sample_y > max_dir_sample_y) {
+    1853     1727867 :         max_sample_y = max_dir_sample_y;
+    1854             :       }
+    1855             : 
+    1856             :       // saturate the difference
+    1857     1727880 :       if (difference_x > max_sample_x)
+    1858       74319 :         difference_x = max_sample_x;
+    1859     1653561 :       else if (difference_x < -max_sample_x)
+    1860      162070 :         difference_x = -max_sample_x;
+    1861             : 
+    1862     1727880 :       if (difference_y > max_sample_y)
+    1863       70234 :         difference_y = max_sample_y;
+    1864     1657646 :       else if (difference_y < -max_sample_y)
+    1865      165035 :         difference_y = -max_sample_y;
+    1866             :     }
+    1867             : 
+    1868     2177280 :     if (i == 0) {
+    1869       54432 :       filtered_x_trajectory(i, 0) = mpc_x(0, 0) + difference_x;
+    1870       54432 :       filtered_y_trajectory(i, 0) = mpc_x(4, 0) + difference_y;
+    1871             :     } else {
+    1872     2122848 :       filtered_x_trajectory(i, 0) = filtered_x_trajectory(i - 1, 0) + difference_x;
+    1873     2122848 :       filtered_y_trajectory(i, 0) = filtered_y_trajectory(i - 1, 0) + difference_y;
+    1874             :     }
+    1875             :   }
+    1876             : 
+    1877             :   // | ----------------------- add wiggle ----------------------- |
+    1878             : 
+    1879       54432 :   auto [wiggle_enabled, wiggle_amplitude, wiggle_frequency_] =
+    1880       54432 :       mrs_lib::get_mutexed(mutex_drs_params_, drs_params_.wiggle_enabled, drs_params_.wiggle_amplitude, drs_params_.wiggle_frequency);
+    1881             : 
+    1882       54432 :   if (wiggle_enabled) {
+    1883             : 
+    1884           0 :     for (int i = 0; i < _mpc_horizon_len_; i++) {
+    1885           0 :       filtered_x_trajectory(i, 0) += wiggle_amplitude * cos(wiggle_frequency_ * 2 * M_PI * i * trajectory_dt + wiggle_phase_);
+    1886           0 :       filtered_y_trajectory(i, 0) += wiggle_amplitude * sin(wiggle_frequency_ * 2 * M_PI * i * trajectory_dt + wiggle_phase_);
+    1887             :     }
+    1888             : 
+    1889           0 :     wiggle_phase_ += wiggle_frequency_ * dt1 * 2 * M_PI;
+    1890             : 
+    1891           0 :     if (wiggle_phase_ > M_PI) {
+    1892           0 :       wiggle_phase_ -= 2 * M_PI;
+    1893             :     }
+    1894             :   }
+    1895             : 
+    1896      108864 :   return std::make_tuple(filtered_x_trajectory, filtered_y_trajectory);
+    1897             : }
+    1898             : 
+    1899             : //}
+    1900             : 
+    1901             : /* //{ filterReferenceZ() */
+    1902             : 
+    1903       54432 : MatrixXd MpcTracker::filterReferenceZ(const VectorXd& des_z_trajectory, const double max_ascending_speed, const double max_descending_speed) {
+    1904             : 
+    1905      108864 :   auto mpc_x = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_);
+    1906             : 
+    1907       54432 :   auto dt1 = mrs_lib::get_mutexed(mutex_dt1_, dt1_);
+    1908             : 
+    1909             :   double difference_z;
+    1910             :   double max_sample_z;
+    1911             : 
+    1912       54432 :   MatrixXd filtered_trajectory = MatrixXd::Zero(_mpc_horizon_len_, 1);
+    1913             : 
+    1914       54432 :   double current_z = mpc_x(8, 0);
+    1915             : 
+    1916     2231712 :   for (int i = 0; i < _mpc_horizon_len_; i++) {
+    1917             : 
+    1918     2177280 :     if (i == 0) {
+    1919             : 
+    1920       54432 :       difference_z = des_z_trajectory(i, 0) - current_z;
+    1921             : 
+    1922       54432 :       if (difference_z > 0) {
+    1923       23829 :         max_sample_z = max_ascending_speed * dt1;
+    1924             :       } else {
+    1925       30603 :         max_sample_z = max_descending_speed * dt1;
+    1926             :       }
+    1927             : 
+    1928             :     } else {
+    1929             : 
+    1930     2122848 :       difference_z = des_z_trajectory(i, 0) - filtered_trajectory(i - 1, 0);
+    1931             : 
+    1932     2122848 :       if (difference_z > 0) {
+    1933      240175 :         max_sample_z = max_ascending_speed * _dt2_;
+    1934             :       } else {
+    1935     1882673 :         max_sample_z = max_descending_speed * _dt2_;
+    1936             :       }
+    1937             :     }
+    1938             : 
+    1939     2177280 :     if (!trajectory_tracking_in_progress_) {
+    1940             : 
+    1941             :       // saturate the difference
+    1942     1727920 :       if (difference_z > max_sample_z)
+    1943       80365 :         difference_z = max_sample_z;
+    1944     1647555 :       else if (difference_z < -max_sample_z)
+    1945        7138 :         difference_z = -max_sample_z;
+    1946             :     }
+    1947             : 
+    1948     2177280 :     if (i == 0) {
+    1949       54432 :       filtered_trajectory(i, 0) = current_z + difference_z;
+    1950             :     } else {
+    1951     2122848 :       filtered_trajectory(i, 0) = filtered_trajectory(i - 1, 0) + difference_z;
+    1952             :     }
+    1953             :   }
+    1954             : 
+    1955      108864 :   return filtered_trajectory;
+    1956             : }
+    1957             : 
+    1958             : //}
+    1959             : 
+    1960             : /* //{ manageConstraints() */
+    1961             : 
+    1962       54432 : void MpcTracker::manageConstraints() {
+    1963             : 
+    1964       54432 :   if (!got_constraints_) {
+    1965       54330 :     return;
+    1966             :   }
+    1967             : 
+    1968       54432 :   if (all_constraints_set_) {
+    1969       54330 :     return;
+    1970             :   }
+    1971             : 
+    1972         102 :   auto constraints            = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+    1973         204 :   auto [mpc_x, mpc_x_heading] = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_, mpc_x_heading_);
+    1974             : 
+    1975         204 :   bool can_change = (fabs(mpc_x(1, 0)) < constraints.horizontal_speed) && (fabs(mpc_x(2, 0)) < constraints.horizontal_acceleration) &&
+    1976         102 :                     (fabs(mpc_x(3, 0)) < constraints.horizontal_jerk) && (fabs(mpc_x(5, 0)) < constraints.horizontal_speed) &&
+    1977         102 :                     (fabs(mpc_x(6, 0)) < constraints.horizontal_acceleration) && (fabs(mpc_x(7, 0)) < constraints.horizontal_jerk) &&
+    1978         102 :                     (mpc_x(9, 0) < constraints.vertical_ascending_speed) && (mpc_x(9, 0) > -constraints.vertical_descending_speed) &&
+    1979         102 :                     (mpc_x(10, 0) < constraints.vertical_ascending_acceleration) && (mpc_x(10, 0) > -constraints.vertical_descending_acceleration) &&
+    1980         102 :                     (mpc_x(11, 0) < constraints.vertical_ascending_jerk) && (mpc_x(11, 0) > -constraints.vertical_descending_jerk) &&
+    1981         306 :                     (fabs(mpc_x_heading(1, 0)) < constraints.heading_speed) && (fabs(mpc_x_heading(2, 0)) < constraints.heading_acceleration) &&
+    1982         102 :                     (fabs(mpc_x_heading(3, 0)) < constraints.heading_jerk);
+    1983             : 
+    1984         102 :   if (can_change) {
+    1985             : 
+    1986             :     {
+    1987         102 :       std::scoped_lock lock(mutex_constraints_filtered_);
+    1988             : 
+    1989         102 :       constraints_filtered_.horizontal_acceleration = constraints.horizontal_acceleration;
+    1990         102 :       constraints_filtered_.horizontal_jerk         = constraints.horizontal_jerk;
+    1991         102 :       constraints_filtered_.horizontal_snap         = constraints.horizontal_snap;
+    1992             : 
+    1993         102 :       constraints_filtered_.vertical_ascending_acceleration = constraints.vertical_ascending_acceleration;
+    1994         102 :       constraints_filtered_.vertical_ascending_jerk         = constraints.vertical_ascending_jerk;
+    1995         102 :       constraints_filtered_.vertical_ascending_snap         = constraints.vertical_ascending_snap;
+    1996             : 
+    1997         102 :       constraints_filtered_.vertical_descending_acceleration = constraints.vertical_descending_acceleration;
+    1998         102 :       constraints_filtered_.vertical_descending_jerk         = constraints.vertical_descending_jerk;
+    1999         102 :       constraints_filtered_.vertical_descending_snap         = constraints.vertical_descending_snap;
+    2000             : 
+    2001         102 :       constraints_filtered_.heading_acceleration = constraints.heading_acceleration;
+    2002         102 :       constraints_filtered_.heading_jerk         = constraints.heading_jerk;
+    2003         102 :       constraints_filtered_.heading_snap         = constraints.heading_snap;
+    2004             :     }
+    2005             : 
+    2006         102 :     ROS_INFO_THROTTLE(1.0, "[MpcTracker]: all constraints succesfully applied");
+    2007         102 :     all_constraints_set_ = true;
+    2008             : 
+    2009             :   } else {
+    2010           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[MpcTracker]: slowing down to apply new constraints");
+    2011             :   }
+    2012             : }
+    2013             : 
+    2014             : //}
+    2015             : 
+    2016             : /* //{ calculateMPC() */
+    2017             : 
+    2018       54432 : void MpcTracker::calculateMPC() {
+    2019             : 
+    2020       54432 :   std::scoped_lock lock(mutex_mpc_calculation_);
+    2021             : 
+    2022       54432 :   auto dt1 = mrs_lib::get_mutexed(mutex_dt1_, dt1_);
+    2023             : 
+    2024       54432 :   ROS_DEBUG_STREAM_THROTTLE(1.0, "[MpcTracker]: MPC calculation dt = " << dt1);
+    2025             : 
+    2026       54432 :   auto constraints            = mrs_lib::get_mutexed(mutex_constraints_filtered_, constraints_filtered_);
+    2027       54432 :   auto [mpc_x, mpc_x_heading] = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_, mpc_x_heading_);
+    2028       54432 :   auto uav_state              = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    2029       54432 :   auto drs_params             = mrs_lib::get_mutexed(mutex_drs_params_, drs_params_);
+    2030             : 
+    2031       54432 :   MatrixXd des_x_trajectory, des_y_trajectory, des_z_trajectory, des_heading_trajectory;
+    2032             :   {
+    2033      108864 :     std::scoped_lock lock(mutex_des_trajectory_);
+    2034             : 
+    2035       54432 :     des_x_trajectory       = des_x_trajectory_;
+    2036       54432 :     des_y_trajectory       = des_y_trajectory_;
+    2037       54432 :     des_z_trajectory       = des_z_trajectory_;
+    2038       54432 :     des_heading_trajectory = des_heading_trajectory_;
+    2039             :   }
+    2040             : 
+    2041       54432 :   int    first_collision_index = INT_MAX;
+    2042       54432 :   double lowest_z              = std::numeric_limits<double>::max();
+    2043             : 
+    2044       54432 :   if (collision_avoidance_enabled_ && (uav_state.estimator_horizontal == "lat_gps" || uav_state.estimator_horizontal == "lat_rtk")) {
+    2045             : 
+    2046             :     // determine the lowest point in our trajectory
+    2047     2227776 :     for (int i = 0; i < _mpc_horizon_len_; i++) {
+    2048     2173440 :       if (des_z_trajectory_(i, 0) < lowest_z) {
+    2049       78940 :         lowest_z = des_z_trajectory_(i, 0);
+    2050             :       }
+    2051             :     }
+    2052             : 
+    2053             :     // check other drone trajectories for collisions
+    2054       54336 :     minimum_collison_free_altitude_ = checkTrajectoryForCollisions(first_collision_index);
+    2055             : 
+    2056             :   } else {
+    2057             : 
+    2058          96 :     minimum_collison_free_altitude_ = common_handlers_->safety_area.getMinZ("");
+    2059             :   }
+    2060             : 
+    2061       54432 :   double max_speed_x = constraints.horizontal_speed;
+    2062       54432 :   double max_speed_y = constraints.horizontal_speed;
+    2063       54432 :   double max_speed_z = constraints.vertical_ascending_speed;
+    2064       54432 :   double min_speed_z = constraints.vertical_descending_speed;
+    2065             : 
+    2066       54432 :   double max_acc_x = constraints.horizontal_acceleration;
+    2067       54432 :   double max_acc_y = constraints.horizontal_acceleration;
+    2068       54432 :   double max_acc_z = constraints.vertical_ascending_acceleration;
+    2069       54432 :   double min_acc_z = constraints.vertical_descending_acceleration;
+    2070             : 
+    2071       54432 :   double max_snap_x = constraints.horizontal_snap;
+    2072       54432 :   double max_snap_y = constraints.horizontal_snap;
+    2073       54432 :   double max_snap_z = constraints.vertical_ascending_snap;
+    2074       54432 :   double min_snap_z = constraints.vertical_descending_snap;
+    2075             : 
+    2076       54432 :   double max_jerk_x = constraints.horizontal_jerk;
+    2077       54432 :   double max_jerk_y = constraints.horizontal_jerk;
+    2078       54432 :   double max_jerk_z = constraints.vertical_ascending_jerk;
+    2079       54432 :   double min_jerk_z = constraints.vertical_descending_jerk;
+    2080             : 
+    2081       54432 :   collision_avoidance_affecting_me_ = false;
+    2082             : 
+    2083       54432 :   if (first_collision_index < _mpc_horizon_len_) {
+    2084             : 
+    2085           0 :     collision_avoidance_affecting_me_ = true;
+    2086             :     // the tmp variable is used to scale the speed of our drone in collision avoidance, depending on how far away the collision is
+    2087           0 :     double tmp = 0;
+    2088             : 
+    2089           0 :     if (first_collision_index <= _avoidance_collision_slow_down_fully_) {
+    2090           0 :       tmp = 1;
+    2091           0 :     } else if (first_collision_index <= _avoidance_collision_slow_down_) {
+    2092           0 :       tmp = 1.0 - ((double)(first_collision_index - _avoidance_collision_slow_down_fully_)) /
+    2093           0 :                       (double)(_avoidance_collision_slow_down_ - _avoidance_collision_slow_down_fully_);
+    2094           0 :       tmp = tmp * tmp;
+    2095             :     }
+    2096             : 
+    2097           0 :     if (!std::isfinite(tmp)) {
+    2098           0 :       tmp = 1.0;
+    2099           0 :       ROS_ERROR("[MpcTracker]: NaN detected in variable 'tmp', setting it to 1.0 and returning!!!");
+    2100           0 :       return;
+    2101           0 :     } else if (tmp > 1.0) {
+    2102           0 :       tmp = 1.0;
+    2103           0 :     } else if (tmp < 0.0) {
+    2104           0 :       tmp = 0.0;
+    2105             :     }
+    2106             : 
+    2107           0 :     if (tmp > coef_scaler) {
+    2108           0 :       coef_scaler = tmp;
+    2109           0 :       coef_time   = ros::Time::now();
+    2110             :     }
+    2111           0 :     if ((ros::Time::now() - coef_time).toSec() > 2.0) {
+    2112           0 :       coef_scaler = tmp;
+    2113             :     }
+    2114             : 
+    2115             :     // we are close to a possible collision, better slow down a bit to give everyone more time
+    2116           0 :     max_speed_x = constraints.horizontal_speed * ((_avoidance_collision_horizontal_speed_coef_ * coef_scaler) + (1.0 - coef_scaler));
+    2117           0 :     max_speed_y = constraints.horizontal_speed * ((_avoidance_collision_horizontal_speed_coef_ * coef_scaler) + (1.0 - coef_scaler));
+    2118             :   }
+    2119             : 
+    2120       54432 :   if (collision_free_altitude_ > lowest_z) {
+    2121             : 
+    2122           0 :     collision_avoidance_affecting_me_ = true;
+    2123           0 :     max_speed_x                       = constraints.horizontal_speed * (_avoidance_collision_horizontal_speed_coef_);
+    2124           0 :     max_speed_y                       = constraints.horizontal_speed * (_avoidance_collision_horizontal_speed_coef_);
+    2125             :   }
+    2126             : 
+    2127             :   // first control input generated by MPC
+    2128      108864 :   VectorXd mpc_u         = VectorXd::Zero(_mpc_m_states_);
+    2129       54432 :   double   mpc_u_heading = 0;
+    2130             : 
+    2131       54432 :   double iters_z       = 0;
+    2132       54432 :   double iters_x       = 0;
+    2133       54432 :   double iters_y       = 0;
+    2134       54432 :   double iters_heading = 0;
+    2135             : 
+    2136       54432 :   ros::Time time_begin = ros::Time::now();
+    2137             : 
+    2138      108864 :   MatrixXd des_z_filtered = filterReferenceZ(des_z_trajectory, max_speed_z, min_speed_z);
+    2139             : 
+    2140     2231712 :   for (int i = 0; i < _mpc_horizon_len_; i++) {
+    2141     2177280 :     if (des_z_filtered(i, 0) < minimum_collison_free_altitude_) {
+    2142           0 :       des_z_filtered_offset_(i, 0) = minimum_collison_free_altitude_;
+    2143             :     } else {
+    2144     2177280 :       des_z_filtered_offset_(i, 0) = des_z_filtered(i, 0);
+    2145             :     }
+    2146             :   }
+    2147             : 
+    2148             :   // | ----------------- prepare the references ----------------- |
+    2149             : 
+    2150             :   // | -------------------- MPC solver z-axis ------------------- |
+    2151             : 
+    2152       54432 :   if (brake_ && !trajectory_tracking_in_progress_) {
+    2153       32368 :     mpc_solver_z_->setVelQ(drs_params.q_vel_braking);
+    2154             :   } else {
+    2155       22064 :     mpc_solver_z_->setVelQ(drs_params.q_vel_no_braking);
+    2156             :   }
+    2157             : 
+    2158      108864 :   MatrixXd initial_z = MatrixXd::Zero(4, 1);
+    2159             : 
+    2160       54432 :   initial_z(0, 0) = mpc_x(8, 0);
+    2161       54432 :   initial_z(1, 0) = mpc_x(9, 0);
+    2162       54432 :   initial_z(2, 0) = mpc_x(10, 0);
+    2163       54432 :   initial_z(3, 0) = mpc_x(11, 0);
+    2164             : 
+    2165       54432 :   mpc_solver_z_->setDt(dt1);
+    2166       54432 :   mpc_solver_z_->setInitialState(initial_z);
+    2167       54432 :   mpc_solver_z_->loadReference(des_z_filtered_offset_);
+    2168       54432 :   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);
+    2169       54432 :   iters_z += mpc_solver_z_->solveMPC();
+    2170             : 
+    2171             :   {
+    2172      108864 :     std::scoped_lock lock(mutex_predicted_trajectory_);
+    2173             : 
+    2174       54432 :     mpc_solver_z_->getStates(predicted_trajectory_);
+    2175             :   }
+    2176             : 
+    2177       54432 :   mpc_u(2) = mpc_solver_z_->getFirstControlInput();
+    2178             : 
+    2179             :   // if we are climbing to avoid a collision, reduce or arrest our horizontal velocity
+    2180             :   double ascend;
+    2181             :   {
+    2182       54432 :     std::scoped_lock lock(mutex_predicted_trajectory_);
+    2183             : 
+    2184       54432 :     ascend = (predicted_trajectory_(10, 0) / max_speed_z);
+    2185             :   }
+    2186             : 
+    2187       54432 :   if (ascend > 0 && collision_free_altitude_ > lowest_z) {
+    2188           0 :     max_speed_y = max_speed_y * (1.0 - ascend);
+    2189           0 :     max_speed_x = max_speed_x * (1.0 - ascend);
+    2190             :   }
+    2191             : 
+    2192      163296 :   auto [des_x_filtered, des_y_filtered] = filterReferenceXY(des_x_trajectory, des_y_trajectory, max_speed_x, max_speed_y);
+    2193             : 
+    2194             :   // unwrap the heading reference
+    2195             : 
+    2196       54432 :   des_heading_trajectory(0, 0) = sradians::unwrap(des_heading_trajectory(0, 0), mpc_x_heading(0));
+    2197             : 
+    2198     2177280 :   for (int i = 1; i < _mpc_horizon_len_; i++) {
+    2199     2122848 :     des_heading_trajectory(i, 0) = sradians::unwrap(des_heading_trajectory(i, 0), des_heading_trajectory(i - 1, 0));
+    2200             :   }
+    2201             : 
+    2202             :   // | -------------------- MPC solver x-axis ------------------- |
+    2203             : 
+    2204       54432 :   if (brake_ && !trajectory_tracking_in_progress_) {
+    2205       32367 :     mpc_solver_x_->setVelQ(drs_params.q_vel_braking);
+    2206             :   } else {
+    2207       22065 :     mpc_solver_x_->setVelQ(drs_params.q_vel_no_braking);
+    2208             :   }
+    2209             : 
+    2210      108864 :   MatrixXd initial_x = MatrixXd::Zero(4, 1);
+    2211             : 
+    2212       54432 :   initial_x(0, 0) = mpc_x(0, 0);
+    2213       54432 :   initial_x(1, 0) = mpc_x(1, 0);
+    2214       54432 :   initial_x(2, 0) = mpc_x(2, 0);
+    2215       54432 :   initial_x(3, 0) = mpc_x(3, 0);
+    2216             : 
+    2217       54432 :   mpc_solver_x_->setDt(dt1);
+    2218       54432 :   mpc_solver_x_->setInitialState(initial_x);
+    2219       54432 :   mpc_solver_x_->loadReference(des_x_filtered);
+    2220       54432 :   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);
+    2221       54432 :   iters_x += mpc_solver_x_->solveMPC();
+    2222             : 
+    2223             :   {
+    2224      108864 :     std::scoped_lock lock(mutex_predicted_trajectory_);
+    2225             : 
+    2226       54432 :     mpc_solver_x_->getStates(predicted_trajectory_);
+    2227             :   }
+    2228             : 
+    2229       54432 :   mpc_u(0) = mpc_solver_x_->getFirstControlInput();
+    2230             : 
+    2231             :   // | -------------------- MPC solver y-axis ------------------- |
+    2232             : 
+    2233       54432 :   if (brake_ && !trajectory_tracking_in_progress_) {
+    2234       32367 :     mpc_solver_y_->setVelQ(drs_params.q_vel_braking);
+    2235             :   } else {
+    2236       22065 :     mpc_solver_y_->setVelQ(drs_params.q_vel_no_braking);
+    2237             :   }
+    2238             : 
+    2239      108864 :   MatrixXd initial_y = MatrixXd::Zero(4, 1);
+    2240             : 
+    2241       54432 :   initial_y(0, 0) = mpc_x(4, 0);
+    2242       54432 :   initial_y(1, 0) = mpc_x(5, 0);
+    2243       54432 :   initial_y(2, 0) = mpc_x(6, 0);
+    2244       54432 :   initial_y(3, 0) = mpc_x(7, 0);
+    2245             : 
+    2246       54432 :   mpc_solver_y_->setDt(dt1);
+    2247       54432 :   mpc_solver_y_->setInitialState(initial_y);
+    2248       54432 :   mpc_solver_y_->loadReference(des_y_filtered);
+    2249       54432 :   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);
+    2250       54432 :   iters_y += mpc_solver_y_->solveMPC();
+    2251             :   {
+    2252      108864 :     std::scoped_lock lock(mutex_predicted_trajectory_);
+    2253             : 
+    2254       54432 :     mpc_solver_y_->getStates(predicted_trajectory_);
+    2255             :   }
+    2256       54432 :   mpc_u(1) = mpc_solver_y_->getFirstControlInput();
+    2257             : 
+    2258             :   // | ------------------- MPC solver heading ------------------- |
+    2259             : 
+    2260       54432 :   if (brake_ && !trajectory_tracking_in_progress_) {
+    2261       32367 :     mpc_solver_heading_->setVelQ(drs_params.q_vel_braking);
+    2262             :   } else {
+    2263       22065 :     mpc_solver_heading_->setVelQ(drs_params.q_vel_no_braking);
+    2264             :   }
+    2265             : 
+    2266       54432 :   mpc_solver_heading_->setDt(dt1);
+    2267       54432 :   mpc_solver_heading_->setInitialState(mpc_x_heading);
+    2268       54432 :   mpc_solver_heading_->loadReference(des_heading_trajectory);
+    2269       54432 :   mpc_solver_heading_->setLimits(constraints.heading_speed, constraints.heading_speed, constraints.heading_acceleration, constraints.heading_acceleration,
+    2270             :                                  constraints.heading_jerk, constraints.heading_jerk, constraints.heading_snap, constraints.heading_snap);
+    2271       54432 :   iters_heading += mpc_solver_heading_->solveMPC();
+    2272             :   {
+    2273      108864 :     std::scoped_lock lock(mutex_predicted_trajectory_);
+    2274             : 
+    2275       54432 :     mpc_solver_heading_->getStates(predicted_heading_trajectory_);
+    2276             :   }
+    2277       54432 :   mpc_u_heading = mpc_solver_heading_->getFirstControlInput();
+    2278             : 
+    2279             :   {
+    2280       54432 :     bool saturating = false;
+    2281             : 
+    2282       54432 :     if (mpc_u(0) > max_snap_x * 1.01) {
+    2283           0 :       ROS_WARN_STREAM_THROTTLE(0.1, "[MpcTracker]: saturating snap X: " << mpc_u(0));
+    2284           0 :       mpc_u(0)   = max_snap_x;
+    2285           0 :       saturating = true;
+    2286             :     }
+    2287       54432 :     if (mpc_u(0) < -max_snap_x * 1.01) {
+    2288           0 :       ROS_WARN_STREAM_THROTTLE(0.1, "[MpcTracker]: saturating snap X: " << mpc_u(0));
+    2289           0 :       mpc_u(0)   = -max_snap_x;
+    2290           0 :       saturating = true;
+    2291             :     }
+    2292       54432 :     if (mpc_u(1) > max_snap_y * 1.01) {
+    2293           0 :       ROS_WARN_STREAM_THROTTLE(0.1, "[MpcTracker]: saturating snap Y: " << mpc_u(1));
+    2294           0 :       mpc_u(1)   = max_snap_y;
+    2295           0 :       saturating = true;
+    2296             :     }
+    2297       54432 :     if (mpc_u(1) < -max_snap_y * 1.01) {
+    2298           0 :       ROS_WARN_STREAM_THROTTLE(0.1, "[MpcTracker]: saturating snap Y: " << mpc_u(1));
+    2299           0 :       mpc_u(1)   = -max_snap_y;
+    2300           0 :       saturating = true;
+    2301             :     }
+    2302       54432 :     if (mpc_u(2) > max_snap_z * 1.01) {
+    2303           0 :       ROS_WARN_STREAM_THROTTLE(0.1, "[MpcTracker]: saturating snap Z: " << mpc_u(2));
+    2304           0 :       mpc_u(2)   = max_snap_z;
+    2305           0 :       saturating = true;
+    2306             :     }
+    2307       54432 :     if (mpc_u(2) < -min_snap_z * 1.01) {
+    2308           0 :       ROS_WARN_STREAM_THROTTLE(0.1, "[MpcTracker]: saturating snap Z: " << mpc_u(2));
+    2309           0 :       mpc_u(2)   = -min_snap_z;
+    2310           0 :       saturating = true;
+    2311             :     }
+    2312             : 
+    2313       54432 :     if (saturating) {
+    2314           0 :       debugPrintState(0.1);
+    2315           0 :       debugPrintMPCResult(0.1);
+    2316             :     }
+    2317             :   }
+    2318             : 
+    2319             :   {
+    2320       54432 :     std::scoped_lock lock(mutex_mpc_u_);
+    2321             : 
+    2322       54432 :     mpc_u_         = mpc_u;
+    2323       54432 :     mpc_u_heading_ = mpc_u_heading;
+    2324             :   }
+    2325             : 
+    2326       54432 :   double mpc_solver_time = (ros::Time::now() - time_begin).toSec();
+    2327       54432 :   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_) {
+    2328           0 :     ROS_DEBUG_STREAM_THROTTLE(1.0, "[MpcTracker]: Total MPC solver time: " << mpc_solver_time << " iters X: " << iters_x << "/" << _max_iters_xy_
+    2329             :                                                                            << " iters Y:  " << iters_y << "/" << _max_iters_xy_ << " iters Z: " << iters_z
+    2330             :                                                                            << "/" << _max_iters_z_ << " iters heading: " << iters_heading << "/"
+    2331             :                                                                            << _max_iters_heading_);
+    2332             :   }
+    2333             : 
+    2334       54432 :   future_was_predicted_ = true;
+    2335             : 
+    2336             :   // | ------------- breaking for the next iteration ------------ |
+    2337             : 
+    2338      163296 :   if (drs_params.braking_enabled &&
+    2339       54432 :       (fabs(des_x_filtered(8) - des_x_filtered(_mpc_horizon_len_ - 1)) <= 1e-1 && fabs(des_x_filtered(30) - des_x_filtered(_mpc_horizon_len_ - 1)) <= 1e-1) &&
+    2340       37423 :       (fabs(des_y_filtered(8) - des_y_filtered(_mpc_horizon_len_ - 1)) <= 1e-1 && fabs(des_y_filtered(30) - des_y_filtered(_mpc_horizon_len_ - 1)) <= 1e-1) &&
+    2341      142141 :       (fabs(des_z_filtered(8) - des_z_filtered(_mpc_horizon_len_ - 1)) <= 1e-1 && fabs(des_z_filtered(30) - des_z_filtered(_mpc_horizon_len_ - 1)) <= 1e-1) &&
+    2342       33277 :       (fabs(radians::diff(des_heading_trajectory(10), des_heading_trajectory(_mpc_horizon_len_ - 1))) <= 0.1 &&
+    2343       33146 :        fabs(radians::diff(des_heading_trajectory(30), des_heading_trajectory(_mpc_horizon_len_ - 1))) <= 0.1)) {
+    2344       33146 :     brake_ = true;
+    2345       33146 :     ROS_DEBUG_THROTTLE(1.0, "[MpcTracker]: braking");
+    2346             :   } else {
+    2347       21286 :     brake_ = false;
+    2348             :   }
+    2349             : 
+    2350             :   /* publish mpc reference //{ */
+    2351             : 
+    2352             :   {
+    2353      108864 :     geometry_msgs::PoseArray debug_trajectory_out;
+    2354       54432 :     debug_trajectory_out.header.stamp    = ros::Time::now();
+    2355       54432 :     debug_trajectory_out.header.frame_id = uav_state_.header.frame_id;
+    2356             : 
+    2357             :     {
+    2358      108864 :       std::scoped_lock lock(mutex_predicted_trajectory_);
+    2359             : 
+    2360     2231712 :       for (int i = 0; i < _mpc_horizon_len_; i++) {
+    2361             : 
+    2362     2177280 :         geometry_msgs::Pose new_pose;
+    2363             : 
+    2364     2177280 :         new_pose.position.x = des_x_filtered(i, 0);
+    2365     2177280 :         new_pose.position.y = des_y_filtered(i, 0);
+    2366     2177280 :         new_pose.position.z = des_z_filtered(i, 0);
+    2367             : 
+    2368     2177280 :         new_pose.orientation = mrs_lib::AttitudeConverter(0, 0, des_heading_trajectory(i));
+    2369             : 
+    2370     2177280 :         debug_trajectory_out.poses.push_back(new_pose);
+    2371             :       }
+    2372             :     }
+    2373             : 
+    2374       54432 :     ph_mpc_reference_debugging_.publish(debug_trajectory_out);
+    2375             :   }
+    2376             : 
+    2377             :   //}
+    2378             : }
+    2379             : 
+    2380             : //}
+    2381             : 
+    2382             : /* iterateModel() //{ */
+    2383             : 
+    2384       47501 : void MpcTracker::iterateModel(const double& dt) {
+    2385             : 
+    2386       47501 :   auto dt1 = mrs_lib::get_mutexed(mutex_dt1_, dt1_);
+    2387             : 
+    2388       47501 :   if (model_first_iteration_) {
+    2389             : 
+    2390          56 :     model_iteration_last_time_ = ros::Time::now();
+    2391          56 :     model_first_iteration_     = false;
+    2392             : 
+    2393             :   } else {
+    2394             : 
+    2395       47445 :     dt1 = 0.9 * dt1 + 0.1 * dt;
+    2396             : 
+    2397       47445 :     mrs_lib::set_mutexed(mutex_dt1_, dt1, dt1_);
+    2398       47445 :     timer_mpc_iteration_.setPeriod(ros::Duration(dt1), false);
+    2399             : 
+    2400             :     // clang-format off
+    2401       47445 :     A_ << 1, dt1, 0.5*dt1*dt1, 0,           0, 0,   0,           0,           0, 0,   0,           0,
+    2402       47445 :           0, 1,   dt1,         0.5*dt1*dt1, 0, 0,   0,           0,           0, 0,   0,           0,
+    2403       47445 :           0, 0,   1,           dt1,         0, 0,   0,           0,           0, 0,   0,           0,
+    2404       47445 :           0, 0,   0,           1,           0, 0,   0,           0,           0, 0,   0,           0,
+    2405       47445 :           0, 0,   0,           0,           1, dt1, 0.5*dt1*dt1, 0,           0, 0,   0,           0,
+    2406       47445 :           0, 0,   0,           0,           0, 1,   dt1,         0.5*dt1*dt1, 0, 0,   0,           0,
+    2407       47445 :           0, 0,   0,           0,           0, 0,   1,           dt1,         0, 0,   0,           0,
+    2408       47445 :           0, 0,   0,           0,           0, 0,   0,           1,           0, 0,   0,           0,
+    2409       47445 :           0, 0,   0,           0,           0, 0,   0,           0,           1, dt1, 0.5*dt1*dt1, 0,
+    2410       47445 :           0, 0,   0,           0,           0, 0,   0,           0,           0, 1,   dt1,         0.5*dt1*dt1,
+    2411       47445 :           0, 0,   0,           0,           0, 0,   0,           0,           0, 0,   1,           dt1,
+    2412       47445 :           0, 0,   0,           0,           0, 0,   0,           0,           0, 0,   0,           1;
+    2413             : 
+    2414       47445 :       B_ << 0,   0,   0,
+    2415       47445 :             0,   0,   0,
+    2416       47445 :             0,   0,   0,
+    2417       47445 :             dt1, 0,   0,
+    2418       47445 :             0,   0,   0,
+    2419       47445 :             0,   0,   0,
+    2420       47445 :             0,   0,   0,
+    2421       47445 :             0,   dt1, 0,
+    2422       47445 :             0,   0,   0,
+    2423       47445 :             0,   0,   0,
+    2424       47445 :             0,   0,   0,
+    2425       47445 :             0,   0,   dt1;
+    2426             : 
+    2427       47445 :       A_heading_ << 1, dt1, 0.5*dt1*dt1, 0,
+    2428       47445 :                     0, 1,   dt1,         0.5*dt1*dt1,
+    2429       47445 :                     0, 0,   1,           dt1,
+    2430       47445 :                     0, 0,   0,           1;
+    2431             : 
+    2432       47445 :       B_heading_ << 0,
+    2433       47445 :                     0,
+    2434       94890 :                     0,
+    2435       47445 :                     dt1;
+    2436             : 
+    2437       47445 :     model_iteration_last_time_ = ros::Time::now();
+    2438             :   }
+    2439             : 
+    2440             :   {
+    2441       95002 :     auto [mpc_x, mpc_x_heading] = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_, mpc_x_heading_);
+    2442       95002 :     auto [mpc_u, mpc_u_heading] = mrs_lib::get_mutexed(mutex_mpc_u_, mpc_u_, mpc_u_heading_);
+    2443             : 
+    2444       95002 :     MatrixXd new_mpc_x         = A_ * mpc_x + B_ * mpc_u;
+    2445       95002 :     MatrixXd new_mpc_x_heading = A_heading_ * mpc_x_heading + B_heading_ * mpc_u_heading;
+    2446             : 
+    2447             :     // | --------------- check the state difference --------------- |
+    2448             :     {
+    2449       47501 :       auto constraints = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+    2450             : 
+    2451       47501 :       bool problem = false;
+    2452             : 
+    2453             :       // position
+    2454             : 
+    2455       47501 :       if (fabs((new_mpc_x(0) - mpc_x(0)) / dt1) > 1.05 * constraints.horizontal_speed) {
+    2456           0 :         ROS_DEBUG("[MpcTracker]: horizontal pos x update violates constraints: %.2f -> %.2f = %.2f, > %.2f", mpc_x(0), new_mpc_x(0),
+    2457             :                   fabs((new_mpc_x(0) - mpc_x(0)) / dt1), constraints.horizontal_speed);
+    2458           0 :         problem = true;
+    2459             :       }
+    2460             : 
+    2461       47501 :       if (fabs((new_mpc_x(4) - mpc_x(4)) / dt1) > 1.05 * constraints.horizontal_speed) {
+    2462           0 :         ROS_DEBUG("[MpcTracker]: horizontal pos y update violates constraints: %.2f -> %.2f = %.2f, > %.2f", mpc_x(4), new_mpc_x(4),
+    2463             :                   fabs((new_mpc_x(4) - mpc_x(4)) / dt1), constraints.horizontal_speed);
+    2464           0 :         problem = true;
+    2465             :     }
+    2466             : 
+    2467       47501 :       if (((new_mpc_x(8) - mpc_x(8)) / dt1) > 1.05 * constraints.vertical_ascending_speed) {
+    2468           0 :         ROS_DEBUG("[MpcTracker]: vertical pos z update violates constraints: %.2f -> %.2f = %.2f, > %.2f", mpc_x(8), new_mpc_x(8),
+    2469             :                   ((new_mpc_x(8) - mpc_x(8)) / dt1), constraints.vertical_ascending_speed);
+    2470           0 :         problem = true;
+    2471             :       }
+    2472             : 
+    2473       47501 :       if (((new_mpc_x(8) - mpc_x(8)) / dt1) < 1.05 * -constraints.vertical_descending_speed) {
+    2474           0 :         ROS_DEBUG("[MpcTracker]: vertical pos z update violates constraints: %.2f -> %.2f = %.2f, < %.2f", mpc_x(8), new_mpc_x(8),
+    2475             :                   ((new_mpc_x(8) - mpc_x(8)) / dt1), -constraints.vertical_descending_speed);
+    2476           0 :         problem = true;
+    2477             :       }
+    2478             : 
+    2479             :       /* if (fabs(radians::diff(new_mpc_x_heading(0), mpc_x_heading(0)) / dt1) > 1.2 * constraints.heading_speed) { */
+    2480             :       /*   ROS_DEBUG("[MpcTracker]: heading update violates constraints: %.2f -> %.2f = %.2f, > %.2f", mpc_x_heading(0), new_mpc_x_heading(0), */
+    2481             :       /*             fabs(radians::diff(new_mpc_x_heading(0), mpc_x_heading(0)) / dt1), constraints.heading_speed); */
+    2482             :       /*   problem = true; */
+    2483             :       /* } */
+    2484             : 
+    2485             :       // velocity
+    2486             : 
+    2487       47501 :       if (fabs((new_mpc_x(1) - mpc_x(1)) / dt1) > 1.05 * constraints.horizontal_acceleration) {
+    2488           0 :         ROS_DEBUG("[MpcTracker]: horizontal vel x update violates constraints: %.2f -> %.2f = %.2f, > %.2f", mpc_x(1), new_mpc_x(1),
+    2489             :                   fabs((new_mpc_x(1) - mpc_x(1)) / dt1), constraints.horizontal_acceleration);
+    2490           0 :         problem = true;
+    2491             :       }
+    2492             : 
+    2493       47501 :       if (fabs((new_mpc_x(5) - mpc_x(5)) / dt1) > 1.05 * constraints.horizontal_acceleration) {
+    2494           0 :         ROS_DEBUG("[MpcTracker]: horizontal vel y update violates constraints: %.2f -> %.2f = %.2f, > %.2f", mpc_x(5), new_mpc_x(5),
+    2495             :                   fabs((new_mpc_x(5) - mpc_x(5)) / dt1), constraints.horizontal_acceleration);
+    2496           0 :         problem = true;
+    2497             :       }
+    2498             : 
+    2499       47501 :       if (((new_mpc_x(9) - mpc_x(9)) / dt1) > 1.05 * constraints.vertical_ascending_acceleration) {
+    2500           0 :         ROS_DEBUG("[MpcTracker]: vertical vel z update violates constraints: %.2f -> %.2f = %.2f, > %.2f", mpc_x(9), new_mpc_x(9),
+    2501             :                   ((new_mpc_x(9) - mpc_x(9)) / dt1), constraints.vertical_ascending_acceleration);
+    2502           0 :         problem = true;
+    2503             :       }
+    2504             : 
+    2505       47501 :       if (((new_mpc_x(9) - mpc_x(9)) / dt1) < 1.05 * -constraints.vertical_descending_acceleration) {
+    2506           0 :         ROS_DEBUG("[MpcTracker]: vertical vel z update violates constraints: %.2f -> %.2f = %.2f, < %.2f", mpc_x(9), new_mpc_x(9),
+    2507             :                   ((new_mpc_x(9) - mpc_x(9)) / dt1), -constraints.vertical_descending_acceleration);
+    2508           0 :         problem = true;
+    2509             :       }
+    2510             : 
+    2511             :       // acceleration
+    2512             : 
+    2513       47501 :       if (fabs((new_mpc_x(2) - mpc_x(2)) / dt1) > 1.05 * constraints.horizontal_jerk) {
+    2514           0 :         ROS_DEBUG("[MpcTracker]: horizontal acc x update violates constraints: %.2f -> %.2f = %.2f, > %.2f", mpc_x(2), new_mpc_x(2),
+    2515             :                   fabs((new_mpc_x(2) - mpc_x(2)) / dt1), constraints.horizontal_jerk);
+    2516           0 :         problem = true;
+    2517             :       }
+    2518             : 
+    2519       47501 :       if (fabs((new_mpc_x(6) - mpc_x(6)) / dt1) > 1.05 * constraints.horizontal_jerk) {
+    2520           0 :         ROS_DEBUG("[MpcTracker]: horizontal acc y update violates constraints: %.2f -> %.2f, = %.2f > %.2f", mpc_x(6), new_mpc_x(6),
+    2521             :                   fabs((new_mpc_x(6) - mpc_x(6)) / dt1), constraints.horizontal_jerk);
+    2522           0 :         problem = true;
+    2523             :       }
+    2524             : 
+    2525       47501 :       if (((new_mpc_x(10) - mpc_x(10)) / dt1) > 1.05 * constraints.vertical_ascending_jerk) {
+    2526           0 :         ROS_DEBUG("[MpcTracker]: vertical acc z update violates constraints: %.2f -> %.2f = %.2f, > %.2f", mpc_x(10), new_mpc_x(10),
+    2527             :                   ((new_mpc_x(10) - mpc_x(10)) / dt1), constraints.vertical_ascending_jerk);
+    2528           0 :         problem = true;
+    2529             :       }
+    2530             : 
+    2531       47501 :       if (((new_mpc_x(10) - mpc_x(10)) / dt1) < 1.05 * -constraints.vertical_descending_jerk) {
+    2532           0 :         ROS_DEBUG("[MpcTracker]: vertical acc z update violates constraints: %.2f -> %.2f = %.2f, < %.2f", mpc_x(10), new_mpc_x(10),
+    2533             :                   ((new_mpc_x(10) - mpc_x(10)) / dt1), -constraints.vertical_descending_jerk);
+    2534           0 :         problem = true;
+    2535             :       }
+    2536             : 
+    2537             :       // jerk
+    2538             : 
+    2539       47501 :       if (fabs((new_mpc_x(3) - mpc_x(3)) / dt1) > 1.05 * constraints.horizontal_snap) {
+    2540           0 :         ROS_DEBUG("[MpcTracker]: horizontal jerk x update violates constraints: %.2f -> %.2f = %.2f, > %.2f", mpc_x(3), new_mpc_x(3),
+    2541             :                   fabs((new_mpc_x(3) - mpc_x(3)) / dt1), constraints.horizontal_snap);
+    2542           0 :         problem = true;
+    2543             :       }
+    2544             : 
+    2545       47501 :       if (fabs((new_mpc_x(7) - mpc_x(7)) / dt1) > 1.05 * constraints.horizontal_snap) {
+    2546           0 :         ROS_DEBUG("[MpcTracker]: horizontal jerk y update violates constraints: %.2f -> %.2f = %.2f, > %.2f", mpc_x(7), new_mpc_x(7),
+    2547             :                   fabs((new_mpc_x(7) - mpc_x(7)) / dt1), constraints.horizontal_snap);
+    2548           0 :         problem = true;
+    2549             :       }
+    2550             : 
+    2551       47501 :       if (((new_mpc_x(11) - mpc_x(11)) / dt1) > 1.05 * constraints.vertical_ascending_snap) {
+    2552           0 :         ROS_DEBUG("[MpcTracker]: vertical jerk z update violates constraints: %.2f -> %.2f = %.2f, > %.2f", mpc_x(11), new_mpc_x(11),
+    2553             :                   ((new_mpc_x(11) - mpc_x(11)) / dt1), constraints.vertical_ascending_snap);
+    2554           0 :         problem = true;
+    2555             :       }
+    2556             : 
+    2557       47501 :       if (((new_mpc_x(11) - mpc_x(11)) / dt1) < 1.05 * -constraints.vertical_descending_snap) {
+    2558           0 :         ROS_DEBUG("[MpcTracker]: vertical jerk z update violates constraints: %.2f -> %.2f = %.2f, < %.2f", mpc_x(11), new_mpc_x(11),
+    2559             :                   ((new_mpc_x(11) - mpc_x(11)) / dt1), -constraints.vertical_descending_snap);
+    2560           0 :         problem = true;
+    2561             :       }
+    2562             : 
+    2563       47501 :       if (problem) {
+    2564           0 :         debugPrintState(0.001);
+    2565           0 :         debugPrintMPCResult(0.001);
+    2566             :       }
+    2567             :     }
+    2568             : 
+    2569             :     {
+    2570       47501 :       std::scoped_lock lock(mutex_mpc_x_);
+    2571             : 
+    2572       47501 :       mpc_x_         = new_mpc_x;
+    2573       47501 :       mpc_x_heading_ = new_mpc_x_heading;
+    2574             : 
+    2575       47501 :       mpc_x_heading_(0) = sradians::wrap(mpc_x_heading_(0));
+    2576             :     }
+    2577             :   }
+    2578       47501 : }
+    2579             : 
+    2580             : //}
+    2581             : 
+    2582             : // | -------------------- referece setting -------------------- |
+    2583             : 
+    2584             : /* //{ loadTrajectory() */
+    2585             : 
+    2586             : // method for setting desired trajectory
+    2587         501 : std::tuple<bool, std::string, bool> MpcTracker::loadTrajectory(const mrs_msgs::TrajectoryReference msg) {
+    2588             : 
+    2589         501 :   auto dt1 = mrs_lib::get_mutexed(mutex_dt1_, dt1_);
+    2590             : 
+    2591             :   // copy the member variables
+    2592        1002 :   auto x         = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_);
+    2593        1002 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    2594             : 
+    2595        1002 :   std::stringstream ss;
+    2596             : 
+    2597             :   /* check the trajectory dt //{ */
+    2598             : 
+    2599             :   double trajectory_dt;
+    2600         501 :   if (msg.dt <= 1e-4) {
+    2601           0 :     trajectory_dt = 0.2;
+    2602           0 :     ROS_WARN_THROTTLE(10.0, "[MpcTracker]: the trajectory dt was not specified, assuming its the old 0.2 s");
+    2603         501 :   } else if (msg.dt < dt1) {
+    2604           0 :     trajectory_dt = 0.2;
+    2605           0 :     ss << std::setprecision(3) << "the trajectory dt (" << msg.dt << " s) is too small (smaller than the tracker's internal step size: " << dt1 << " s)";
+    2606           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+    2607           0 :     return std::tuple(false, ss.str(), false);
+    2608             :   } else {
+    2609         501 :     trajectory_dt = msg.dt;
+    2610             :   }
+    2611             : 
+    2612             :   //}
+    2613             : 
+    2614         501 :   int trajectory_size = msg.points.size();
+    2615             : 
+    2616             :   /* sanitize the time-ness of the trajectory //{ */
+    2617             : 
+    2618         501 :   int    trajectory_sample_offset    = 0;  // how many samples in past is the trajectory
+    2619         501 :   int    trajectory_subsample_offset = 0;  // how many simulation inner loops ahead of the first valid sample
+    2620         501 :   double trajectory_time_offset      = 0;  // how much time in past in [s]
+    2621             : 
+    2622             :   // btw, "trajectory_time_offset = trajectory_dt*trajectory_sample_offset + _dt1_*trajectory_subsample_offset" should hold
+    2623         501 :   if (msg.fly_now) {
+    2624             : 
+    2625         500 :     ros::Time trajectory_time = msg.header.stamp;
+    2626             : 
+    2627             :     // the desired time is 0 => the current time
+    2628             :     // the trajecoty is a single point => the current time
+    2629         500 :     if (trajectory_time == ros::Time(0) || int(msg.points.size()) == 1) {
+    2630             : 
+    2631           0 :       trajectory_time_offset = 0.0;
+    2632             : 
+    2633             :       // the desired time is specified
+    2634             :     } else {
+    2635             : 
+    2636         500 :       trajectory_time_offset = (ros::Time::now() - trajectory_time).toSec();
+    2637             : 
+    2638             :       // when the time offset is negative, thus in the future
+    2639             :       // just say it, but use it like its from the current time
+    2640         500 :       if (trajectory_time_offset < 0.0) {
+    2641             : 
+    2642           0 :         ROS_WARN_THROTTLE(1.0, "[MpcTracker]: received trajectory with timestamp in the future by %.3f s", -trajectory_time_offset);
+    2643             : 
+    2644           0 :         trajectory_time_offset = 0.0;
+    2645             :       }
+    2646             :     }
+    2647             : 
+    2648             :     // if the time offset is set, check if we need to "move the first idx"
+    2649         500 :     if (trajectory_time_offset > 0.0) {
+    2650             : 
+    2651             :       // calculate the offset in samples
+    2652           3 :       trajectory_sample_offset = int(floor(trajectory_time_offset / trajectory_dt));
+    2653             : 
+    2654             :       // and get the subsample offset, which will be used to initialize the interpolator
+    2655           3 :       trajectory_subsample_offset = int(floor(fmod(trajectory_time_offset, trajectory_dt) / dt1));
+    2656             : 
+    2657           3 :       ROS_DEBUG_THROTTLE(0.1, "[MpcTracker]: received trajectory with timestamp in the past by %.3f s",
+    2658             :                          trajectory_dt * trajectory_sample_offset + dt1 * trajectory_subsample_offset);
+    2659             : 
+    2660             :       // if the offset is larger than the number of points in the trajectory
+    2661             :       // the trajectory can not be used
+    2662           3 :       if (trajectory_sample_offset >= trajectory_size) {
+    2663             : 
+    2664           0 :         ss << "trajectory timestamp is too old (time difference = " << trajectory_time_offset << ")";
+    2665           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+    2666           0 :         return std::tuple(false, ss.str(), false);
+    2667             : 
+    2668             :       } else {
+    2669             : 
+    2670             :         // if the offset is larger than one trajectory sample,
+    2671             :         // offset the start
+    2672           3 :         if (trajectory_time_offset >= trajectory_dt) {
+    2673             : 
+    2674             :           // decrease the trajectory size
+    2675           2 :           trajectory_size -= trajectory_sample_offset;
+    2676             : 
+    2677           2 :           ROS_DEBUG_THROTTLE(0.1, "[MpcTracker]: offsetting trajectory by %d samples", trajectory_sample_offset);
+    2678             : 
+    2679             :         } else {
+    2680             : 
+    2681           1 :           trajectory_sample_offset = 0;
+    2682             :         }
+    2683             :       }
+    2684             :     }
+    2685             : 
+    2686             :   } else { // not fly_now
+    2687             : 
+    2688           1 :       trajectory_tracking_in_progress_ = false;
+    2689             :   }
+    2690             : 
+    2691             :   //}
+    2692             : 
+    2693         501 :   ROS_DEBUG_THROTTLE(1.0, "[MpcTracker]: trajectory sample offset: %d", trajectory_sample_offset);
+    2694         501 :   ROS_DEBUG_THROTTLE(1.0, "[MpcTracker]: trajectory subsample offset: %d", trajectory_subsample_offset);
+    2695             : 
+    2696             :   // after this, we should have the correct value of
+    2697             :   // * trajectory_size
+    2698             :   // * trajectory_sample_offset
+    2699             :   // * trajectory_subsample_offset
+    2700             : 
+    2701             :   /* copy the trajectory to a local variable //{ */
+    2702             : 
+    2703             :   // copy only the part from the first valid index
+    2704             : 
+    2705        1002 :   MatrixXd des_x_whole_trajectory       = VectorXd::Zero(trajectory_size + _mpc_horizon_len_, 1);
+    2706        1002 :   MatrixXd des_y_whole_trajectory       = VectorXd::Zero(trajectory_size + _mpc_horizon_len_, 1);
+    2707        1002 :   MatrixXd des_z_whole_trajectory       = VectorXd::Zero(trajectory_size + _mpc_horizon_len_, 1);
+    2708        1002 :   MatrixXd des_heading_whole_trajectory = VectorXd::Zero(trajectory_size + _mpc_horizon_len_, 1);
+    2709             : 
+    2710       25882 :   for (int i = 0; i < trajectory_size; i++) {
+    2711             : 
+    2712       25381 :     des_x_whole_trajectory(i)       = msg.points[trajectory_sample_offset + i].position.x;
+    2713       25381 :     des_y_whole_trajectory(i)       = msg.points[trajectory_sample_offset + i].position.y;
+    2714       25381 :     des_z_whole_trajectory(i)       = msg.points[trajectory_sample_offset + i].position.z;
+    2715       25381 :     des_heading_whole_trajectory(i) = msg.points[trajectory_sample_offset + i].heading;
+    2716             :   }
+    2717             : 
+    2718             :   //}
+    2719             : 
+    2720             :   /* set looping //{ */
+    2721             : 
+    2722         501 :   bool loop = false;
+    2723             : 
+    2724         501 :   if (msg.loop) {
+    2725             : 
+    2726           0 :     double first_x = des_x_whole_trajectory(0);
+    2727           0 :     double first_y = des_y_whole_trajectory(0);
+    2728           0 :     double first_z = des_z_whole_trajectory(0);
+    2729           0 :     double first_hdg = des_heading_whole_trajectory(0);
+    2730             : 
+    2731           0 :     double last_x = des_x_whole_trajectory(trajectory_size - 1);
+    2732           0 :     double last_y = des_y_whole_trajectory(trajectory_size - 1);
+    2733           0 :     double last_z = des_z_whole_trajectory(trajectory_size - 1);
+    2734           0 :     double last_hdg = des_heading_whole_trajectory(trajectory_size - 1);
+    2735             : 
+    2736             :     // check whether the trajectory is loopable
+    2737           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) {
+    2738             : 
+    2739           0 :       ROS_INFO_THROTTLE(1.0, "[MpcTracker]: looping enabled");
+    2740           0 :       loop = true;
+    2741             : 
+    2742             :     } else {
+    2743             : 
+    2744           0 :       ss << "can not loop trajectory, the first and last points are too far apart";
+    2745           0 :       ROS_WARN_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+    2746           0 :       return std::tuple(false, ss.str(), false);
+    2747             :     }
+    2748             : 
+    2749             :   } else {
+    2750             : 
+    2751         501 :     loop = false;
+    2752             :   }
+    2753             : 
+    2754             :   //}
+    2755             : 
+    2756             :   // by this time, the values of these should be set:
+    2757             :   // * loop
+    2758             : 
+    2759             :   /* add tail (the last point repeated to fill the prediction horizon) //{ */
+    2760             : 
+    2761         501 :   if (!loop) {
+    2762             : 
+    2763             :     // extend it so it has smooth ending
+    2764       20541 :     for (int i = 0; i < _mpc_horizon_len_; i++) {
+    2765             : 
+    2766       20040 :       des_x_whole_trajectory(i + trajectory_size)       = des_x_whole_trajectory(i + trajectory_size - 1);
+    2767       20040 :       des_y_whole_trajectory(i + trajectory_size)       = des_y_whole_trajectory(i + trajectory_size - 1);
+    2768       20040 :       des_z_whole_trajectory(i + trajectory_size)       = des_z_whole_trajectory(i + trajectory_size - 1);
+    2769       20040 :       des_heading_whole_trajectory(i + trajectory_size) = des_heading_whole_trajectory(i + trajectory_size - 1);
+    2770             :     }
+    2771             :   }
+    2772             : 
+    2773             :   //}
+    2774             : 
+    2775             :   // by this time, the values of these should be set correctly:
+    2776             :   // * trajectory_size
+    2777             :   // * des_x_whole_trajectory
+    2778             :   // * des_y_whole_trajectory
+    2779             :   // * des_z_whole_trajectory
+    2780             :   // * des_heading_whole_trajectory
+    2781             : 
+    2782             :   /* update the global variables //{ */
+    2783             : 
+    2784             :   {
+    2785        1002 :     std::scoped_lock lock(mutex_des_whole_trajectory_, mutex_des_trajectory_, mutex_trajectory_tracking_states_);
+    2786             : 
+    2787         501 :     des_whole_trajectory_id_ = msg.input_id;
+    2788             : 
+    2789         501 :     auto mpc_x_heading = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_heading_);
+    2790             : 
+    2791         501 :     trajectory_tracking_in_progress_ = msg.fly_now;
+    2792         501 :     trajectory_track_heading_        = msg.use_heading;
+    2793             : 
+    2794             :     // allocate the vectors
+    2795         501 :     des_x_whole_trajectory_       = std::make_shared<VectorXd>(trajectory_size + _mpc_horizon_len_, 1);
+    2796         501 :     des_y_whole_trajectory_       = std::make_shared<VectorXd>(trajectory_size + _mpc_horizon_len_, 1);
+    2797         501 :     des_z_whole_trajectory_       = std::make_shared<VectorXd>(trajectory_size + _mpc_horizon_len_, 1);
+    2798         501 :     des_heading_whole_trajectory_ = std::make_shared<VectorXd>(trajectory_size + _mpc_horizon_len_, 1);
+    2799             : 
+    2800       45922 :     for (int i = 0; i < trajectory_size + _mpc_horizon_len_; i++) {
+    2801             : 
+    2802       45421 :       (*des_x_whole_trajectory_)(i) = des_x_whole_trajectory(i);
+    2803       45421 :       (*des_y_whole_trajectory_)(i) = des_y_whole_trajectory(i);
+    2804       45421 :       (*des_z_whole_trajectory_)(i) = des_z_whole_trajectory(i);
+    2805             : 
+    2806       45421 :       if (trajectory_track_heading_) {
+    2807       45421 :         (*des_heading_whole_trajectory_)(i) = des_heading_whole_trajectory(i);
+    2808             :       } else {
+    2809           0 :         (*des_heading_whole_trajectory_).fill(mpc_x_heading(0, 0));
+    2810             :       }
+    2811             :     }
+    2812             : 
+    2813             :     // if we are tracking trajectory, copy the setpoint
+    2814         501 :     if (trajectory_tracking_in_progress_) {
+    2815             : 
+    2816         500 :       toggleHover(false);
+    2817             : 
+    2818             :       /* interpolate the trajectory points and fill in the desired_trajectory vector //{ */
+    2819             : 
+    2820       20500 :       for (int i = 0; i < _mpc_horizon_len_; i++) {
+    2821             : 
+    2822       20000 :         double first_time = dt1 + i * _dt2_ + trajectory_subsample_offset * dt1;
+    2823             : 
+    2824       20000 :         int first_idx  = floor(first_time / trajectory_dt);
+    2825       20000 :         int second_idx = first_idx + 1;
+    2826             : 
+    2827       20000 :         double interp_coeff = std::fmod(first_time / trajectory_dt, 1.0);
+    2828             : 
+    2829       20000 :         if (trajectory_tracking_loop_) {
+    2830             : 
+    2831           0 :           if (second_idx >= trajectory_size) {
+    2832           0 :             second_idx -= trajectory_size;
+    2833             :           }
+    2834             : 
+    2835           0 :           if (first_idx >= trajectory_size) {
+    2836           0 :             first_idx -= trajectory_size;
+    2837             :           }
+    2838             :         } else {
+    2839             : 
+    2840       20000 :           if (second_idx >= trajectory_size) {
+    2841           0 :             second_idx = trajectory_size - 1;
+    2842             :           }
+    2843             : 
+    2844       20000 :           if (first_idx >= trajectory_size) {
+    2845           0 :             first_idx = trajectory_size - 1;
+    2846             :           }
+    2847             :         }
+    2848             : 
+    2849       20000 :         des_x_trajectory_(i, 0) = (1 - interp_coeff) * des_x_whole_trajectory(first_idx) + interp_coeff * des_x_whole_trajectory(second_idx);
+    2850       20000 :         des_y_trajectory_(i, 0) = (1 - interp_coeff) * des_y_whole_trajectory(first_idx) + interp_coeff * des_y_whole_trajectory(second_idx);
+    2851       20000 :         des_z_trajectory_(i, 0) = (1 - interp_coeff) * des_z_whole_trajectory(first_idx) + interp_coeff * des_z_whole_trajectory(second_idx);
+    2852             : 
+    2853       20000 :         des_heading_trajectory_(i, 0) = sradians::interp(des_heading_whole_trajectory(first_idx), des_heading_whole_trajectory(second_idx), interp_coeff);
+    2854             :       }
+    2855             : 
+    2856             :       //}
+    2857             :     }
+    2858             : 
+    2859         501 :     trajectory_size_             = trajectory_size;
+    2860         501 :     trajectory_current_time_     = 0;
+    2861         501 :     trajectory_set_              = true;
+    2862         501 :     trajectory_tracking_loop_    = loop;
+    2863         501 :     trajectory_dt_               = trajectory_dt;
+    2864         501 :     trajectory_count_++;
+    2865             :   }
+    2866             : 
+    2867             :   //}
+    2868             : 
+    2869         501 :   ROS_INFO_THROTTLE(1, "[MpcTracker]: finished setting trajectory with length %d", trajectory_size);
+    2870             : 
+    2871             :   /* publish the debugging topics of the post-processed trajectory //{ */
+    2872             : 
+    2873             :   {
+    2874             : 
+    2875        1002 :     geometry_msgs::PoseArray debug_trajectory_out;
+    2876         501 :     debug_trajectory_out.header.stamp    = ros::Time::now();
+    2877         501 :     debug_trajectory_out.header.frame_id = common_handlers_->transformer->resolveFrame(msg.header.frame_id);
+    2878             : 
+    2879             :     {
+    2880        1002 :       std::scoped_lock lock(mutex_des_whole_trajectory_);
+    2881             : 
+    2882       25882 :       for (int i = 0; i < trajectory_size; i++) {
+    2883             : 
+    2884       25381 :         geometry_msgs::Pose new_pose;
+    2885             : 
+    2886       25381 :         new_pose.position.x = (*des_x_whole_trajectory_)(i);
+    2887       25381 :         new_pose.position.y = (*des_y_whole_trajectory_)(i);
+    2888       25381 :         new_pose.position.z = (*des_z_whole_trajectory_)(i);
+    2889             : 
+    2890       25381 :         new_pose.orientation = mrs_lib::AttitudeConverter(0, 0, (*des_heading_whole_trajectory_)(i));
+    2891             : 
+    2892       25381 :         debug_trajectory_out.poses.push_back(new_pose);
+    2893             :       }
+    2894             :     }
+    2895             : 
+    2896         501 :     pub_debug_processed_trajectory_poses_.publish(debug_trajectory_out);
+    2897             : 
+    2898        1002 :     visualization_msgs::MarkerArray msg_out;
+    2899             : 
+    2900        1002 :     visualization_msgs::Marker marker;
+    2901             : 
+    2902         501 :     marker.header.stamp     = ros::Time::now();
+    2903         501 :     marker.header.frame_id  = common_handlers_->transformer->resolveFrame(msg.header.frame_id);
+    2904         501 :     marker.type             = visualization_msgs::Marker::LINE_LIST;
+    2905         501 :     marker.color.a          = 1;
+    2906         501 :     marker.scale.x          = 0.05;
+    2907         501 :     marker.color.r          = 1;
+    2908         501 :     marker.color.g          = 0;
+    2909         501 :     marker.color.b          = 0;
+    2910         501 :     marker.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    2911             : 
+    2912             :     {
+    2913        1002 :       std::scoped_lock lock(mutex_des_whole_trajectory_);
+    2914             : 
+    2915       25381 :       for (int i = 0; i < trajectory_size - 1; i++) {
+    2916             : 
+    2917       24880 :         geometry_msgs::Point point1;
+    2918             : 
+    2919       24880 :         point1.x = des_x_whole_trajectory(i);
+    2920       24880 :         point1.y = des_y_whole_trajectory(i);
+    2921       24880 :         point1.z = des_z_whole_trajectory(i);
+    2922             : 
+    2923       24880 :         marker.points.push_back(point1);
+    2924             : 
+    2925       24880 :         geometry_msgs::Point point2;
+    2926             : 
+    2927       24880 :         point2.x = des_x_whole_trajectory(i + 1);
+    2928       24880 :         point2.y = des_y_whole_trajectory(i + 1);
+    2929       24880 :         point2.z = des_z_whole_trajectory(i + 1);
+    2930             : 
+    2931       24880 :         marker.points.push_back(point2);
+    2932             :       }
+    2933             :     }
+    2934             : 
+    2935         501 :     msg_out.markers.push_back(marker);
+    2936             : 
+    2937         501 :     pub_debug_processed_trajectory_markers_.publish(msg_out);
+    2938             :   }
+    2939             : 
+    2940             :   //}
+    2941             : 
+    2942         501 :   publishDiagnostics();
+    2943             : 
+    2944        1002 :   return std::tuple(true, "trajectory loaded", false);
+    2945             : }
+    2946             : 
+    2947             : //}
+    2948             : 
+    2949             : /* //{ setSinglePointReference() */
+    2950             : 
+    2951             : // fill the des_*_trajectory based on a single point
+    2952         806 : void MpcTracker::setSinglePointReference(const double x, const double y, const double z, const double heading) {
+    2953             : 
+    2954        1612 :   std::scoped_lock lock(mutex_des_trajectory_);
+    2955             : 
+    2956         806 :   des_x_trajectory_.fill(x);
+    2957         806 :   des_y_trajectory_.fill(y);
+    2958         806 :   des_z_trajectory_.fill(z);
+    2959         806 :   des_heading_trajectory_.fill(heading);
+    2960         806 : }
+    2961             : 
+    2962             : //}
+    2963             : 
+    2964             : /* //{ setGoal() */
+    2965             : 
+    2966             : // set absolute goal
+    2967         124 : void MpcTracker::setGoal(const double pos_x, const double pos_y, const double pos_z, const double heading, const bool use_heading) {
+    2968             : 
+    2969         124 :   double desired_heading = sradians::wrap(heading);
+    2970             : 
+    2971         248 :   auto mpc_x_heading = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_heading_);
+    2972             : 
+    2973         124 :   if (!use_heading) {
+    2974           0 :     desired_heading = mpc_x_heading(0, 0);
+    2975             :   }
+    2976             : 
+    2977         124 :   trajectory_tracking_in_progress_ = false;
+    2978             : 
+    2979         124 :   setSinglePointReference(pos_x, pos_y, pos_z, desired_heading);
+    2980             : 
+    2981         124 :   publishDiagnostics();
+    2982         124 : }
+    2983             : 
+    2984             : //}
+    2985             : 
+    2986             : /* //{ setRelativeGoal() */
+    2987             : 
+    2988         682 : void MpcTracker::setRelativeGoal(const double pos_x, const double pos_y, const double pos_z, const double heading, const bool use_heading) {
+    2989             : 
+    2990        1364 :   auto [mpc_x, mpc_x_heading] = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_, mpc_x_heading_);
+    2991             : 
+    2992         682 :   double abs_x = mpc_x(0, 0) + pos_x;
+    2993         682 :   double abs_y = mpc_x(4, 0) + pos_y;
+    2994         682 :   double abs_z = mpc_x(8, 0) + pos_z;
+    2995             : 
+    2996         682 :   double abs_heading = mpc_x_heading(0, 0);
+    2997             : 
+    2998         682 :   if (use_heading) {
+    2999           0 :     abs_heading += heading;
+    3000             :   }
+    3001             : 
+    3002         682 :   trajectory_tracking_in_progress_ = false;
+    3003             : 
+    3004         682 :   setSinglePointReference(abs_x, abs_y, abs_z, abs_heading);
+    3005             : 
+    3006         682 :   publishDiagnostics();
+    3007         682 : }
+    3008             : 
+    3009             : //}
+    3010             : 
+    3011             : /* toggleHover() //{ */
+    3012             : 
+    3013         741 : void MpcTracker::toggleHover(bool in) {
+    3014             : 
+    3015         741 :   if (in == false && hovering_in_progress_) {
+    3016             : 
+    3017          58 :     ROS_DEBUG("[MpcTracker]: stoppping the hover timer");
+    3018             : 
+    3019          58 :     timer_hover_.stop();
+    3020             : 
+    3021          58 :     hovering_in_progress_ = false;
+    3022             : 
+    3023         683 :   } else if (in == true && !hovering_in_progress_) {
+    3024             : 
+    3025          58 :     ROS_DEBUG("[MpcTracker]: starting the hover timer");
+    3026             : 
+    3027          58 :     hovering_in_progress_ = true;
+    3028             : 
+    3029          58 :     timer_hover_.start();
+    3030             :   }
+    3031         741 : }
+    3032             : 
+    3033             : //}
+    3034             : 
+    3035             : // | ------------------- trajectory tracking ------------------ |
+    3036             : 
+    3037             : /* startTrajectoryTrackingImpl() //{ */
+    3038             : 
+    3039           1 : std::tuple<bool, std::string> MpcTracker::startTrajectoryTrackingImpl(void) {
+    3040             : 
+    3041           2 :   std::stringstream ss;
+    3042             : 
+    3043           1 :   if (trajectory_set_) {
+    3044             : 
+    3045           1 :     toggleHover(false);
+    3046             : 
+    3047             :     {
+    3048           1 :       std::scoped_lock lock(mutex_des_trajectory_);
+    3049             : 
+    3050           1 :       trajectory_tracking_in_progress_ = true;
+    3051           1 :       trajectory_current_time_ = 0;
+    3052             :     }
+    3053             : 
+    3054           1 :     publishDiagnostics();
+    3055             : 
+    3056           1 :     ss << "trajectory tracking started";
+    3057           1 :     ROS_INFO_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+    3058             : 
+    3059           1 :     return std::tuple(true, ss.str());
+    3060             : 
+    3061             :   } else {
+    3062             : 
+    3063           0 :     ss << "can not start trajectory tracking, the trajectory is not set";
+    3064           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+    3065             : 
+    3066           0 :     return std::tuple(false, ss.str());
+    3067             :   }
+    3068             : }
+    3069             : 
+    3070             : //}
+    3071             : 
+    3072             : /* resumeTrajectoryTrackingImpl() //{ */
+    3073             : 
+    3074           0 : std::tuple<bool, std::string> MpcTracker::resumeTrajectoryTrackingImpl(void) {
+    3075             : 
+    3076           0 :   std::stringstream ss;
+    3077             : 
+    3078           0 :   if (trajectory_set_) {
+    3079             : 
+    3080           0 :     toggleHover(false);
+    3081             : 
+    3082           0 :     int trajectory_tracking_idx = getCurrentTrajectoryIdx();
+    3083             : 
+    3084           0 :     if (trajectory_tracking_idx < (trajectory_size_ - 1)) {
+    3085             : 
+    3086             :       {
+    3087           0 :         std::scoped_lock lock(mutex_des_trajectory_);
+    3088             : 
+    3089           0 :         trajectory_tracking_in_progress_ = true;
+    3090             :       }
+    3091             : 
+    3092           0 :       ss << "trajectory tracking resumed";
+    3093           0 :       ROS_INFO_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+    3094             : 
+    3095           0 :       publishDiagnostics();
+    3096             : 
+    3097           0 :       return std::tuple(true, ss.str());
+    3098             : 
+    3099             :     } else {
+    3100             : 
+    3101           0 :       ss << "can not resume trajectory tracking, trajectory is already finished";
+    3102           0 :       ROS_WARN_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+    3103             : 
+    3104           0 :       return std::tuple(false, ss.str());
+    3105             :     }
+    3106             : 
+    3107             :   } else {
+    3108             : 
+    3109           0 :     ss << "can not resume trajectory tracking, ther trajectory is not set";
+    3110           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+    3111             : 
+    3112           0 :     return std::tuple(false, ss.str());
+    3113             :   }
+    3114             : }
+    3115             : 
+    3116             : //}
+    3117             : 
+    3118             : /* stopTrajectoryTrackingImpl() //{ */
+    3119             : 
+    3120           0 : std::tuple<bool, std::string> MpcTracker::stopTrajectoryTrackingImpl(void) {
+    3121             : 
+    3122           0 :   std::stringstream ss;
+    3123             : 
+    3124           0 :   if (trajectory_tracking_in_progress_) {
+    3125             : 
+    3126           0 :     trajectory_tracking_in_progress_ = false;
+    3127             : 
+    3128           0 :     toggleHover(true);
+    3129             : 
+    3130           0 :     ss << "stopping trajectory tracking";
+    3131           0 :     ROS_INFO_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+    3132             : 
+    3133           0 :     publishDiagnostics();
+    3134             : 
+    3135             :   } else {
+    3136             : 
+    3137           0 :     ss << "can not stop trajectory tracking, already at stop";
+    3138           0 :     ROS_INFO_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+    3139             :   }
+    3140             : 
+    3141           0 :   return std::tuple(true, ss.str());
+    3142             : }
+    3143             : 
+    3144             : //}
+    3145             : 
+    3146             : /* gotoTrajectoryStartImpl() //{ */
+    3147             : 
+    3148           1 : std::tuple<bool, std::string> MpcTracker::gotoTrajectoryStartImpl(void) {
+    3149             : 
+    3150           2 :   std::stringstream ss;
+    3151             : 
+    3152           1 :   if (trajectory_set_) {
+    3153             : 
+    3154           1 :     toggleHover(false);
+    3155             : 
+    3156           1 :     trajectory_tracking_in_progress_ = false;
+    3157             : 
+    3158             :     {
+    3159           2 :       std::scoped_lock lock(mutex_des_whole_trajectory_);
+    3160             : 
+    3161           1 :       setGoal((*des_x_whole_trajectory_)[0], (*des_y_whole_trajectory_)[0], (*des_z_whole_trajectory_)[0], (*des_heading_whole_trajectory_)[0],
+    3162           1 :               trajectory_track_heading_);
+    3163             :     }
+    3164             : 
+    3165           1 :     publishDiagnostics();
+    3166             : 
+    3167           1 :     ss << "flying to the start of the trajectory";
+    3168           1 :     ROS_INFO_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+    3169             : 
+    3170           1 :     return std::tuple(true, ss.str());
+    3171             : 
+    3172             :   } else {
+    3173             : 
+    3174           0 :     ss << "can not fly to the start of the trajectory, the trajectory is not set";
+    3175           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+    3176             : 
+    3177           0 :     return std::tuple(false, ss.str());
+    3178             :   }
+    3179             : }
+    3180             : 
+    3181             : //}
+    3182             : 
+    3183             : // | ------------------------- support ------------------------ |
+    3184             : 
+    3185             : /* //{ publishDiagnostics() */
+    3186             : 
+    3187       14141 : void MpcTracker::publishDiagnostics(void) {
+    3188             : 
+    3189       28282 :   auto des_x_trajectory       = mrs_lib::get_mutexed(mutex_des_trajectory_, des_x_trajectory_);
+    3190       28282 :   auto des_y_trajectory       = mrs_lib::get_mutexed(mutex_des_trajectory_, des_y_trajectory_);
+    3191       28282 :   auto des_z_trajectory       = mrs_lib::get_mutexed(mutex_des_trajectory_, des_z_trajectory_);
+    3192       28282 :   auto des_heading_trajectory = mrs_lib::get_mutexed(mutex_des_trajectory_, des_heading_trajectory_);
+    3193             : 
+    3194       28282 :   mrs_msgs::MpcTrackerDiagnostics diagnostics;
+    3195             : 
+    3196       14141 :   diagnostics.header.stamp    = ros::Time::now();
+    3197       14141 :   diagnostics.header.frame_id = uav_state_.header.frame_id;
+    3198             : 
+    3199       14141 :   diagnostics.active = is_active_;
+    3200             : 
+    3201       14141 :   diagnostics.uav_name = _uav_name_;
+    3202             : 
+    3203       14141 :   diagnostics.collision_avoidance_active = collision_avoidance_enabled_;
+    3204       14141 :   diagnostics.avoiding_collision         = collision_avoidance_affecting_me_;
+    3205             : 
+    3206       14141 :   diagnostics.setpoint.position.x = des_x_trajectory(0, 0);
+    3207       14141 :   diagnostics.setpoint.position.y = des_y_trajectory(0, 0);
+    3208       14141 :   diagnostics.setpoint.position.z = des_z_trajectory(0, 0);
+    3209             : 
+    3210       14141 :   diagnostics.setpoint.orientation = mrs_lib::AttitudeConverter(0, 0, des_heading_trajectory(0, 0));
+    3211             : 
+    3212       28282 :   std::stringstream ss;
+    3213             : 
+    3214             :   {
+    3215       28281 :     std::scoped_lock lock(mutex_other_uav_diagnostics_);
+    3216             : 
+    3217             :     // fill in if other UAVs are sending their trajectories
+    3218       14141 :     std::map<std::string, mrs_msgs::MpcTrackerDiagnostics>::iterator u = other_uav_diagnostics_.begin();
+    3219             : 
+    3220       14141 :     while (u != other_uav_diagnostics_.end()) {
+    3221             : 
+    3222           0 :       if (u->second.collision_avoidance_active) {
+    3223             : 
+    3224             :         // is the other's trajectory fresh enought?
+    3225           0 :         if ((ros::Time::now() - u->second.header.stamp).toSec() < _collision_trajectory_timeout_) {
+    3226           0 :           diagnostics.avoidance_active_uavs.push_back(u->first);
+    3227           0 :           ss << u->first.c_str() << ", ";
+    3228             :         }
+    3229             :       }
+    3230             : 
+    3231           0 :       u++;
+    3232             :     }
+    3233             :   }
+    3234             : 
+    3235       28282 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    3236             : 
+    3237       14141 :   if (ss.str().length() > 0) {
+    3238           0 :     ROS_DEBUG_STREAM_THROTTLE(5.0, "[MpcTracker]: getting avoidance trajectories: " << ss.str());
+    3239       30967 :   } else if (collision_avoidance_enabled_ &&
+    3240       16826 :       (uav_state.estimator_horizontal == "lat_gps" || uav_state.estimator_horizontal == "lat_rtk")) {
+    3241       11884 :     ROS_DEBUG_THROTTLE(10.0, "[MpcTracker]: missing avoidance trajectories!");
+    3242             :   }
+    3243             : 
+    3244       14141 :   pub_diagnostics_.publish(diagnostics);
+    3245             : 
+    3246       28282 :   std_msgs::String string_msg;
+    3247             : 
+    3248       14141 :   if (diagnostics.avoidance_active_uavs.empty()) {
+    3249             : 
+    3250       14141 :     string_msg.data = "-id col_avoid I see: NOTHING";
+    3251             : 
+    3252             :   } else {
+    3253             : 
+    3254           0 :     string_msg.data = "-id col_avoid I see: ";
+    3255             :   }
+    3256             : 
+    3257       14141 :   if (diagnostics.avoidance_active_uavs.size() <= 3) {
+    3258             : 
+    3259       14141 :     for (size_t i = 0; i < diagnostics.avoidance_active_uavs.size(); i++) {
+    3260           0 :       if (i == 0) {
+    3261           0 :         string_msg.data += diagnostics.avoidance_active_uavs[i];
+    3262             :       } else {
+    3263           0 :         string_msg.data += ", " + diagnostics.avoidance_active_uavs[i];
+    3264             :       }
+    3265             :     }
+    3266             : 
+    3267             :   } else {
+    3268             : 
+    3269           0 :     std::stringstream ss;
+    3270           0 :     ss << diagnostics.avoidance_active_uavs.size();
+    3271             : 
+    3272           0 :     string_msg.data += ss.str() + " UAVs";
+    3273             :   }
+    3274             : 
+    3275       14141 :   pub_status_string_.publish(string_msg);
+    3276       14141 : }
+    3277             : 
+    3278             : //}
+    3279             : 
+    3280             : /* debugPrintState() //{ */
+    3281             : 
+    3282           0 : void MpcTracker::debugPrintState(const double throttle) {
+    3283             : 
+    3284           0 :   auto [mpc_x, mpc_x_heading] = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_, mpc_x_heading_);
+    3285             : 
+    3286           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));
+    3287           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));
+    3288           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));
+    3289           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));
+    3290           0 : }
+    3291             : 
+    3292             : //}
+    3293             : 
+    3294             : /* debugPrintMPCu() //{ */
+    3295             : 
+    3296           0 : void MpcTracker::debugPrintMPCResult(const double throttle) {
+    3297             : 
+    3298           0 :   auto [mpc_u, mpc_u_heading] = mrs_lib::get_mutexed(mutex_mpc_u_, mpc_u_, mpc_u_heading_);
+    3299           0 :   auto constraints            = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+    3300             : 
+    3301           0 :   ROS_DEBUG_THROTTLE(throttle, "[MpcTracker]: MPC result: [%.2f, %.2f, %.2f, %.2f]", mpc_u(0), mpc_u(1), mpc_u(2), mpc_u_heading);
+    3302           0 :   ROS_DEBUG_THROTTLE(throttle, "[MpcTracker]: snap constraint: hor: %.2f, ver asc: %.2f, vert desc: %.2f, heading: %.2f]", constraints.horizontal_snap,
+    3303             :                      constraints.vertical_ascending_snap, constraints.vertical_descending_snap, constraints.heading_snap);
+    3304           0 : }
+    3305             : 
+    3306             : //}
+    3307             : 
+    3308             : /* getCurrentTrajectoryIdx() //{ */
+    3309             : 
+    3310        5744 : int MpcTracker::getCurrentTrajectoryIdx() {
+    3311             : 
+    3312        5744 :   auto trajectory_current_time = mrs_lib::get_mutexed(mutex_trajectory_tracking_states_, trajectory_current_time_);
+    3313        5744 :   auto trajectory_dt   = mrs_lib::get_mutexed(mutex_trajectory_tracking_states_, trajectory_dt_);
+    3314             : 
+    3315        5744 :   return floor(trajectory_current_time / trajectory_dt);
+    3316             : }
+    3317             : 
+    3318             : //}
+    3319             : 
+    3320             : /* increaseCurrentTrajectoryTime() //{ */
+    3321             : 
+    3322       11238 : void MpcTracker::increaseCurrentTrajectoryTime(const double dt) {
+    3323             : 
+    3324       11238 :   auto trajectory_current_time = mrs_lib::get_mutexed(mutex_trajectory_tracking_states_, trajectory_current_time_);
+    3325       11238 :   auto [trajectory_size, trajectory_dt] = mrs_lib::get_mutexed(mutex_des_trajectory_, trajectory_size_, trajectory_dt_);
+    3326             : 
+    3327       11238 :   trajectory_current_time += dt;
+    3328             : 
+    3329       11238 :   const double trajectory_duration = trajectory_size * trajectory_dt;
+    3330             : 
+    3331             :   // if the tracking idx hits the end of the trajectory
+    3332       11238 :   if (trajectory_current_time >= trajectory_duration) {
+    3333             : 
+    3334           4 :     if (trajectory_tracking_loop_) {
+    3335             : 
+    3336             :       // reset the idx
+    3337           0 :       trajectory_current_time -= trajectory_duration;
+    3338             : 
+    3339           0 :       ROS_INFO("[MpcTracker]: trajectory looped");
+    3340             : 
+    3341             :     } else {
+    3342             : 
+    3343           4 :       trajectory_tracking_in_progress_ = false;
+    3344             : 
+    3345           4 :       ROS_INFO("[MpcTracker]: done tracking trajectory");
+    3346             :     }
+    3347             :   }
+    3348             : 
+    3349       11238 :   mrs_lib::set_mutexed(mutex_trajectory_tracking_states_, trajectory_current_time, trajectory_current_time_);
+    3350       11238 : }
+    3351             : 
+    3352             : //}
+    3353             : 
+    3354             : // --------------------------------------------------------------
+    3355             : // |                           timers                           |
+    3356             : // --------------------------------------------------------------
+    3357             : 
+    3358             : /* //{ timerDiagnostics() */
+    3359             : 
+    3360             : // published diagnostics in reguar intervals
+    3361       12801 : void MpcTracker::timerDiagnostics(const ros::TimerEvent& event) {
+    3362             : 
+    3363       12801 :   if (!is_initialized_)
+    3364           0 :     return;
+    3365             : 
+    3366       38403 :   mrs_lib::Routine    profiler_routine = profiler.createRoutine("timerDiagnostics", _diagnostics_rate_, 0.1, event);
+    3367       38403 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MpcTracker::timerDiagnostics", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    3368             : 
+    3369       12801 :   publishDiagnostics();
+    3370             : }
+    3371             : 
+    3372             : //}
+    3373             : 
+    3374             : /* //{ timerMPC() */
+    3375             : 
+    3376       54432 : void MpcTracker::timerMPC(const ros::TimerEvent& event) {
+    3377             : 
+    3378       54432 :   if (odometry_reset_in_progress_) {
+    3379           0 :     ROS_ERROR("[MpcTracker]: mpc iteration tried run while reseting odometry");
+    3380           0 :     return;
+    3381             :   }
+    3382             : 
+    3383       54432 :   auto dt1 = mrs_lib::get_mutexed(mutex_dt1_, dt1_);
+    3384             : 
+    3385       54432 :   mrs_lib::AtomicScopeFlag unset_running(mpc_timer_running_);
+    3386             : 
+    3387       54432 :   bool started_with_invalid = mpc_result_invalid_;
+    3388             : 
+    3389       54432 :   if (!is_active_) {
+    3390           0 :     return;
+    3391             :   }
+    3392             : 
+    3393       54432 :   if (!is_initialized_) {
+    3394           0 :     return;
+    3395             :   }
+    3396             : 
+    3397      163296 :   mrs_lib::Routine    profiler_routine = profiler.createRoutine("timerMPC", 1.0 / dt1, 0.01, event);
+    3398      163296 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MpcTracker::timerMPC", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    3399             : 
+    3400       54432 :   ros::Time     begin = ros::Time::now();
+    3401       54432 :   ros::Time     end;
+    3402       54432 :   ros::Duration interval;
+    3403             :   int           trajectory_id;
+    3404             : 
+    3405             :   // if we are tracking trajectory, copy the setpoint
+    3406       54432 :   if (trajectory_tracking_in_progress_) {
+    3407             : 
+    3408       22476 :     MatrixXd des_x_trajectory, des_y_trajectory, des_z_trajectory, des_heading_trajectory;
+    3409       22476 :     VectorXd des_x_whole_trajectory, des_y_whole_trajectory, des_z_whole_trajectory, des_heading_whole_trajectory;
+    3410             :     double   trajectory_dt;
+    3411             :     int      trajectory_size;
+    3412             :     {
+    3413       11238 :       std::scoped_lock lock(mutex_des_trajectory_, mutex_des_whole_trajectory_);
+    3414             : 
+    3415       11238 :       des_x_trajectory       = des_x_trajectory_;
+    3416       11238 :       des_y_trajectory       = des_y_trajectory_;
+    3417       11238 :       des_z_trajectory       = des_z_trajectory_;
+    3418       11238 :       des_heading_trajectory = des_heading_trajectory_;
+    3419             : 
+    3420       11238 :       des_x_whole_trajectory       = *des_x_whole_trajectory_;
+    3421       11238 :       des_y_whole_trajectory       = *des_y_whole_trajectory_;
+    3422       11238 :       des_z_whole_trajectory       = *des_z_whole_trajectory_;
+    3423       11238 :       des_heading_whole_trajectory = *des_heading_whole_trajectory_;
+    3424             : 
+    3425       11238 :       trajectory_size = trajectory_size_;
+    3426       11238 :       trajectory_dt   = trajectory_dt_;
+    3427             : 
+    3428       11238 :       trajectory_id = des_whole_trajectory_id_;
+    3429             :     }
+    3430             : 
+    3431             :     /* interpolate the trajectory points and fill in the desired_trajectory vector //{ */
+    3432             : 
+    3433       11238 :     const double dt_from_last_update = (event.current_real - event.last_real).toSec();
+    3434             : 
+    3435       11238 :     increaseCurrentTrajectoryTime(dt_from_last_update);
+    3436             : 
+    3437       11238 :     auto trajectory_current_time = mrs_lib::get_mutexed(mutex_trajectory_tracking_states_, trajectory_current_time_);
+    3438             : 
+    3439      460758 :     for (int i = 0; i < _mpc_horizon_len_; i++) {
+    3440             : 
+    3441      449520 :       double first_time = trajectory_current_time + double(i) * _dt2_;
+    3442             : 
+    3443      449520 :       int first_idx  = int(floor(first_time / trajectory_dt));
+    3444      449520 :       int second_idx = first_idx + 1;
+    3445             : 
+    3446      449520 :       double interp_coeff = std::fmod(first_time / trajectory_dt, 1.0);
+    3447             : 
+    3448      449520 :       if (trajectory_tracking_loop_) {
+    3449             : 
+    3450           0 :         if (second_idx >= trajectory_size) {
+    3451           0 :           second_idx = second_idx % trajectory_size;
+    3452             :         }
+    3453             : 
+    3454           0 :         if (first_idx >= trajectory_size) {
+    3455           0 :           first_idx = first_idx % trajectory_size;
+    3456             :         }
+    3457             : 
+    3458             :       } else {
+    3459             : 
+    3460      449520 :         if (second_idx >= trajectory_size) {
+    3461       60659 :           second_idx = trajectory_size - 1;
+    3462             :         }
+    3463             : 
+    3464      449520 :         if (first_idx >= trajectory_size) {
+    3465       57699 :           first_idx = trajectory_size - 1;
+    3466             :         }
+    3467             :       }
+    3468             : 
+    3469      449520 :       des_x_trajectory(i, 0) = (1 - interp_coeff) * des_x_whole_trajectory[first_idx] + interp_coeff * des_x_whole_trajectory[second_idx];
+    3470      449520 :       des_y_trajectory(i, 0) = (1 - interp_coeff) * des_y_whole_trajectory[first_idx] + interp_coeff * des_y_whole_trajectory[second_idx];
+    3471      449520 :       des_z_trajectory(i, 0) = (1 - interp_coeff) * des_z_whole_trajectory[first_idx] + interp_coeff * des_z_whole_trajectory[second_idx];
+    3472             : 
+    3473      449520 :       des_heading_trajectory(i, 0) = sradians::interp(des_heading_whole_trajectory[first_idx], des_heading_whole_trajectory[second_idx], interp_coeff);
+    3474             :     }
+    3475             : 
+    3476             :     {
+    3477       22476 :       std::scoped_lock lock(mutex_des_trajectory_);
+    3478             : 
+    3479       11238 :       des_x_trajectory_       = des_x_trajectory;
+    3480       11238 :       des_y_trajectory_       = des_y_trajectory;
+    3481       11238 :       des_z_trajectory_       = des_z_trajectory;
+    3482       11238 :       des_heading_trajectory_ = des_heading_trajectory;
+    3483             :     }
+    3484             : 
+    3485             :     //}
+    3486             : 
+    3487             :   } else {
+    3488             : 
+    3489       43194 :     std::scoped_lock lock(mutex_des_whole_trajectory_);
+    3490             : 
+    3491       43194 :     trajectory_id = des_whole_trajectory_id_;
+    3492             :   }
+    3493             : 
+    3494       54432 :   manageConstraints();
+    3495             : 
+    3496       54432 :   calculateMPC();
+    3497             : 
+    3498       54432 :   end      = ros::Time::now();
+    3499       54432 :   interval = end - begin;
+    3500             : 
+    3501             :   // | ------------------ calculate the MPC RTF ----------------- |
+    3502             : 
+    3503       54432 :   mpc_rtf_ = 0.99 * mpc_rtf_ + 0.01 * (interval.toSec()/dt1);
+    3504             : 
+    3505       54432 :   if (mpc_rtf_ >= 1.0) {
+    3506           0 :     ROS_WARN_THROTTLE(5.0, "[MpcTracker] MPC Real Time Factor (%.3f) is slow", mpc_rtf_);
+    3507             :   }
+    3508             : 
+    3509             :   /* publish predicted future //{ */
+    3510             : 
+    3511             :   {
+    3512      108864 :     geometry_msgs::PoseArray debug_trajectory_out;
+    3513       54432 :     debug_trajectory_out.header.stamp    = ros::Time::now();
+    3514       54432 :     debug_trajectory_out.header.frame_id = uav_state_.header.frame_id;
+    3515             : 
+    3516             :     {
+    3517      108864 :       std::scoped_lock lock(mutex_predicted_trajectory_);
+    3518             : 
+    3519     2231712 :       for (int i = 0; i < _mpc_horizon_len_; i++) {
+    3520             : 
+    3521     2177280 :         geometry_msgs::Pose newPose;
+    3522             : 
+    3523     2177280 :         newPose.position.x = predicted_trajectory_(i * _mpc_n_states_);
+    3524     2177280 :         newPose.position.y = predicted_trajectory_(i * _mpc_n_states_ + 4);
+    3525     2177280 :         newPose.position.z = predicted_trajectory_(i * _mpc_n_states_ + 8);
+    3526             : 
+    3527             :         try {
+    3528     2177280 :           newPose.orientation = mrs_lib::AttitudeConverter(0, 0, predicted_heading_trajectory_(i * _mpc_n_states_));
+    3529           0 :         } catch (...) {
+    3530           0 :           ROS_ERROR_THROTTLE(1.0, "[MpcTracker]: failed to fill orientation into debug print trajectory");
+    3531             :         }
+    3532             : 
+    3533     2177280 :         debug_trajectory_out.poses.push_back(newPose);
+    3534             :       }
+    3535             :     }
+    3536             : 
+    3537       54432 :     ph_predicted_trajectory_debugging_.publish(debug_trajectory_out);
+    3538             :   }
+    3539             : 
+    3540             :   //}
+    3541             : 
+    3542             :   /* publish full state prediction //{ */
+    3543             : 
+    3544             :   {
+    3545      108864 :     mrs_msgs::MpcPredictionFullState prediction_fs_out;
+    3546       54432 :     prediction_fs_out.header.stamp    = ros::Time::now();
+    3547       54432 :     prediction_fs_out.header.frame_id = uav_state_.header.frame_id;
+    3548             : 
+    3549       54432 :     ros::Time stamp = prediction_fs_out.header.stamp;
+    3550             : 
+    3551       54432 :     prediction_fs_out.input_id = trajectory_id;
+    3552             : 
+    3553             :     {
+    3554      108864 :       std::scoped_lock lock(mutex_predicted_trajectory_);
+    3555             : 
+    3556     2231712 :       for (int i = 0; i < _mpc_horizon_len_; i++) {
+    3557             : 
+    3558     2177280 :         if (i == 0) {
+    3559       54432 :           stamp += ros::Duration(0.01);
+    3560             :         } else {
+    3561     2122848 :           stamp += ros::Duration(0.2);
+    3562             :         }
+    3563             : 
+    3564     2177280 :         prediction_fs_out.stamps.push_back(stamp);
+    3565             : 
+    3566             :         {  // position
+    3567     2177280 :           geometry_msgs::Point point;
+    3568             : 
+    3569     2177280 :           point.x = predicted_trajectory_(i * _mpc_n_states_);
+    3570     2177280 :           point.y = predicted_trajectory_(i * _mpc_n_states_ + 4);
+    3571     2177280 :           point.z = predicted_trajectory_(i * _mpc_n_states_ + 8);
+    3572             : 
+    3573     2177280 :           prediction_fs_out.position.push_back(point);
+    3574             :         }
+    3575             : 
+    3576             :         {  // velocity
+    3577     2177280 :           geometry_msgs::Vector3 vector;
+    3578             : 
+    3579     2177280 :           vector.x = predicted_trajectory_(i * _mpc_n_states_ + 1);
+    3580     2177280 :           vector.y = predicted_trajectory_(i * _mpc_n_states_ + 5);
+    3581     2177280 :           vector.z = predicted_trajectory_(i * _mpc_n_states_ + 9);
+    3582             : 
+    3583     2177280 :           prediction_fs_out.velocity.push_back(vector);
+    3584             :         }
+    3585             : 
+    3586             :         {  // acceleration
+    3587     2177280 :           geometry_msgs::Vector3 vector3;
+    3588             : 
+    3589     2177280 :           vector3.x = predicted_trajectory_(i * _mpc_n_states_ + 2);
+    3590     2177280 :           vector3.y = predicted_trajectory_(i * _mpc_n_states_ + 6);
+    3591     2177280 :           vector3.z = predicted_trajectory_(i * _mpc_n_states_ + 10);
+    3592             : 
+    3593     2177280 :           prediction_fs_out.acceleration.push_back(vector3);
+    3594             :         }
+    3595             : 
+    3596             :         {  // jerk
+    3597     2177280 :           geometry_msgs::Vector3 vector3;
+    3598             : 
+    3599     2177280 :           vector3.x = predicted_trajectory_(i * _mpc_n_states_ + 3);
+    3600     2177280 :           vector3.y = predicted_trajectory_(i * _mpc_n_states_ + 7);
+    3601     2177280 :           vector3.z = predicted_trajectory_(i * _mpc_n_states_ + 11);
+    3602             : 
+    3603     2177280 :           prediction_fs_out.jerk.push_back(vector3);
+    3604             :         }
+    3605             : 
+    3606             :         {
+    3607             :           // heading
+    3608             : 
+    3609     2177280 :           prediction_fs_out.heading.push_back(predicted_heading_trajectory_(i * _mpc_n_states_));
+    3610     2177280 :           prediction_fs_out.heading_rate.push_back(predicted_heading_trajectory_(i * _mpc_n_states_ + 1));
+    3611     2177280 :           prediction_fs_out.heading_acceleration.push_back(predicted_heading_trajectory_(i * _mpc_n_states_ + 2));
+    3612     2177280 :           prediction_fs_out.heading_jerk.push_back(predicted_heading_trajectory_(i * _mpc_n_states_ + 3));
+    3613             :         }
+    3614             :       }
+    3615             :     }
+    3616             : 
+    3617             :     {
+    3618      108864 :       std::scoped_lock lock(mutex_prediction_full_state_);
+    3619       54432 :       prediction_full_state_ = prediction_fs_out;
+    3620             :     }
+    3621             :   }
+    3622             : 
+    3623             :   //}
+    3624             : 
+    3625       54432 :   mpc_computed_ = true;
+    3626             : 
+    3627       54432 :   if (started_with_invalid) {
+    3628             : 
+    3629           4 :     mpc_result_invalid_ = false;
+    3630             : 
+    3631           4 :     ROS_INFO("[MpcTracker]: calculated the first MPC result after invalidation");
+    3632             :   }
+    3633             : }
+    3634             : 
+    3635             : //}
+    3636             : 
+    3637             : /* timerVelocityTracking() //{ */
+    3638             : 
+    3639         499 : void MpcTracker::timerVelocityTracking(const ros::TimerEvent& event) {
+    3640             : 
+    3641         499 :   if (!is_initialized_) {
+    3642           2 :     return;
+    3643             :   }
+    3644             : 
+    3645         499 :   if (!velocity_tracking_active_) {
+    3646           0 :     return;
+    3647             :   }
+    3648             : 
+    3649         998 :   mrs_lib::Routine    profiler_routine = profiler.createRoutine("timerVelocityTracking", int(30.0), 0.01, event);
+    3650             :   mrs_lib::ScopeTimer timer =
+    3651         998 :       mrs_lib::ScopeTimer("MpcTracker::timerVelocityTracking", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    3652             : 
+    3653             :   // stop the timer when timeout
+    3654         499 :   if ((ros::Time::now() - velocity_reference_time_).toSec() > 0.5) {
+    3655             : 
+    3656           2 :     ROS_WARN_THROTTLE(1.0, "[MpcTracker]: velocity reference timeouted, hovering");
+    3657           2 :     timer_velocity_tracking_.stop();
+    3658             : 
+    3659           2 :     toggleHover(true);
+    3660             : 
+    3661           2 :     velocity_tracking_active_ = false;
+    3662             : 
+    3663           2 :     return;
+    3664             :   }
+    3665             : 
+    3666         994 :   auto [mpc_x, mpc_x_heading] = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_, mpc_x_heading_);
+    3667         497 :   auto velocity_reference     = mrs_lib::get_mutexed(mutex_velocity_reference_, velocity_reference_);
+    3668             : 
+    3669         994 :   mrs_msgs::TrajectoryReference trajectory;
+    3670             : 
+    3671         497 :   trajectory.fly_now         = true;
+    3672         497 :   trajectory.use_heading     = true;
+    3673         497 :   trajectory.dt              = 0.2;
+    3674         497 :   trajectory.header.stamp    = ros::Time::now();
+    3675         497 :   trajectory.header.frame_id = "";
+    3676             : 
+    3677         497 :   double x       = mpc_x(0, 0);
+    3678         497 :   double y       = mpc_x(4, 0);
+    3679         497 :   double z       = mpc_x(8, 0);
+    3680         497 :   double heading = mpc_x_heading(0, 0);
+    3681             : 
+    3682       25347 :   for (int i = 0; i < 50; i++) {
+    3683             : 
+    3684       24850 :     mrs_msgs::Reference reference;
+    3685       24850 :     reference.position.x = x;
+    3686       24850 :     reference.position.y = y;
+    3687       24850 :     reference.position.z = z;
+    3688       24850 :     reference.heading    = heading;
+    3689             : 
+    3690       24850 :     trajectory.points.push_back(reference);
+    3691             : 
+    3692       24850 :     x += velocity_reference.velocity.x * trajectory.dt;
+    3693       24850 :     y += velocity_reference.velocity.y * trajectory.dt;
+    3694       24850 :     z += velocity_reference.velocity.z * trajectory.dt;
+    3695             : 
+    3696       24850 :     if (velocity_reference.use_altitude) {
+    3697           0 :       z = velocity_reference.altitude;
+    3698             :     }
+    3699             : 
+    3700       24850 :     if (velocity_reference.use_heading_rate) {
+    3701       24850 :       heading += velocity_reference.heading_rate * trajectory.dt;
+    3702           0 :     } else if (velocity_reference.use_heading) {
+    3703           0 :       heading = velocity_reference.heading;
+    3704             :     }
+    3705             :   }
+    3706             : 
+    3707         994 :   auto [success, message, modified] = loadTrajectory(trajectory);
+    3708             : }
+    3709             : 
+    3710             : //}
+    3711             : 
+    3712             : /* //{ timerAvoidanceTrajectory() */
+    3713             : 
+    3714        2529 : void MpcTracker::timerAvoidanceTrajectory(const ros::TimerEvent& event) {
+    3715             : 
+    3716        2529 :   if (!is_active_) {
+    3717        1191 :     return;
+    3718             :   }
+    3719             : 
+    3720        1374 :   if (!is_initialized_) {
+    3721           0 :     return;
+    3722             :   }
+    3723             : 
+    3724        1374 :   if (!sh_estimation_diag_.hasMsg()) {
+    3725           0 :     return;
+    3726             :   } else {
+    3727             :     // we won't try to transform and publish the avoidance prediction if we cannot transform it
+    3728             : 
+    3729        1374 :     auto                     estimation_diag      = sh_estimation_diag_.getMsg();
+    3730        1374 :     std::vector<std::string> state_estimators = estimation_diag.get()->switchable_state_estimators;
+    3731             : 
+    3732        1374 :     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();
+    3733        1374 :     bool got_rtk_est = std::find(state_estimators.begin(), state_estimators.end(), "rtk") != state_estimators.end();
+    3734             : 
+    3735        1374 :     if (!got_gps_est && !got_rtk_est) {
+    3736          36 :       return;
+    3737             :     }
+    3738             :   }
+    3739             : 
+    3740        2676 :   mrs_lib::Routine    profiler_routine = profiler.createRoutine("timerAvoidanceTrajectory", _avoidance_trajectory_rate_, 0.1, event);
+    3741             :   mrs_lib::ScopeTimer timer =
+    3742        2676 :       mrs_lib::ScopeTimer("MpcTracker::timerAvoidanceTrajectory", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    3743             : 
+    3744        1338 :   auto uav_state            = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    3745        1338 :   auto predicted_trajectory = mrs_lib::get_mutexed(mutex_predicted_trajectory_, predicted_trajectory_);
+    3746             : 
+    3747        1338 :   if (future_was_predicted_) {
+    3748             : 
+    3749        1338 :     mrs_msgs::FutureTrajectory avoidance_trajectory;
+    3750             : 
+    3751             :     // fill last trajectory with initial data
+    3752        1338 :     avoidance_trajectory.stamp               = ros::Time::now();
+    3753        1338 :     avoidance_trajectory.uav_name            = _uav_name_;
+    3754        1338 :     avoidance_trajectory.priority            = avoidance_this_uav_priority_;
+    3755        1338 :     avoidance_trajectory.collision_avoidance = collision_avoidance_enabled_ && (uav_state.estimator_horizontal == "lat_gps" || uav_state.estimator_horizontal == "lat_rtk");
+    3756        1338 :     avoidance_trajectory.points.clear();
+    3757        1338 :     avoidance_trajectory.stamp               = ros::Time::now();
+    3758        1338 :     avoidance_trajectory.uav_name            = _uav_name_;
+    3759        1338 :     avoidance_trajectory.priority            = avoidance_this_uav_priority_;
+    3760        1338 :     avoidance_trajectory.collision_avoidance = collision_avoidance_enabled_;
+    3761             : 
+    3762        2676 :     auto res = common_handlers_->transformer->getTransform(uav_state.header.frame_id, "utm_origin", ros::Time::now());
+    3763             : 
+    3764        1338 :     if (!res) {
+    3765             : 
+    3766           0 :       std::string message = "[MpcTracker]: can not transform predicted future to utm_origin";
+    3767           0 :       ROS_WARN_STREAM_ONCE(message);
+    3768           0 :       ROS_DEBUG_STREAM_THROTTLE(1.0, message);
+    3769           0 :       return;
+    3770             : 
+    3771             :     } else {
+    3772             : 
+    3773        2676 :       geometry_msgs::TransformStamped tf = res.value();
+    3774             : 
+    3775       54858 :       for (int i = 0; i < _mpc_horizon_len_; i++) {
+    3776             : 
+    3777             :         // original point
+    3778      107040 :         geometry_msgs::PoseStamped original_point;
+    3779             : 
+    3780       53520 :         original_point.header.stamp    = ros::Time::now();
+    3781       53520 :         original_point.header.frame_id = uav_state.header.frame_id;
+    3782             : 
+    3783       53520 :         original_point.pose.position.x = predicted_trajectory(i * _mpc_n_states_);
+    3784       53520 :         original_point.pose.position.y = predicted_trajectory(i * _mpc_n_states_ + 4);
+    3785       53520 :         original_point.pose.position.z = predicted_trajectory(i * _mpc_n_states_ + 8);
+    3786             : 
+    3787       53520 :         original_point.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    3788             : 
+    3789      107040 :         auto res = common_handlers_->transformer->transform(original_point, tf);
+    3790             : 
+    3791       53520 :         if (res) {
+    3792             : 
+    3793       53520 :           mrs_msgs::FuturePoint new_point;
+    3794             : 
+    3795       53520 :           new_point.x = res.value().pose.position.x;
+    3796       53520 :           new_point.y = res.value().pose.position.y;
+    3797       53520 :           new_point.z = res.value().pose.position.z;
+    3798             : 
+    3799       53520 :           avoidance_trajectory.points.push_back(new_point);
+    3800             : 
+    3801             :         } else {
+    3802             : 
+    3803           0 :           std::string message = "[MpcTracker]: can not transform a point of a future trajectory";
+    3804           0 :           ROS_WARN_STREAM_ONCE(message);
+    3805           0 :           ROS_DEBUG_STREAM_THROTTLE(1.0, message);
+    3806             :         }
+    3807             :       }
+    3808             :     }
+    3809             : 
+    3810        1338 :     ph_avoidance_trajectory_.publish(avoidance_trajectory);
+    3811             :   }
+    3812             : }
+    3813             : 
+    3814             : //}
+    3815             : 
+    3816             : /* timerHover() //{ */
+    3817             : 
+    3818         626 : void MpcTracker::timerHover(const ros::TimerEvent& event) {
+    3819             : 
+    3820        1252 :   MatrixXd mpc_x = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_);
+    3821             : 
+    3822        1878 :   mrs_lib::Routine    profiler_routine = profiler.createRoutine("timerHover", 10, 0.01, event);
+    3823        1878 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MpcTracker::timerHover", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    3824             : 
+    3825         626 :   setRelativeGoal(0, 0, 0, 0, false);
+    3826             : 
+    3827         626 :   if (fabs(mpc_x(1, 0)) < 0.1 && fabs(mpc_x(5, 0)) < 0.1 && fabs(mpc_x(9, 0)) < 0.1) {
+    3828             : 
+    3829          27 :     toggleHover(false);
+    3830             : 
+    3831          27 :     ROS_INFO("[MpcTracker]: timerHover: speed is low, stopping hover timer");
+    3832             :   }
+    3833         626 : }
+    3834             : 
+    3835             : //}
+    3836             : 
+    3837             : }  // namespace mpc_tracker
+    3838             : 
+    3839             : }  // namespace mrs_uav_trackers
+    3840             : 
+    3841             : #include <pluginlib/class_list_macros.h>
+    3842          65 : PLUGINLIB_EXPORT_CLASS(mrs_uav_trackers::mpc_tracker::MpcTracker, mrs_uav_managers::Tracker)
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ Overview +
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LCOV - code coverage report
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Current view:top level - mrs_uav_trackers/src/speed_trackerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:6141114.8 %
Date:2024-01-20 21:44:18Functions:71936.8 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_trackers/src/speed_tracker/index-detail-sort-l.html b/mrs_uav_trackers/src/speed_tracker/index-detail-sort-l.html new file mode 100644 index 0000000000..4d82bad3ce --- /dev/null +++ b/mrs_uav_trackers/src/speed_tracker/index-detail-sort-l.html @@ -0,0 +1,110 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trackers/src/speed_tracker + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_trackers/src/speed_trackerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:6141114.8 %
Date:2024-01-20 21:44:18Functions:71936.8 %
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<unnamed>14.8 %61 / 41136.8 %7 / 19
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_trackers/src/speed_tracker/index-detail.html b/mrs_uav_trackers/src/speed_tracker/index-detail.html new file mode 100644 index 0000000000..761b657c2c --- /dev/null +++ b/mrs_uav_trackers/src/speed_tracker/index-detail.html @@ -0,0 +1,110 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trackers/src/speed_tracker + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_trackers/src/speed_trackerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:6141114.8 %
Date:2024-01-20 21:44:18Functions:71936.8 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_trackers/src/speed_tracker/index-sort-f.html b/mrs_uav_trackers/src/speed_tracker/index-sort-f.html new file mode 100644 index 0000000000..0705dfaa1e --- /dev/null +++ b/mrs_uav_trackers/src/speed_tracker/index-sort-f.html @@ -0,0 +1,102 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trackers/src/speed_tracker + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_trackers/src/speed_trackerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:6141114.8 %
Date:2024-01-20 21:44:18Functions:71936.8 %
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speed_tracker.cpp +
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LCOV - code coverage report
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Current view:top level - mrs_uav_trackers/src/speed_trackerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:6141114.8 %
Date:2024-01-20 21:44:18Functions:71936.8 %
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LCOV - code coverage report
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Current view:top level - mrs_uav_trackers/src/speed_trackerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:6141114.8 %
Date:2024-01-20 21:44:18Functions:71936.8 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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speed_tracker.cpp +
14.8%14.8%
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Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_trackers/src/speed_tracker/speed_tracker.cpp.func-sort-c.html b/mrs_uav_trackers/src/speed_tracker/speed_tracker.cpp.func-sort-c.html new file mode 100644 index 0000000000..6df23f14f8 --- /dev/null +++ b/mrs_uav_trackers/src/speed_tracker/speed_tracker.cpp.func-sort-c.html @@ -0,0 +1,156 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trackers/src/speed_tracker/speed_tracker.cpp - functions + + + + + + + + + + + + + + +
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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:6141114.8 %
Date:2024-01-20 21:44:18Functions:71936.8 %
Legend: Lines: + hit + not hit +
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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&)4
mrs_uav_trackers::speed_tracker::SpeedTracker::deactivate()17
(anonymous namespace)::ProxyExec0::ProxyExec0()65
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>)65
mrs_uav_trackers::speed_tracker::SpeedTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)170
mrs_uav_trackers::speed_tracker::SpeedTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)206
mrs_uav_trackers::speed_tracker::SpeedTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)77966
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Generated by: LCOV version 1.14
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Current view:top level - mrs_uav_trackers/src/speed_tracker - speed_tracker.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:6141114.8 %
Date:2024-01-20 21:44:18Functions: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()65
mrs_uav_trackers::speed_tracker::SpeedTracker::deactivate()17
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>)65
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&)206
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&)170
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&)4
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&)77966
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
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + 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..d3b3f2a05a --- /dev/null +++ b/mrs_uav_trackers/src/speed_tracker/speed_tracker.cpp.gcov.html @@ -0,0 +1,1178 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trackers/src/speed_tracker/speed_tracker.cpp + + + + + + + + + + + + + + +
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:6141114.8 %
Date:2024-01-20 21:44:18Functions: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             : 
+      18             : #include <visualization_msgs/Marker.h>
+      19             : #include <visualization_msgs/MarkerArray.h>
+      20             : 
+      21             : //}
+      22             : 
+      23             : /* defines //{ */
+      24             : 
+      25             : #define STOP_THR 1e-3
+      26             : 
+      27             : //}
+      28             : 
+      29             : /* using //{ */
+      30             : 
+      31             : using vec2_t = mrs_lib::geometry::vec_t<2>;
+      32             : using vec3_t = mrs_lib::geometry::vec_t<3>;
+      33             : 
+      34             : using radians  = mrs_lib::geometry::radians;
+      35             : using sradians = mrs_lib::geometry::sradians;
+      36             : 
+      37             : //}
+      38             : 
+      39             : namespace mrs_uav_trackers
+      40             : {
+      41             : 
+      42             : namespace speed_tracker
+      43             : {
+      44             : 
+      45             : /* //{ class SpeedTracker */
+      46             : 
+      47             : class SpeedTracker : public mrs_uav_managers::Tracker {
+      48             : public:
+      49             :   bool initialize(const ros::NodeHandle &nh, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t> common_handlers,
+      50             :                   std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers);
+      51             : 
+      52             :   std::tuple<bool, std::string> activate(const std::optional<mrs_msgs::TrackerCommand> &last_tracker_cmd);
+      53             :   void                          deactivate(void);
+      54             :   bool                          resetStatic(void);
+      55             : 
+      56             :   std::optional<mrs_msgs::TrackerCommand>   update(const mrs_msgs::UavState &uav_state, const mrs_uav_managers::Controller::ControlOutput &last_control_output);
+      57             :   const mrs_msgs::TrackerStatus             getStatus();
+      58             :   const std_srvs::SetBoolResponse::ConstPtr enableCallbacks(const std_srvs::SetBoolRequest::ConstPtr &cmd);
+      59             :   const std_srvs::TriggerResponse::ConstPtr switchOdometrySource(const mrs_msgs::UavState &new_uav_state);
+      60             : 
+      61             :   const mrs_msgs::ReferenceSrvResponse::ConstPtr           setReference(const mrs_msgs::ReferenceSrvRequest::ConstPtr &cmd);
+      62             :   const mrs_msgs::VelocityReferenceSrvResponse::ConstPtr   setVelocityReference(const mrs_msgs::VelocityReferenceSrvRequest::ConstPtr &cmd);
+      63             :   const mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr setTrajectoryReference(const mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr &cmd);
+      64             : 
+      65             :   const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr setConstraints(const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &cmd);
+      66             : 
+      67             :   const std_srvs::TriggerResponse::ConstPtr hover(const std_srvs::TriggerRequest::ConstPtr &cmd);
+      68             :   const std_srvs::TriggerResponse::ConstPtr startTrajectoryTracking(const std_srvs::TriggerRequest::ConstPtr &cmd);
+      69             :   const std_srvs::TriggerResponse::ConstPtr stopTrajectoryTracking(const std_srvs::TriggerRequest::ConstPtr &cmd);
+      70             :   const std_srvs::TriggerResponse::ConstPtr resumeTrajectoryTracking(const std_srvs::TriggerRequest::ConstPtr &cmd);
+      71             :   const std_srvs::TriggerResponse::ConstPtr gotoTrajectoryStart(const std_srvs::TriggerRequest::ConstPtr &cmd);
+      72             : 
+      73             : private:
+      74             :   ros::NodeHandle nh_;
+      75             : 
+      76             :   bool callbacks_enabled_ = true;
+      77             : 
+      78             :   std::string _uav_name_;
+      79             : 
+      80             :   std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t>  common_handlers_;
+      81             :   std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers_;
+      82             : 
+      83             :   mrs_lib::PublisherHandler<visualization_msgs::MarkerArray> ph_rviz_marker_;
+      84             : 
+      85             :   // | ------------------------ uav state ----------------------- |
+      86             : 
+      87             :   mrs_msgs::UavState uav_state_;
+      88             :   bool               got_uav_state_ = false;
+      89             :   std::mutex         mutex_uav_state_;
+      90             : 
+      91             :   // | ------------------- tracker constraints ------------------ |
+      92             : 
+      93             :   mrs_msgs::DynamicsConstraints constraints_;
+      94             :   std::mutex                    mutex_constraints_;
+      95             : 
+      96             :   // | ---------------- the tracker's inner state --------------- |
+      97             : 
+      98             :   bool is_initialized_  = false;
+      99             :   bool is_active_       = false;
+     100             :   bool first_iteration_ = true;
+     101             : 
+     102             :   double _external_command_timeout_;
+     103             : 
+     104             :   mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand> sh_command_;
+     105             : 
+     106             :   void callbackCommand(const mrs_msgs::SpeedTrackerCommand::ConstPtr msg);
+     107             : 
+     108             :   // stores the post-processed and transformed command
+     109             :   mrs_msgs::SpeedTrackerCommand command_;
+     110             :   std::mutex                    mutex_command_;
+     111             :   ros::Time                     last_command_time_;
+     112             : 
+     113             :   // | ------------------------ profiler ------------------------ |
+     114             : 
+     115             :   mrs_lib::Profiler profiler_;
+     116             :   bool              _profiler_enabled_ = false;
+     117             : };
+     118             : 
+     119             : //}
+     120             : 
+     121             : // | -------------- tracker's interface routines -------------- |
+     122             : 
+     123             : /* //{ initialize() */
+     124             : 
+     125          65 : bool SpeedTracker::initialize(const ros::NodeHandle &nh, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t> common_handlers,
+     126             :                               std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers) {
+     127             : 
+     128          65 :   this->common_handlers_  = common_handlers;
+     129          65 :   this->private_handlers_ = private_handlers;
+     130             : 
+     131          65 :   _uav_name_ = common_handlers->uav_name;
+     132             : 
+     133          65 :   nh_ = nh;
+     134             : 
+     135          65 :   ros::Time::waitForValid();
+     136             : 
+     137             :   // --------------------------------------------------------------
+     138             :   // |                     loading parameters                     |
+     139             :   // --------------------------------------------------------------
+     140             : 
+     141             :   // | ---------------- load parent's parameters ---------------- |
+     142             : 
+     143         130 :   mrs_lib::ParamLoader param_loader_parent(common_handlers->parent_nh, "ControlManager");
+     144             : 
+     145          65 :   param_loader_parent.loadParam("enable_profiler", _profiler_enabled_);
+     146             : 
+     147          65 :   if (!param_loader_parent.loadedSuccessfully()) {
+     148           0 :     ROS_ERROR("[SpeedTracker]: Could not load all parameters!");
+     149           0 :     return false;
+     150             :   }
+     151             : 
+     152             :   // | ---------------- load plugin's parameters ---------------- |
+     153             : 
+     154          65 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/private/speed_tracker.yaml");
+     155          65 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/public/speed_tracker.yaml");
+     156             : 
+     157         130 :   const std::string yaml_prefix = "mrs_uav_trackers/speed_tracker/";
+     158             : 
+     159          65 :   private_handlers->param_loader->loadParam(yaml_prefix + "command_timeout", _external_command_timeout_);
+     160             : 
+     161          65 :   if (!private_handlers->param_loader->loadedSuccessfully()) {
+     162           0 :     ROS_ERROR("[SpeedTracker]: could not load all parameters!");
+     163           0 :     return false;
+     164             :   }
+     165             : 
+     166             :   // | ------------------------ profiler ------------------------ |
+     167             : 
+     168          65 :   profiler_ = mrs_lib::Profiler(common_handlers->parent_nh, "SpeedTracker", _profiler_enabled_);
+     169             : 
+     170             :   // | ----------------------- subscribers ---------------------- |
+     171             : 
+     172          65 :   mrs_lib::SubscribeHandlerOptions shopts;
+     173          65 :   shopts.nh              = nh_;
+     174          65 :   shopts.node_name       = "SpeedTracker";
+     175          65 :   shopts.threadsafe      = true;
+     176          65 :   shopts.autostart       = true;
+     177          65 :   shopts.transport_hints = ros::TransportHints().tcpNoDelay();
+     178             : 
+     179          65 :   sh_command_ = mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand>(shopts, "command", &SpeedTracker::callbackCommand, this);
+     180             : 
+     181             :   // | ----------------------- publishers ----------------------- |
+     182             : 
+     183          65 :   ph_rviz_marker_ = mrs_lib::PublisherHandler<visualization_msgs::MarkerArray>(nh_, "rviz_marker", 1);
+     184             : 
+     185             :   // | --------------------- finish the init -------------------- |
+     186             : 
+     187          65 :   is_initialized_ = true;
+     188             : 
+     189          65 :   ROS_INFO("[SpeedTracker]: initialized");
+     190             : 
+     191          65 :   return true;
+     192             : }
+     193             : 
+     194             : //}
+     195             : 
+     196             : /* //{ activate() */
+     197             : 
+     198           0 : std::tuple<bool, std::string> SpeedTracker::activate([[maybe_unused]] const std::optional<mrs_msgs::TrackerCommand> &last_tracker_cmd) {
+     199             : 
+     200           0 :   std::stringstream ss;
+     201             : 
+     202           0 :   if (!got_uav_state_) {
+     203           0 :     ss << "odometry not set";
+     204           0 :     ROS_ERROR_STREAM("[SpeedTracker]: " << ss.str());
+     205           0 :     return std::tuple(false, ss.str());
+     206             :   }
+     207             : 
+     208           0 :   if (!sh_command_.hasMsg()) {
+     209           0 :     ss << "missing command";
+     210           0 :     ROS_ERROR_STREAM("[SpeedTracker]: " << ss.str());
+     211           0 :     return std::tuple(false, ss.str());
+     212             :   }
+     213             : 
+     214           0 :   ros::Time external_command_time = sh_command_.lastMsgTime();
+     215             : 
+     216             :   // timeout the external command
+     217           0 :   if ((ros::Time::now() - external_command_time).toSec() > _external_command_timeout_) {
+     218           0 :     ss << "the command is too old";
+     219           0 :     ROS_ERROR_STREAM("[SpeedTracker]: " << ss.str());
+     220           0 :     return std::tuple(false, ss.str());
+     221             :   }
+     222             : 
+     223           0 :   is_active_ = true;
+     224             : 
+     225           0 :   ss << "activated";
+     226           0 :   ROS_INFO_STREAM("[SpeedTracker]: " << ss.str());
+     227             : 
+     228           0 :   return std::tuple(true, ss.str());
+     229             : }
+     230             : 
+     231             : //}
+     232             : 
+     233             : /* //{ deactivate() */
+     234             : 
+     235          17 : void SpeedTracker::deactivate(void) {
+     236             : 
+     237          17 :   is_active_ = false;
+     238             : 
+     239          17 :   ROS_INFO("[SpeedTracker]: deactivated");
+     240          17 : }
+     241             : 
+     242             : //}
+     243             : 
+     244             : /* //{ resetStatic() */
+     245             : 
+     246           0 : bool SpeedTracker::resetStatic(void) {
+     247             : 
+     248           0 :   return false;
+     249             : }
+     250             : 
+     251             : //}
+     252             : 
+     253             : /* //{ update() */
+     254             : 
+     255       77966 : std::optional<mrs_msgs::TrackerCommand> SpeedTracker::update(const mrs_msgs::UavState &                                          uav_state,
+     256             :                                                              [[maybe_unused]] const mrs_uav_managers::Controller::ControlOutput &last_control_output) {
+     257             : 
+     258      233898 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("update");
+     259      233898 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("SpeedTracker::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     260             : 
+     261             :   {
+     262       77966 :     std::scoped_lock lock(mutex_uav_state_);
+     263             : 
+     264       77966 :     uav_state_ = uav_state;
+     265             : 
+     266       77966 :     got_uav_state_ = true;
+     267             :   }
+     268             : 
+     269             :   double uav_heading;
+     270             : 
+     271             :   try {
+     272       77966 :     uav_heading = mrs_lib::AttitudeConverter(uav_state_.pose.orientation).getHeading();
+     273             :   }
+     274           0 :   catch (...) {
+     275           0 :     ROS_ERROR_THROTTLE(1.0, "[SpeedTracker]: could not calculate UAV heading");
+     276             : 
+     277           0 :     return {};
+     278             :   }
+     279             : 
+     280             :   // up to this part the update() method is evaluated even when the tracker is not active
+     281       77966 :   if (!is_active_) {
+     282       77966 :     return {};
+     283             :   }
+     284             : 
+     285           0 :   ros::Time external_command_time = sh_command_.lastMsgTime();
+     286             : 
+     287             :   // timeout the external command
+     288           0 :   if (sh_command_.hasMsg() && (ros::Time::now() - external_command_time).toSec() > _external_command_timeout_) {
+     289           0 :     ROS_ERROR("[SpeedTracker]: command timeouted, returning nil");
+     290           0 :     first_iteration_ = true;
+     291           0 :     return {};
+     292             :   }
+     293             : 
+     294           0 :   auto command = mrs_lib::get_mutexed(mutex_command_, command_);
+     295             : 
+     296           0 :   mrs_msgs::TrackerCommand tracker_cmd;
+     297             : 
+     298           0 :   tracker_cmd.header.stamp    = ros::Time::now();
+     299           0 :   tracker_cmd.header.frame_id = uav_state.header.frame_id;
+     300             : 
+     301           0 :   tracker_cmd.position.x = uav_state.pose.position.x;
+     302           0 :   tracker_cmd.position.y = uav_state.pose.position.y;
+     303             : 
+     304           0 :   if (command.use_velocity) {
+     305           0 :     tracker_cmd.velocity.x              = command.velocity.x;
+     306           0 :     tracker_cmd.velocity.y              = command.velocity.y;
+     307           0 :     tracker_cmd.velocity.z              = command.velocity.z;
+     308           0 :     tracker_cmd.use_velocity_horizontal = true;
+     309           0 :     tracker_cmd.use_velocity_vertical   = true;
+     310             :   } else {
+     311           0 :     tracker_cmd.velocity.x              = uav_state.velocity.linear.x;
+     312           0 :     tracker_cmd.velocity.y              = uav_state.velocity.linear.y;
+     313           0 :     tracker_cmd.velocity.z              = uav_state.velocity.linear.z;
+     314           0 :     tracker_cmd.use_velocity_horizontal = false;
+     315           0 :     tracker_cmd.use_velocity_vertical   = false;
+     316             :   }
+     317             : 
+     318           0 :   if (command.use_z) {
+     319           0 :     tracker_cmd.position.z            = command.z;
+     320           0 :     tracker_cmd.use_position_vertical = true;
+     321             :   } else {
+     322           0 :     tracker_cmd.position.z            = uav_state.pose.position.z;
+     323           0 :     tracker_cmd.use_position_vertical = false;
+     324             :   }
+     325             : 
+     326           0 :   if (command.use_acceleration) {
+     327           0 :     tracker_cmd.acceleration.x   = command.acceleration.x;
+     328           0 :     tracker_cmd.acceleration.y   = command.acceleration.y;
+     329           0 :     tracker_cmd.acceleration.z   = command.acceleration.z;
+     330           0 :     tracker_cmd.use_acceleration = true;
+     331           0 :   } else if (command.use_force) {
+     332           0 :     tracker_cmd.acceleration.x   = command.force.x / last_control_output.diagnostics.total_mass;
+     333           0 :     tracker_cmd.acceleration.y   = command.force.y / last_control_output.diagnostics.total_mass;
+     334           0 :     tracker_cmd.acceleration.z   = command.force.z / last_control_output.diagnostics.total_mass;
+     335           0 :     tracker_cmd.use_acceleration = true;
+     336             :   } else {
+     337           0 :     tracker_cmd.acceleration.x   = 0;
+     338           0 :     tracker_cmd.acceleration.y   = 0;
+     339           0 :     tracker_cmd.acceleration.z   = 0;
+     340           0 :     tracker_cmd.use_acceleration = false;
+     341             :   }
+     342             : 
+     343           0 :   if (command.use_heading) {
+     344           0 :     tracker_cmd.heading     = command.heading;
+     345           0 :     tracker_cmd.use_heading = true;
+     346             :   } else {
+     347           0 :     tracker_cmd.heading     = uav_heading;
+     348           0 :     tracker_cmd.use_heading = false;
+     349             :   }
+     350             : 
+     351           0 :   if (command.use_heading_rate) {
+     352           0 :     tracker_cmd.heading_rate     = command.heading_rate;
+     353           0 :     tracker_cmd.use_heading_rate = true;
+     354             :   } else {
+     355           0 :     tracker_cmd.heading_rate     = uav_state.velocity.angular.z;
+     356           0 :     tracker_cmd.use_heading_rate = false;
+     357             :   }
+     358             : 
+     359           0 :   return {tracker_cmd};
+     360             : }
+     361             : 
+     362             : //}
+     363             : 
+     364             : /* //{ getStatus() */
+     365             : 
+     366           0 : const mrs_msgs::TrackerStatus SpeedTracker::getStatus() {
+     367             : 
+     368           0 :   mrs_msgs::TrackerStatus tracker_status;
+     369             : 
+     370           0 :   tracker_status.active            = is_active_;
+     371           0 :   tracker_status.callbacks_enabled = callbacks_enabled_;
+     372             : 
+     373           0 :   return tracker_status;
+     374             : }
+     375             : 
+     376             : //}
+     377             : 
+     378             : /* //{ enableCallbacks() */
+     379             : 
+     380         170 : const std_srvs::SetBoolResponse::ConstPtr SpeedTracker::enableCallbacks(const std_srvs::SetBoolRequest::ConstPtr &cmd) {
+     381             : 
+     382         340 :   std_srvs::SetBoolResponse res;
+     383         340 :   std::stringstream         ss;
+     384             : 
+     385         170 :   if (cmd->data != callbacks_enabled_) {
+     386             : 
+     387          13 :     callbacks_enabled_ = cmd->data;
+     388             : 
+     389          13 :     ss << "callbacks " << (callbacks_enabled_ ? "enabled" : "disabled");
+     390          13 :     ROS_INFO_STREAM_THROTTLE(1.0, "[SpeedTracker]: " << ss.str());
+     391             : 
+     392             :   } else {
+     393             : 
+     394         157 :     ss << "callbacks were already " << (callbacks_enabled_ ? "enabled" : "disabled");
+     395         157 :     ROS_WARN_STREAM_THROTTLE(1.0, "[SpeedTracker]: " << ss.str());
+     396             :   }
+     397             : 
+     398         170 :   res.message = ss.str();
+     399         170 :   res.success = true;
+     400             : 
+     401         340 :   return std_srvs::SetBoolResponse::ConstPtr(new std_srvs::SetBoolResponse(res));
+     402             : }
+     403             : 
+     404             : //}
+     405             : 
+     406             : /* switchOdometrySource() //{ */
+     407             : 
+     408           0 : const std_srvs::TriggerResponse::ConstPtr SpeedTracker::switchOdometrySource([[maybe_unused]] const mrs_msgs::UavState &new_uav_state) {
+     409             : 
+     410           0 :   return std_srvs::TriggerResponse::Ptr();
+     411             : }
+     412             : 
+     413             : //}
+     414             : 
+     415             : /* //{ hover() */
+     416             : 
+     417           0 : const std_srvs::TriggerResponse::ConstPtr SpeedTracker::hover([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     418             : 
+     419           0 :   return std_srvs::TriggerResponse::Ptr();
+     420             : }
+     421             : 
+     422             : //}
+     423             : 
+     424             : /* //{ startTrajectoryTracking() */
+     425             : 
+     426           0 : const std_srvs::TriggerResponse::ConstPtr SpeedTracker::startTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     427           0 :   return std_srvs::TriggerResponse::Ptr();
+     428             : }
+     429             : 
+     430             : //}
+     431             : 
+     432             : /* //{ stopTrajectoryTracking() */
+     433             : 
+     434           0 : const std_srvs::TriggerResponse::ConstPtr SpeedTracker::stopTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     435           0 :   return std_srvs::TriggerResponse::Ptr();
+     436             : }
+     437             : 
+     438             : //}
+     439             : 
+     440             : /* //{ resumeTrajectoryTracking() */
+     441             : 
+     442           0 : const std_srvs::TriggerResponse::ConstPtr SpeedTracker::resumeTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     443           0 :   return std_srvs::TriggerResponse::Ptr();
+     444             : }
+     445             : 
+     446             : //}
+     447             : 
+     448             : /* //{ gotoTrajectoryStart() */
+     449             : 
+     450           0 : const std_srvs::TriggerResponse::ConstPtr SpeedTracker::gotoTrajectoryStart([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     451           0 :   return std_srvs::TriggerResponse::Ptr();
+     452             : }
+     453             : 
+     454             : //}
+     455             : 
+     456             : /* //{ setConstraints() */
+     457             : 
+     458         206 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr SpeedTracker::setConstraints([
+     459             :     [maybe_unused]] const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &cmd) {
+     460             : 
+     461             :   {
+     462         206 :     std::scoped_lock lock(mutex_constraints_);
+     463             : 
+     464         206 :     constraints_ = cmd->constraints;
+     465             :   }
+     466             : 
+     467         412 :   mrs_msgs::DynamicsConstraintsSrvResponse res;
+     468             : 
+     469         206 :   res.success = true;
+     470         206 :   res.message = "constraints updated";
+     471             : 
+     472         412 :   return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse(res));
+     473             : }
+     474             : 
+     475             : //}
+     476             : 
+     477             : /* //{ setReference() */
+     478             : 
+     479           0 : const mrs_msgs::ReferenceSrvResponse::ConstPtr SpeedTracker::setReference([[maybe_unused]] const mrs_msgs::ReferenceSrvRequest::ConstPtr &cmd) {
+     480             : 
+     481           0 :   return mrs_msgs::ReferenceSrvResponse::Ptr();
+     482             : }
+     483             : 
+     484             : //}
+     485             : 
+     486             : /* //{ setVelocityReference() */
+     487             : 
+     488           0 : const mrs_msgs::VelocityReferenceSrvResponse::ConstPtr SpeedTracker::setVelocityReference([
+     489             :     [maybe_unused]] const mrs_msgs::VelocityReferenceSrvRequest::ConstPtr &cmd) {
+     490           0 :   return mrs_msgs::VelocityReferenceSrvResponse::Ptr();
+     491             : }
+     492             : 
+     493             : //}
+     494             : 
+     495             : /* //{ setTrajectoryReference() */
+     496             : 
+     497           4 : const mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr SpeedTracker::setTrajectoryReference([
+     498             :     [maybe_unused]] const mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr &cmd) {
+     499           4 :   return mrs_msgs::TrajectoryReferenceSrvResponse::Ptr();
+     500             : }
+     501             : 
+     502             : //}
+     503             : 
+     504             : // | --------------------- custom methods --------------------- |
+     505             : 
+     506             : /* callbackCommand() //{ */
+     507             : 
+     508           0 : void SpeedTracker::callbackCommand(const mrs_msgs::SpeedTrackerCommand::ConstPtr msg) {
+     509             : 
+     510           0 :   if (!is_initialized_)
+     511           0 :     return;
+     512             : 
+     513           0 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackCommand");
+     514           0 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("SpeedTracker::callbackCommand", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     515             : 
+     516           0 :   mrs_msgs::SpeedTrackerCommandConstPtr external_command = msg;
+     517             : 
+     518             :   double dt;
+     519           0 :   if (first_iteration_) {
+     520             : 
+     521           0 :     last_command_time_ = ros::Time::now();
+     522           0 :     first_iteration_   = false;
+     523             : 
+     524             :     {
+     525           0 :       std::scoped_lock lock(mutex_command_);
+     526             : 
+     527           0 :       command_ = *external_command;
+     528             :     }
+     529             : 
+     530           0 :     return;
+     531             :   } else {
+     532           0 :     dt                 = (ros::Time::now() - last_command_time_).toSec();
+     533           0 :     last_command_time_ = ros::Time::now();
+     534             : 
+     535           0 :     if (dt <= 1e-4) {
+     536           0 :       ROS_WARN_THROTTLE(1.0, "[SpeedTracker]: the command dt is %.5f, returning", dt);
+     537           0 :       return;
+     538             :     }
+     539             :   }
+     540             : 
+     541           0 :   mrs_msgs::SpeedTrackerCommand transformed_command = *external_command;
+     542             : 
+     543           0 :   auto old_command = mrs_lib::get_mutexed(mutex_command_, command_);
+     544           0 :   auto constraints = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+     545           0 :   auto uav_state   = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     546             : 
+     547             :   double uav_heading;
+     548             : 
+     549             :   try {
+     550           0 :     uav_heading = mrs_lib::AttitudeConverter(uav_state_.pose.orientation).getHeading();
+     551             :   }
+     552           0 :   catch (...) {
+     553           0 :     ROS_ERROR_THROTTLE(1.0, "[SpeedTracker]: could not calculate UAV heading");
+     554           0 :     return;
+     555             :   }
+     556             : 
+     557             :   // transform the command
+     558             : 
+     559             :   // transform velocity
+     560             : 
+     561           0 :   if (transformed_command.use_velocity) {
+     562             : 
+     563           0 :     geometry_msgs::Vector3Stamped vector3;
+     564           0 :     vector3.header = transformed_command.header;
+     565             : 
+     566           0 :     vector3.vector.x = transformed_command.velocity.x;
+     567           0 :     vector3.vector.y = transformed_command.velocity.y;
+     568           0 :     vector3.vector.z = transformed_command.velocity.z;
+     569             : 
+     570           0 :     auto ret = common_handlers_->transformer->transformSingle(vector3, "");
+     571             : 
+     572           0 :     if (ret) {
+     573           0 :       transformed_command.velocity.x = ret.value().vector.x;
+     574           0 :       transformed_command.velocity.y = ret.value().vector.y;
+     575           0 :       transformed_command.velocity.z = ret.value().vector.z;
+     576             :     } else {
+     577           0 :       return;
+     578             :     }
+     579             : 
+     580             :     /* horizontal speed limit //{ */
+     581             : 
+     582             :     {
+     583           0 :       double des_horizontal_speed = sqrt(pow(transformed_command.velocity.x, 2) + pow(transformed_command.velocity.y, 2));
+     584             : 
+     585           0 :       if (des_horizontal_speed > constraints.horizontal_speed) {
+     586             : 
+     587           0 :         double des_speed_heading = atan2(transformed_command.velocity.y, transformed_command.velocity.x);
+     588             : 
+     589           0 :         transformed_command.velocity.x = cos(des_speed_heading) * constraints.horizontal_speed;
+     590           0 :         transformed_command.velocity.y = sin(des_speed_heading) * constraints.horizontal_speed;
+     591             :       }
+     592             :     }
+     593             : 
+     594             :     //}
+     595             : 
+     596             :     /* horizontal speed change rate limit //{ */
+     597             : 
+     598             :     {
+     599             :       Eigen::Vector2d hor_speed_derivative =
+     600           0 :           Eigen::Vector2d(transformed_command.velocity.x - old_command.velocity.x, transformed_command.velocity.y - old_command.velocity.y) / dt;
+     601             : 
+     602             :       // exceeding the maximum acceleration
+     603           0 :       if (hor_speed_derivative.norm() > constraints.horizontal_acceleration) {
+     604             : 
+     605           0 :         ROS_WARN_THROTTLE(1.0, "[SpeedTracker]: limitting speed change rate");
+     606           0 :         double direction = atan2(hor_speed_derivative[1], hor_speed_derivative[0]);
+     607             : 
+     608           0 :         transformed_command.velocity.x = old_command.velocity.x + cos(direction) * constraints.horizontal_acceleration * dt;
+     609           0 :         transformed_command.velocity.y = old_command.velocity.y + sin(direction) * constraints.horizontal_acceleration * dt;
+     610             :       }
+     611             :     }
+     612             : 
+     613             :     //}
+     614             : 
+     615             :     /* vertical speed limit //{ */
+     616             : 
+     617             :     {
+     618             :       // if ascending
+     619           0 :       if (transformed_command.velocity.z > constraints.vertical_ascending_speed) {
+     620             : 
+     621           0 :         transformed_command.velocity.z = constraints.vertical_ascending_speed;
+     622             :       }
+     623             : 
+     624             :       // if descending
+     625           0 :       if (transformed_command.velocity.z < -constraints.vertical_descending_speed) {
+     626             : 
+     627           0 :         transformed_command.velocity.z = -constraints.vertical_descending_speed;
+     628             :       }
+     629             :     }
+     630             : 
+     631             :     //}
+     632             : 
+     633             :     /* vertical speed change rate //{ */
+     634             : 
+     635             :     {
+     636             : 
+     637           0 :       double vert_speed_derivative = (transformed_command.velocity.z - old_command.velocity.z) / dt;
+     638             : 
+     639           0 :       if (vert_speed_derivative > constraints.vertical_ascending_acceleration) {
+     640             : 
+     641           0 :         ROS_WARN_THROTTLE(1.0, "[SpeedTracker]: limitting vertical ascending speed change rate");
+     642           0 :         transformed_command.velocity.z = old_command.velocity.z + constraints.vertical_ascending_acceleration * dt;
+     643             : 
+     644           0 :       } else if (vert_speed_derivative < -constraints.vertical_descending_acceleration) {
+     645             : 
+     646           0 :         ROS_WARN_THROTTLE(1.0, "[SpeedTracker]: limitting vertical descending speed change rate");
+     647           0 :         transformed_command.velocity.z = old_command.velocity.z - constraints.vertical_descending_acceleration * dt;
+     648             :       }
+     649             :     }
+     650             : 
+     651             :     //}
+     652             :   }
+     653             : 
+     654             :   /* transform and constrain heading //{ */
+     655             : 
+     656           0 :   if (transformed_command.use_heading) {
+     657             : 
+     658           0 :     mrs_msgs::ReferenceStamped temp_ref;
+     659           0 :     temp_ref.header = transformed_command.header;
+     660             : 
+     661           0 :     temp_ref.reference.heading = transformed_command.heading;
+     662             : 
+     663           0 :     auto ret = common_handlers_->transformer->transformSingle(temp_ref, "");
+     664             : 
+     665           0 :     if (ret) {
+     666             : 
+     667             :       // calculate the produced heading rate
+     668           0 :       double des_hdg_rate = sradians::diff(ret.value().reference.heading, old_command.heading) / dt;
+     669             : 
+     670             :       // saturate the change in the desired heading
+     671           0 :       if (des_hdg_rate > constraints.heading_speed) {
+     672             : 
+     673           0 :         ROS_WARN_THROTTLE(1.0, "[SpeedTracker]: limitting change of the desired heading using constraints");
+     674           0 :         transformed_command.heading = old_command.heading + constraints.heading_speed * dt;
+     675             : 
+     676           0 :       } else if (des_hdg_rate < -constraints.heading_speed) {
+     677             : 
+     678           0 :         ROS_WARN_THROTTLE(1.0, "[SpeedTracker]: limitting change of the desired heading using constraints");
+     679           0 :         transformed_command.heading = old_command.heading - constraints.heading_speed * dt;
+     680             : 
+     681             :       } else {
+     682             : 
+     683           0 :         transformed_command.heading = ret.value().reference.heading;
+     684             :       }
+     685             : 
+     686             :     } else {
+     687           0 :       return;
+     688             :     }
+     689             :   } else {
+     690           0 :     transformed_command.use_heading = false;
+     691           0 :     transformed_command.heading     = uav_heading;
+     692             :   }
+     693             : 
+     694             :   //}
+     695             : 
+     696           0 :   if (transformed_command.use_heading_rate) {
+     697             : 
+     698           0 :     if (transformed_command.heading_rate > constraints.heading_speed) {
+     699           0 :       transformed_command.heading_rate = constraints.heading_speed;
+     700           0 :     } else if (transformed_command.heading_rate < -constraints.heading_speed) {
+     701           0 :       transformed_command.heading_rate = -constraints.heading_speed;
+     702             :     }
+     703             :   }
+     704             : 
+     705           0 :   if (transformed_command.use_acceleration) {
+     706             : 
+     707           0 :     geometry_msgs::Vector3Stamped vector3;
+     708           0 :     vector3.header = transformed_command.header;
+     709             : 
+     710           0 :     vector3.vector.x = transformed_command.acceleration.x;
+     711           0 :     vector3.vector.y = transformed_command.acceleration.y;
+     712           0 :     vector3.vector.z = transformed_command.acceleration.z;
+     713             : 
+     714           0 :     auto ret = common_handlers_->transformer->transformSingle(vector3, "");
+     715             : 
+     716           0 :     if (ret) {
+     717           0 :       transformed_command.acceleration.x = ret.value().vector.x;
+     718           0 :       transformed_command.acceleration.y = ret.value().vector.y;
+     719           0 :       transformed_command.acceleration.z = ret.value().vector.z;
+     720             :     } else {
+     721           0 :       return;
+     722             :     }
+     723             : 
+     724             :     /* horizontal acceleration limit //{ */
+     725             : 
+     726             :     {
+     727           0 :       double des_horizontal_acceleration = sqrt(pow(transformed_command.acceleration.x, 2) + pow(transformed_command.acceleration.y, 2));
+     728             : 
+     729           0 :       if (des_horizontal_acceleration > constraints.horizontal_acceleration) {
+     730             : 
+     731           0 :         double des_acc_heading = atan2(transformed_command.acceleration.y, transformed_command.acceleration.x);
+     732             : 
+     733           0 :         transformed_command.acceleration.x = cos(des_acc_heading) * constraints.horizontal_acceleration;
+     734           0 :         transformed_command.acceleration.y = sin(des_acc_heading) * constraints.horizontal_acceleration;
+     735             :       }
+     736             :     }
+     737             : 
+     738             :     //}
+     739             : 
+     740             :     /* horizontal acceleration change rate limit //{ */
+     741             : 
+     742             :     {
+     743             :       Eigen::Vector2d hor_acc_derivative =
+     744           0 :           Eigen::Vector2d(transformed_command.acceleration.x - old_command.acceleration.x, transformed_command.acceleration.y - old_command.acceleration.y) /
+     745           0 :           (dt);
+     746             : 
+     747             :       // exceeding the maximum acceleration
+     748           0 :       if (hor_acc_derivative.norm() > constraints.horizontal_jerk) {
+     749             : 
+     750           0 :         ROS_WARN_THROTTLE(1.0, "[SpeedTracker]: limitting acceleration change rate");
+     751           0 :         double direction = atan2(hor_acc_derivative[1], hor_acc_derivative[0]);
+     752             : 
+     753           0 :         transformed_command.acceleration.x = old_command.acceleration.x + cos(direction) * constraints.horizontal_jerk * dt;
+     754           0 :         transformed_command.acceleration.y = old_command.acceleration.y + sin(direction) * constraints.horizontal_jerk * dt;
+     755             :       }
+     756             :     }
+     757             : 
+     758             :     //}
+     759             : 
+     760             :     /* vertical acceleration limit //{ */
+     761             : 
+     762             :     {
+     763             :       // if ascending
+     764           0 :       if (transformed_command.acceleration.z > constraints.vertical_ascending_acceleration) {
+     765             : 
+     766           0 :         transformed_command.acceleration.z = constraints.vertical_ascending_acceleration;
+     767             :       }
+     768             : 
+     769             :       // if descending
+     770           0 :       if (transformed_command.acceleration.z < -constraints.vertical_descending_acceleration) {
+     771             : 
+     772           0 :         transformed_command.acceleration.z = -constraints.vertical_descending_acceleration;
+     773             :       }
+     774             :     }
+     775             : 
+     776             :     //}
+     777             : 
+     778             :     /* vertical acceleration change rate //{ */
+     779             : 
+     780             :     {
+     781             : 
+     782           0 :       double vert_acc_derivative = (transformed_command.acceleration.z - old_command.acceleration.z) / dt;
+     783             : 
+     784           0 :       if (vert_acc_derivative > constraints.vertical_ascending_jerk) {
+     785             : 
+     786           0 :         ROS_WARN_THROTTLE(1.0, "[SpeedTracker]: limitting vertical ascending acceleration change rate");
+     787           0 :         transformed_command.acceleration.z = old_command.acceleration.z + constraints.vertical_ascending_jerk * dt;
+     788             : 
+     789           0 :       } else if (vert_acc_derivative < -constraints.vertical_descending_jerk) {
+     790             : 
+     791           0 :         ROS_WARN_THROTTLE(1.0, "[SpeedTracker]: limitting vertical descending acceleration change rate");
+     792           0 :         transformed_command.acceleration.z = old_command.acceleration.z - constraints.vertical_descending_jerk * dt;
+     793             :       }
+     794             :     }
+     795             : 
+     796             :     //}
+     797             :   }
+     798             : 
+     799             :   // transform force
+     800             : 
+     801           0 :   if (transformed_command.use_force) {
+     802             : 
+     803           0 :     geometry_msgs::Vector3Stamped vector3;
+     804           0 :     vector3.header = transformed_command.header;
+     805             : 
+     806           0 :     vector3.vector.x = transformed_command.force.x;
+     807           0 :     vector3.vector.y = transformed_command.force.y;
+     808           0 :     vector3.vector.z = transformed_command.force.z;
+     809             : 
+     810           0 :     auto ret = common_handlers_->transformer->transformSingle(vector3, "");
+     811             : 
+     812           0 :     if (ret) {
+     813           0 :       transformed_command.force.x = vector3.vector.x;
+     814           0 :       transformed_command.force.y = vector3.vector.y;
+     815           0 :       transformed_command.force.z = vector3.vector.z;
+     816             :     } else {
+     817           0 :       return;
+     818             :     }
+     819             :   }
+     820             : 
+     821             :   // check the feasibility of the z
+     822             :   {
+     823           0 :     double z_derivative = (transformed_command.z - old_command.z) / dt;
+     824             : 
+     825           0 :     if (z_derivative > constraints.vertical_ascending_speed) {
+     826             : 
+     827           0 :       transformed_command.z = old_command.z + constraints.vertical_ascending_speed * dt;
+     828             : 
+     829           0 :     } else if (z_derivative < -constraints.vertical_ascending_speed) {
+     830             : 
+     831           0 :       transformed_command.z = old_command.z - constraints.vertical_descending_speed * dt;
+     832             :     }
+     833             : 
+     834             :     // saturate the desired z using the safety area
+     835           0 :     if (common_handlers_->safety_area.use_safety_area) {
+     836             : 
+     837           0 :       if (transformed_command.z > common_handlers_->safety_area.getMaxZ("")) {
+     838             : 
+     839           0 :         transformed_command.z = common_handlers_->safety_area.getMaxZ("");
+     840             : 
+     841           0 :       } else if (transformed_command.z < common_handlers_->safety_area.getMinZ("")) {
+     842             : 
+     843           0 :         transformed_command.z = common_handlers_->safety_area.getMinZ("");
+     844             :       }
+     845             :     }
+     846             :   }
+     847             : 
+     848             :   // if not active, nullify the desired speeds and accelerations
+     849             :   // this will produce a rumpum (using the constraints) after the activation
+     850           0 :   if (!is_active_) {
+     851             : 
+     852           0 :     auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     853             : 
+     854           0 :     transformed_command.velocity.x = 0;
+     855           0 :     transformed_command.velocity.y = 0;
+     856           0 :     transformed_command.velocity.z = 0;
+     857             : 
+     858           0 :     transformed_command.acceleration.x = 0;
+     859           0 :     transformed_command.acceleration.y = 0;
+     860           0 :     transformed_command.acceleration.z = 0;
+     861             : 
+     862             :     try {
+     863           0 :       transformed_command.heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+     864             :     }
+     865           0 :     catch (...) {
+     866           0 :       return;
+     867             :     }
+     868             : 
+     869           0 :     transformed_command.z = uav_state_.pose.position.z;
+     870             :   }
+     871             : 
+     872             :   {
+     873           0 :     std::scoped_lock lock(mutex_command_);
+     874             : 
+     875           0 :     command_ = transformed_command;
+     876             :   }
+     877             : 
+     878           0 :   if (!is_active_) {
+     879           0 :     ROS_INFO_ONCE("[SpeedTracker]: getting command");
+     880             :   } else {
+     881           0 :     ROS_INFO_THROTTLE(5.0, "[SpeedTracker]: getting command");
+     882             :   }
+     883             : 
+     884             :   // --------------------------------------------------------------
+     885             :   // |                     publish rviz markers                   |
+     886             :   // --------------------------------------------------------------
+     887             : 
+     888           0 :   visualization_msgs::MarkerArray msg_out;
+     889             : 
+     890           0 :   double id = 0;
+     891             : 
+     892           0 :   geometry_msgs::Point point;
+     893             : 
+     894             :   /* desired speed //{ */
+     895             : 
+     896           0 :   if (transformed_command.use_velocity) {
+     897             : 
+     898           0 :     std::scoped_lock lock(mutex_uav_state_);
+     899             : 
+     900           0 :     visualization_msgs::Marker marker;
+     901             : 
+     902           0 :     marker.header.frame_id = uav_state_.header.frame_id;
+     903           0 :     marker.header.stamp    = ros::Time::now();
+     904           0 :     marker.ns              = "speed_tracker";
+     905           0 :     marker.id              = id++;
+     906           0 :     marker.type            = visualization_msgs::Marker::ARROW;
+     907           0 :     marker.action          = visualization_msgs::Marker::ADD;
+     908             : 
+     909             :     /* position //{ */
+     910             : 
+     911           0 :     marker.pose.position.x = 0.0;
+     912           0 :     marker.pose.position.y = 0.0;
+     913           0 :     marker.pose.position.z = 0.0;
+     914             : 
+     915             :     //}
+     916             : 
+     917             :     /* orientation //{ */
+     918             : 
+     919           0 :     marker.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+     920             : 
+     921             :     //}
+     922             : 
+     923             :     /* origin //{ */
+     924           0 :     point.x = uav_state_.pose.position.x;
+     925           0 :     point.y = uav_state_.pose.position.y;
+     926           0 :     point.z = uav_state_.pose.position.z;
+     927             : 
+     928           0 :     marker.points.push_back(point);
+     929             : 
+     930             :     //}
+     931             : 
+     932             :     /* tip //{ */
+     933             : 
+     934           0 :     point.x = uav_state_.pose.position.x + transformed_command.velocity.x;
+     935           0 :     point.y = uav_state_.pose.position.y + transformed_command.velocity.y;
+     936           0 :     point.z = uav_state_.pose.position.z + transformed_command.velocity.z;
+     937             : 
+     938           0 :     marker.points.push_back(point);
+     939             : 
+     940             :     //}
+     941             : 
+     942           0 :     marker.scale.x = 0.05;
+     943           0 :     marker.scale.y = 0.05;
+     944           0 :     marker.scale.z = 0.05;
+     945             : 
+     946           0 :     marker.color.a = 0.5;
+     947           0 :     marker.color.r = 0.0;
+     948           0 :     marker.color.g = 1.0;
+     949           0 :     marker.color.b = 0.0;
+     950             : 
+     951           0 :     marker.mesh_resource = "package://pr2_description/meshes/base_v0/base.dae";
+     952             : 
+     953           0 :     msg_out.markers.push_back(marker);
+     954             :   }
+     955             : 
+     956             :   //}
+     957             : 
+     958             :   /* desired acceleration //{ */
+     959           0 :   if (transformed_command.use_acceleration) {
+     960             : 
+     961           0 :     std::scoped_lock lock(mutex_uav_state_);
+     962             : 
+     963           0 :     visualization_msgs::Marker marker;
+     964             : 
+     965           0 :     marker.header.frame_id = uav_state_.header.frame_id;
+     966           0 :     marker.header.stamp    = ros::Time::now();
+     967           0 :     marker.ns              = "speed_tracker";
+     968           0 :     marker.id              = id++;
+     969           0 :     marker.type            = visualization_msgs::Marker::ARROW;
+     970           0 :     marker.action          = visualization_msgs::Marker::ADD;
+     971             : 
+     972             :     /* position //{ */
+     973             : 
+     974           0 :     marker.pose.position.x = 0.0;
+     975           0 :     marker.pose.position.y = 0.0;
+     976           0 :     marker.pose.position.z = 0.0;
+     977             : 
+     978             :     //}
+     979             : 
+     980             :     /* orientation //{ */
+     981             : 
+     982           0 :     marker.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+     983             : 
+     984             :     //}
+     985             : 
+     986             :     /* origin //{ */
+     987           0 :     point.x = uav_state_.pose.position.x;
+     988           0 :     point.y = uav_state_.pose.position.y;
+     989           0 :     point.z = uav_state_.pose.position.z;
+     990             : 
+     991           0 :     marker.points.push_back(point);
+     992             : 
+     993             :     //}
+     994             : 
+     995             :     /* tip //{ */
+     996             : 
+     997           0 :     point.x = uav_state_.pose.position.x + transformed_command.acceleration.x;
+     998           0 :     point.y = uav_state_.pose.position.y + transformed_command.acceleration.y;
+     999           0 :     point.z = uav_state_.pose.position.z + transformed_command.acceleration.z;
+    1000             : 
+    1001           0 :     marker.points.push_back(point);
+    1002             : 
+    1003             :     //}
+    1004             : 
+    1005           0 :     marker.scale.x = 0.05;
+    1006           0 :     marker.scale.y = 0.05;
+    1007           0 :     marker.scale.z = 0.05;
+    1008             : 
+    1009           0 :     marker.color.a = 0.5;
+    1010           0 :     marker.color.r = 1.0;
+    1011           0 :     marker.color.g = 0.0;
+    1012           0 :     marker.color.b = 0.0;
+    1013             : 
+    1014           0 :     marker.mesh_resource = "package://pr2_description/meshes/base_v0/base.dae";
+    1015             : 
+    1016           0 :     msg_out.markers.push_back(marker);
+    1017             :   }
+    1018             : 
+    1019             :   //}
+    1020             : 
+    1021             :   /* desired force //{ */
+    1022           0 :   if (transformed_command.use_force) {
+    1023             : 
+    1024           0 :     std::scoped_lock lock(mutex_uav_state_);
+    1025             : 
+    1026           0 :     visualization_msgs::Marker marker;
+    1027             : 
+    1028           0 :     marker.header.frame_id = uav_state_.header.frame_id;
+    1029           0 :     marker.header.stamp    = ros::Time::now();
+    1030           0 :     marker.ns              = "speed_tracker";
+    1031           0 :     marker.id              = id++;
+    1032           0 :     marker.type            = visualization_msgs::Marker::ARROW;
+    1033           0 :     marker.action          = visualization_msgs::Marker::ADD;
+    1034             : 
+    1035             :     /* position //{ */
+    1036             : 
+    1037           0 :     marker.pose.position.x = 0.0;
+    1038           0 :     marker.pose.position.y = 0.0;
+    1039           0 :     marker.pose.position.z = 0.0;
+    1040             : 
+    1041             :     //}
+    1042             : 
+    1043             :     /* orientation //{ */
+    1044             : 
+    1045           0 :     marker.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    1046             : 
+    1047             :     //}
+    1048             : 
+    1049             :     /* origin //{ */
+    1050           0 :     point.x = uav_state_.pose.position.x;
+    1051           0 :     point.y = uav_state_.pose.position.y;
+    1052           0 :     point.z = uav_state_.pose.position.z;
+    1053             : 
+    1054           0 :     marker.points.push_back(point);
+    1055             : 
+    1056             :     //}
+    1057             : 
+    1058             :     /* tip //{ */
+    1059             : 
+    1060           0 :     point.x = uav_state_.pose.position.x + transformed_command.force.x;
+    1061           0 :     point.y = uav_state_.pose.position.y + transformed_command.force.y;
+    1062           0 :     point.z = uav_state_.pose.position.z + transformed_command.force.z;
+    1063             : 
+    1064           0 :     marker.points.push_back(point);
+    1065             : 
+    1066             :     //}
+    1067             : 
+    1068           0 :     marker.scale.x = 0.05;
+    1069           0 :     marker.scale.y = 0.05;
+    1070           0 :     marker.scale.z = 0.05;
+    1071             : 
+    1072           0 :     marker.color.a = 0.5;
+    1073           0 :     marker.color.r = 0.0;
+    1074           0 :     marker.color.g = 0.0;
+    1075           0 :     marker.color.b = 1.0;
+    1076             : 
+    1077           0 :     marker.mesh_resource = "package://pr2_description/meshes/base_v0/base.dae";
+    1078             : 
+    1079           0 :     msg_out.markers.push_back(marker);
+    1080             :   }
+    1081             : 
+    1082             :   //}
+    1083             : 
+    1084           0 :   ph_rviz_marker_.publish(msg_out);
+    1085             : }
+    1086             : 
+    1087             : //}
+    1088             : 
+    1089             : }  // namespace speed_tracker
+    1090             : 
+    1091             : }  // namespace mrs_uav_trackers
+    1092             : 
+    1093             : #include <pluginlib/class_list_macros.h>
+    1094          65 : PLUGINLIB_EXPORT_CLASS(mrs_uav_trackers::speed_tracker::SpeedTracker, mrs_uav_managers::Tracker)
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_trackers/src/speed_tracker/speed_tracker.cpp.gcov.overview.html b/mrs_uav_trackers/src/speed_tracker/speed_tracker.cpp.gcov.overview.html new file mode 100644 index 0000000000..b1299a71fe --- /dev/null +++ b/mrs_uav_trackers/src/speed_tracker/speed_tracker.cpp.gcov.overview.html @@ -0,0 +1,294 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trackers/src/speed_tracker/speed_tracker.cpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
+ Top

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+ + diff --git a/mrs_uav_trackers/src/speed_tracker/speed_tracker.cpp.gcov.png b/mrs_uav_trackers/src/speed_tracker/speed_tracker.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..76f0064d0030a9ff28cfd278c8a71f07be11d779 GIT binary patch literal 3011 zcmV;!3q16RP)Wz0000OP)t-s|NsB0 zs;a7|?_FK${{R500003000620&P%hU00009a7bBm000ie000ie0hKEb8vp$C1x zQk)MaXFbBZj8<|jnq#C^6?(El&+TBr1`4}g=H|HZhSBSLfMvYz{@c~`W z)*~$oDipmayS10Z-b)7L8Zid5CH^ep+YNr8+C+kj9tQb ziW6m%1i1IW0^Zby^>kyd3q=&kHh0-5VX;h%TmTnQoP(8*k4ML?3bWAMmPI=)!qbX)ID-^TPWO2aSbp}$$m$_e!v+C00)xN*)-${GKpYVUC zue5zrjo&q-@%0G56)gci0`P$VnaxqWC!&}1WE5YVVI)rSNUKFoaY92K9N5v%qM5=p z4BQm}nH1R#PMWUp4C9Y{&;UJVuAaW%Ynhx*bS4Q!oV9xnT-PUT+x~ZZn%5uOR@W@> z_1|W#w`px5Jn(mzu-XJbfvs)Caj%bpmIn$bQVmeQi+H3Q`=E4L@5v|3Gv0$34w&`$ zDGH>JrEHO+;^FsiH0C>D>_1-f7dhiZiWUfcl>k00kWH}-{LbgtlnLpWp==o2ITM~+ zUwf%rT=w$l7Z|e=kF{i_Gn#qHPgAUTR|GP$Eem9~A=_8ZwX`UL;QeamSvGV0op^zH zkKyry)o3oExCJ&F6rY=MUDsxteCFCeVQeP`0mj}-L;$MKTtMoo;8E%gPP&(sI(0*n zx+LV0+qK{6b|IM@ltAGo9|#+;g;)6g)>iYh>nQw?uR)R5u^p}^vlay`v}~}?$zqRJ zBTC8xnQ9d1aa^z;S)IWry`IWPefk`b0kG$5cGm+GvxA9Vq&fzHm1!Y^1&tqgK8 zMN6{^WX2SM``mi>lxT{~b=ntmmCKiUwTppvq)76fkV?7w&@=onf*@t16azS-g0$>s z8etAO``wq>?b5vvv2K=^Sy6wyGnSu1OikyINgD>`@aFNssQ#Ie2bd5`z3 zPJn#Y&hyib^|e`Z zaZQ52j{?cr###mpWVtZeJTV^F5QemHRTy0E@xVhE3_99zD|&)F8ZZDG!r)`y3nRBo z?79J@#=h^G(eL^L0bosrYXzw9;c3^f`}g`|C=J!OT`p9{(JPxx>E2c{4JIzvm%4g- zxUD-VT0+jxs$B;^!-s;P>kXk$059b|Y7Ugw{Cq(zf2Y69-3A`DfZ7QSe%H3N1}b)F z#iFCY)+pPFDBd5AU{tiNW%-I$-gRmf|2c8j`w92C?Gl0pggN+oB&xrMSAj6V12!f$#rEZ@Wb zupSjc#Yc}iiu~wNC!YTIdQ>`wfUPyKBq`>PkIF|Ll1o)5&jFOn8u_9k9(kaEgOcGw z(?vf$C(c`0a{vZi5(J6DGF{sywoViPA*<)qyLuAtmgZofoda z#!=^Ix^@(|mixYdyl~GSh5Vr)*jV(xM}e}zU{;x}dF{BwavWA@oacll1Xi@Se2t|L zMj=Z-0?Vie`z!#!vl@waibBeUnJtoM03#;=SZp%`oQ%geo z9`0@)o~5YG;+kbCrCsbB-B}8?kd&OpS*tPJ2W?p(Wp|xk5ve$?rZDEO%?d-li6LYZ zD&LKQESu5QP4}{yeB2M%IZH=Nd7-nn>#{`IL$R^QHMSfkpvYe2@+f9*;dX{FTZ6Di zMJV&^$#EBd-`sCY`?Ys;6A&VH51$FtbfazK+Hgq_&6O&7aD& z2XkLz+7zRQzi|&~fWlK^QBVT-6ZLTF60{yrz~ir}hvW6@A;3%3!(G~Z{=`dXJ)Cg3 z{*~raty)N2#rN-?tb8PNJ;x&8?_cf-C}#e+oc78S^>8$6Sy9uJCh|beMmN)YrtZRd zJ`y%**O|~|o#J>e)+w;Ud2)kWZ_Ie{M8H2cW;8?ij}*?ac&h3Yf#Po}oc}(lFX-XR zc_$xTI7f`KiMP%h#|5_N6g}P}DxA|1m)mu=fi**wMXtEyM?p~ znYPaSWPhmw$FHx=4*&%`{*v`|3{z$GS{?Yl_4Sxh7$2HcIi1Vxn%dFuZerZmd-RkQ z(Q{#m!nqXTBa`r5gS|;8()$mP&mlYxs?NB*qa|!6A$v&F{ke32bk|adJ+c0iR|G*R zk3%=(>pW_w3L`=a*mVrQh3knB=)Xv6o>NfpxdR@@KSPg9g%d~Y4*dsxpGXy+#Iq-d z0DE~PXbu4~d1T)ZSzBA0uJPmJ%Df@+&cb;mPNY|s2kbzKG63rfkvm*HOdj*AdzB}g zYD+DMJ^4WJ3dr-vuBV5>btb$XHb&|*U(uT$HW~L7y~U>ec{khj{2EmZ%Lph&16H3E z&!p(THbL!*_|R)wkg^WNK$ZgbP^_%lA<%%El@vv%xd24B_cLIF$K;u=&`Jf51_kyU ze*#MY6(^eth4Y@*tOVpsJ?g=Zdc!rjoth;*CVpGV`=w?$k4>cNhfSlcm4Qt4l&8Z; zAd}*-$G<2(%o5Whc29K(@DEugsSLA(Q3Nujh7=o*7=zY>cEg(}pS4ckIlor~1!}`EKWSLJ|_(=;3Ais@E z3tQ1*QXkGG_S{?L~`@DEw$lNNr`!UD)|1MY}3 z#|%@Jw>}|%aaV>q&l@x;YMf-hh2m^%D3JbQj`RyU{s9we4cz8Fmj(a;002ovPDHLk FV1i~!w{8Fc literal 0 HcmV?d00001 diff --git a/mrs_uav_trajectory_generation/include/eth_mav_msgs/common.h.func-sort-c.html b/mrs_uav_trajectory_generation/include/eth_mav_msgs/common.h.func-sort-c.html new file mode 100644 index 0000000000..b554fa6da5 --- /dev/null +++ b/mrs_uav_trajectory_generation/include/eth_mav_msgs/common.h.func-sort-c.html @@ -0,0 +1,88 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trajectory_generation/include/eth_mav_msgs/common.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_trajectory_generation/include/eth_mav_msgs - common.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2024-01-20 21:44:18Functions:22100.0 %
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Function Name Sort by function nameHit count Sort by hit count
eth_mav_msgs::yawFromQuaternion(Eigen::Quaternion<double, 0> const&)809
eth_mav_msgs::quaternionFromYaw(double)3781
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_trajectory_generation/include/eth_mav_msgs/common.h.func.html b/mrs_uav_trajectory_generation/include/eth_mav_msgs/common.h.func.html new file mode 100644 index 0000000000..b71fa02dcd --- /dev/null +++ b/mrs_uav_trajectory_generation/include/eth_mav_msgs/common.h.func.html @@ -0,0 +1,88 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trajectory_generation/include/eth_mav_msgs/common.h - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_trajectory_generation/include/eth_mav_msgs - common.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2024-01-20 21:44:18Functions:22100.0 %
Legend: Lines: + hit + not hit +
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+ +
+ + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
eth_mav_msgs::quaternionFromYaw(double)3781
eth_mav_msgs::yawFromQuaternion(Eigen::Quaternion<double, 0> const&)809
+
+
+ + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_trajectory_generation/include/eth_mav_msgs/common.h.gcov.frameset.html b/mrs_uav_trajectory_generation/include/eth_mav_msgs/common.h.gcov.frameset.html new file mode 100644 index 0000000000..1d6c346fa1 --- /dev/null +++ b/mrs_uav_trajectory_generation/include/eth_mav_msgs/common.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trajectory_generation/include/eth_mav_msgs/common.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_trajectory_generation/include/eth_mav_msgs/common.h.gcov.html b/mrs_uav_trajectory_generation/include/eth_mav_msgs/common.h.gcov.html new file mode 100644 index 0000000000..79d0605f9f --- /dev/null +++ b/mrs_uav_trajectory_generation/include/eth_mav_msgs/common.h.gcov.html @@ -0,0 +1,496 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trajectory_generation/include/eth_mav_msgs/common.h + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_trajectory_generation/include/eth_mav_msgs - common.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2024-01-20 21:44:18Functions:22100.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : /*
+       2             :  * Copyright 2015 Fadri Furrer, ASL, ETH Zurich, Switzerland
+       3             :  * Copyright 2015 Michael Burri, ASL, ETH Zurich, Switzerland
+       4             :  * Copyright 2015 Markus Achtelik, ASL, ETH Zurich, Switzerland
+       5             :  * Copyright 2015 Helen Oleynikova, ASL, ETH Zurich, Switzerland
+       6             :  * Copyright 2015 Mina Kamel, ASL, ETH Zurich, Switzerland
+       7             :  *
+       8             :  * Licensed under the Apache License, Version 2.0 (the "License");
+       9             :  * you may not use this file except in compliance with the License.
+      10             :  * You may obtain a copy of the License at
+      11             :  *
+      12             :  *     http://www.apache.org/licenses/LICENSE-2.0
+      13             : 
+      14             :  * Unless required by applicable law or agreed to in writing, software
+      15             :  * distributed under the License is distributed on an "AS IS" BASIS,
+      16             :  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+      17             :  * See the License for the specific language governing permissions and
+      18             :  * limitations under the License.
+      19             :  */
+      20             : 
+      21             : // Common conversion functions between geometry messages, Eigen types, and yaw.
+      22             : 
+      23             : #ifndef ETH_MAV_MSGS_COMMON_H
+      24             : #define ETH_MAV_MSGS_COMMON_H
+      25             : 
+      26             : #include <geometry_msgs/Point.h>
+      27             : #include <geometry_msgs/Quaternion.h>
+      28             : #include <geometry_msgs/Vector3.h>
+      29             : #include <Eigen/Geometry>
+      30             : #include <boost/algorithm/clamp.hpp>
+      31             : 
+      32             : namespace eth_mav_msgs
+      33             : {
+      34             : 
+      35             : const double kSmallValueCheck         = 1.e-6;
+      36             : const double kNumNanosecondsPerSecond = 1.e9;
+      37             : 
+      38             : /* MagnitudeOfGravity() //{ */
+      39             : 
+      40             : /// Magnitude of Earth's gravitational field at specific height [m] and latitude
+      41             : /// [rad] (from wikipedia).
+      42             : inline double MagnitudeOfGravity(const double height, const double latitude_radians) {
+      43             :   // gravity calculation constants
+      44             :   const double kGravity_0 = 9.780327;
+      45             :   const double kGravity_a = 0.0053024;
+      46             :   const double kGravity_b = 0.0000058;
+      47             :   const double kGravity_c = 3.155 * 1e-7;
+      48             : 
+      49             :   double sin_squared_latitude       = std::sin(latitude_radians) * std::sin(latitude_radians);
+      50             :   double sin_squared_twice_latitude = std::sin(2 * latitude_radians) * std::sin(2 * latitude_radians);
+      51             :   return kGravity_0 * ((1 + kGravity_a * sin_squared_latitude - kGravity_b * sin_squared_twice_latitude) - kGravity_c * height);
+      52             : }
+      53             : 
+      54             : //}
+      55             : 
+      56             : /* vector3FromMsg() //{ */
+      57             : 
+      58             : inline Eigen::Vector3d vector3FromMsg(const geometry_msgs::Vector3& msg) {
+      59             :   return Eigen::Vector3d(msg.x, msg.y, msg.z);
+      60             : }
+      61             : 
+      62             : //}
+      63             : 
+      64             : /* vector3FromPointMsg() //{ */
+      65             : 
+      66             : inline Eigen::Vector3d vector3FromPointMsg(const geometry_msgs::Point& msg) {
+      67             :   return Eigen::Vector3d(msg.x, msg.y, msg.z);
+      68             : }
+      69             : 
+      70             : //}
+      71             : 
+      72             : /* quaternionFromMsg() //{ */
+      73             : 
+      74             : inline Eigen::Quaterniond quaternionFromMsg(const geometry_msgs::Quaternion& msg) {
+      75             :   // Make sure this always returns a valid Quaternion, even if the message was
+      76             :   // uninitialized or only approximately set.
+      77             :   Eigen::Quaterniond quaternion(msg.w, msg.x, msg.y, msg.z);
+      78             :   if (quaternion.norm() < std::numeric_limits<double>::epsilon()) {
+      79             :     quaternion.setIdentity();
+      80             :   } else {
+      81             :     quaternion.normalize();
+      82             :   }
+      83             :   return quaternion;
+      84             : }
+      85             : 
+      86             : //}
+      87             : 
+      88             : /* vectorEigenToMsg() //{ */
+      89             : 
+      90             : inline void vectorEigenToMsg(const Eigen::Vector3d& eigen, geometry_msgs::Vector3* msg) {
+      91             :   assert(msg != NULL);
+      92             :   msg->x = eigen.x();
+      93             :   msg->y = eigen.y();
+      94             :   msg->z = eigen.z();
+      95             : }
+      96             : 
+      97             : //}
+      98             : 
+      99             : /* pointEigenToMsg() //{ */
+     100             : 
+     101             : inline void pointEigenToMsg(const Eigen::Vector3d& eigen, geometry_msgs::Point* msg) {
+     102             :   assert(msg != NULL);
+     103             :   msg->x = eigen.x();
+     104             :   msg->y = eigen.y();
+     105             :   msg->z = eigen.z();
+     106             : }
+     107             : 
+     108             : //}
+     109             : 
+     110             : /* quaternionEigenToMsg() //{ */
+     111             : 
+     112             : inline void quaternionEigenToMsg(const Eigen::Quaterniond& eigen, geometry_msgs::Quaternion* msg) {
+     113             :   assert(msg != NULL);
+     114             :   msg->x = eigen.x();
+     115             :   msg->y = eigen.y();
+     116             :   msg->z = eigen.z();
+     117             :   msg->w = eigen.w();
+     118             : }
+     119             : 
+     120             : //}
+     121             : 
+     122             : /* yawFromQuaternion() //{ */
+     123             : 
+     124             : /**
+     125             :  * \brief Extracts the yaw part from a quaternion, using RPY / euler (z-y'-z'')
+     126             :  * angles.
+     127             :  * RPY rotates about the fixed axes in the order x-y-z,
+     128             :  * which is the same as euler angles in the order z-y'-x''.
+     129             :  */
+     130         809 : inline double yawFromQuaternion(const Eigen::Quaterniond& q) {
+     131         809 :   return std::atan2(2.0 * (q.w() * q.z() + q.x() * q.y()), 1.0 - 2.0 * (q.y() * q.y() + q.z() * q.z()));
+     132             : }
+     133             : 
+     134             : //}
+     135             : 
+     136             : /* quaternionFromYaw() //{ */
+     137             : 
+     138        3781 : inline Eigen::Quaterniond quaternionFromYaw(double yaw) {
+     139        3781 :   return Eigen::Quaterniond(Eigen::AngleAxisd(yaw, Eigen::Vector3d::UnitZ()));
+     140             : }
+     141             : 
+     142             : //}
+     143             : 
+     144             : /* setQuaternionMsgFromYaw() //{ */
+     145             : 
+     146             : inline void setQuaternionMsgFromYaw(double yaw, geometry_msgs::Quaternion* msg) {
+     147             :   assert(msg != NULL);
+     148             :   Eigen::Quaterniond q_yaw = quaternionFromYaw(yaw);
+     149             :   msg->x                   = q_yaw.x();
+     150             :   msg->y                   = q_yaw.y();
+     151             :   msg->z                   = q_yaw.z();
+     152             :   msg->w                   = q_yaw.w();
+     153             : }
+     154             : 
+     155             : //}
+     156             : 
+     157             : /* setAngularVelocityMsgFromYawRate() //{ */
+     158             : 
+     159             : inline void setAngularVelocityMsgFromYawRate(double yaw_rate, geometry_msgs::Vector3* msg) {
+     160             :   assert(msg != NULL);
+     161             :   msg->x = 0.0;
+     162             :   msg->y = 0.0;
+     163             :   msg->z = yaw_rate;
+     164             : }
+     165             : 
+     166             : //}
+     167             : 
+     168             : /* getEulerAnglesFromQuaternion() //{ */
+     169             : 
+     170             : inline void getEulerAnglesFromQuaternion(const Eigen::Quaternion<double>& q, Eigen::Vector3d* euler_angles) {
+     171             :   {
+     172             :     assert(euler_angles != NULL);
+     173             : 
+     174             :     *euler_angles << std::atan2(2.0 * (q.w() * q.x() + q.y() * q.z()), 1.0 - 2.0 * (q.x() * q.x() + q.y() * q.y())),
+     175             :         std::asin(2.0 * (q.w() * q.y() - q.z() * q.x())), std::atan2(2.0 * (q.w() * q.z() + q.x() * q.y()), 1.0 - 2.0 * (q.y() * q.y() + q.z() * q.z()));
+     176             :   }
+     177             : }
+     178             : 
+     179             : //}
+     180             : 
+     181             : /* skewMatrixFromVector() //{ */
+     182             : 
+     183             : inline void skewMatrixFromVector(const Eigen::Vector3d& vec, Eigen::Matrix3d* vec_skew) {
+     184             :   assert(vec_skew);
+     185             :   *vec_skew << 0.0f, -vec(2), vec(1), vec(2), 0.0f, -vec(0), -vec(1), vec(0), 0.0f;
+     186             : }
+     187             : 
+     188             : //}
+     189             : 
+     190             : /* vectorFromSkewMatrix() //{ */
+     191             : 
+     192             : inline bool vectorFromSkewMatrix(const Eigen::Matrix3d& vec_skew, Eigen::Vector3d* vec) {
+     193             :   assert(vec);
+     194             :   if ((vec_skew + vec_skew.transpose()).norm() < kSmallValueCheck) {
+     195             :     *vec << vec_skew(2, 1), vec_skew(0, 2), vec_skew(1, 0);
+     196             :     return true;
+     197             :   } else {
+     198             :     std::cerr << "[eth_mav_msgs] Matrix is not skew-symmetric." << std::endl;
+     199             :     *vec = Eigen::Vector3d::Zero();
+     200             :     return false;
+     201             :   }
+     202             : }
+     203             : 
+     204             : //}
+     205             : 
+     206             : /* isRotationMatrix() //{ */
+     207             : 
+     208             : inline bool isRotationMatrix(const Eigen::Matrix3d& mat) {
+     209             :   // Check that R^T * R = I
+     210             :   if ((mat.transpose() * mat - Eigen::Matrix3d::Identity()).norm() > kSmallValueCheck) {
+     211             :     std::cerr << "[eth_mav_msgs::common] Rotation matrix requirement violated (R^T * R = I)" << std::endl;
+     212             :     return false;
+     213             :   }
+     214             :   // Check that det(R) = 1
+     215             :   if (mat.determinant() - 1.0 > kSmallValueCheck) {
+     216             :     std::cerr << "[eth_mav_msgs::common] Rotation matrix requirement violated (det(R) = 1)" << std::endl;
+     217             :     return false;
+     218             :   }
+     219             :   return true;
+     220             : }
+     221             : 
+     222             : //}
+     223             : 
+     224             : /* matrixFromRotationVector() //{ */
+     225             : 
+     226             : // Rotation matrix from rotation vector as described in
+     227             : // "Computationally Efficient Trajectory Generation for Fully Actuated Multirotor Vehicles"
+     228             : // Brescianini 2018
+     229             : inline void matrixFromRotationVector(const Eigen::Vector3d& vec, Eigen::Matrix3d* mat) {
+     230             :   // R = (I + sin||r|| / ||r||) [r] + ((1 - cos||r||)/||r||^2) [r]^2
+     231             :   // where [r] is the skew matrix of r vector
+     232             :   assert(mat);
+     233             :   double          r_norm        = vec.norm();
+     234             :   Eigen::Matrix3d vec_skew_norm = Eigen::Matrix3d::Zero();
+     235             :   if (r_norm > 0.0) {
+     236             :     skewMatrixFromVector(vec / r_norm, &vec_skew_norm);
+     237             :   }
+     238             : 
+     239             :   *mat = Eigen::Matrix3d::Identity() + vec_skew_norm * std::sin(r_norm) + vec_skew_norm * vec_skew_norm * (1 - std::cos(r_norm));
+     240             : }
+     241             : 
+     242             : //}
+     243             : 
+     244             : /* vectorFromRotationMatrix() //{ */
+     245             : 
+     246             : // Rotation vector from rotation matrix as described in
+     247             : // "Computationally Efficient Trajectory Generation for Fully Actuated Multirotor Vehicles"
+     248             : // Brescianini 2018
+     249             : inline bool vectorFromRotationMatrix(const Eigen::Matrix3d& mat, Eigen::Vector3d* vec) {
+     250             :   // [r] = phi / 2sin(phi) * (R - R^T)
+     251             :   // where [r] is the skew matrix of r vector
+     252             :   // and phi satisfies 1 + 2cos(phi) = trace(R)
+     253             :   assert(vec);
+     254             : 
+     255             :   if (!isRotationMatrix(mat)) {
+     256             :     std::cerr << "[eth_mav_msgs::common] Not a rotation matrix." << std::endl;
+     257             :     return false;
+     258             :   }
+     259             : 
+     260             :   if ((mat - Eigen::Matrix3d::Identity()).norm() < kSmallValueCheck) {
+     261             :     *vec = Eigen::Vector3d::Zero();
+     262             :     return true;
+     263             :   }
+     264             : 
+     265             :   // Compute cosine of angle and clamp in range [-1, 1]
+     266             :   double cos_phi         = (mat.trace() - 1.0) / 2.0;
+     267             :   double cos_phi_clamped = boost::algorithm::clamp(cos_phi, -1.0, 1.0);
+     268             :   double phi             = std::acos(cos_phi_clamped);
+     269             : 
+     270             :   if (phi < kSmallValueCheck) {
+     271             :     *vec = Eigen::Vector3d::Zero();
+     272             :   } else {
+     273             :     Eigen::Matrix3d vec_skew = (mat - mat.transpose()) * phi / (2.0 * std::sin(phi));
+     274             :     Eigen::Vector3d vec_unskewed;
+     275             :     if (vectorFromSkewMatrix(vec_skew, &vec_unskewed)) {
+     276             :       *vec = vec_unskewed;
+     277             :     } else {
+     278             :       return false;
+     279             :     }
+     280             :   }
+     281             :   return true;
+     282             : }
+     283             : 
+     284             : //}
+     285             : 
+     286             : /* omegaFromRotationVector() //{ */
+     287             : 
+     288             : // Calculates angular velocity (omega) from rotation vector derivative
+     289             : // based on formula derived in "Finite rotations and angular velocity" by Asher
+     290             : // Peres
+     291             : inline Eigen::Vector3d omegaFromRotationVector(const Eigen::Vector3d& rot_vec, const Eigen::Vector3d& rot_vec_vel) {
+     292             :   double phi = rot_vec.norm();
+     293             :   if (std::abs(phi) < 1.0e-3) {
+     294             :     // This captures the case of zero rotation
+     295             :     return rot_vec_vel;
+     296             :   }
+     297             : 
+     298             :   double phi_inv   = 1.0 / phi;
+     299             :   double phi_2_inv = phi_inv / phi;
+     300             :   double phi_3_inv = phi_2_inv / phi;
+     301             : 
+     302             :   // Create skew-symmetric matrix from rotation vector
+     303             :   Eigen::Matrix3d phi_skew;
+     304             :   skewMatrixFromVector(rot_vec, &phi_skew);
+     305             : 
+     306             :   // Set up matrix to calculate omega
+     307             :   Eigen::Matrix3d W;
+     308             :   W = Eigen::MatrixXd::Identity(3, 3) + phi_skew * (1 - std::cos(phi)) * phi_2_inv + phi_skew * phi_skew * (phi - std::sin(phi)) * phi_3_inv;
+     309             :   return W * rot_vec_vel;
+     310             : }
+     311             : 
+     312             : //}
+     313             : 
+     314             : /* omegaDotFromRotationVector() //{ */
+     315             : 
+     316             : // Calculates angular acceleration (omegaDot) from rotation vector derivative
+     317             : // based on formula derived in "Finite rotations and angular velocity" by Asher
+     318             : // Peres
+     319             : inline Eigen::Vector3d omegaDotFromRotationVector(const Eigen::Vector3d& rot_vec, const Eigen::Vector3d& rot_vec_vel, const Eigen::Vector3d& rot_vec_acc) {
+     320             :   double phi = rot_vec.norm();
+     321             :   if (std::abs(phi) < 1.0e-3) {
+     322             :     // This captures the case of zero rotation
+     323             :     return rot_vec_acc;
+     324             :   }
+     325             : 
+     326             :   double phi_dot = rot_vec.dot(rot_vec_vel) / phi;
+     327             : 
+     328             :   double phi_inv   = 1.0 / phi;
+     329             :   double phi_2_inv = phi_inv / phi;
+     330             :   double phi_3_inv = phi_2_inv / phi;
+     331             :   double phi_4_inv = phi_3_inv / phi;
+     332             : 
+     333             : 
+     334             :   // Create skew-symmetric matrix from rotation vector and velocity
+     335             :   Eigen::Matrix3d phi_skew;
+     336             :   Eigen::Matrix3d phi_dot_skew;
+     337             : 
+     338             :   skewMatrixFromVector(rot_vec, &phi_skew);
+     339             :   skewMatrixFromVector(rot_vec_vel, &phi_dot_skew);
+     340             : 
+     341             :   // Set up matrices to calculate omega dot
+     342             :   Eigen::Matrix3d W_vel;
+     343             :   Eigen::Matrix3d W_acc;
+     344             :   W_vel = phi_skew * (phi * std::sin(phi) - 2.0f + 2.0f * std::cos(phi)) * phi_dot * phi_3_inv +
+     345             :           phi_skew * phi_skew * (-2.0f * phi - phi * std::cos(phi) + 3.0f * std::sin(phi)) * phi_dot * phi_4_inv +
+     346             :           phi_dot_skew * phi_skew * (phi - std::sin(phi)) * phi_3_inv;
+     347             : 
+     348             :   W_acc = Eigen::MatrixXd::Identity(3, 3) + phi_skew * (1.0f - std::cos(phi)) * phi_2_inv + phi_skew * phi_skew * (phi - std::sin(phi)) * phi_3_inv;
+     349             : 
+     350             :   return W_vel * rot_vec_vel + W_acc * rot_vec_acc;
+     351             : }
+     352             : 
+     353             : //}
+     354             : 
+     355             : /* getSquaredRotorSpeedsFromAllocationAndState() //{ */
+     356             : 
+     357             : // Calculate the nominal rotor rates given the MAV mass, allocation matrix,
+     358             : // angular velocity, angular acceleration, and body acceleration (normalized
+     359             : // thrust).
+     360             : //
+     361             : // [torques, thrust]' = A * n^2, where
+     362             : // torques = J * ang_acc + ang_vel x J
+     363             : // thrust = m * norm(acc)
+     364             : //
+     365             : // The allocation matrix A has of a hexacopter is:
+     366             : // A = K * B, where
+     367             : // K = diag(l*c_T, l*c_T, c_M, c_T),
+     368             : //     [ s  1  s -s -1 -s]
+     369             : // B = [-c  0  c  c  0 -c]
+     370             : //     [-1  1 -1  1 -1  1]
+     371             : //     [ 1  1  1  1  1  1],
+     372             : // l: arm length
+     373             : // c_T: thrust constant
+     374             : // c_M: moment constant
+     375             : // s: sin(30°)
+     376             : // c: cos(30°)
+     377             : //
+     378             : // The inverse can be computed computationally efficient:
+     379             : // A^-1 \approx B^pseudo * K^-1
+     380             : inline void getSquaredRotorSpeedsFromAllocationAndState(const Eigen::MatrixXd& allocation_inv, const Eigen::Vector3d& inertia, double mass,
+     381             :                                                         const Eigen::Vector3d& angular_velocity_B, const Eigen::Vector3d& angular_acceleration_B,
+     382             :                                                         const Eigen::Vector3d& acceleration_B, Eigen::VectorXd* rotor_rates_squared) {
+     383             :   const Eigen::Vector3d torque       = inertia.asDiagonal() * angular_acceleration_B + angular_velocity_B.cross(inertia.asDiagonal() * angular_velocity_B);
+     384             :   const double          thrust_force = mass * acceleration_B.norm();
+     385             :   Eigen::Vector4d       input;
+     386             :   input << torque, thrust_force;
+     387             :   *rotor_rates_squared = allocation_inv * input;
+     388             : }
+     389             : 
+     390             : //}
+     391             : 
+     392             : /* nanosecondsToSeconds() //{ */
+     393             : 
+     394             : inline double nanosecondsToSeconds(int64_t nanoseconds) {
+     395             :   double seconds = nanoseconds / kNumNanosecondsPerSecond;
+     396             :   return seconds;
+     397             : }
+     398             : 
+     399             : //}
+     400             : 
+     401             : /* secondsToNanoseconds() //{ */
+     402             : 
+     403             : inline int64_t secondsToNanoseconds(double seconds) {
+     404             :   int64_t nanoseconds = static_cast<int64_t>(seconds * kNumNanosecondsPerSecond);
+     405             :   return nanoseconds;
+     406             : }
+     407             : 
+     408             : //}
+     409             : 
+     410             : }  // namespace eth_mav_msgs
+     411             : 
+     412             : #endif  // eth_mav_msgs_COMMON_H
+
+
+
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          Line data    Source code
+
+       1             : /*
+       2             :  * Copyright 2015 Fadri Furrer, ASL, ETH Zurich, Switzerland
+       3             :  * Copyright 2015 Michael Burri, ASL, ETH Zurich, Switzerland
+       4             :  * Copyright 2015 Markus Achtelik, ASL, ETH Zurich, Switzerland
+       5             :  * Copyright 2015 Helen Oleynikova, ASL, ETH Zurich, Switzerland
+       6             :  * Copyright 2015 Mina Kamel, ASL, ETH Zurich, Switzerland
+       7             :  *
+       8             :  * Licensed under the Apache License, Version 2.0 (the "License");
+       9             :  * you may not use this file except in compliance with the License.
+      10             :  * You may obtain a copy of the License at
+      11             :  *
+      12             :  *     http://www.apache.org/licenses/LICENSE-2.0
+      13             : 
+      14             :  * Unless required by applicable law or agreed to in writing, software
+      15             :  * distributed under the License is distributed on an "AS IS" BASIS,
+      16             :  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+      17             :  * See the License for the specific language governing permissions and
+      18             :  * limitations under the License.
+      19             :  */
+      20             : 
+      21             : #ifndef ETH_MAV_MSGS_EIGEN_MAV_MSGS_H
+      22             : #define ETH_MAV_MSGS_EIGEN_MAV_MSGS_H
+      23             : 
+      24             : #include <Eigen/Eigen>
+      25             : #include <deque>
+      26             : #include <iostream>
+      27             : 
+      28             : #include <eth_mav_msgs/common.h>
+      29             : 
+      30             : namespace eth_mav_msgs
+      31             : {
+      32             : 
+      33             : /// Actuated degrees of freedom.
+      34             : enum MavActuation
+      35             : {
+      36             :   DOF4 = 4,
+      37             :   DOF6 = 6
+      38             : };
+      39             : 
+      40             : /* struct EigenAttitudeThrust //{ */
+      41             : 
+      42             : struct EigenAttitudeThrust
+      43             : {
+      44             :   EigenAttitudeThrust() : attitude(Eigen::Quaterniond::Identity()), thrust(Eigen::Vector3d::Zero()) {
+      45             :   }
+      46             :   EigenAttitudeThrust(const Eigen::Quaterniond& _attitude, const Eigen::Vector3d& _thrust) {
+      47             :     attitude = _attitude;
+      48             :     thrust   = _thrust;
+      49             :   }
+      50             : 
+      51             :   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+      52             :   Eigen::Quaterniond attitude;
+      53             :   Eigen::Vector3d    thrust;
+      54             : };
+      55             : 
+      56             : //}
+      57             : 
+      58             : /* struct EigenAttitudeThrust //{ */
+      59             : 
+      60             : struct EigenActuators
+      61             : {
+      62             :   // TODO(ffurrer): Find a proper way of initializing :)
+      63             : 
+      64             :   EigenActuators(const Eigen::VectorXd& _angular_velocities) {
+      65             :     angular_velocities = _angular_velocities;
+      66             :   }
+      67             : 
+      68             :   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+      69             :   Eigen::VectorXd angles;              // In rad.
+      70             :   Eigen::VectorXd angular_velocities;  // In rad/s.
+      71             :   Eigen::VectorXd normalized;          // Everything else, normalized [-1 to 1].
+      72             : };
+      73             : 
+      74             : //}
+      75             : 
+      76             : /* struct EigenRateThrust //{ */
+      77             : 
+      78             : struct EigenRateThrust
+      79             : {
+      80             :   EigenRateThrust() : angular_rates(Eigen::Vector3d::Zero()), thrust(Eigen::Vector3d::Zero()) {
+      81             :   }
+      82             : 
+      83             :   EigenRateThrust(const Eigen::Vector3d& _angular_rates, const Eigen::Vector3d _thrust) : angular_rates(_angular_rates), thrust(_thrust) {
+      84             :   }
+      85             : 
+      86             :   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+      87             :   Eigen::Vector3d angular_rates;
+      88             :   Eigen::Vector3d thrust;
+      89             : };
+      90             : 
+      91             : //}
+      92             : 
+      93             : /* struct EigenTorqueThrust //{ */
+      94             : 
+      95             : struct EigenTorqueThrust
+      96             : {
+      97             :   EigenTorqueThrust() : torque(Eigen::Vector3d::Zero()), thrust(Eigen::Vector3d::Zero()) {
+      98             :   }
+      99             : 
+     100             :   EigenTorqueThrust(const Eigen::Vector3d& _torque, const Eigen::Vector3d _thrust) : torque(_torque), thrust(_thrust) {
+     101             :   }
+     102             : 
+     103             :   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+     104             :   Eigen::Vector3d torque;
+     105             :   Eigen::Vector3d thrust;
+     106             : };
+     107             : 
+     108             : //}
+     109             : 
+     110             : /* struct EigenRollPitchYawrateThrust //{ */
+     111             : 
+     112             : struct EigenRollPitchYawrateThrust
+     113             : {
+     114             :   EigenRollPitchYawrateThrust() : roll(0.0), pitch(0.0), yaw_rate(0.0), thrust(Eigen::Vector3d::Zero()) {
+     115             :   }
+     116             : 
+     117             :   EigenRollPitchYawrateThrust(double _roll, double _pitch, double _yaw_rate, const Eigen::Vector3d& _thrust)
+     118             :       : roll(_roll), pitch(_pitch), yaw_rate(_yaw_rate), thrust(_thrust) {
+     119             :   }
+     120             : 
+     121             :   double          roll;
+     122             :   double          pitch;
+     123             :   double          yaw_rate;
+     124             :   Eigen::Vector3d thrust;
+     125             : };
+     126             : 
+     127             : //}
+     128             : 
+     129             : /* class EigenMavState //{ */
+     130             : 
+     131             : /**
+     132             :  * \brief Container holding the state of a MAV: position, velocity, attitude and
+     133             :  * angular velocity.
+     134             :  *        In addition, holds the acceleration expressed in body coordinates,
+     135             :  * which is what the accelerometer
+     136             :  *        usually measures.
+     137             :  */
+     138             : class EigenMavState {
+     139             : public:
+     140             :   typedef std::vector<EigenMavState, Eigen::aligned_allocator<EigenMavState>> Vector;
+     141             :   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+     142             : 
+     143             :   /// Initializes all members to zero / identity.
+     144             :   EigenMavState()
+     145             :       : position_W(Eigen::Vector3d::Zero()),
+     146             :         velocity_W(Eigen::Vector3d::Zero()),
+     147             :         acceleration_B(Eigen::Vector3d::Zero()),
+     148             :         orientation_W_B(Eigen::Quaterniond::Identity()),
+     149             :         angular_velocity_B(Eigen::Vector3d::Zero()),
+     150             :         angular_acceleration_B(Eigen::Vector3d::Zero()) {
+     151             :   }
+     152             : 
+     153             :   EigenMavState(const Eigen::Vector3d& position_W, const Eigen::Vector3d& velocity_W, const Eigen::Vector3d& acceleration_B,
+     154             :                 const Eigen::Quaterniond& orientation_W_B, const Eigen::Vector3d& angular_velocity_B, const Eigen::Vector3d& angular_acceleration_B)
+     155             :       : position_W(position_W),
+     156             :         velocity_W(velocity_W),
+     157             :         acceleration_B(acceleration_B),
+     158             :         orientation_W_B(orientation_W_B),
+     159             :         angular_velocity_B(angular_velocity_B),
+     160             :         angular_acceleration_B(angular_acceleration_B) {
+     161             :   }
+     162             : 
+     163             :   std::string toString() const {
+     164             :     std::stringstream ss;
+     165             :     ss << "position:              " << position_W.transpose() << std::endl
+     166             :        << "velocity:              " << velocity_W.transpose() << std::endl
+     167             :        << "acceleration_body:     " << acceleration_B.transpose() << std::endl
+     168             :        << "orientation (w-x-y-z): " << orientation_W_B.w() << " " << orientation_W_B.x() << " " << orientation_W_B.y() << " " << orientation_W_B.z() << " "
+     169             :        << std::endl
+     170             :        << "angular_velocity_body: " << angular_velocity_B.transpose() << std::endl
+     171             :        << "angular_acceleration_body: " << angular_acceleration_B.transpose() << std::endl;
+     172             : 
+     173             :     return ss.str();
+     174             :   }
+     175             : 
+     176             :   Eigen::Vector3d    position_W;
+     177             :   Eigen::Vector3d    velocity_W;
+     178             :   Eigen::Vector3d    acceleration_B;
+     179             :   Eigen::Quaterniond orientation_W_B;
+     180             :   Eigen::Vector3d    angular_velocity_B;
+     181             :   Eigen::Vector3d    angular_acceleration_B;
+     182             : };
+     183             : 
+     184             : //}
+     185             : 
+     186             : /* struct EigenTrajectoryPoint //{ */
+     187             : 
+     188             : struct EigenTrajectoryPoint
+     189             : {
+     190             :   typedef std::vector<EigenTrajectoryPoint, Eigen::aligned_allocator<EigenTrajectoryPoint>> Vector;
+     191        3781 :   EigenTrajectoryPoint()
+     192        3781 :       : timestamp_ns(-1),
+     193             :         time_from_start_ns(0),
+     194        3781 :         position_W(Eigen::Vector3d::Zero()),
+     195        3781 :         velocity_W(Eigen::Vector3d::Zero()),
+     196        3781 :         acceleration_W(Eigen::Vector3d::Zero()),
+     197        3781 :         jerk_W(Eigen::Vector3d::Zero()),
+     198        3781 :         snap_W(Eigen::Vector3d::Zero()),
+     199             :         orientation_W_B(Eigen::Quaterniond::Identity()),
+     200        3781 :         angular_velocity_W(Eigen::Vector3d::Zero()),
+     201        3781 :         angular_acceleration_W(Eigen::Vector3d::Zero()),
+     202        3781 :         degrees_of_freedom(MavActuation::DOF4) {
+     203        3781 :   }
+     204             : 
+     205             :   EigenTrajectoryPoint(int64_t _time_from_start_ns, const Eigen::Vector3d& _position, const Eigen::Vector3d& _velocity, const Eigen::Vector3d& _acceleration,
+     206             :                        const Eigen::Vector3d& _jerk, const Eigen::Vector3d& _snap, const Eigen::Quaterniond& _orientation,
+     207             :                        const Eigen::Vector3d& _angular_velocity, const Eigen::Vector3d& _angular_acceleration,
+     208             :                        const MavActuation& _degrees_of_freedom = MavActuation::DOF4)
+     209             :       : time_from_start_ns(_time_from_start_ns),
+     210             :         position_W(_position),
+     211             :         velocity_W(_velocity),
+     212             :         acceleration_W(_acceleration),
+     213             :         jerk_W(_jerk),
+     214             :         snap_W(_snap),
+     215             :         orientation_W_B(_orientation),
+     216             :         angular_velocity_W(_angular_velocity),
+     217             :         angular_acceleration_W(_angular_acceleration),
+     218             :         degrees_of_freedom(_degrees_of_freedom) {
+     219             :   }
+     220             : 
+     221             :   EigenTrajectoryPoint(int64_t _time_from_start_ns, const Eigen::Vector3d& _position, const Eigen::Vector3d& _velocity, const Eigen::Vector3d& _acceleration,
+     222             :                        const Eigen::Vector3d& _jerk, const Eigen::Vector3d& _snap, const Eigen::Quaterniond& _orientation,
+     223             :                        const Eigen::Vector3d& _angular_velocity, const MavActuation& _degrees_of_freedom = MavActuation::DOF4)
+     224             :       : EigenTrajectoryPoint(_time_from_start_ns, _position, _velocity, _acceleration, _jerk, _snap, _orientation, _angular_velocity, Eigen::Vector3d::Zero(),
+     225             :                              _degrees_of_freedom) {
+     226             :   }
+     227             : 
+     228             :   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+     229             :   int64_t         timestamp_ns;  // Time since epoch, negative value = invalid timestamp.
+     230             :   int64_t         time_from_start_ns;
+     231             :   Eigen::Vector3d position_W;
+     232             :   Eigen::Vector3d velocity_W;
+     233             :   Eigen::Vector3d acceleration_W;
+     234             :   Eigen::Vector3d jerk_W;
+     235             :   Eigen::Vector3d snap_W;
+     236             : 
+     237             :   Eigen::Quaterniond orientation_W_B;
+     238             :   Eigen::Vector3d    angular_velocity_W;
+     239             :   Eigen::Vector3d    angular_acceleration_W;
+     240             :   MavActuation       degrees_of_freedom;
+     241             : 
+     242             :   // Accessors for making dealing with orientation/angular velocity easier.
+     243         809 :   inline double getYaw() const {
+     244         809 :     return yawFromQuaternion(orientation_W_B);
+     245             :   }
+     246             :   inline double getYawRate() const {
+     247             :     return angular_velocity_W.z();
+     248             :   }
+     249             :   inline double getYawAcc() const {
+     250             :     return angular_acceleration_W.z();
+     251             :   }
+     252             :   // WARNING: sets roll and pitch to 0.
+     253        3781 :   inline void setFromYaw(double yaw) {
+     254        3781 :     orientation_W_B = quaternionFromYaw(yaw);
+     255             :   }
+     256        3248 :   inline void setFromYawRate(double yaw_rate) {
+     257        3248 :     angular_velocity_W.x() = 0.0;
+     258        3248 :     angular_velocity_W.y() = 0.0;
+     259        3248 :     angular_velocity_W.z() = yaw_rate;
+     260             :   }
+     261        3248 :   inline void setFromYawAcc(double yaw_acc) {
+     262        3248 :     angular_acceleration_W.x() = 0.0;
+     263        3248 :     angular_acceleration_W.y() = 0.0;
+     264        3248 :     angular_acceleration_W.z() = yaw_acc;
+     265        3248 :   }
+     266             : 
+     267             :   std::string toString() const {
+     268             :     std::stringstream ss;
+     269             :     ss << "position:          " << position_W.transpose() << std::endl
+     270             :        << "velocity:          " << velocity_W.transpose() << std::endl
+     271             :        << "acceleration:      " << acceleration_W.transpose() << std::endl
+     272             :        << "jerk:              " << jerk_W.transpose() << std::endl
+     273             :        << "snap:              " << snap_W.transpose() << std::endl
+     274             :        << "yaw:               " << getYaw() << std::endl
+     275             :        << "yaw_rate:          " << getYawRate() << std::endl
+     276             :        << "yaw_acc:           " << getYawAcc() << std::endl;
+     277             : 
+     278             :     return ss.str();
+     279             :   }
+     280             : };
+     281             : 
+     282             : //}
+     283             : 
+     284             : /* EigenTrajectoryPoint operator* //{ */
+     285             : 
+     286             : // Operator overload to transform Trajectory Points according to the Eigen
+     287             : // interfaces (uses operator* for this).
+     288             : // Has to be outside of class.
+     289             : // Example:
+     290             : // Eigen::Affine3d transform; EigenTrajectoryPoint point;
+     291             : // EigenTrajectoryPoint transformed = transform * point;
+     292             : inline EigenTrajectoryPoint operator*(const Eigen::Affine3d& lhs, const EigenTrajectoryPoint& rhs) {
+     293             :   EigenTrajectoryPoint transformed(rhs);
+     294             :   transformed.position_W             = lhs * rhs.position_W;
+     295             :   transformed.velocity_W             = lhs.rotation() * rhs.velocity_W;
+     296             :   transformed.acceleration_W         = lhs.rotation() * rhs.acceleration_W;
+     297             :   transformed.jerk_W                 = lhs.rotation() * rhs.jerk_W;
+     298             :   transformed.snap_W                 = lhs.rotation() * rhs.snap_W;
+     299             :   transformed.orientation_W_B        = lhs.rotation() * rhs.orientation_W_B;
+     300             :   transformed.angular_velocity_W     = lhs.rotation() * rhs.angular_velocity_W;
+     301             :   transformed.angular_acceleration_W = lhs.rotation() * rhs.angular_acceleration_W;
+     302             :   return transformed;
+     303             : }
+     304             : 
+     305             : //}
+     306             : 
+     307             : /* struct EigenOdometry //{ */
+     308             : 
+     309             : struct EigenOdometry
+     310             : {
+     311             :   EigenOdometry()
+     312             :       : timestamp_ns(-1),
+     313             :         position_W(Eigen::Vector3d::Zero()),
+     314             :         orientation_W_B(Eigen::Quaterniond::Identity()),
+     315             :         velocity_B(Eigen::Vector3d::Zero()),
+     316             :         angular_velocity_B(Eigen::Vector3d::Zero()) {
+     317             :   }
+     318             : 
+     319             :   EigenOdometry(const Eigen::Vector3d& _position, const Eigen::Quaterniond& _orientation, const Eigen::Vector3d& _velocity_body,
+     320             :                 const Eigen::Vector3d& _angular_velocity)
+     321             :       : position_W(_position), orientation_W_B(_orientation), velocity_B(_velocity_body), angular_velocity_B(_angular_velocity) {
+     322             :   }
+     323             : 
+     324             :   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+     325             :   int64_t                     timestamp_ns;  // Time since epoch, negative value = invalid timestamp.
+     326             :   Eigen::Vector3d             position_W;
+     327             :   Eigen::Quaterniond          orientation_W_B;
+     328             :   Eigen::Vector3d             velocity_B;  // Velocity in expressed in the Body frame!
+     329             :   Eigen::Vector3d             angular_velocity_B;
+     330             :   Eigen::Matrix<double, 6, 6> pose_covariance_;
+     331             :   Eigen::Matrix<double, 6, 6> twist_covariance_;
+     332             : 
+     333             :   // Accessors for making dealing with orientation/angular velocity easier.
+     334             :   inline double getYaw() const {
+     335             :     return yawFromQuaternion(orientation_W_B);
+     336             :   }
+     337             :   inline void getEulerAngles(Eigen::Vector3d* euler_angles) const {
+     338             :     getEulerAnglesFromQuaternion(orientation_W_B, euler_angles);
+     339             :   }
+     340             :   inline double getYawRate() const {
+     341             :     return angular_velocity_B.z();
+     342             :   }
+     343             :   // WARNING: sets roll and pitch to 0.
+     344             :   inline void setFromYaw(double yaw) {
+     345             :     orientation_W_B = quaternionFromYaw(yaw);
+     346             :   }
+     347             :   inline void setFromYawRate(double yaw_rate) {
+     348             :     angular_velocity_B.x() = 0.0;
+     349             :     angular_velocity_B.y() = 0.0;
+     350             :     angular_velocity_B.z() = yaw_rate;
+     351             :   }
+     352             : 
+     353             :   inline Eigen::Vector3d getVelocityWorld() const {
+     354             :     return orientation_W_B * velocity_B;
+     355             :   }
+     356             :   inline void setVelocityWorld(const Eigen::Vector3d& velocity_world) {
+     357             :     velocity_B = orientation_W_B.inverse() * velocity_world;
+     358             :   }
+     359             : };
+     360             : 
+     361             : //}
+     362             : 
+     363             : // TODO(helenol): replaced with aligned allocator headers from Simon.
+     364             : #define MAV_MSGS_CONCATENATE(x, y) x##y
+     365             : #define MAV_MSGS_CONCATENATE2(x, y) MAV_MSGS_CONCATENATE(x, y)
+     366             : #define MAV_MSGS_MAKE_ALIGNED_CONTAINERS(EIGEN_TYPE)                                                               \
+     367             :   typedef std::vector<EIGEN_TYPE, Eigen::aligned_allocator<EIGEN_TYPE>> MAV_MSGS_CONCATENATE2(EIGEN_TYPE, Vector); \
+     368             :   typedef std::deque<EIGEN_TYPE, Eigen::aligned_allocator<EIGEN_TYPE>>  MAV_MSGS_CONCATENATE2(EIGEN_TYPE, Deque);
+     369             : 
+     370             : MAV_MSGS_MAKE_ALIGNED_CONTAINERS(EigenAttitudeThrust)
+     371             : MAV_MSGS_MAKE_ALIGNED_CONTAINERS(EigenActuators)
+     372             : MAV_MSGS_MAKE_ALIGNED_CONTAINERS(EigenRateThrust)
+     373             : MAV_MSGS_MAKE_ALIGNED_CONTAINERS(EigenTrajectoryPoint)
+     374             : MAV_MSGS_MAKE_ALIGNED_CONTAINERS(EigenRollPitchYawrateThrust)
+     375             : MAV_MSGS_MAKE_ALIGNED_CONTAINERS(EigenOdometry)
+     376             : 
+     377             : }  // namespace eth_mav_msgs
+     378             : 
+     379             : #endif  // MAV_MSGS_EIGEN_MAV_MSGS_H
+
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+
          Line data    Source code
+
+       1             : /*
+       2             :  * Copyright (c) 2016, Markus Achtelik, ASL, ETH Zurich, Switzerland
+       3             :  * Copyright (c) 2016, Michael Burri, ASL, ETH Zurich, Switzerland
+       4             :  * Copyright (c) 2016, Helen Oleynikova, ASL, ETH Zurich, Switzerland
+       5             :  * Copyright (c) 2016, Rik Bähnemann, ASL, ETH Zurich, Switzerland
+       6             :  * Copyright (c) 2016, Marija Popovic, ASL, ETH Zurich, Switzerland
+       7             :  *
+       8             :  * Licensed under the Apache License, Version 2.0 (the "License");
+       9             :  * you may not use this file except in compliance with the License.
+      10             :  * You may obtain a copy of the License at
+      11             :  *
+      12             :  * http://www.apache.org/licenses/LICENSE-2.0
+      13             :  *
+      14             :  * Unless required by applicable law or agreed to in writing, software
+      15             :  * distributed under the License is distributed on an "AS IS" BASIS,
+      16             :  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+      17             :  * See the License for the specific language governing permissions and
+      18             :  * limitations under the License.
+      19             :  */
+      20             : 
+      21             : #ifndef ETH_TRAJECTORY_GENERATION_EXTREMUM_H_
+      22             : #define ETH_TRAJECTORY_GENERATION_EXTREMUM_H_
+      23             : 
+      24             : #include <iostream>
+      25             : 
+      26             : namespace eth_trajectory_generation
+      27             : {
+      28             : 
+      29             : // Container holding the properties of an extremum (time, value,
+      30             : // segment where it occurred).
+      31             : struct Extremum
+      32             : {
+      33             : public:
+      34       40778 :   Extremum() : time(0.0), value(0.0), segment_idx(0) {
+      35             :   }
+      36             : 
+      37       31847 :   Extremum(double _time, double _value, int _segment_idx) : time(_time), value(_value), segment_idx(_segment_idx) {
+      38             :   }
+      39             : 
+      40       71272 :   bool operator<(const Extremum& rhs) const {
+      41       53895 :     return value < rhs.value;
+      42             :   }
+      43        7578 :   bool operator>(const Extremum& rhs) const {
+      44        7578 :     return value > rhs.value;
+      45             :   }
+      46             : 
+      47             :   double time;         // Time where the extremum occurs, relative to the segment start.
+      48             :   double value;        // Value of the extremum at time.
+      49             :   int    segment_idx;  // Index of the segment where the extremum occurs.
+      50             : };
+      51             : 
+      52             : inline std::ostream& operator<<(std::ostream& stream, const Extremum& e) {
+      53             :   stream << "time: " << e.time << ", value: " << e.value << ", segment idx: " << e.segment_idx << std::endl;
+      54             :   return stream;
+      55             : }
+      56             : 
+      57             : }  // namespace eth_trajectory_generation
+      58             : 
+      59             : #endif  // ETH_TRAJECTORY_GENERATION_EXTREMUM_H_
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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polynomial_optimization_linear_impl.h +
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Current view:top level - mrs_uav_trajectory_generation/include/eth_trajectory_generation/implHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:31462550.2 %
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polynomial_optimization_nonlinear_impl.h +
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polynomial_optimization_linear_impl.h +
79.2%79.2%
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Date:2024-01-20 21:44:18Functions:193259.4 %
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Current view:top level - mrs_uav_trajectory_generation/include/eth_trajectory_generation/implHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:31462550.2 %
Date:2024-01-20 21:44:18Functions:193259.4 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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polynomial_optimization_linear_impl.h +
79.2%79.2%
+ 		79.2 %168 / 21278.6 %11 / 14
polynomial_optimization_nonlinear_impl.h +
35.4%35.4%
+ 		35.4 %146 / 41344.4 %8 / 18
+
+
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Generated by: LCOV version 1.14
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LCOV - code coverage report
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Date:2024-01-20 21:44:18Functions:111478.6 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
eth_trajectory_generation::PolynomialOptimization<10>::setFreeConstraints(std::vector<Eigen::Matrix<double, -1, 1, 0, -1, 1>, std::allocator<Eigen::Matrix<double, -1, 1, 0, -1, 1> > > const&)0
eth_trajectory_generation::PolynomialOptimization<10>::computeSegmentMaximumMagnitudeCandidates(int, eth_trajectory_generation::Segment const&, double, double, std::vector<double, std::allocator<double> >*)0
eth_trajectory_generation::PolynomialOptimization<10>::computeMaximumOfMagnitude(int, std::vector<eth_trajectory_generation::Extremum, std::allocator<eth_trajectory_generation::Extremum> >*) const0
eth_trajectory_generation::PolynomialOptimization<10>::setupFromVertices(std::vector<eth_trajectory_generation::Vertex, std::allocator<eth_trajectory_generation::Vertex> > const&, std::vector<double, std::allocator<double> > const&, int)30
eth_trajectory_generation::PolynomialOptimization<10>::setupConstraintReorderingMatrix()30
eth_trajectory_generation::PolynomialOptimization<10>::PolynomialOptimization(unsigned long)30
eth_trajectory_generation::PolynomialOptimization<10>::computeCost() const3067
eth_trajectory_generation::PolynomialOptimization<10>::solveLinear()3401
eth_trajectory_generation::PolynomialOptimization<10>::updateSegmentsFromCompactConstraints()3401
eth_trajectory_generation::PolynomialOptimization<10>::constructR(Eigen::SparseMatrix<double, 0, int>*) const3401
eth_trajectory_generation::PolynomialOptimization<10>::updateSegmentTimes(std::vector<double, std::allocator<double> > const&)3431
eth_trajectory_generation::PolynomialOptimization<10>::setupMappingMatrix(double, Eigen::Matrix<double, 10, 10, 0, 10, 10>*)42395
eth_trajectory_generation::PolynomialOptimization<10>::invertMappingMatrix(Eigen::Matrix<double, 10, 10, 0, 10, 10> const&, Eigen::Matrix<double, 10, 10, 0, 10, 10>*)42395
eth_trajectory_generation::PolynomialOptimization<10>::computeQuadraticCostJacobian(int, double, Eigen::Matrix<double, 10, 10, 0, 10, 10>*)42395
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+
+ + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_trajectory_generation/include/eth_trajectory_generation/impl/polynomial_optimization_linear_impl.h.func.html b/mrs_uav_trajectory_generation/include/eth_trajectory_generation/impl/polynomial_optimization_linear_impl.h.func.html new file mode 100644 index 0000000000..8dab907af5 --- /dev/null +++ b/mrs_uav_trajectory_generation/include/eth_trajectory_generation/impl/polynomial_optimization_linear_impl.h.func.html @@ -0,0 +1,136 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trajectory_generation/include/eth_trajectory_generation/impl/polynomial_optimization_linear_impl.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_trajectory_generation/include/eth_trajectory_generation/impl - polynomial_optimization_linear_impl.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:16821279.2 %
Date:2024-01-20 21:44:18Functions:111478.6 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
eth_trajectory_generation::PolynomialOptimization<10>::solveLinear()3401
eth_trajectory_generation::PolynomialOptimization<10>::setupFromVertices(std::vector<eth_trajectory_generation::Vertex, std::allocator<eth_trajectory_generation::Vertex> > const&, std::vector<double, std::allocator<double> > const&, int)30
eth_trajectory_generation::PolynomialOptimization<10>::setFreeConstraints(std::vector<Eigen::Matrix<double, -1, 1, 0, -1, 1>, std::allocator<Eigen::Matrix<double, -1, 1, 0, -1, 1> > > const&)0
eth_trajectory_generation::PolynomialOptimization<10>::setupMappingMatrix(double, Eigen::Matrix<double, 10, 10, 0, 10, 10>*)42395
eth_trajectory_generation::PolynomialOptimization<10>::updateSegmentTimes(std::vector<double, std::allocator<double> > const&)3431
eth_trajectory_generation::PolynomialOptimization<10>::invertMappingMatrix(Eigen::Matrix<double, 10, 10, 0, 10, 10> const&, Eigen::Matrix<double, 10, 10, 0, 10, 10>*)42395
eth_trajectory_generation::PolynomialOptimization<10>::computeQuadraticCostJacobian(int, double, Eigen::Matrix<double, 10, 10, 0, 10, 10>*)42395
eth_trajectory_generation::PolynomialOptimization<10>::setupConstraintReorderingMatrix()30
eth_trajectory_generation::PolynomialOptimization<10>::updateSegmentsFromCompactConstraints()3401
eth_trajectory_generation::PolynomialOptimization<10>::computeSegmentMaximumMagnitudeCandidates(int, eth_trajectory_generation::Segment const&, double, double, std::vector<double, std::allocator<double> >*)0
eth_trajectory_generation::PolynomialOptimization<10>::PolynomialOptimization(unsigned long)30
eth_trajectory_generation::PolynomialOptimization<10>::constructR(Eigen::SparseMatrix<double, 0, int>*) const3401
eth_trajectory_generation::PolynomialOptimization<10>::computeCost() const3067
eth_trajectory_generation::PolynomialOptimization<10>::computeMaximumOfMagnitude(int, std::vector<eth_trajectory_generation::Extremum, std::allocator<eth_trajectory_generation::Extremum> >*) const0
+
+
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_trajectory_generation/include/eth_trajectory_generation/impl/polynomial_optimization_linear_impl.h.gcov.frameset.html b/mrs_uav_trajectory_generation/include/eth_trajectory_generation/impl/polynomial_optimization_linear_impl.h.gcov.frameset.html new file mode 100644 index 0000000000..545a529e28 --- /dev/null +++ b/mrs_uav_trajectory_generation/include/eth_trajectory_generation/impl/polynomial_optimization_linear_impl.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trajectory_generation/include/eth_trajectory_generation/impl/polynomial_optimization_linear_impl.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_trajectory_generation/include/eth_trajectory_generation/impl/polynomial_optimization_linear_impl.h.gcov.html b/mrs_uav_trajectory_generation/include/eth_trajectory_generation/impl/polynomial_optimization_linear_impl.h.gcov.html new file mode 100644 index 0000000000..31a5b59286 --- /dev/null +++ b/mrs_uav_trajectory_generation/include/eth_trajectory_generation/impl/polynomial_optimization_linear_impl.h.gcov.html @@ -0,0 +1,708 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trajectory_generation/include/eth_trajectory_generation/impl/polynomial_optimization_linear_impl.h + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_trajectory_generation/include/eth_trajectory_generation/impl - polynomial_optimization_linear_impl.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:16821279.2 %
Date:2024-01-20 21:44:18Functions:111478.6 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : /*
+       2             :  * Copyright (c) 2016, Markus Achtelik, ASL, ETH Zurich, Switzerland
+       3             :  * Copyright (c) 2016, Michael Burri, ASL, ETH Zurich, Switzerland
+       4             :  * Copyright (c) 2016, Helen Oleynikova, ASL, ETH Zurich, Switzerland
+       5             :  * Copyright (c) 2016, Rik Bähnemann, ASL, ETH Zurich, Switzerland
+       6             :  * Copyright (c) 2016, Marija Popovic, ASL, ETH Zurich, Switzerland
+       7             :  *
+       8             :  * Licensed under the Apache License, Version 2.0 (the "License");
+       9             :  * you may not use this file except in compliance with the License.
+      10             :  * You may obtain a copy of the License at
+      11             :  *
+      12             :  * http://www.apache.org/licenses/LICENSE-2.0
+      13             :  *
+      14             :  * Unless required by applicable law or agreed to in writing, software
+      15             :  * distributed under the License is distributed on an "AS IS" BASIS,
+      16             :  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+      17             :  * See the License for the specific language governing permissions and
+      18             :  * limitations under the License.
+      19             :  */
+      20             : 
+      21             : #ifndef eth_trajectory_generation_IMPL_POLYNOMIAL_OPTIMIZATION_LINEAR_IMPL_H_
+      22             : #define eth_trajectory_generation_IMPL_POLYNOMIAL_OPTIMIZATION_LINEAR_IMPL_H_
+      23             : 
+      24             : #include <eth_trajectory_generation/misc.h>
+      25             : #include <Eigen/Sparse>
+      26             : #include <set>
+      27             : #include <tuple>
+      28             : 
+      29             : // fixes error due to std::iota (has been introduced in c++ standard lately
+      30             : // and may cause compilation errors depending on compiler)
+      31             : #if __cplusplus <= 199711L
+      32             : #include <algorithm>
+      33             : #else
+      34             : #include <numeric>
+      35             : #endif
+      36             : 
+      37             : #include <eth_trajectory_generation/convolution.h>
+      38             : 
+      39             : namespace eth_trajectory_generation
+      40             : {
+      41             : 
+      42             : /* PolynomialOptimization() //{ */
+      43             : 
+      44             : template <int _N>
+      45          30 : PolynomialOptimization<_N>::PolynomialOptimization(size_t dimension)
+      46             :     : dimension_(dimension),
+      47             :       derivative_to_optimize_(derivative_order::INVALID),
+      48             :       n_vertices_(0),
+      49             :       n_segments_(0),
+      50             :       n_all_constraints_(0),
+      51             :       n_fixed_constraints_(0),
+      52          30 :       n_free_constraints_(0) {
+      53          30 :   fixed_constraints_compact_.resize(dimension_);
+      54          30 :   free_constraints_compact_.resize(dimension_);
+      55          30 : }
+      56             : 
+      57             : //}
+      58             : 
+      59             : /* setupFromVertices() //{ */
+      60             : 
+      61             : template <int _N>
+      62          30 : bool PolynomialOptimization<_N>::setupFromVertices(const Vertex::Vector& vertices, const std::vector<double>& times, int derivative_to_optimize) {
+      63          30 :   CHECK(derivative_to_optimize >= 0 && derivative_to_optimize <= kHighestDerivativeToOptimize)
+      64           0 :       << "You tried to optimize the " << derivative_to_optimize << "th derivative of position on a " << N
+      65           0 :       << "th order polynomial. This is not possible, you either need a higher "
+      66             :          "order polynomial or a smaller derivative to optimize.";
+      67             : 
+      68          30 :   derivative_to_optimize_ = derivative_to_optimize;
+      69          30 :   vertices_               = vertices;
+      70          30 :   segment_times_          = times;
+      71             : 
+      72          30 :   n_vertices_ = vertices.size();
+      73          30 :   n_segments_ = n_vertices_ - 1;
+      74             : 
+      75          30 :   segments_.resize(n_segments_, Segment(N, dimension_));
+      76             : 
+      77          30 :   CHECK(n_vertices_ == times.size() + 1) << "Size of times must be one less than positions.";
+      78             : 
+      79          30 :   inverse_mapping_matrices_.resize(n_segments_);
+      80          30 :   cost_matrices_.resize(n_segments_);
+      81             : 
+      82             :   // Iterate through all vertices and remove invalid constraints (order too
+      83             :   // high).
+      84         481 :   for (size_t vertex_idx = 0; vertex_idx < n_vertices_; ++vertex_idx) {
+      85         451 :     Vertex& vertex = vertices_[vertex_idx];
+      86             : 
+      87             :     // Check if we have valid constraints.
+      88         451 :     bool   vertex_valid = true;
+      89         902 :     Vertex vertex_tmp(dimension_);
+      90        1040 :     for (Vertex::Constraints::const_iterator it = vertex.cBegin(); it != vertex.cEnd(); ++it) {
+      91         589 :       if (it->first > kHighestDerivativeToOptimize) {
+      92           0 :         vertex_valid = false;
+      93           0 :         LOG(WARNING) << "Invalid constraint on vertex " << vertex_idx << ": maximum possible derivative is " << kHighestDerivativeToOptimize
+      94           0 :                      << ", but was set to " << it->first << ". Ignoring constraint";
+      95             :       } else {
+      96         589 :         vertex_tmp.addConstraint(it->first, it->second);
+      97             :       }
+      98             :     }
+      99         451 :     if (!vertex_valid) {
+     100         451 :       vertex = vertex_tmp;
+     101             :     }
+     102             :   }
+     103          30 :   updateSegmentTimes(times);
+     104          30 :   setupConstraintReorderingMatrix();
+     105          30 :   return true;
+     106             : }
+     107             : 
+     108             : //}
+     109             : 
+     110             : /* setupMappingMatrix() //{ */
+     111             : 
+     112             : template <int _N>
+     113       42395 : void PolynomialOptimization<_N>::setupMappingMatrix(double segment_time, SquareMatrix* A) {
+     114             :   // The sum of fixed/free variables has to be equal on both ends of the
+     115             :   // segment.
+     116             :   // Thus, A is created as [A(t=0); A(t=segment_time)].
+     117      254370 :   for (int i = 0; i < N / 2; ++i) {
+     118      211975 :     A->row(i)         = Polynomial::baseCoeffsWithTime(N, i, 0.0);
+     119      211975 :     A->row(i + N / 2) = Polynomial::baseCoeffsWithTime(N, i, segment_time);
+     120             :   }
+     121       42395 : }
+     122             : 
+     123             : //}
+     124             : 
+     125             : /* computeCost() //{ */
+     126             : 
+     127             : template <int _N>
+     128        3067 : double PolynomialOptimization<_N>::computeCost() const {
+     129        3067 :   CHECK(n_segments_ == segments_.size() && n_segments_ == cost_matrices_.size());
+     130             :   double cost = 0;
+     131       41857 :   for (size_t segment_idx = 0; segment_idx < n_segments_; ++segment_idx) {
+     132       38790 :     const SquareMatrix& Q       = cost_matrices_[segment_idx];
+     133       38790 :     const Segment&      segment = segments_[segment_idx];
+     134      193950 :     for (size_t dimension_idx = 0; dimension_idx < dimension_; ++dimension_idx) {
+     135      310320 :       const Eigen::VectorXd c            = segment[dimension_idx].getCoefficients(derivative_order::POSITION);
+     136      155160 :       const double          partial_cost = c.transpose() * Q * c;
+     137      155160 :       cost += partial_cost;
+     138             :     }
+     139             :   }
+     140        3067 :   return 0.5 * cost;  // cost = 0.5 * c^T * Q * c
+     141             : }
+     142             : 
+     143             : //}
+     144             : 
+     145             : /* invertMappingMatrix() //{ */
+     146             : 
+     147             : template <int _N>
+     148       42395 : void PolynomialOptimization<_N>::invertMappingMatrix(const SquareMatrix& mapping_matrix, SquareMatrix* inverse_mapping_matrix) {
+     149             :   // The mapping matrix has the following structure:
+     150             :   // [ x 0 0 0 0 0 ]
+     151             :   // [ 0 x 0 0 0 0 ]
+     152             :   // [ 0 0 x 0 0 0 ]
+     153             :   // [ x x x x x x ]
+     154             :   // [ 0 x x x x x ]
+     155             :   // [ 0 0 x x x x ]
+     156             :   // ==>
+     157             :   // [ A_diag B=0 ]
+     158             :   // [ C      D   ]
+     159             :   // We make use of the Schur-complement, so the inverse is:
+     160             :   // [ inv(A_diag)               0      ]
+     161             :   // [ -inv(D) * C * inv(A_diag) inv(D) ]
+     162       42395 :   const int half_n = N / 2;
+     163             : 
+     164             :   // "template" keyword required below as half_n is dependent on the template
+     165             :   // parameter.
+     166       42395 :   const Eigen::Matrix<double, half_n, 1>      A_diag = mapping_matrix.template block<half_n, half_n>(0, 0).diagonal();
+     167       42395 :   const Eigen::Matrix<double, half_n, half_n> A_inv  = A_diag.cwiseInverse().asDiagonal();
+     168             : 
+     169       42395 :   const Eigen::Matrix<double, half_n, half_n> C = mapping_matrix.template block<half_n, half_n>(half_n, 0);
+     170             : 
+     171       42395 :   const Eigen::Matrix<double, half_n, half_n> D_inv = mapping_matrix.template block<half_n, half_n>(half_n, half_n).inverse();
+     172             : 
+     173       42395 :   inverse_mapping_matrix->template block<half_n, half_n>(0, 0) = A_inv;
+     174       42395 :   inverse_mapping_matrix->template block<half_n, half_n>(0, half_n).setZero();
+     175       42395 :   inverse_mapping_matrix->template block<half_n, half_n>(half_n, 0)      = -D_inv * C * A_inv;
+     176       42395 :   inverse_mapping_matrix->template block<half_n, half_n>(half_n, half_n) = D_inv;
+     177       42395 : }
+     178             : 
+     179             : //}
+     180             : 
+     181             : /* setupConstraintReorderingMatrix() //{ */
+     182             : 
+     183             : template <int _N>
+     184          30 : void PolynomialOptimization<_N>::setupConstraintReorderingMatrix() {
+     185             :   typedef Eigen::Triplet<double> Triplet;
+     186          60 :   std::vector<Triplet>           reordering_list;
+     187             : 
+     188          30 :   const size_t n_vertices = vertices_.size();
+     189             : 
+     190          60 :   std::vector<Constraint> all_constraints;
+     191          30 :   std::set<Constraint>    fixed_constraints;
+     192          30 :   std::set<Constraint>    free_constraints;
+     193             : 
+     194          30 :   all_constraints.reserve(n_vertices_ * N / 2);  // Will have exactly this number of elements in the end.
+     195             : 
+     196         481 :   for (size_t vertex_idx = 0; vertex_idx < n_vertices; ++vertex_idx) {
+     197         451 :     const Vertex& vertex = vertices_[vertex_idx];
+     198             : 
+     199             :     // Extract constraints and sort them to fixed and free. For the start and
+     200             :     // end Vertex, we need to do this once, while we need to do it twice for the
+     201             :     // other vertices, since constraints are shared and enforce continuity.
+     202         451 :     int n_constraint_occurence = 2;
+     203         451 :     if (vertex_idx == 0 || vertex_idx == (n_segments_))
+     204          60 :       n_constraint_occurence = 1;
+     205        1293 :     for (int co = 0; co < n_constraint_occurence; ++co) {
+     206        5052 :       for (size_t constraint_idx = 0; constraint_idx < N / 2; ++constraint_idx) {
+     207        4210 :         Constraint constraint;
+     208        4210 :         constraint.vertex_idx     = vertex_idx;
+     209        4210 :         constraint.constraint_idx = constraint_idx;
+     210        4210 :         bool has_constraint       = vertex.getConstraint(constraint_idx, &(constraint.value));
+     211        4210 :         if (has_constraint) {
+     212         980 :           all_constraints.push_back(constraint);
+     213        4210 :           fixed_constraints.insert(constraint);
+     214             :         } else {
+     215        3230 :           constraint.value = Vertex::ConstraintValue::Constant(dimension_, 0);
+     216        3230 :           all_constraints.push_back(constraint);
+     217        4210 :           free_constraints.insert(constraint);
+     218             :         }
+     219             :       }
+     220             :     }
+     221             :   }
+     222             : 
+     223          30 :   n_all_constraints_   = all_constraints.size();
+     224          30 :   n_fixed_constraints_ = fixed_constraints.size();
+     225          30 :   n_free_constraints_  = free_constraints.size();
+     226             : 
+     227          30 :   reordering_list.reserve(n_all_constraints_);
+     228          30 :   constraint_reordering_ = Eigen::SparseMatrix<double>(n_all_constraints_, n_fixed_constraints_ + n_free_constraints_);
+     229             : 
+     230         150 :   for (Eigen::VectorXd& df : fixed_constraints_compact_)
+     231         240 :     df.resize(n_fixed_constraints_, Eigen::NoChange);
+     232             : 
+     233          30 :   int row = 0;
+     234          30 :   int col = 0;
+     235        4240 :   for (const Constraint& ca : all_constraints) {
+     236      104660 :     for (const Constraint& cf : fixed_constraints) {
+     237      100450 :       if (ca == cf) {
+     238         980 :         reordering_list.emplace_back(Triplet(row, col, 1.0));
+     239        4900 :         for (size_t d = 0; d < dimension_; ++d) {
+     240        3920 :           Eigen::VectorXd&      df                        = fixed_constraints_compact_[d];
+     241        7840 :           const Eigen::VectorXd constraint_all_dimensions = cf.value;
+     242        3920 :           df[col]                                         = constraint_all_dimensions[d];
+     243             :         }
+     244             :       }
+     245      100450 :       ++col;
+     246             :     }
+     247      308260 :     for (const Constraint& cp : free_constraints) {
+     248      304050 :       if (ca == cp)
+     249        3230 :         reordering_list.emplace_back(Triplet(row, col, 1.0));
+     250      304050 :       ++col;
+     251             :     }
+     252        4210 :     col = 0;
+     253        4210 :     ++row;
+     254             :   }
+     255             : 
+     256          30 :   constraint_reordering_.setFromTriplets(reordering_list.begin(), reordering_list.end());
+     257          30 : }
+     258             : 
+     259             : //}
+     260             : 
+     261             : /* setupConstraintReorderingMatrix() //{ */
+     262             : 
+     263             : template <int _N>
+     264        3401 : void PolynomialOptimization<_N>::updateSegmentsFromCompactConstraints() {
+     265        3401 :   const size_t n_all_constraints = n_fixed_constraints_ + n_free_constraints_;
+     266             : 
+     267       17005 :   for (size_t dimension_idx = 0; dimension_idx < dimension_; ++dimension_idx) {
+     268       13604 :     const Eigen::VectorXd& df     = fixed_constraints_compact_[dimension_idx];
+     269       13604 :     const Eigen::VectorXd& dp_opt = free_constraints_compact_[dimension_idx];
+     270             : 
+     271       27208 :     Eigen::VectorXd d_all(n_all_constraints);
+     272       13604 :     d_all << df, dp_opt;
+     273             : 
+     274      181500 :     for (size_t i = 0; i < n_segments_; ++i) {
+     275      167896 :       const Eigen::Matrix<double, N, 1> new_d   = constraint_reordering_.block(i * N, 0, N, n_all_constraints) * d_all;
+     276      167896 :       const Eigen::Matrix<double, N, 1> coeffs  = inverse_mapping_matrices_[i] * new_d;
+     277      167896 :       Segment&                          segment = segments_[i];
+     278      167896 :       segment.setTime(segment_times_[i]);
+     279      167896 :       segment[dimension_idx] = Polynomial(N, coeffs);
+     280             :     }
+     281             :   }
+     282        3401 : }
+     283             : 
+     284             : //}
+     285             : 
+     286             : /* updateSegmentTimes() //{ */
+     287             : 
+     288             : template <int _N>
+     289        3431 : void PolynomialOptimization<_N>::updateSegmentTimes(const std::vector<double>& segment_times) {
+     290        3431 :   const size_t n_segment_times = segment_times.size();
+     291        3431 :   CHECK(n_segment_times == n_segments_) << "Number of segment times (" << n_segment_times << ") does not match number of segments (" << n_segments_ << ")";
+     292             : 
+     293        3431 :   segment_times_ = segment_times;
+     294             : 
+     295       45826 :   for (size_t i = 0; i < n_segments_; i++) {
+     296       42395 :     const double segment_time = segment_times[i];
+     297       42395 :     CHECK_GT(segment_time, 0) << "Segment times need to be greater than zero";
+     298             : 
+     299       42395 :     computeQuadraticCostJacobian(derivative_to_optimize_, segment_time, &cost_matrices_[i]);
+     300       42395 :     SquareMatrix A;
+     301       42395 :     setupMappingMatrix(segment_time, &A);
+     302       42395 :     invertMappingMatrix(A, &inverse_mapping_matrices_[i]);
+     303             :   };
+     304        3431 : }
+     305             : 
+     306             : //}
+     307             : 
+     308             : /* constructR() //{ */
+     309             : 
+     310             : template <int _N>
+     311        3401 : void PolynomialOptimization<_N>::constructR(Eigen::SparseMatrix<double>* R) const {
+     312        3401 :   CHECK_NOTNULL(R);
+     313             :   typedef Eigen::Triplet<double> Triplet;
+     314        6802 :   std::vector<Triplet>           cost_unconstrained_triplets;
+     315        3401 :   cost_unconstrained_triplets.reserve(N * N * n_segments_);
+     316             : 
+     317       45375 :   for (size_t i = 0; i < n_segments_; ++i) {
+     318       41974 :     const SquareMatrix& Ai        = inverse_mapping_matrices_[i];
+     319       41974 :     const SquareMatrix& Q         = cost_matrices_[i];
+     320       41974 :     const SquareMatrix  H         = Ai.transpose() * Q * Ai;
+     321       41974 :     const int           start_pos = i * N;
+     322      461714 :     for (int row = 0; row < N; ++row) {
+     323     4617140 :       for (int col = 0; col < N; ++col) {
+     324     4197400 :         cost_unconstrained_triplets.emplace_back(Triplet(start_pos + row, start_pos + col, H(row, col)));
+     325             :       }
+     326             :     }
+     327             :   }
+     328        6802 :   Eigen::SparseMatrix<double> cost_unconstrained(N * n_segments_, N * n_segments_);
+     329        3401 :   cost_unconstrained.setFromTriplets(cost_unconstrained_triplets.begin(), cost_unconstrained_triplets.end());
+     330             : 
+     331             :   // [1]: R = C^T * H * C. C: constraint_reodering_ ; H: cost_unconstrained,
+     332             :   // assembled from the block-H above.
+     333        3401 :   *R = constraint_reordering_.transpose() * cost_unconstrained * constraint_reordering_;
+     334        3401 : }
+     335             : 
+     336             : //}
+     337             : 
+     338             : /* solveLinear() //{ */
+     339             : 
+     340             : template <int _N>
+     341        3401 : bool PolynomialOptimization<_N>::solveLinear() {
+     342        3401 :   CHECK(derivative_to_optimize_ >= 0 && derivative_to_optimize_ <= kHighestDerivativeToOptimize);
+     343             :   // Catch the fully constrained case:
+     344        3401 :   if (n_free_constraints_ == 0) {
+     345           0 :     DLOG(WARNING) << "No free constraints set in the vertices. Polynomial can "
+     346             :                      "not be optimized. Outputting fully constrained polynomial.";
+     347           0 :     updateSegmentsFromCompactConstraints();
+     348           0 :     return true;
+     349             :   }
+     350             : 
+     351             :   // TODO(acmarkus): figure out if sparse becomes less efficient for small
+     352             :   // problems, and switch back to dense in case.
+     353             : 
+     354             :   // Compute cost matrix for the unconstrained optimization problem.
+     355             :   // Block-wise H = A^{-T}QA^{-1} according to [1]
+     356        6802 :   Eigen::SparseMatrix<double> R;
+     357        3401 :   constructR(&R);
+     358             : 
+     359             :   // Extract block matrices and prepare solver.
+     360        6802 :   Eigen::SparseMatrix<double> Rpf = R.block(n_fixed_constraints_, 0, n_free_constraints_, n_fixed_constraints_);
+     361        6802 :   Eigen::SparseMatrix<double> Rpp = R.block(n_fixed_constraints_, n_fixed_constraints_, n_free_constraints_, n_free_constraints_);
+     362        6802 :   Eigen::SparseQR<Eigen::SparseMatrix<double>, Eigen::COLAMDOrdering<int>> solver;
+     363       17005 :   solver.compute(Rpp);
+     364             : 
+     365             :   // Compute dp_opt for every dimension.
+     366       17005 :   for (size_t dimension_idx = 0; dimension_idx < dimension_; ++dimension_idx) {
+     367       27208 :     Eigen::VectorXd df                       = -Rpf * fixed_constraints_compact_[dimension_idx];  // Rpf = Rfp^T
+     368       13604 :     free_constraints_compact_[dimension_idx] = solver.solve(df);                                  // dp = -Rpp^-1 * Rpf * df
+     369             :   }
+     370             : 
+     371        3401 :   updateSegmentsFromCompactConstraints();
+     372             :   return true;
+     373             : }
+     374             : 
+     375             : //}
+     376             : 
+     377             : /* printReorderingMatrix() //{ */
+     378             : 
+     379             : template <int _N>
+     380             : void PolynomialOptimization<_N>::printReorderingMatrix(std::ostream& stream) const {
+     381             :   stream << "Mapping matrix:\n" << constraint_reordering_ << std::endl;
+     382             : }
+     383             : 
+     384             : //}
+     385             : 
+     386             : /* computeSegmentMaximumMagnitudeCandidates() //{ */
+     387             : 
+     388             : template <int _N>
+     389             : template <int Derivative>
+     390             : bool PolynomialOptimization<_N>::computeSegmentMaximumMagnitudeCandidates(const Segment& segment, double t_start, double t_stop,
+     391             :                                                                           std::vector<double>* candidates) {
+     392             :   return computeSegmentMaximumMagnitudeCandidates(Derivative, segment, t_start, t_stop, candidates);
+     393             : }
+     394             : 
+     395             : //}
+     396             : 
+     397             : /* computeSegmentMaximumMagnitudeCandidates() //{ */
+     398             : 
+     399             : template <int _N>
+     400           0 : bool PolynomialOptimization<_N>::computeSegmentMaximumMagnitudeCandidates(int derivative, const Segment& segment, double t_start, double t_stop,
+     401             :                                                                           std::vector<double>* candidates) {
+     402           0 :   CHECK(candidates);
+     403           0 :   CHECK(N - derivative - 1 > 0) << "N-Derivative-1 has to be greater 0";
+     404             : 
+     405             :   // Use the implementation of this in the segment (template-free) as it's
+     406             :   // actually faster.
+     407           0 :   std::vector<int> dimensions(segment.D());
+     408           0 :   std::iota(dimensions.begin(), dimensions.end(), 0);
+     409           0 :   return segment.computeMinMaxMagnitudeCandidateTimes(derivative, t_start, t_stop, dimensions, candidates);
+     410             : }
+     411             : 
+     412             : //}
+     413             : 
+     414             : /* computeSegmentMaximumMagnitudeCandidatesBySampling() //{ */
+     415             : 
+     416             : template <int _N>
+     417             : template <int Derivative>
+     418             : void PolynomialOptimization<_N>::
+     419             :     computeSegmentMaximumMagnitudeCandidatesBySampling(
+     420             :         const Segment& segment, double t_start, double t_stop, double dt,
+     421             :         std::vector<double>* candidates) {
+     422             :   CHECK_NOTNULL(candidates);
+     423             :   // Start is candidate.
+     424             :   candidates->push_back(t_start);
+     425             : 
+     426             :   // Determine initial direction from t_start to t_start + dt.
+     427             :   auto t_old = t_start + dt;
+     428             :   auto value_new = segment.evaluate(t_old, Derivative);
+     429             :   auto value_old = segment.evaluate(t_start, Derivative);
+     430             :   auto direction = value_new.norm() - value_old.norm();
+     431             : 
+     432             :   // Continue with direction from t_start + dt to t_start + 2 dt until t_stop.
+     433             :   bool last_sample = false;
+     434             :   for (double t = t_start + dt + dt; t <= t_stop; t += dt) {
+     435             :     // Update direction.
+     436             :     value_old = value_new;
+     437             :     value_new = segment.evaluate(t, Derivative);
+     438             :     auto direction_new = value_new.norm() - value_old.norm();
+     439             : 
+     440             :     if (std::signbit(direction) != std::signbit(direction_new)) {
+     441             :       auto value_deriv = segment.evaluate(t_old, Derivative + 1);
+     442             :       if (value_deriv.norm() < 1e-2) {
+     443             :         candidates->push_back(t_old);  // extremum was at last dt
+     444             :       }
+     445             :     }
+     446             : 
+     447             :     direction = direction_new;
+     448             :     t_old = t;
+     449             : 
+     450             :     // Check last sample before t_stop.
+     451             :     if ((t + dt) > t_stop && !last_sample) {
+     452             :       t = t_stop - dt;
+     453             :       last_sample = true;
+     454             :     }
+     455             :   }
+     456             : 
+     457             :   // End is candidates.
+     458             :   if (candidates->back() != t_stop) {
+     459             :     candidates->push_back(t_stop);
+     460             :   }
+     461             : }
+     462             : 
+     463             : //}
+     464             : 
+     465             : /* computeMaximumOfMagnitude() //{ */
+     466             : 
+     467             : template <int _N>
+     468             : template <int Derivative>
+     469             : Extremum PolynomialOptimization<_N>::computeMaximumOfMagnitude(std::vector<Extremum>* candidates) const {
+     470             :   return computeMaximumOfMagnitude(Derivative, candidates);
+     471             : }
+     472             : 
+     473             : //}
+     474             : 
+     475             : /* computeMaximumOfMagnitude() //{ */
+     476             : 
+     477             : template <int _N>
+     478           0 : Extremum PolynomialOptimization<_N>::computeMaximumOfMagnitude(int derivative, std::vector<Extremum>* candidates) const {
+     479           0 :   if (candidates != nullptr)
+     480           0 :     candidates->clear();
+     481             : 
+     482           0 :   int      segment_idx = 0;
+     483           0 :   Extremum extremum;
+     484           0 :   for (const Segment& s : segments_) {
+     485           0 :     std::vector<double> extrema_times;
+     486           0 :     extrema_times.reserve(N - 1);
+     487             :     // Add the beginning as well. Call below appends its extrema.
+     488           0 :     extrema_times.push_back(0.0);
+     489           0 :     computeSegmentMaximumMagnitudeCandidates(derivative, s, 0.0, s.getTime(), &extrema_times);
+     490             : 
+     491           0 :     for (double t : extrema_times) {
+     492           0 :       const Extremum candidate(t, s.evaluate(t, derivative).norm(), segment_idx);
+     493           0 :       if (extremum < candidate)
+     494           0 :         extremum = candidate;
+     495           0 :       if (candidates != nullptr)
+     496           0 :         candidates->emplace_back(candidate);
+     497             :     }
+     498           0 :     ++segment_idx;
+     499             :   }
+     500             :   // Check last time at last segment.
+     501           0 :   const Extremum candidate(segments_.back().getTime(), segments_.back().evaluate(segments_.back().getTime(), derivative).norm(), n_segments_ - 1);
+     502           0 :   if (extremum < candidate)
+     503           0 :     extremum = candidate;
+     504           0 :   if (candidates != nullptr)
+     505           0 :     candidates->emplace_back(candidate);
+     506             : 
+     507           0 :   return extremum;
+     508             : }
+     509             : 
+     510             : //}
+     511             : 
+     512             : /* setFreeConstraints() //{ */
+     513             : 
+     514             : template <int _N>
+     515           0 : void PolynomialOptimization<_N>::setFreeConstraints(const std::vector<Eigen::VectorXd>& free_constraints) {
+     516           0 :   CHECK(free_constraints.size() == dimension_);
+     517           0 :   for (const Eigen::VectorXd& v : free_constraints)
+     518           0 :     CHECK(static_cast<size_t>(v.size()) == n_free_constraints_);
+     519             : 
+     520           0 :   free_constraints_compact_ = free_constraints;
+     521           0 :   updateSegmentsFromCompactConstraints();
+     522           0 : }
+     523             : 
+     524             : //}
+     525             : 
+     526             : /* getAInverse() //{ */
+     527             : 
+     528             : template <int _N>
+     529             : void PolynomialOptimization<_N>::getAInverse(Eigen::MatrixXd* A_inv) const {
+     530             :   CHECK_NOTNULL(A_inv);
+     531             : 
+     532             :   A_inv->resize(N * n_segments_, N * n_segments_);
+     533             :   A_inv->setZero();
+     534             : 
+     535             :   for (size_t i = 0; i < n_segments_; ++i) {
+     536             :     (*A_inv).block<N, N>(N * i, N * i) = inverse_mapping_matrices_[i];
+     537             :   }
+     538             : }
+     539             : 
+     540             : //}
+     541             : 
+     542             : /* getM() //{ */
+     543             : 
+     544             : template <int _N>
+     545             : void PolynomialOptimization<_N>::getM(Eigen::MatrixXd* M) const {
+     546             :   CHECK_NOTNULL(M);
+     547             :   *M = constraint_reordering_;
+     548             : }
+     549             : 
+     550             : //}
+     551             : 
+     552             : /* getR() //{ */
+     553             : 
+     554             : template <int _N>
+     555             : void PolynomialOptimization<_N>::getR(Eigen::MatrixXd* R) const {
+     556             :   CHECK_NOTNULL(R);
+     557             : 
+     558             :   Eigen::SparseMatrix<double> R_sparse;
+     559             :   constructR(&R_sparse);
+     560             : 
+     561             :   *R = R_sparse;
+     562             : }
+     563             : 
+     564             : //}
+     565             : 
+     566             : /* getA() //{ */
+     567             : 
+     568             : template <int _N>
+     569             : void PolynomialOptimization<_N>::getA(Eigen::MatrixXd* A) const {
+     570             :   CHECK_NOTNULL(A);
+     571             :   A->resize(N * n_segments_, N * n_segments_);
+     572             :   A->setZero();
+     573             : 
+     574             :   // Create a mapping matrix per segment and append them together.
+     575             :   for (size_t i = 0; i < n_segments_; ++i) {
+     576             :     const double segment_time = segment_times_[i];
+     577             :     CHECK_GT(segment_time, 0) << "Segment times need to be greater than zero";
+     578             : 
+     579             :     SquareMatrix A_segment;
+     580             :     setupMappingMatrix(segment_time, &A_segment);
+     581             : 
+     582             :     (*A).block<N, N>(N * i, N * i) = A_segment;
+     583             :   }
+     584             : }
+     585             : 
+     586             : //}
+     587             : 
+     588             : /* getMpinv() //{ */
+     589             : 
+     590             : template <int _N>
+     591             : void PolynomialOptimization<_N>::getMpinv(Eigen::MatrixXd* M_pinv) const {
+     592             :   CHECK_NOTNULL(M_pinv);
+     593             : 
+     594             :   // Pseudoinverse implementation by @SebastianInd.
+     595             :   *M_pinv = constraint_reordering_.transpose();
+     596             :   for (int M_row = 0; M_row < M_pinv->rows(); M_row++) {
+     597             :     M_pinv->row(M_row) = M_pinv->row(M_row) / M_pinv->row(M_row).sum();
+     598             :   }
+     599             : }
+     600             : 
+     601             : //}
+     602             : 
+     603             : /* computeQuadraticCostJacobian() //{ */
+     604             : 
+     605             : template <int _N>
+     606       42395 : void PolynomialOptimization<_N>::computeQuadraticCostJacobian(int derivative, double t, SquareMatrix* cost_jacobian) {
+     607       42395 :   CHECK_LT(derivative, N);
+     608             : 
+     609       42395 :   cost_jacobian->setZero();
+     610      381555 :   for (int col = 0; col < N - derivative; col++) {
+     611     3052440 :     for (int row = 0; row < N - derivative; row++) {
+     612     2713280 :       double exponent = (N - 1 - derivative) * 2 + 1 - row - col;
+     613             : 
+     614     2713280 :       (*cost_jacobian)(N - 1 - row, N - 1 - col) =
+     615     2713280 :           Polynomial::base_coefficients_(derivative, N - 1 - row) * Polynomial::base_coefficients_(derivative, N - 1 - col) * pow(t, exponent) * 2.0 / exponent;
+     616             :     }
+     617             :   }
+     618       42395 : }
+     619             : 
+     620             : //}
+     621             : 
+     622             : }  // namespace eth_trajectory_generation
+     623             : 
+     624             : #endif  // eth_trajectory_generation_IMPL_POLYNOMIAL_OPTIMIZATION_LINEAR_IMPL_H_
+
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Generated by: LCOV version 1.14
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+ + diff --git a/mrs_uav_trajectory_generation/include/eth_trajectory_generation/impl/polynomial_optimization_linear_impl.h.gcov.png b/mrs_uav_trajectory_generation/include/eth_trajectory_generation/impl/polynomial_optimization_linear_impl.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..d2bf04eef3eaca36f74c3ea7739ee1959089d779 GIT binary patch literal 2760 zcmV;(3ODtMP)WD5Wqft1nR4vXzhq1jr=v56I3|EayI~Edm_zG zxKAju{tX%$*)wXRRy<5m0n|}cm#R`|n$o41Xl{!MmyfL_>4|CB#yN@`P6H$0-YG8p ze+y-~-JE!IYZj_qHSE>aU=}#m1f9-2J0yB-+r7T+^`Zs30$6<0tXd14vbw4w6xUm{ zD=6v}*ESW`ifhhr>zw>$yjkw|`{Q_=kLTax;r~D30~UW1ZV~wW3{Q{vC|sTt4u3g4 z@D5-2XXp8dpMm5Zik>~PGfoc3Oj`g*U%IM>rTWOgx7F;HwN3|oUfRI9s)cZcHoQrZ z6veBL!&@6J{{Q{uHgZt_TO!m}z3_^J{7l35IHBUmBQIpEk1q1r(p513$uDdper0X9 zKNFn+U&??3W!je9SAApQHJHe4lvbq!lw%KzjVf;)+MXxUQpJfR(^dpa0cIwcj(e*} z;0YE7O%q$IGdx-1Zw@d|N3cK#{`4SQy3n`%=Wly*CGA z)ltX#K;8VRclT1>^r|kH*a6yZHxQ_H71ZUUuEHfA?nSNwJwjK(TXQR>4U0qBe+Skc z_}E{5XWd>`vEFa^!oi~0rwR4NSJjXy7%4Dfg$;5-T@Yvk%_*f8mO~Sv&gZIa(>9z+t8{TNGSYu#i;!@(|pmm`IKo6H!l2P zoy+<7G`CR3-TqZT<&?TXpxX>ZvxQ2{cu0g$=F0KQZR1FH)~IbwH%*q-cmtsCHZM!6 zz}t?hAk9ME0BA=c?_h8+mbL*zw=h1dashWTkZjki)V;R|*m zUS>EdZnhRLD}POKd!eqhGkY6Z2fh^|sVvw1=y$Z52`#sC2A~=5q0vKajP{`y@|lhI zaHIV7)VL5N0YV))q3*oA=vTuUa!H`LUp#1FpuYi?E3a7t3A?wkGUu15?-Ot?8py z`oNY>ykc>o{W;03Gg&o_X>P9SaqwXlxC;|W3@L#PWDdm$yLCM)LBOgMVFq*=kQ`;p zlUup8ze$q*qkJkX8v$LcQB*JX=9pr&D>=n$4FFWEps0?ev_zOQQiyO!Q7^&|bVi}z zI0{u1wNcj>3~9ZP1pd}D{W4t7pbjUCilF3H03vwO;woaPPR4OzMO*Qtuxbe`HzJYZ zOdCnhQae@$It<$lDC(=u4Rh61OJmIe753~4E;WFA4z%R3C)Mncoi44qU~j$GvIY@+ zDCX;{qt{<%0RBt+g+eiGZUCfrmhmysFmbgMKZ8&69;p?psrN*v99z+(#FUD96H<>9 zQz9IY#oog<&kMGvEtzm(U@t1%plDmeHNm7M<)gAQUo;9Y8i9f0h0|~tG-5k-#K%3I zw5H>ac{Mec%ei7s_~AngSZD&Q_xI|IS15Q_qDroKv} z;MEY>TmnRyTHeyQI0xy)L?D;64cQg0Lx-JyKDT{kjNjceh7P8{05)Pi4a0Edfrz2b zR%gmEhFp$w_Uso~v!6*0spp22?8)VClbjG<6NDXc@UD4v&|tWzI)ss145!RO$QQ&E zWtrTJSjQsQYEE*$pR7l+O z-h=8GQNQXHvvAj_p0o$OCBQJW<1yWp{8#x#;@L4<8WBwIyh z)^zz*B7DfxTg`IHqY|AG+!_AW$V+*I^B8cR<2d3uvV+cE91j30OFR!u139MHLGgn= za=bqCCWSjAxm5Mda)$ATvjp~7P6t*Nr4KjZ#QiJ9eMfsgZ+kl63Bx39Om>Y2#8R4= zJ2S4i+Z#%@oH@EX)^knaB%rt~rs;A`oNRD#%kL{~1WKvPP-$)rSViVQ!^`_u89<_y zea5hXF@{|EST&>$cPY|ufznDxUxKkJ>ek455nWXSx2<;|kVnmBtW1WX$p@vRDLI)+ z+oXm;5b@Yf{&!N@X2|)2_w~GJT-AEY6G+*SNm!PKusmE9S*TZRwpPLG1z(DV~Bi&13iB6(f&$z@K=;YcKkQ?;?4? zdjmRe4&WCD3~={IaiEdnRRpqBfw~1>WcU!M-UVO>U^Nsrsg{)8si@`6qGLCAW{A7L zW&qmko-+WdVSWF$75l%=80wk&Q+zICDLA|$T(Xic!d0P%D#cs^DvlOft-3sJm!%Ism9t`i8@81p`93P)A7;E9d^F zRUq}>r)HvyZ!4Ty%|_|-c$h!QiL<>#trt&AcVEjRlfLOauzQ&mn + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trajectory_generation/include/eth_trajectory_generation/impl/polynomial_optimization_nonlinear_impl.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_trajectory_generation/include/eth_trajectory_generation/impl - polynomial_optimization_nonlinear_impl.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:14641335.4 %
Date:2024-01-20 21:44:18Functions:81844.4 %
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Function Name Sort by function nameHit count Sort by hit count
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::optimizeTime()0
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::objectiveFunctionTime(std::vector<double, std::allocator<double> > const&, std::vector<double, std::allocator<double> >&, void*)0
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::optimizeTimeAndFreeConstraints()0
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::evaluateMaximumMagnitudeConstraint(std::vector<double, std::allocator<double> > const&, std::vector<double, std::allocator<double> >&, void*)0
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::objectiveFunctionTimeAndConstraints(std::vector<double, std::allocator<double> > const&, std::vector<double, std::allocator<double> >&, void*)0
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::setFreeEndpointDerivativeHardConstraints(std::vector<eth_trajectory_generation::Vertex, std::allocator<eth_trajectory_generation::Vertex> > const&, std::vector<double, std::allocator<double> >*, std::vector<double, std::allocator<double> >*)0
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::evaluateMaximumMagnitudeAsSoftConstraint(std::vector<std::shared_ptr<eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::ConstraintData>, std::allocator<std::shared_ptr<eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::ConstraintData> > > const&, double, double) const0
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::optimizeTimeMellingerOuterLoop()::{lambda(double)#2}::operator()(double) const [clone .isra.0]0
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::optimizeTimeMellingerOuterLoop()::{lambda(double)#3}::operator()(double) const [clone .isra.0]0
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::optimizeTimeMellingerOuterLoop()::{lambda(double)#1}::operator()(double) const [clone .isra.0]0
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::setupFromVertices(std::vector<eth_trajectory_generation::Vertex, std::allocator<eth_trajectory_generation::Vertex> > const&, std::vector<double, std::allocator<double> > const&, int)30
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::optimizeTimeMellingerOuterLoop()30
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::scaleSegmentTimesWithViolation()30
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::optimize()30
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::PolynomialOptimizationNonLinear(unsigned long, eth_trajectory_generation::NonlinearOptimizationParameters const&)30
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::getCostAndGradientMellinger(std::vector<double, std::allocator<double> >*)304
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::objectiveFunctionTimeMellingerOuterLoop(std::vector<double, std::allocator<double> > const&, std::vector<double, std::allocator<double> >&, void*)304
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::addMaximumMagnitudeConstraint(int, int, double)360
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_trajectory_generation/include/eth_trajectory_generation/impl/polynomial_optimization_nonlinear_impl.h.func.html b/mrs_uav_trajectory_generation/include/eth_trajectory_generation/impl/polynomial_optimization_nonlinear_impl.h.func.html new file mode 100644 index 0000000000..0693e50fb4 --- /dev/null +++ b/mrs_uav_trajectory_generation/include/eth_trajectory_generation/impl/polynomial_optimization_nonlinear_impl.h.func.html @@ -0,0 +1,152 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trajectory_generation/include/eth_trajectory_generation/impl/polynomial_optimization_nonlinear_impl.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_trajectory_generation/include/eth_trajectory_generation/impl - polynomial_optimization_nonlinear_impl.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:14641335.4 %
Date:2024-01-20 21:44:18Functions:81844.4 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::optimizeTime()0
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::setupFromVertices(std::vector<eth_trajectory_generation::Vertex, std::allocator<eth_trajectory_generation::Vertex> > const&, std::vector<double, std::allocator<double> > const&, int)30
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::objectiveFunctionTime(std::vector<double, std::allocator<double> > const&, std::vector<double, std::allocator<double> >&, void*)0
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::getCostAndGradientMellinger(std::vector<double, std::allocator<double> >*)304
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::addMaximumMagnitudeConstraint(int, int, double)360
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::optimizeTimeAndFreeConstraints()0
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::optimizeTimeMellingerOuterLoop()30
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::scaleSegmentTimesWithViolation()30
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::evaluateMaximumMagnitudeConstraint(std::vector<double, std::allocator<double> > const&, std::vector<double, std::allocator<double> >&, void*)0
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::objectiveFunctionTimeAndConstraints(std::vector<double, std::allocator<double> > const&, std::vector<double, std::allocator<double> >&, void*)0
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::objectiveFunctionTimeMellingerOuterLoop(std::vector<double, std::allocator<double> > const&, std::vector<double, std::allocator<double> >&, void*)304
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::setFreeEndpointDerivativeHardConstraints(std::vector<eth_trajectory_generation::Vertex, std::allocator<eth_trajectory_generation::Vertex> > const&, std::vector<double, std::allocator<double> >*, std::vector<double, std::allocator<double> >*)0
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::optimize()30
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::PolynomialOptimizationNonLinear(unsigned long, eth_trajectory_generation::NonlinearOptimizationParameters const&)30
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::evaluateMaximumMagnitudeAsSoftConstraint(std::vector<std::shared_ptr<eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::ConstraintData>, std::allocator<std::shared_ptr<eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::ConstraintData> > > const&, double, double) const0
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::optimizeTimeMellingerOuterLoop()::{lambda(double)#2}::operator()(double) const [clone .isra.0]0
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::optimizeTimeMellingerOuterLoop()::{lambda(double)#3}::operator()(double) const [clone .isra.0]0
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::optimizeTimeMellingerOuterLoop()::{lambda(double)#1}::operator()(double) const [clone .isra.0]0
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Generated by: LCOV version 1.14
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LCOV - code coverage report
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Current view:top level - mrs_uav_trajectory_generation/include/eth_trajectory_generation/impl - polynomial_optimization_nonlinear_impl.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:14641335.4 %
Date:2024-01-20 21:44:18Functions:81844.4 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + +

+
          Line data    Source code
+
+       1             : /*
+       2             :  * Copyright (c) 2015, Markus Achtelik, ASL, ETH Zurich, Switzerland
+       3             :  * You can contact the author at <markus dot achtelik at mavt dot ethz dot ch>
+       4             :  *
+       5             :  * Licensed under the Apache License, Version 2.0 (the "License");
+       6             :  * you may not use this file except in compliance with the License.
+       7             :  * You may obtain a copy of the License at
+       8             :  *
+       9             :  * http://www.apache.org/licenses/LICENSE-2.0
+      10             :  *
+      11             :  * Unless required by applicable law or agreed to in writing, software
+      12             :  * distributed under the License is distributed on an "AS IS" BASIS,
+      13             :  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+      14             :  * See the License for the specific language governing permissions and
+      15             :  * limitations under the License.
+      16             :  */
+      17             : 
+      18             : #ifndef ETH_TRAJECTORY_GENERATION_IMPL_POLYNOMIAL_OPTIMIZATION_NONLINEAR_IMPL_H_
+      19             : #define ETH_TRAJECTORY_GENERATION_IMPL_POLYNOMIAL_OPTIMIZATION_NONLINEAR_IMPL_H_
+      20             : 
+      21             : #include <chrono>
+      22             : #include <numeric>
+      23             : 
+      24             : #include <eth_trajectory_generation/polynomial_optimization_nonlinear.h>
+      25             : #include <eth_trajectory_generation/timing.h>
+      26             : 
+      27             : namespace eth_trajectory_generation
+      28             : {
+      29             : 
+      30             : inline std::ostream& operator<<(std::ostream& stream, const OptimizationInfo& val) {
+      31             :   stream << "--- optimization info ---" << std::endl;
+      32             :   stream << "  optimization time:     " << val.optimization_time << std::endl;
+      33             :   stream << "  n_iterations:          " << val.n_iterations << std::endl;
+      34             :   stream << "  stopping reason:       " << nlopt::returnValueToString(val.stopping_reason) << std::endl;
+      35             :   stream << "  cost trajectory:       " << val.cost_trajectory << std::endl;
+      36             :   stream << "  cost time:             " << val.cost_time << std::endl;
+      37             :   stream << "  cost soft constraints: " << val.cost_soft_constraints << std::endl;
+      38             :   stream << "  maxima: " << std::endl;
+      39             :   for (const std::pair<int, Extremum>& m : val.maxima) {
+      40             :     stream << "    " << positionDerivativeToString(m.first) << ": " << m.second.value << " in segment " << m.second.segment_idx << " and segment time "
+      41             :            << m.second.time << std::endl;
+      42             :   }
+      43             :   return stream;
+      44             : }
+      45             : 
+      46             : template <int _N>
+      47          30 : PolynomialOptimizationNonLinear<_N>::PolynomialOptimizationNonLinear(size_t dimension, const NonlinearOptimizationParameters& parameters)
+      48          30 :     : poly_opt_(dimension), optimization_parameters_(parameters) {
+      49          30 : }
+      50             : 
+      51             : template <int _N>
+      52          30 : bool PolynomialOptimizationNonLinear<_N>::setupFromVertices(const Vertex::Vector& vertices, const std::vector<double>& segment_times,
+      53             :                                                             int derivative_to_optimize) {
+      54          30 :   bool ret = poly_opt_.setupFromVertices(vertices, segment_times, derivative_to_optimize);
+      55             : 
+      56             :   size_t n_optimization_parameters;
+      57          30 :   switch (optimization_parameters_.time_alloc_method) {
+      58          30 :     case NonlinearOptimizationParameters::kSquaredTime:
+      59             :     case NonlinearOptimizationParameters::kRichterTime:
+      60             :     case NonlinearOptimizationParameters::kMellingerOuterLoop:
+      61          30 :       n_optimization_parameters = segment_times.size();
+      62          30 :       break;
+      63           0 :     default:
+      64           0 :       n_optimization_parameters = segment_times.size() + poly_opt_.getNumberFreeConstraints() * poly_opt_.getDimension();
+      65           0 :       break;
+      66             :   }
+      67             : 
+      68          30 :   nlopt_.reset(new nlopt::opt(optimization_parameters_.algorithm, n_optimization_parameters));
+      69          30 :   nlopt_->set_ftol_rel(optimization_parameters_.f_rel);
+      70          30 :   nlopt_->set_ftol_abs(optimization_parameters_.f_abs);
+      71          30 :   nlopt_->set_xtol_rel(optimization_parameters_.x_rel);
+      72          30 :   nlopt_->set_xtol_abs(optimization_parameters_.x_abs);
+      73          30 :   nlopt_->set_maxeval(optimization_parameters_.max_iterations);
+      74          30 :   nlopt_->set_maxtime(optimization_parameters_.max_time);
+      75             : 
+      76          30 :   if (optimization_parameters_.random_seed < 0)
+      77           0 :     nlopt_srand_time();
+      78             :   else
+      79          30 :     nlopt_srand(optimization_parameters_.random_seed);
+      80             : 
+      81          30 :   return ret;
+      82             : }
+      83             : 
+      84             : template <int _N>
+      85             : bool PolynomialOptimizationNonLinear<_N>::solveLinear() {
+      86             :   return poly_opt_.solveLinear();
+      87             : }
+      88             : 
+      89             : template <int _N>
+      90          30 : int PolynomialOptimizationNonLinear<_N>::optimize() {
+      91          30 :   optimization_info_ = OptimizationInfo();
+      92          30 :   int result         = nlopt::FAILURE;
+      93             : 
+      94          30 :   const std::chrono::high_resolution_clock::time_point t_start = std::chrono::high_resolution_clock::now();
+      95             : 
+      96          30 :   switch (optimization_parameters_.time_alloc_method) {
+      97           0 :     case NonlinearOptimizationParameters::kSquaredTime:
+      98             :     case NonlinearOptimizationParameters::kRichterTime:
+      99           0 :       result = optimizeTime();
+     100             :       break;
+     101           0 :     case NonlinearOptimizationParameters::kSquaredTimeAndConstraints:
+     102             :     case NonlinearOptimizationParameters::kRichterTimeAndConstraints:
+     103           0 :       result = optimizeTimeAndFreeConstraints();
+     104             :       break;
+     105          30 :     case NonlinearOptimizationParameters::kMellingerOuterLoop:
+     106          30 :       result = optimizeTimeMellingerOuterLoop();
+     107             :       break;
+     108             :     default:
+     109             :       break;
+     110             :   }
+     111             : 
+     112          30 :   const std::chrono::high_resolution_clock::time_point t_stop = std::chrono::high_resolution_clock::now();
+     113          30 :   optimization_info_.optimization_time                        = std::chrono::duration_cast<std::chrono::duration<double>>(t_stop - t_start).count();
+     114             : 
+     115          30 :   optimization_info_.stopping_reason = result;
+     116             : 
+     117          30 :   return result;
+     118             : }
+     119             : 
+     120             : template <int _N>
+     121           0 : int PolynomialOptimizationNonLinear<_N>::optimizeTime() {
+     122           0 :   std::vector<double> initial_step, segment_times;
+     123             : 
+     124           0 :   poly_opt_.getSegmentTimes(&segment_times);
+     125           0 :   const size_t n_segments = segment_times.size();
+     126             : 
+     127           0 :   initial_step.reserve(n_segments);
+     128           0 :   for (double t : segment_times) {
+     129           0 :     initial_step.push_back(optimization_parameters_.initial_stepsize_rel * t);
+     130             :   }
+     131             : 
+     132             :   try {
+     133             :     // Set a lower bound on the segment time per segment to avoid numerical
+     134             :     // issues.
+     135           0 :     nlopt_->set_initial_step(initial_step);
+     136           0 :     nlopt_->set_upper_bounds(std::numeric_limits<double>::max());
+     137           0 :     nlopt_->set_lower_bounds(kOptimizationTimeLowerBound);
+     138           0 :     nlopt_->set_min_objective(&PolynomialOptimizationNonLinear<N>::objectiveFunctionTime, this);
+     139             :   }
+     140           0 :   catch (std::exception& e) {
+     141           0 :     LOG(ERROR) << "error while setting up nlopt: " << e.what() << std::endl;
+     142             :     return nlopt::FAILURE;
+     143             :   }
+     144             : 
+     145           0 :   double final_cost = std::numeric_limits<double>::max();
+     146             :   int    result;
+     147             : 
+     148             :   try {
+     149           0 :     result = nlopt_->optimize(segment_times, final_cost);
+     150             :   }
+     151           0 :   catch (std::exception& e) {
+     152           0 :     LOG(ERROR) << "error while running nlopt: " << e.what() << std::endl;
+     153             :     return nlopt::FAILURE;
+     154             :   }
+     155             : 
+     156             :   return result;
+     157             : }
+     158             : 
+     159             : template <int _N>
+     160          30 : int PolynomialOptimizationNonLinear<_N>::optimizeTimeMellingerOuterLoop() {
+     161          30 :   std::vector<double> segment_times;
+     162          30 :   poly_opt_.getSegmentTimes(&segment_times);
+     163             : 
+     164             :   // Save original segment times
+     165          60 :   std::vector<double> original_segment_times = segment_times;
+     166             : 
+     167          30 :   if (optimization_parameters_.print_debug_info_time_allocation) {
+     168           0 :     std::cout << "Segment times: ";
+     169           0 :     for (const double seg_time : segment_times) {
+     170           0 :       std::cout << seg_time << " ";
+     171             :     }
+     172          30 :     std::cout << std::endl;
+     173             :   }
+     174             : 
+     175             :   try {
+     176             :     // Set a lower bound on the segment time per segment to avoid numerical
+     177             :     // issues.
+     178          30 :     nlopt_->set_upper_bounds(std::numeric_limits<double>::max());
+     179          30 :     nlopt_->set_lower_bounds(kOptimizationTimeLowerBound);
+     180          30 :     nlopt_->set_min_objective(&PolynomialOptimizationNonLinear<N>::objectiveFunctionTimeMellingerOuterLoop, this);
+     181             :   }
+     182           0 :   catch (std::exception& e) {
+     183           0 :     LOG(ERROR) << "error while setting up nlopt: " << e.what() << std::endl;
+     184             :     return nlopt::FAILURE;
+     185             :   }
+     186             : 
+     187          30 :   double final_cost = std::numeric_limits<double>::max();
+     188          30 :   int    result     = nlopt::FAILURE;
+     189             : 
+     190             :   try {
+     191          30 :     result = nlopt_->optimize(segment_times, final_cost);
+     192             :   }
+     193           8 :   catch (std::exception& e) {
+     194           8 :     LOG(ERROR) << "error while running nlopt: " << e.what() << ". This likely means the optimization aborted early." << std::endl;
+     195           8 :     if (final_cost == std::numeric_limits<double>::max()) {
+     196             :       return nlopt::FAILURE;
+     197             :     }
+     198             : 
+     199           8 :     if (optimization_parameters_.print_debug_info_time_allocation) {
+     200           0 :       std::cout << "Segment times after opt: ";
+     201           0 :       for (const double seg_time : segment_times) {
+     202           0 :         std::cout << seg_time << " ";
+     203             :       }
+     204           0 :       std::cout << std::endl;
+     205           0 :       std::cout << "Final cost: " << final_cost << std::endl;
+     206           8 :       std::cout << "Nlopt result: " << result << std::endl;
+     207             :     }
+     208             :   }
+     209             : 
+     210             :   // Scaling of segment times
+     211          30 :   std::vector<double> relative_segment_times;
+     212          30 :   poly_opt_.getSegmentTimes(&relative_segment_times);
+     213          30 :   scaleSegmentTimesWithViolation();
+     214          30 :   std::vector<double> scaled_segment_times;
+     215          30 :   poly_opt_.getSegmentTimes(&scaled_segment_times);
+     216             : 
+     217             :   // Print all parameter after scaling
+     218          30 :   if (optimization_parameters_.print_debug_info_time_allocation) {
+     219           0 :     std::cout << "[MEL          Original]: ";
+     220           0 :     std::for_each(original_segment_times.cbegin(), original_segment_times.cend(), [](double c) { std::cout << c << " "; });
+     221           0 :     std::cout << std::endl;
+     222           0 :     std::cout << "[MEL RELATIVE Solution]: ";
+     223           0 :     std::for_each(relative_segment_times.cbegin(), relative_segment_times.cend(), [](double c) { std::cout << c << " "; });
+     224           0 :     std::cout << std::endl;
+     225           0 :     std::cout << "[MEL          Solution]: ";
+     226           0 :     std::for_each(scaled_segment_times.cbegin(), scaled_segment_times.cend(), [](double c) { std::cout << c << " "; });
+     227           0 :     std::cout << std::endl;
+     228           0 :     std::cout << "[MEL   Trajectory Time] Before: " << std::accumulate(original_segment_times.begin(), original_segment_times.end(), 0.0)
+     229           0 :               << " | After Rel Change: " << std::accumulate(relative_segment_times.begin(), relative_segment_times.end(), 0.0)
+     230           0 :               << " | After Scaling: " << std::accumulate(scaled_segment_times.begin(), scaled_segment_times.end(), 0.0) << std::endl;
+     231             :   }
+     232             : 
+     233          30 :   return result;
+     234             : }
+     235             : 
+     236             : template <int _N>
+     237             : double PolynomialOptimizationNonLinear<_N>::getCost() const {
+     238             :   return poly_opt_.computeCost();
+     239             : }
+     240             : 
+     241             : template <int _N>
+     242             : double PolynomialOptimizationNonLinear<_N>::getTotalCostWithSoftConstraints() const {
+     243             :   double cost_trajectory = poly_opt_.computeCost();
+     244             : 
+     245             :   // Use consistent cost metrics regardless of method set, to compare between
+     246             :   // methods.
+     247             :   std::vector<double> segment_times;
+     248             :   poly_opt_.getSegmentTimes(&segment_times);
+     249             :   double total_time       = std::accumulate(segment_times.begin(), segment_times.end(), 0.0);
+     250             :   double cost_time        = total_time * total_time * optimization_parameters_.time_penalty;
+     251             :   double cost_constraints = evaluateMaximumMagnitudeAsSoftConstraint(inequality_constraints_, optimization_parameters_.soft_constraint_weight, 1e9);
+     252             : 
+     253             :   return cost_trajectory + cost_time + cost_constraints;
+     254             : }
+     255             : 
+     256             : template <int _N>
+     257         304 : double PolynomialOptimizationNonLinear<_N>::getCostAndGradientMellinger(std::vector<double>* gradients) {
+     258             :   // Weighting terms for different costs
+     259             :   // Retrieve the current segment times
+     260         304 :   std::vector<double> segment_times;
+     261         304 :   poly_opt_.getSegmentTimes(&segment_times);
+     262         304 :   const double J_d = poly_opt_.computeCost();
+     263             : 
+     264         304 :   if (poly_opt_.getNumberSegments() == 1) {
+     265           0 :     if (gradients != NULL) {
+     266           0 :       gradients->clear();
+     267           0 :       gradients->resize(poly_opt_.getNumberSegments(), 0.0);
+     268             :     }
+     269             : 
+     270           0 :     return J_d;
+     271             :   }
+     272             : 
+     273         304 :   if (gradients != NULL) {
+     274         304 :     const size_t n_segments = poly_opt_.getNumberSegments();
+     275             : 
+     276         304 :     gradients->clear();
+     277         304 :     gradients->resize(n_segments);
+     278             : 
+     279             :     // Initialize changed segment times for numerical derivative
+     280         608 :     std::vector<double> segment_times_bigger(n_segments);
+     281         304 :     const double        increment_time = 0.1;
+     282        3067 :     for (size_t n = 0; n < n_segments; ++n) {
+     283             :       // Now the same with an increased segment time
+     284             :       // Calculate cost with higher segment time
+     285        2763 :       segment_times_bigger = segment_times;
+     286             :       // Deduct h*(-1/(m-2)) according to paper Mellinger "Minimum snap
+     287             :       // trajectory generation and control for quadrotors"
+     288        2763 :       double const_traj_time_corr = increment_time / (n_segments - 1.0);
+     289       38790 :       for (size_t i = 0; i < segment_times_bigger.size(); ++i) {
+     290       36027 :         if (i == n) {
+     291        2763 :           segment_times_bigger[i] += increment_time;
+     292             :         } else {
+     293       33264 :           segment_times_bigger[i] -= const_traj_time_corr;
+     294             :         }
+     295             :       }
+     296             : 
+     297             :       // TODO: add case if segment_time is at threshold 0.1s
+     298             :       // 1) How many segments > 0.1s
+     299             :       // 2) trajectory time correction only on those
+     300             :       // for (int j = 0; j < segment_times_bigger.size(); ++j) {
+     301             :       //   double thresh_corr = 0.0;
+     302             :       //   if (segment_times_bigger[j] < 0.1) {
+     303             :       //     thresh_corr = 0.1-segment_times_bigger[j];
+     304             :       //   }
+     305             :       // }
+     306             : 
+     307             :       // Check and make sure that segment times are >
+     308             :       // kOptimizationTimeLowerBound
+     309       38790 :       for (double& t : segment_times_bigger) {
+     310       36027 :         t = std::max(kOptimizationTimeLowerBound, t);
+     311             :       }
+     312             : 
+     313             :       // Update the segment times. This changes the polynomial coefficients.
+     314        2763 :       poly_opt_.updateSegmentTimes(segment_times_bigger);
+     315        2763 :       poly_opt_.solveLinear();
+     316             : 
+     317             :       // Calculate cost and gradient with new segment time
+     318        2763 :       const double J_d_bigger = poly_opt_.computeCost();
+     319        2763 :       const double dJd_dt     = (J_d_bigger - J_d) / increment_time;
+     320             : 
+     321             :       // Calculate the gradient
+     322        2763 :       gradients->at(n) = dJd_dt;
+     323             :     }
+     324             : 
+     325             :     // Set again the original segment times from before calculating the
+     326             :     // numerical gradient
+     327         304 :     poly_opt_.updateSegmentTimes(segment_times);
+     328         304 :     poly_opt_.solveLinear();
+     329             :   }
+     330             : 
+     331             :   // Compute cost without gradient
+     332             :   return J_d;
+     333             : }
+     334             : 
+     335             : template <int _N>
+     336          30 : void PolynomialOptimizationNonLinear<_N>::scaleSegmentTimesWithViolation() {
+     337             : 
+     338             :   // Get trajectory
+     339          60 :   Trajectory traj;
+     340          30 :   poly_opt_.getTrajectory(&traj);
+     341             : 
+     342             :   // get constraints
+     343          30 :   double v_max_horizontal = 0.0;
+     344          30 :   double a_max_horizontal = 0.0;
+     345          30 :   double j_max_horizontal = 0.0;
+     346             : 
+     347          30 :   double v_max_vertical = 0.0;
+     348          30 :   double a_max_vertical = 0.0;
+     349          30 :   double j_max_vertical = 0.0;
+     350             : 
+     351          30 :   double v_max_heading = 0.0;
+     352          30 :   double a_max_heading = 0.0;
+     353          30 :   double j_max_heading = 0.0;
+     354             : 
+     355         390 :   for (const auto& constraint : inequality_constraints_) {
+     356         360 :     if (constraint->dimension <= 1) {
+     357         180 :       if (constraint->derivative == derivative_order::VELOCITY) {
+     358          60 :         v_max_horizontal = constraint->value;
+     359         120 :       } else if (constraint->derivative == derivative_order::ACCELERATION) {
+     360          60 :         a_max_horizontal = constraint->value;
+     361          60 :       } else if (constraint->derivative == derivative_order::JERK) {
+     362          60 :         j_max_horizontal = constraint->value;
+     363             :       }
+     364         180 :     } else if (constraint->dimension == 2) {
+     365          90 :       if (constraint->derivative == derivative_order::VELOCITY) {
+     366          30 :         v_max_vertical = constraint->value;
+     367          60 :       } else if (constraint->derivative == derivative_order::ACCELERATION) {
+     368          30 :         a_max_vertical = constraint->value;
+     369          30 :       } else if (constraint->derivative == derivative_order::JERK) {
+     370          30 :         j_max_vertical = constraint->value;
+     371             :       }
+     372          90 :     } else if (constraint->dimension == 3) {
+     373          90 :       if (constraint->derivative == derivative_order::VELOCITY) {
+     374          30 :         v_max_heading = constraint->value;
+     375          60 :       } else if (constraint->derivative == derivative_order::ACCELERATION) {
+     376          30 :         a_max_heading = constraint->value;
+     377          30 :       } else if (constraint->derivative == derivative_order::JERK) {
+     378          30 :         j_max_heading = constraint->value;
+     379             :       }
+     380             :     }
+     381             :   }
+     382             : 
+     383          30 :   if (optimization_parameters_.print_debug_info_time_allocation) {
+     384             : 
+     385             :     double v_max_actual_horizontal, a_max_actual_horizontal, j_max_actual_horizontal;
+     386           0 :     traj.computeMaxDerivativesHorizontal(&v_max_actual_horizontal, &a_max_actual_horizontal, &j_max_actual_horizontal);
+     387           0 :     std::cout << "[Time Scaling] Beginning: v: max: " << v_max_actual_horizontal << " / " << v_max_horizontal << " a: max: " << a_max_actual_horizontal << " / "
+     388           0 :               << a_max_horizontal << std::endl;
+     389             : 
+     390             :     double v_max_actual_vertical, a_max_actual_vertical, j_max_actual_vertical;
+     391           0 :     traj.computeMaxDerivativesVertical(&v_max_actual_vertical, &a_max_actual_vertical, &j_max_actual_vertical);
+     392           0 :     std::cout << "[Time Scaling] Beginning: v: max: " << v_max_actual_vertical << " / " << v_max_vertical << " a: max: " << a_max_actual_vertical << " / "
+     393           0 :               << a_max_vertical << std::endl;
+     394             : 
+     395             :     double v_max_actual_heading, a_max_actual_heading, j_max_actual_heading;
+     396           0 :     traj.computeMaxDerivativesHeading(&v_max_actual_heading, &a_max_actual_heading, &j_max_actual_heading);
+     397           0 :     std::cout << "[Time Scaling] Beginning: v: max: " << v_max_actual_heading << " / " << v_max_heading << " a: max: " << a_max_actual_heading << " / "
+     398           0 :               << a_max_heading << std::endl;
+     399             :   }
+     400             : 
+     401             :   // Run the trajectory time scaling.
+     402          30 :   traj.scaleSegmentTimesToMeetConstraints(v_max_horizontal, v_max_vertical, a_max_horizontal, a_max_vertical, j_max_horizontal, j_max_vertical, v_max_heading,
+     403             :                                           a_max_heading, j_max_heading);
+     404             : 
+     405          30 :   std::vector<double> segment_times;
+     406          60 :   segment_times = traj.getSegmentTimes();
+     407          30 :   poly_opt_.updateSegmentTimes(segment_times);
+     408          30 :   poly_opt_.solveLinear();
+     409             : 
+     410          30 :   if (optimization_parameters_.print_debug_info_time_allocation) {
+     411             : 
+     412             :     double v_max_actual_horizontal, a_max_actual_horizontal, j_max_actual_horizontal;
+     413           0 :     traj.computeMaxDerivativesHorizontal(&v_max_actual_horizontal, &a_max_actual_horizontal, &j_max_actual_horizontal);
+     414           0 :     std::cout << "[Time Scaling] End: v: max: " << v_max_actual_horizontal << " / " << v_max_horizontal << " a: max: " << a_max_actual_horizontal << " / "
+     415           0 :               << a_max_horizontal << std::endl;
+     416             : 
+     417             :     double v_max_actual_vertical, a_max_actual_vertical, j_max_actual_vertical;
+     418           0 :     traj.computeMaxDerivativesVertical(&v_max_actual_vertical, &a_max_actual_vertical, &j_max_actual_vertical);
+     419           0 :     std::cout << "[Time Scaling] End: v: max: " << v_max_actual_vertical << " / " << v_max_vertical << " a: max: " << a_max_actual_vertical << " / "
+     420           0 :               << a_max_vertical << std::endl;
+     421             : 
+     422             :     double v_max_actual_heading, a_max_actual_heading, j_max_actual_heading;
+     423           0 :     traj.computeMaxDerivativesHeading(&v_max_actual_heading, &a_max_actual_heading, &j_max_actual_heading);
+     424           0 :     std::cout << "[Time Scaling] End: v: max: " << v_max_actual_heading << " / " << v_max_heading << " a: max: " << a_max_actual_heading << " / "
+     425           0 :               << a_max_heading << std::endl;
+     426             :   }
+     427          30 : }
+     428             : 
+     429             : template <int _N>
+     430           0 : int PolynomialOptimizationNonLinear<_N>::optimizeTimeAndFreeConstraints() {
+     431           0 :   std::vector<double> initial_step, initial_solution, segment_times, lower_bounds, upper_bounds;
+     432             : 
+     433           0 :   poly_opt_.getSegmentTimes(&segment_times);
+     434           0 :   const size_t n_segments = segment_times.size();
+     435             : 
+     436             :   // compute initial solution
+     437           0 :   poly_opt_.solveLinear();
+     438           0 :   std::vector<Eigen::VectorXd> free_constraints;
+     439           0 :   poly_opt_.getFreeConstraints(&free_constraints);
+     440           0 :   if (free_constraints.size() == 0 || free_constraints.front().size() == 0) {
+     441           0 :     LOG(WARNING) << "No free derivative variables, same as time-only optimization.";
+     442             :   }
+     443             : 
+     444           0 :   const size_t n_optimization_variables = n_segments + free_constraints.size() * free_constraints.front().size();
+     445             : 
+     446           0 :   CHECK_GT(n_optimization_variables, 0u);
+     447             : 
+     448           0 :   initial_solution.reserve(n_optimization_variables);
+     449           0 :   initial_step.reserve(n_optimization_variables);
+     450           0 :   lower_bounds.reserve(n_optimization_variables);
+     451           0 :   upper_bounds.reserve(n_optimization_variables);
+     452             : 
+     453             :   // copy all constraints into one vector:
+     454           0 :   for (double t : segment_times) {
+     455           0 :     initial_solution.push_back(t);
+     456             :   }
+     457             : 
+     458           0 :   for (const Eigen::VectorXd& c : free_constraints) {
+     459           0 :     for (int i = 0; i < c.size(); ++i) {
+     460           0 :       initial_solution.push_back(c[i]);
+     461             :     }
+     462             :   }
+     463             : 
+     464             :   // Setup for getting bounds on the free endpoint derivatives
+     465           0 :   std::vector<double> lower_bounds_free, upper_bounds_free;
+     466           0 :   const size_t        n_optimization_variables_free = free_constraints.size() * free_constraints.front().size();
+     467           0 :   lower_bounds_free.reserve(n_optimization_variables_free);
+     468           0 :   upper_bounds_free.reserve(n_optimization_variables_free);
+     469             : 
+     470             :   // Get the lower and upper bounds constraints on the free endpoint
+     471             :   // derivatives
+     472           0 :   Vertex::Vector vertices;
+     473           0 :   poly_opt_.getVertices(&vertices);
+     474           0 :   setFreeEndpointDerivativeHardConstraints(vertices, &lower_bounds_free, &upper_bounds_free);
+     475             : 
+     476             :   // Set segment time constraints
+     477           0 :   for (size_t l = 0; l < n_segments; ++l) {
+     478           0 :     lower_bounds.push_back(kOptimizationTimeLowerBound);
+     479           0 :     upper_bounds.push_back(std::numeric_limits<double>::max());
+     480             :   }
+     481             :   // Append free endpoint derivative constraints
+     482           0 :   lower_bounds.insert(std::end(lower_bounds), std::begin(lower_bounds_free), std::end(lower_bounds_free));
+     483           0 :   upper_bounds.insert(std::end(upper_bounds), std::begin(upper_bounds_free), std::end(upper_bounds_free));
+     484             : 
+     485           0 :   for (size_t i = 0; i < initial_solution.size(); i++) {
+     486           0 :     double       x     = initial_solution[i];
+     487           0 :     const double abs_x = std::abs(x);
+     488             :     // Initial step size cannot be 0.0 --> invalid arg
+     489           0 :     if (abs_x <= std::numeric_limits<double>::epsilon()) {
+     490           0 :       initial_step.push_back(1e-13);
+     491             :     } else {
+     492           0 :       initial_step.push_back(optimization_parameters_.initial_stepsize_rel * abs_x);
+     493             :     }
+     494             : 
+     495             :     // Check if initial solution isn't already out of bounds.
+     496           0 :     if (x < lower_bounds[i]) {
+     497           0 :       lower_bounds[i] = x;
+     498           0 :     } else if (x > upper_bounds[i]) {
+     499           0 :       upper_bounds[i] = x;
+     500             :     }
+     501             :   }
+     502             : 
+     503             :   // Make sure everything is the same size, otherwise NLOPT will have a bad
+     504             :   // time.
+     505           0 :   CHECK_EQ(lower_bounds.size(), upper_bounds.size());
+     506           0 :   CHECK_EQ(initial_solution.size(), lower_bounds.size());
+     507           0 :   CHECK_EQ(initial_solution.size(), initial_step.size());
+     508           0 :   CHECK_EQ(initial_solution.size(), n_optimization_variables);
+     509             : 
+     510             :   try {
+     511           0 :     nlopt_->set_initial_step(initial_step);
+     512           0 :     nlopt_->set_lower_bounds(lower_bounds);
+     513           0 :     nlopt_->set_upper_bounds(upper_bounds);
+     514           0 :     nlopt_->set_min_objective(&PolynomialOptimizationNonLinear<N>::objectiveFunctionTimeAndConstraints, this);
+     515             :   }
+     516           0 :   catch (std::exception& e) {
+     517           0 :     LOG(ERROR) << "error while setting up nlopt: " << e.what() << std::endl;
+     518             :     return nlopt::FAILURE;
+     519             :   }
+     520             : 
+     521           0 :   double final_cost = std::numeric_limits<double>::max();
+     522             :   int    result;
+     523             : 
+     524             :   try {
+     525           0 :     timing::Timer timer_solve("optimize_nonlinear_full_total_time");
+     526             : 
+     527           0 :     result = nlopt_->optimize(initial_solution, final_cost);
+     528           0 :     timer_solve.Stop();
+     529             :   }
+     530           0 :   catch (std::exception& e) {
+     531           0 :     LOG(ERROR) << "error while running nlopt: " << e.what() << std::endl;
+     532             :     return nlopt::FAILURE;
+     533             :   }
+     534             : 
+     535           0 :   return result;
+     536             : }
+     537             : 
+     538             : template <int _N>
+     539         360 : bool PolynomialOptimizationNonLinear<_N>::addMaximumMagnitudeConstraint(int dimension, int derivative, double maximum_value) {
+     540             : 
+     541         360 :   CHECK_GE(derivative, 0);
+     542         360 :   CHECK_GE(maximum_value, 0.0);
+     543             : 
+     544         720 :   std::shared_ptr<ConstraintData> constraint_data(new ConstraintData);
+     545         360 :   constraint_data->dimension   = dimension;
+     546         360 :   constraint_data->derivative  = derivative;
+     547         360 :   constraint_data->value       = maximum_value;
+     548         360 :   constraint_data->this_object = this;
+     549             : 
+     550             :   // Store the shared_ptrs such that their data will be destroyed later.
+     551         360 :   inequality_constraints_.push_back(constraint_data);
+     552             : 
+     553         360 :   if (!optimization_parameters_.use_soft_constraints) {
+     554             :     try {
+     555           0 :       nlopt_->add_inequality_constraint(&PolynomialOptimizationNonLinear<N>::evaluateMaximumMagnitudeConstraint, constraint_data.get(),
+     556             :                                         optimization_parameters_.inequality_constraint_tolerance);
+     557             :     }
+     558           0 :     catch (std::exception& e) {
+     559           0 :       LOG(ERROR) << "ERROR while setting inequality constraint " << e.what() << std::endl;
+     560             :       return false;
+     561             :     }
+     562             :   }
+     563             : 
+     564             :   return true;
+     565             : }
+     566             : 
+     567             : template <int _N>
+     568           0 : double PolynomialOptimizationNonLinear<_N>::objectiveFunctionTime(const std::vector<double>& segment_times, std::vector<double>& gradient, void* data) {
+     569           0 :   CHECK(gradient.empty()) << "computing gradient not possible, choose a gradient free method";
+     570           0 :   CHECK_NOTNULL(data);
+     571             : 
+     572           0 :   PolynomialOptimizationNonLinear<N>* optimization_data = static_cast<PolynomialOptimizationNonLinear<N>*>(data);  // wheee ...
+     573             : 
+     574           0 :   CHECK_EQ(segment_times.size(), optimization_data->poly_opt_.getNumberSegments());
+     575             : 
+     576           0 :   optimization_data->poly_opt_.updateSegmentTimes(segment_times);
+     577           0 :   optimization_data->poly_opt_.solveLinear();
+     578           0 :   double       cost_trajectory  = optimization_data->poly_opt_.computeCost();
+     579           0 :   double       cost_time        = 0;
+     580           0 :   double       cost_constraints = 0;
+     581           0 :   const double total_time       = computeTotalTrajectoryTime(segment_times);
+     582             : 
+     583           0 :   switch (optimization_data->optimization_parameters_.time_alloc_method) {
+     584           0 :     case NonlinearOptimizationParameters::kRichterTime:
+     585           0 :       cost_time = total_time * optimization_data->optimization_parameters_.time_penalty;
+     586           0 :       break;
+     587           0 :     default:  // kSquaredTime
+     588           0 :       cost_time = total_time * total_time * optimization_data->optimization_parameters_.time_penalty;
+     589           0 :       break;
+     590             :   }
+     591             : 
+     592           0 :   if (optimization_data->optimization_parameters_.print_debug_info) {
+     593           0 :     std::cout << "---- cost at iteration " << optimization_data->optimization_info_.n_iterations << "---- " << std::endl;
+     594           0 :     std::cout << "  trajectory: " << cost_trajectory << std::endl;
+     595           0 :     std::cout << "  time: " << cost_time << std::endl;
+     596             :   }
+     597             : 
+     598           0 :   if (optimization_data->optimization_parameters_.use_soft_constraints) {
+     599           0 :     cost_constraints = optimization_data->evaluateMaximumMagnitudeAsSoftConstraint(optimization_data->inequality_constraints_,
+     600             :                                                                                    optimization_data->optimization_parameters_.soft_constraint_weight);
+     601             :   }
+     602             : 
+     603           0 :   if (optimization_data->optimization_parameters_.print_debug_info) {
+     604           0 :     std::cout << "  sum: " << cost_trajectory + cost_time + cost_constraints << std::endl;
+     605           0 :     std::cout << "  total time: " << total_time << std::endl;
+     606             :   }
+     607             : 
+     608           0 :   optimization_data->optimization_info_.n_iterations++;
+     609           0 :   optimization_data->optimization_info_.cost_trajectory       = cost_trajectory;
+     610           0 :   optimization_data->optimization_info_.cost_time             = cost_time;
+     611           0 :   optimization_data->optimization_info_.cost_soft_constraints = cost_constraints;
+     612             : 
+     613           0 :   return cost_trajectory + cost_time + cost_constraints;
+     614             : }
+     615             : 
+     616             : template <int _N>
+     617         304 : double PolynomialOptimizationNonLinear<_N>::objectiveFunctionTimeMellingerOuterLoop(const std::vector<double>& segment_times, std::vector<double>& gradient,
+     618             :                                                                                     void* data) {
+     619         304 :   CHECK(!gradient.empty()) << "only with gradients possible, choose a gradient based method";
+     620         304 :   CHECK_NOTNULL(data);
+     621             : 
+     622         304 :   PolynomialOptimizationNonLinear<N>* optimization_data = static_cast<PolynomialOptimizationNonLinear<N>*>(data);  // wheee ...
+     623             : 
+     624         304 :   CHECK_EQ(segment_times.size(), optimization_data->poly_opt_.getNumberSegments());
+     625             : 
+     626         304 :   optimization_data->poly_opt_.updateSegmentTimes(segment_times);
+     627         304 :   optimization_data->poly_opt_.solveLinear();
+     628             :   double cost_trajectory;
+     629         304 :   if (!gradient.empty()) {
+     630         304 :     cost_trajectory = optimization_data->getCostAndGradientMellinger(&gradient);
+     631             :   } else {
+     632           0 :     cost_trajectory = optimization_data->getCostAndGradientMellinger(NULL);
+     633             :   }
+     634             : 
+     635         304 :   if (optimization_data->optimization_parameters_.print_debug_info) {
+     636           0 :     std::cout << "---- cost at iteration " << optimization_data->optimization_info_.n_iterations << "---- " << std::endl;
+     637           0 :     std::cout << "  segment times: ";
+     638           0 :     for (double segment_time : segment_times) {
+     639           0 :       std::cout << segment_time << " ";
+     640             :     }
+     641           0 :     std::cout << std::endl;
+     642           0 :     std::cout << "  sum: " << cost_trajectory << std::endl;
+     643             :   }
+     644             : 
+     645         304 :   optimization_data->optimization_info_.n_iterations++;
+     646         304 :   optimization_data->optimization_info_.cost_trajectory = cost_trajectory;
+     647             : 
+     648         304 :   return cost_trajectory;
+     649             : }
+     650             : 
+     651             : template <int _N>
+     652           0 : double PolynomialOptimizationNonLinear<_N>::objectiveFunctionTimeAndConstraints(const std::vector<double>& x, std::vector<double>& gradient, void* data) {
+     653           0 :   CHECK(gradient.empty()) << "computing gradient not possible, choose a gradient-free method";
+     654           0 :   CHECK_NOTNULL(data);
+     655             : 
+     656           0 :   PolynomialOptimizationNonLinear<N>* optimization_data = static_cast<PolynomialOptimizationNonLinear<N>*>(data);  // wheee ...
+     657             : 
+     658           0 :   const size_t n_segments         = optimization_data->poly_opt_.getNumberSegments();
+     659           0 :   const size_t n_free_constraints = optimization_data->poly_opt_.getNumberFreeConstraints();
+     660           0 :   const size_t dim                = optimization_data->poly_opt_.getDimension();
+     661             : 
+     662           0 :   CHECK_EQ(x.size(), n_segments + n_free_constraints * dim);
+     663             : 
+     664           0 :   std::vector<Eigen::VectorXd> free_constraints;
+     665           0 :   free_constraints.resize(dim);
+     666           0 :   std::vector<double> segment_times;
+     667           0 :   segment_times.reserve(n_segments);
+     668             : 
+     669           0 :   for (size_t i = 0; i < n_segments; ++i) {
+     670           0 :     segment_times.push_back(x[i]);
+     671             :   }
+     672             : 
+     673           0 :   for (size_t d = 0; d < dim; ++d) {
+     674           0 :     const size_t idx_start = n_segments + d * n_free_constraints;
+     675             : 
+     676           0 :     Eigen::VectorXd& free_constraints_dim = free_constraints[d];
+     677           0 :     free_constraints_dim.resize(n_free_constraints, Eigen::NoChange);
+     678           0 :     for (size_t i = 0; i < n_free_constraints; ++i) {
+     679           0 :       free_constraints_dim[i] = x[idx_start + i];
+     680             :     }
+     681             :   }
+     682             : 
+     683           0 :   optimization_data->poly_opt_.updateSegmentTimes(segment_times);
+     684           0 :   optimization_data->poly_opt_.setFreeConstraints(free_constraints);
+     685             : 
+     686           0 :   double cost_trajectory  = optimization_data->poly_opt_.computeCost();
+     687           0 :   double cost_time        = 0;
+     688           0 :   double cost_constraints = 0;
+     689             : 
+     690           0 :   const double total_time = computeTotalTrajectoryTime(segment_times);
+     691           0 :   switch (optimization_data->optimization_parameters_.time_alloc_method) {
+     692           0 :     case NonlinearOptimizationParameters::kRichterTimeAndConstraints:
+     693           0 :       cost_time = total_time * optimization_data->optimization_parameters_.time_penalty;
+     694           0 :       break;
+     695           0 :     default:  // kSquaredTimeAndConstraints
+     696           0 :       cost_time = total_time * total_time * optimization_data->optimization_parameters_.time_penalty;
+     697           0 :       break;
+     698             :   }
+     699             : 
+     700           0 :   if (optimization_data->optimization_parameters_.print_debug_info) {
+     701           0 :     std::cout << "---- cost at iteration " << optimization_data->optimization_info_.n_iterations << "---- " << std::endl;
+     702           0 :     std::cout << "  trajectory: " << cost_trajectory << std::endl;
+     703           0 :     std::cout << "  time: " << cost_time << std::endl;
+     704             :   }
+     705             : 
+     706           0 :   if (optimization_data->optimization_parameters_.use_soft_constraints) {
+     707           0 :     cost_constraints = optimization_data->evaluateMaximumMagnitudeAsSoftConstraint(optimization_data->inequality_constraints_,
+     708             :                                                                                    optimization_data->optimization_parameters_.soft_constraint_weight);
+     709             :   }
+     710             : 
+     711           0 :   if (optimization_data->optimization_parameters_.print_debug_info) {
+     712           0 :     std::cout << "  sum: " << cost_trajectory + cost_time + cost_constraints << std::endl;
+     713           0 :     std::cout << "  total time: " << total_time << std::endl;
+     714             :   }
+     715             : 
+     716           0 :   optimization_data->optimization_info_.n_iterations++;
+     717           0 :   optimization_data->optimization_info_.cost_trajectory       = cost_trajectory;
+     718           0 :   optimization_data->optimization_info_.cost_time             = cost_time;
+     719           0 :   optimization_data->optimization_info_.cost_soft_constraints = cost_constraints;
+     720             : 
+     721           0 :   return cost_trajectory + cost_time + cost_constraints;
+     722             : }
+     723             : 
+     724             : template <int _N>
+     725           0 : double PolynomialOptimizationNonLinear<_N>::evaluateMaximumMagnitudeConstraint([[maybe_unused]] const std::vector<double>& segment_times,
+     726             :                                                                                std::vector<double>& gradient, void* data) {
+     727           0 :   CHECK(gradient.empty()) << "computing gradient not possible, choose a gradient-free method";
+     728           0 :   ConstraintData*                     constraint_data   = static_cast<ConstraintData*>(data);  // wheee ...
+     729           0 :   PolynomialOptimizationNonLinear<N>* optimization_data = constraint_data->this_object;
+     730             : 
+     731           0 :   Extremum max;
+     732           0 :   max = optimization_data->poly_opt_.computeMaximumOfMagnitude(constraint_data->derivative, nullptr);
+     733             : 
+     734           0 :   optimization_data->optimization_info_.maxima[constraint_data->derivative] = max;
+     735             : 
+     736           0 :   return max.value - constraint_data->value;
+     737             : }
+     738             : 
+     739             : template <int _N>
+     740           0 : double PolynomialOptimizationNonLinear<_N>::evaluateMaximumMagnitudeAsSoftConstraint(
+     741             :     [[maybe_unused]] const std::vector<std::shared_ptr<ConstraintData>>& inequality_constraints, double weight, double maximum_cost) const {
+     742           0 :   std::vector<double> dummy;
+     743           0 :   double              cost = 0;
+     744             : 
+     745           0 :   if (optimization_parameters_.print_debug_info)
+     746           0 :     std::cout << "  soft_constraints: " << std::endl;
+     747             : 
+     748           0 :   for (std::shared_ptr<const ConstraintData> constraint : inequality_constraints_) {
+     749             :     // need to call the c-style callback function here, thus the ugly cast to
+     750             :     // void*.
+     751           0 :     double abs_violation = evaluateMaximumMagnitudeConstraint(dummy, dummy, (void*)constraint.get());
+     752             : 
+     753           0 :     double       relative_violation = abs_violation / constraint->value;
+     754           0 :     const double current_cost       = std::min(maximum_cost, exp(relative_violation * weight));
+     755           0 :     cost += current_cost;
+     756           0 :     if (optimization_parameters_.print_debug_info) {
+     757           0 :       std::cout << "    derivative " << constraint->derivative << " abs violation: " << abs_violation << " : relative violation: " << relative_violation
+     758           0 :                 << " cost: " << current_cost << std::endl;
+     759             :     }
+     760             :   }
+     761           0 :   return cost;
+     762             : }
+     763             : 
+     764             : template <int _N>
+     765           0 : void PolynomialOptimizationNonLinear<_N>::setFreeEndpointDerivativeHardConstraints(const Vertex::Vector& vertices, std::vector<double>* lower_bounds,
+     766             :                                                                                    std::vector<double>* upper_bounds) {
+     767           0 :   CHECK_NOTNULL(lower_bounds);
+     768           0 :   CHECK_NOTNULL(upper_bounds);
+     769           0 :   CHECK(lower_bounds->empty()) << "Lower bounds not empty!";
+     770           0 :   CHECK(upper_bounds->empty()) << "Upper bounds not empty!";
+     771             : 
+     772           0 :   const size_t n_free_constraints     = poly_opt_.getNumberFreeConstraints();
+     773           0 :   const size_t dim                    = poly_opt_.getDimension();
+     774           0 :   const int    derivative_to_optimize = poly_opt_.getDerivativeToOptimize();
+     775             : 
+     776             :   // Set all values to -inf/inf and reset only bounded opti param with values
+     777           0 :   lower_bounds->resize(dim * n_free_constraints, std::numeric_limits<double>::lowest());
+     778           0 :   upper_bounds->resize(dim * n_free_constraints, std::numeric_limits<double>::max());
+     779             : 
+     780             :   // Add higher order derivative constraints (v_max and a_max)
+     781             :   // Check at each vertex which of the derivatives is a free derivative.
+     782             :   // If it is a free derivative check if we have a constraint in
+     783             :   // inequality_constraints_ and set the constraint as hard constraint in
+     784             :   // lower_bounds and upper_bounds
+     785           0 :   for (const auto& constraint_data : inequality_constraints_) {
+     786           0 :     unsigned int free_deriv_counter = 0;
+     787           0 :     const int    derivative_hc      = constraint_data->derivative;
+     788           0 :     const int    dimension          = constraint_data->dimension;
+     789           0 :     const double value_hc           = constraint_data->value;
+     790             : 
+     791           0 :     for (size_t v = 0; v < vertices.size(); ++v) {
+     792           0 :       for (int deriv = 0; deriv <= derivative_to_optimize; ++deriv) {
+     793           0 :         if (!vertices[v].hasConstraint(deriv)) {
+     794           0 :           if (deriv == derivative_hc) {
+     795           0 :             unsigned int start_idx                           = dimension * n_free_constraints;
+     796           0 :             lower_bounds->at(start_idx + free_deriv_counter) = -std::abs(value_hc);
+     797           0 :             upper_bounds->at(start_idx + free_deriv_counter) = std::abs(value_hc);
+     798             :           }
+     799           0 :           free_deriv_counter++;
+     800             :         }
+     801             :       }
+     802             :     }
+     803             :   }
+     804           0 : }
+     805             : 
+     806             : template <int _N>
+     807           0 : double PolynomialOptimizationNonLinear<_N>::computeTotalTrajectoryTime(const std::vector<double>& segment_times) {
+     808           0 :   double total_time = 0;
+     809           0 :   for (double t : segment_times)
+     810           0 :     total_time += t;
+     811             :   return total_time;
+     812             : }
+     813             : 
+     814             : }  // namespace eth_trajectory_generation
+     815             : 
+     816             : namespace nlopt
+     817             : {
+     818             : 
+     819             : inline std::string returnValueToString(int return_value) {
+     820             :   switch (return_value) {
+     821             :     case nlopt::SUCCESS:
+     822             :       return std::string("SUCCESS");
+     823             :     case nlopt::FAILURE:
+     824             :       return std::string("FAILURE");
+     825             :     case nlopt::INVALID_ARGS:
+     826             :       return std::string("INVALID_ARGS");
+     827             :     case nlopt::OUT_OF_MEMORY:
+     828             :       return std::string("OUT_OF_MEMORY");
+     829             :     case nlopt::ROUNDOFF_LIMITED:
+     830             :       return std::string("ROUNDOFF_LIMITED");
+     831             :     case nlopt::FORCED_STOP:
+     832             :       return std::string("FORCED_STOP");
+     833             :     case nlopt::STOPVAL_REACHED:
+     834             :       return std::string("STOPVAL_REACHED");
+     835             :     case nlopt::FTOL_REACHED:
+     836             :       return std::string("FTOL_REACHED");
+     837             :     case nlopt::XTOL_REACHED:
+     838             :       return std::string("XTOL_REACHED");
+     839             :     case nlopt::MAXEVAL_REACHED:
+     840             :       return std::string("MAXEVAL_REACHED");
+     841             :     case nlopt::MAXTIME_REACHED:
+     842             :       return std::string("MAXTIME_REACHED");
+     843             :     default:
+     844             :       return std::string("ERROR CODE UNKNOWN");
+     845             :   }
+     846             : }
+     847             : }  // namespace nlopt
+     848             : 
+     849             : #endif  // ETH_TRAJECTORY_GENERATION_IMPL_POLYNOMIAL_OPTIMIZATION_NONLINEAR_IMPL_H_
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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Date:2024-01-20 21:44:18Functions:101376.9 %
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polynomial_optimization_linear.h +
65.5%65.5%
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91.8%91.8%
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Current view:top level - mrs_uav_trajectory_generation/include/eth_trajectory_generationHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:12018564.9 %
Date:2024-01-20 21:44:18Functions:101376.9 %
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100.0%
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Current view:top level - mrs_uav_trajectory_generation/include/eth_trajectory_generationHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:12018564.9 %
Date:2024-01-20 21:44:18Functions:101376.9 %
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
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75.0%75.0%
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Legend: Lines: + hit + not hit +
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eth_trajectory_generation::Polynomial::Polynomial(int)30
eth_trajectory_generation::Polynomial::evaluate(double, int) const109246
eth_trajectory_generation::Polynomial::Polynomial(int, Eigen::Matrix<double, -1, 1, 0, -1, 1> const&)167896
eth_trajectory_generation::Polynomial::getCoefficients(int) const172842
eth_trajectory_generation::Polynomial::baseCoeffsWithTime(int, int, double)423950
eth_trajectory_generation::Polynomial::baseCoeffsWithTime(int, int, double, Eigen::Matrix<double, -1, 1, 0, -1, 1>*)423950
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eth_trajectory_generation::Polynomial::baseCoeffsWithTime(int, int, double)423950
eth_trajectory_generation::Polynomial::baseCoeffsWithTime(int, int, double, Eigen::Matrix<double, -1, 1, 0, -1, 1>*)423950
eth_trajectory_generation::Polynomial::Polynomial(int)30
eth_trajectory_generation::Polynomial::Polynomial(int, Eigen::Matrix<double, -1, 1, 0, -1, 1> const&)167896
eth_trajectory_generation::Polynomial::getCoefficients(int) const172842
eth_trajectory_generation::Polynomial::evaluate(double, int) const109246
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+
          Line data    Source code
+
+       1             : /*
+       2             :  * Copyright (c) 2016, Markus Achtelik, ASL, ETH Zurich, Switzerland
+       3             :  * Copyright (c) 2016, Michael Burri, ASL, ETH Zurich, Switzerland
+       4             :  * Copyright (c) 2016, Helen Oleynikova, ASL, ETH Zurich, Switzerland
+       5             :  * Copyright (c) 2016, Rik Bähnemann, ASL, ETH Zurich, Switzerland
+       6             :  * Copyright (c) 2016, Marija Popovic, ASL, ETH Zurich, Switzerland
+       7             :  *
+       8             :  * Licensed under the Apache License, Version 2.0 (the "License");
+       9             :  * you may not use this file except in compliance with the License.
+      10             :  * You may obtain a copy of the License at
+      11             :  *
+      12             :  * http://www.apache.org/licenses/LICENSE-2.0
+      13             :  *
+      14             :  * Unless required by applicable law or agreed to in writing, software
+      15             :  * distributed under the License is distributed on an "AS IS" BASIS,
+      16             :  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+      17             :  * See the License for the specific language governing permissions and
+      18             :  * limitations under the License.
+      19             :  */
+      20             : 
+      21             : #ifndef ETH_TRAJECTORY_GENERATION_POLYNOMIAL_H_
+      22             : #define ETH_TRAJECTORY_GENERATION_POLYNOMIAL_H_
+      23             : 
+      24             : #include <eth_trajectory_generation/misc.h>
+      25             : #include <Eigen/Eigen>
+      26             : #include <Eigen/SVD>
+      27             : #include <utility>
+      28             : #include <vector>
+      29             : 
+      30             : namespace eth_trajectory_generation
+      31             : {
+      32             : 
+      33             : // Implementation of polynomials of order N-1. Order must be known at
+      34             : // compile time.
+      35             : // Polynomial coefficients are stored with increasing powers,
+      36             : // i.e. c_0 + c_1*t ... c_{N-1} * t^{N-1}
+      37             : // where N = number of coefficients of the polynomial.
+      38      189652 : class Polynomial {
+      39             : public:
+      40             :   typedef std::vector<Polynomial> Vector;
+      41             : 
+      42             :   // Maximum degree of a polynomial for which the static derivative (basis
+      43             :   // coefficient) matrix should be evaluated for.
+      44             :   // kMaxN = max. number of coefficients.
+      45             :   static constexpr int kMaxN = 12;
+      46             :   // kMaxConvolutionSize = max. convolution size for N = 12, convolved with its
+      47             :   // derivative.
+      48             :   static constexpr int kMaxConvolutionSize = 2 * kMaxN - 2;
+      49             :   // One static shared across all members of the class, computed up to order
+      50             :   // kMaxConvolutionSize.
+      51             :   static Eigen::MatrixXd base_coefficients_;
+      52             : 
+      53          30 :   Polynomial(int N) : N_(N), coefficients_(N) {
+      54          30 :     coefficients_.setZero();
+      55          30 :   }
+      56             : 
+      57             :   // Assigns arbitrary coefficients to a polynomial.
+      58      167896 :   Polynomial(int N, const Eigen::VectorXd& coeffs) : N_(N), coefficients_(coeffs) {
+      59      167896 :     CHECK_EQ(N_, coeffs.size()) << "Number of coefficients has to match.";
+      60      167896 :   }
+      61             : 
+      62        5052 :   Polynomial(const Eigen::VectorXd& coeffs) : N_(coeffs.size()), coefficients_(coeffs) {
+      63        2526 :   }
+      64             :   /// Gets the number of coefficients (order + 1) of the polynomial.
+      65             :   int N() const {
+      66             :     return N_;
+      67             :   }
+      68             : 
+      69           0 :   inline bool operator==(const Polynomial& rhs) const {
+      70           0 :     return coefficients_ == rhs.coefficients_;
+      71             :   }
+      72           0 :   inline bool operator!=(const Polynomial& rhs) const {
+      73           0 :     return !operator==(rhs);
+      74             :   }
+      75             :   inline Polynomial operator+(const Polynomial& rhs) const {
+      76             :     return Polynomial(coefficients_ + rhs.coefficients_);
+      77             :   }
+      78             :   inline Polynomial& operator+=(const Polynomial& rhs) {
+      79             :     this->coefficients_ += rhs.coefficients_;
+      80             :     return *this;
+      81             :   }
+      82             :   // The product of two polynomials is the convolution of their coefficients.
+      83             :   inline Polynomial operator*(const Polynomial& rhs) const {
+      84             :     return Polynomial(convolve(coefficients_, rhs.coefficients_));
+      85             :   }
+      86             :   // The product of a polynomial with a scalar. Note that polynomials are in
+      87             :   // general not homogeneous, i.e., f(a*t) != a*f(t)
+      88             :   inline Polynomial operator*(const double& rhs) const {
+      89             :     return Polynomial(coefficients_ * rhs);
+      90             :   }
+      91             : 
+      92             :   // Sets up the internal representation from coefficients.
+      93             :   // Coefficients are stored in increasing order with the power of t,
+      94             :   // i.e. c1 + c2*t + c3*t^2 ==> coeffs = [c1 c2 c3]
+      95             :   /* setCoefficients() //{ */
+      96             : 
+      97             :   void setCoefficients(const Eigen::VectorXd& coeffs) {
+      98             :     CHECK_EQ(N_, coeffs.size()) << "Number of coefficients has to match.";
+      99             :     coefficients_ = coeffs;
+     100             :   }
+     101             : 
+     102             :   //}
+     103             : 
+     104             :   // Returns the coefficients for the specified derivative of the
+     105             :   // polynomial as a ROW vector.
+     106             :   /* getCoefficients() //{ */
+     107             : 
+     108      172842 :   Eigen::VectorXd getCoefficients(int derivative = 0) const {
+     109      172842 :     CHECK_LE(derivative, N_);
+     110      172842 :     if (derivative == 0) {
+     111      330528 :       return coefficients_;
+     112             :     } else {
+     113       30312 :       Eigen::VectorXd result(N_);
+     114       15156 :       result.setZero();
+     115       15156 :       result.head(N_ - derivative) =
+     116       15156 :           coefficients_.tail(N_ - derivative).cwiseProduct(base_coefficients_.block(derivative, derivative, 1, N_ - derivative).transpose());
+     117       15156 :       return result;
+     118             :     }
+     119             :   }
+     120             : 
+     121             :   //}
+     122             : 
+     123             :   // Evaluates the polynomial at time t and writes the result.
+     124             :   // Fills in all derivatives up to result.size()-1 (that is, if result is a
+     125             :   // 3-vector, then will fill in derivatives 0, 1, and 2).
+     126             :   /* evaluate() //{ */
+     127             : 
+     128             :   void evaluate(double t, Eigen::VectorXd* result) const {
+     129             :     CHECK_LE(result->size(), N_);
+     130             :     const int max_deg = result->size();
+     131             : 
+     132             :     const int tmp = N_ - 1;
+     133             :     for (int i = 0; i < max_deg; i++) {
+     134             :       Eigen::RowVectorXd row = base_coefficients_.block(i, 0, 1, N_);
+     135             :       double             acc = row[tmp] * coefficients_[tmp];
+     136             :       for (int j = tmp - 1; j >= i; --j) {
+     137             :         acc *= t;
+     138             :         acc += row[j] * coefficients_[j];
+     139             :       }
+     140             :       (*result)[i] = acc;
+     141             :     }
+     142             :   }
+     143             : 
+     144             :   //}
+     145             : 
+     146             :   // Evaluates the specified derivative of the polynomial at time t and returns
+     147             :   // the result (only one value).
+     148             :   /* evaluate() //{ */
+     149             : 
+     150      109246 :   double evaluate(double t, int derivative) const {
+     151      109246 :     if (derivative >= N_) {
+     152             :       return 0.0;
+     153             :     }
+     154      109246 :     double             result;
+     155      109246 :     const int          tmp = N_ - 1;
+     156      109246 :     Eigen::RowVectorXd row = base_coefficients_.block(derivative, 0, 1, N_);
+     157      109246 :     result                 = row[tmp] * coefficients_[tmp];
+     158      861558 :     for (int j = tmp - 1; j >= derivative; --j) {
+     159      752312 :       result *= t;
+     160      752312 :       result += row[j] * coefficients_[j];
+     161             :     }
+     162      109246 :     return result;
+     163             :   }
+     164             : 
+     165             :   //}
+     166             : 
+     167             :   // Uses Jenkins-Traub to get all the roots of the polynomial at a certain
+     168             :   // derivative.
+     169             :   bool getRoots(int derivative, Eigen::VectorXcd* roots) const;
+     170             : 
+     171             :   // Finds all candidates for the minimum and maximum between t_start and t_end
+     172             :   // by evaluating the roots of the polynomial's derivative.
+     173             :   static bool selectMinMaxCandidatesFromRoots(double t_start, double t_end, const Eigen::VectorXcd& roots_derivative_of_derivative,
+     174             :                                               std::vector<double>* candidates);
+     175             : 
+     176             :   // Finds all candidates for the minimum and maximum between t_start and t_end
+     177             :   // by computing the roots of the derivative polynomial.
+     178             :   bool computeMinMaxCandidates(double t_start, double t_end, int derivative, std::vector<double>* candidates) const;
+     179             : 
+     180             :   // Evaluates the minimum and maximum of a polynomial between time t_start and
+     181             :   // t_end given the roots of the derivative.
+     182             :   // Returns the minimum and maximum as pair<t, value>.
+     183             :   bool selectMinMaxFromRoots(double t_start, double t_end, int derivative, const Eigen::VectorXcd& roots_derivative_of_derivative,
+     184             :                              std::pair<double, double>* minimum, std::pair<double, double>* maximum) const;
+     185             : 
+     186             :   // Computes the minimum and maximum of a polynomial between time t_start and
+     187             :   // t_end by computing the roots of the derivative polynomial.
+     188             :   // Returns the minimum and maximum as pair<t, value>.
+     189             :   bool computeMinMax(double t_start, double t_end, int derivative, std::pair<double, double>* minimum, std::pair<double, double>* maximum) const;
+     190             : 
+     191             :   // Selects the minimum and maximum of a polynomial among a candidate set.
+     192             :   // Returns the minimum and maximum as pair<t, value>.
+     193             :   bool selectMinMaxFromCandidates(const std::vector<double>& candidates, int derivative, std::pair<double, double>* minimum,
+     194             :                                   std::pair<double, double>* maximum) const;
+     195             : 
+     196             :   // Increase the number of coefficients of this polynomial up to the specified
+     197             :   // degree by appending zeros.
+     198             :   bool getPolynomialWithAppendedCoefficients(int new_N, Polynomial* new_polynomial) const;
+     199             : 
+     200             :   // Computes the base coefficients with the according powers of t, as
+     201             :   // e.g. needed for computation of (in)equality constraints.
+     202             :   // Output: coeffs = vector to write the coefficients to
+     203             :   // Input: polynomial derivative for which the coefficients have to
+     204             :   // be computed
+     205             :   // Input: t = time of evaluation
+     206             :   /* baseCoeffsWithTime() //{ */
+     207             : 
+     208      423950 :   static void baseCoeffsWithTime(int N, int derivative, double t, Eigen::VectorXd* coeffs) {
+     209      423950 :     CHECK_LT(derivative, N);
+     210      423950 :     CHECK_GE(derivative, 0);
+     211             : 
+     212      423950 :     coeffs->resize(N, 1);
+     213      423950 :     coeffs->setZero();
+     214             :     // first coefficient doesn't get multiplied
+     215      423950 :     (*coeffs)[derivative] = base_coefficients_(derivative, derivative);
+     216             : 
+     217      423950 :     if (std::abs(t) < std::numeric_limits<double>::epsilon())
+     218             :       return;
+     219             : 
+     220      211975 :     double t_power = t;
+     221             :     // now multiply increasing power of t towards the right
+     222     1695800 :     for (int j = derivative + 1; j < N; j++) {
+     223     1483820 :       (*coeffs)[j] = base_coefficients_(derivative, j) * t_power;
+     224     1483820 :       t_power      = t_power * t;
+     225             :     }
+     226             :   }
+     227             : 
+     228             :   //}
+     229             : 
+     230             :   // Convenience method to compute the base coefficents with time
+     231             :   // static void baseCoeffsWithTime(const Eigen::MatrixBase<Derived> &
+     232             :   // coeffs, int derivative, double t)
+     233      423950 :   static Eigen::VectorXd baseCoeffsWithTime(int N, int derivative, double t) {
+     234      423950 :     Eigen::VectorXd c(N);
+     235      423950 :     baseCoeffsWithTime(N, derivative, t, &c);
+     236      423950 :     return c;
+     237             :   }
+     238             : 
+     239             :   // Discrete convolution of two vectors.
+     240             :   // convolve(d, k)[m] = sum(d[m - n] * k[n])
+     241             :   static Eigen::VectorXd convolve(const Eigen::VectorXd& data, const Eigen::VectorXd& kernel);
+     242             : 
+     243        7578 :   static inline int getConvolutionLength(int data_size, int kernel_size) {
+     244        7578 :     return data_size + kernel_size - 1;
+     245             :   }
+     246             : 
+     247             :   // Scales the polynomial in time with a scaling factor.
+     248             :   // To stretch out by a factor of 10, pass scaling_factor (b) = 1/10. To shrink
+     249             :   // by a factor of 10, pass scalign factor = 10.
+     250             :   // p_out = a12*b^12*t^12 + a11*b^11*t^11... etc.
+     251             :   void scalePolynomialInTime(double scaling_factor);
+     252             : 
+     253             :   // Offset this polynomial.
+     254             :   void offsetPolynomial(const double offset);
+     255             : 
+     256             : private:
+     257             :   int             N_;
+     258             :   Eigen::VectorXd coefficients_;
+     259             : };
+     260             : 
+     261             : // Static functions to compute base coefficients.
+     262             : 
+     263             : // Computes the base coefficients of the derivatives of the polynomial,
+     264             : // up to order N.
+     265             : Eigen::MatrixXd computeBaseCoefficients(int N);
+     266             : 
+     267             : }  // namespace eth_trajectory_generation
+     268             : 
+     269             : #endif  // ETH_TRAJECTORY_GENERATION_POLYNOMIAL_H_
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eth_trajectory_generation::PolynomialOptimization<10>::getTrajectory(eth_trajectory_generation::Trajectory*) const27
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eth_trajectory_generation::PolynomialOptimization<10>::getTrajectory(eth_trajectory_generation::Trajectory*) const27
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          Line data    Source code
+
+       1             : /*
+       2             :  * Copyright (c) 2016, Markus Achtelik, ASL, ETH Zurich, Switzerland
+       3             :  * Copyright (c) 2016, Michael Burri, ASL, ETH Zurich, Switzerland
+       4             :  * Copyright (c) 2016, Helen Oleynikova, ASL, ETH Zurich, Switzerland
+       5             :  * Copyright (c) 2016, Rik Bähnemann, ASL, ETH Zurich, Switzerland
+       6             :  * Copyright (c) 2016, Marija Popovic, ASL, ETH Zurich, Switzerland
+       7             :  *
+       8             :  * Licensed under the Apache License, Version 2.0 (the "License");
+       9             :  * you may not use this file except in compliance with the License.
+      10             :  * You may obtain a copy of the License at
+      11             :  *
+      12             :  * http://www.apache.org/licenses/LICENSE-2.0
+      13             :  *
+      14             :  * Unless required by applicable law or agreed to in writing, software
+      15             :  * distributed under the License is distributed on an "AS IS" BASIS,
+      16             :  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+      17             :  * See the License for the specific language governing permissions and
+      18             :  * limitations under the License.
+      19             :  */
+      20             : 
+      21             : #ifndef ETH_TRAJECTORY_GENERATION_POLYNOMIAL_OPTIMIZATION_LINEAR_H_
+      22             : #define ETH_TRAJECTORY_GENERATION_POLYNOMIAL_OPTIMIZATION_LINEAR_H_
+      23             : 
+      24             : #include <Eigen/Sparse>
+      25             : #include <tuple>
+      26             : 
+      27             : #include <eth_trajectory_generation/misc.h>
+      28             : #include <eth_trajectory_generation/extremum.h>
+      29             : #include <eth_trajectory_generation/motion_defines.h>
+      30             : #include <eth_trajectory_generation/polynomial.h>
+      31             : #include <eth_trajectory_generation/segment.h>
+      32             : #include <eth_trajectory_generation/trajectory.h>
+      33             : #include <eth_trajectory_generation/vertex.h>
+      34             : 
+      35             : namespace eth_trajectory_generation
+      36             : {
+      37             : 
+      38             : // Implements the unconstrained optimization of paths consisting of
+      39             : // polynomial segments as described in [1]
+      40             : // [1]: Polynomial Trajectory Planning for Aggressive Quadrotor Flight in Dense
+      41             : // Indoor Environments.
+      42             : //      Charles Richter, Adam Bry, and Nicholas Roy. In ISRR 2013
+      43             : // _N = Number of coefficients of the underlying polynomials.
+      44             : // Polynomial coefficients are stored with increasing powers,
+      45             : // i.e. c_0 + c_1*t ... c_{N-1} * t^{N-1}.
+      46             : template <int _N = 10>
+      47             : class PolynomialOptimization {
+      48             :   static_assert(_N % 2 == 0, "The number of coefficients has to be even.");
+      49             : 
+      50             : public:
+      51             :   enum
+      52             :   {
+      53             :     N = _N
+      54             :   };
+      55             :   static constexpr int                                                      kHighestDerivativeToOptimize = N / 2 - 1;
+      56             :   typedef Eigen::Matrix<double, N, N>                                       SquareMatrix;
+      57             :   typedef std::vector<SquareMatrix, Eigen::aligned_allocator<SquareMatrix>> SquareMatrixVector;
+      58             : 
+      59             :   // Sets up the optimization problem for the specified dimension.
+      60             :   PolynomialOptimization(size_t dimension);
+      61             : 
+      62             :   // Sets up the optimization problem from a vector of Vertex objects and
+      63             :   // a vector of times between the vertices.
+      64             :   // Input: vertices = Vector containing the vertices defining the support
+      65             :   // points and constraints of the path.
+      66             :   // Input: segment_times = Vector containing the time between two vertices.
+      67             :   // Thus, its size is size(vertices) - 1.
+      68             :   // Input: derivative_to_optimize = Specifies the derivative of which the
+      69             :   // cost is optimized.
+      70             :   bool setupFromVertices(const Vertex::Vector& vertices, const std::vector<double>& segment_times, int derivative_to_optimize = kHighestDerivativeToOptimize);
+      71             : 
+      72             :   // Sets up the optimization problem from a vector of positions and a
+      73             :   // vector of times between the via points.
+      74             :   // The optimized derivative is set to the maximum possible based on the given
+      75             :   // N (N/2-1).
+      76             :   // Input: positions = Vector containing the start positions, intermediate
+      77             :   // positions and the final position.
+      78             :   // Input: times = Vector containing the time between two positions. Thus,
+      79             :   // its size is size(positions) - 1.
+      80             :   bool setupFromPositons(const std::vector<double>& positions, const std::vector<double>& times);
+      81             : 
+      82             :   // Wrapper that inverts the mapping matrix (A in [1]) to take advantage
+      83             :   // of its structure.
+      84             :   // Input: A matrix
+      85             :   // Output: Ai inverse of the A matrix
+      86             :   static void invertMappingMatrix(const SquareMatrix& mapping_matrix, SquareMatrix* inverse_mapping_matrix);
+      87             : 
+      88             :   static void setupMappingMatrix(double segment_time, SquareMatrix* A);
+      89             : 
+      90             :   // Computes the cost in the derivative that was specified during
+      91             :   // setupFromVertices().
+      92             :   // The cost is computed as: 0.5*c^T*Q*c
+      93             :   // where c are the coefficients and Q is the cost matrix of each segment.
+      94             :   double computeCost() const;
+      95             : 
+      96             :   // Updates the segment times. The number of times has to be equal to
+      97             :   // the number of vertices that was initially passed during the problem setup.
+      98             :   // This recomputes all cost- and inverse mapping block-matrices and is meant
+      99             :   // to be called during non-linear optimization procedures.
+     100             :   void updateSegmentTimes(const std::vector<double>& segment_times);
+     101             : 
+     102             :   // Solves the linear optimization problem according to [1].
+     103             :   // The solver is re-used for every dimension, which means:
+     104             :   //  - segment times are equal for each dimension.
+     105             :   //  - each dimension has the same type/set of constraints. Their values can of
+     106             :   //    course differ.
+     107             :   bool solveLinear();
+     108             : 
+     109             :   // Returns the trajectory created by the optimization.
+     110             :   // Only valid after solveLinear() is called. This is the preferred external
+     111             :   // interface for getting information back out of the solver.
+     112          57 :   void getTrajectory(Trajectory* trajectory) const {
+     113          27 :     CHECK_NOTNULL(trajectory);
+     114          57 :     trajectory->setSegments(segments_);
+     115          30 :   }
+     116             : 
+     117             :   // Computes the candidates for the maximum magnitude of a single
+     118             :   // segment in the specified derivative.
+     119             :   // In the 1D case, it simply returns the roots of the derivative of the
+     120             :   // segment-polynomial.
+     121             :   // For higher dimensions, e.g. 3D, we need to find the extrema of
+     122             :   // \sqrt{x(t)^2 + y(t)^2 + z(t)^2}
+     123             :   // where x, y, z are polynomials describing the position or the derivative,
+     124             :   // specified by Derivative.
+     125             :   // Taking the derivative yields  2 x \dot{x} + 2 y \dot{y} + 2 z \dot{z},
+     126             :   // which needs to be zero at the extrema. The multiplication of two
+     127             :   // polynomials is a convolution of their coefficients. Re-ordering by their
+     128             :   // powers and addition yields a polynomial, for which we can compute the
+     129             :   // roots. Derivative = Derivative of position, in which to find the maxima.
+     130             :   // Input: segment = Segment to find the maximum.
+     131             :   // Input: t_start = Only maxima >= t_start are returned. Usually set to 0.
+     132             :   // Input: t_stop = Only maxima <= t_stop are returned. Usually set to
+     133             :   // segment time.
+     134             :   // Output: candidates = Vector containing the candidate times for a maximum.
+     135             :   // Returns whether the computation succeeded -- false means no candidates
+     136             :   // were found by Jenkins-Traub.
+     137             :   template <int Derivative>
+     138             :   static bool computeSegmentMaximumMagnitudeCandidates(const Segment& segment, double t_start, double t_stop, std::vector<double>* candidates);
+     139             : 
+     140             :   // Template-free version of above:
+     141             :   static bool computeSegmentMaximumMagnitudeCandidates(int derivative, const Segment& segment, double t_start, double t_stop, std::vector<double>* candidates);
+     142             : 
+     143             :   // Computes the candidates for the maximum magnitude of a single
+     144             :   // segment in the specified derivative.
+     145             :   // Computed by sampling and rather meant for debugging / testing.
+     146             :   // Derivative = Derivative of position, in which to find the maxima.
+     147             :   // Input: segment = Segment to find the maximum.
+     148             :   // Input: t_start = Start time of sampling. Usually set to 0.
+     149             :   // Input: t_stop = End time of sampling. Usually set to segment time.
+     150             :   // Input: sampling_interval = Time between two sampling points.
+     151             :   // Output: candidates = Vector containing the candidate times for a maximum.
+     152             :   template <int Derivative>
+     153             :   static void computeSegmentMaximumMagnitudeCandidatesBySampling(const Segment& segment, double t_start, double t_stop, double sampling_interval,
+     154             :                                                                  std::vector<double>* candidates);
+     155             : 
+     156             :   // Computes the global maximum of the magnitude of the path in the
+     157             :   // specified derivative.
+     158             :   // This uses computeSegmentMaximumMagnitudeCandidates to compute the
+     159             :   // candidates for each segment.
+     160             :   // Derivative = Derivative of position, in which to find the maxima.
+     161             :   // Output: candidates = Vector containing the candidate times for the global
+     162             :   // maximum, i.e. all local maxima.
+     163             :   //                        Optional, can be set to nullptr if not needed.
+     164             :   // Output: return = The global maximum of the path.
+     165             :   template <int Derivative>
+     166             :   Extremum computeMaximumOfMagnitude(std::vector<Extremum>* candidates) const;
+     167             : 
+     168             :   // Template-free version of above.
+     169             :   Extremum computeMaximumOfMagnitude(int derivative, std::vector<Extremum>* candidates) const;
+     170             : 
+     171           0 :   void getVertices(Vertex::Vector* vertices) const {
+     172           0 :     CHECK_NOTNULL(vertices);
+     173           0 :     *vertices = vertices_;
+     174           0 :   }
+     175             : 
+     176             :   // Only for internal use -- always use getTrajectory() instead if you can!
+     177          27 :   void getSegments(Segment::Vector* segments) const {
+     178          27 :     CHECK_NOTNULL(segments);
+     179          27 :     *segments = segments_;
+     180          27 :   }
+     181             : 
+     182         394 :   void getSegmentTimes(std::vector<double>* segment_times) const {
+     183             :     CHECK(segment_times != nullptr);
+     184         394 :     *segment_times = segment_times_;
+     185         394 :   }
+     186             : 
+     187           0 :   void getFreeConstraints(std::vector<Eigen::VectorXd>* free_constraints) const {
+     188             :     CHECK(free_constraints != nullptr);
+     189           0 :     *free_constraints = free_constraints_compact_;
+     190           0 :   }
+     191             : 
+     192             :   void setFreeConstraints(const std::vector<Eigen::VectorXd>& free_constraints);
+     193             : 
+     194             :   void getFixedConstraints(std::vector<Eigen::VectorXd>* fixed_constraints) const {
+     195             :     CHECK(fixed_constraints != nullptr);
+     196             :     *fixed_constraints = fixed_constraints_compact_;
+     197             :   }
+     198             : 
+     199             :   // Computes the Jacobian of the integral over the squared derivative
+     200             :   // Output: cost_jacobian = Jacobian matrix to write into.
+     201             :   // If C is dynamic, the correct size has to be set.
+     202             :   // Input: t = time of evaluation
+     203             :   // Input: derivative used to compute the cost
+     204             :   static void computeQuadraticCostJacobian(int derivative, double t, SquareMatrix* cost_jacobian);
+     205             : 
+     206           0 :   size_t getDimension() const {
+     207             :     return dimension_;
+     208             :   }
+     209         912 :   size_t getNumberSegments() const {
+     210             :     return n_segments_;
+     211             :   }
+     212             :   size_t getNumberAllConstraints() const {
+     213             :     return n_all_constraints_;
+     214             :   }
+     215             :   size_t getNumberFixedConstraints() const {
+     216             :     return n_fixed_constraints_;
+     217             :   }
+     218           0 :   size_t getNumberFreeConstraints() const {
+     219             :     return n_free_constraints_;
+     220             :   }
+     221           0 :   int getDerivativeToOptimize() const {
+     222             :     return derivative_to_optimize_;
+     223             :   }
+     224             : 
+     225             :   // Accessor functions for internal matrices.
+     226             :   void getAInverse(Eigen::MatrixXd* A_inv) const;
+     227             :   void getM(Eigen::MatrixXd* M) const;
+     228             :   void getR(Eigen::MatrixXd* R) const;
+     229             :   // Extras not directly used in the standard optimization:
+     230             :   void getA(Eigen::MatrixXd* A) const;
+     231             :   void getMpinv(Eigen::MatrixXd* M_pinv) const;  // Pseudo-inverse of M.
+     232             : 
+     233             :   void printReorderingMatrix(std::ostream& stream) const;
+     234             : 
+     235             : private:
+     236             :   // Constructs the sparse R (cost) matrix.
+     237             :   void constructR(Eigen::SparseMatrix<double>* R) const;
+     238             : 
+     239             :   // Sets up the matrix (C in [1]) that reorders constraints for the
+     240             :   // optimization problem.
+     241             :   // This matrix is the same for each dimension, i.e. each dimension must have
+     242             :   // the same fixed and free parameters.
+     243             :   void setupConstraintReorderingMatrix();
+     244             : 
+     245             :   // Updates the segments stored internally from the set of compact fixed
+     246             :   // and free constraints.
+     247             :   void updateSegmentsFromCompactConstraints();
+     248             : 
+     249             :   // Matrix consisting of entries with value 1 to reorder free and fixed
+     250             :   // constraints (C in [1]).
+     251             :   Eigen::SparseMatrix<double> constraint_reordering_;
+     252             : 
+     253             :   // Original vertices containing the constraints.
+     254             :   Vertex::Vector vertices_;
+     255             : 
+     256             :   // The actual segments containing the solution.
+     257             :   Segment::Vector segments_;
+     258             : 
+     259             :   // Vector that stores an inverted mapping matrix for each segment
+     260             :   // (A^-1 in [1]).
+     261             :   SquareMatrixVector inverse_mapping_matrices_;
+     262             : 
+     263             :   // Vector that stores the cost matrix for each segment (Q in [1]).
+     264             :   SquareMatrixVector cost_matrices_;
+     265             : 
+     266             :   // Contains the compact form of fixed constraints for each dimension
+     267             :   // (d_f in [1]).
+     268             :   std::vector<Eigen::VectorXd> fixed_constraints_compact_;
+     269             : 
+     270             :   // Contains the compact form of free constraints to optimize for each
+     271             :   // dimension (d_p in [1]).
+     272             :   std::vector<Eigen::VectorXd> free_constraints_compact_;
+     273             : 
+     274             :   std::vector<double> segment_times_;
+     275             : 
+     276             :   // Number of polynomials, e.g 3 for a 3D path.
+     277             :   size_t dimension_;
+     278             : 
+     279             :   int    derivative_to_optimize_;
+     280             :   size_t n_vertices_;
+     281             :   size_t n_segments_;
+     282             : 
+     283             :   size_t n_all_constraints_;
+     284             :   size_t n_fixed_constraints_;
+     285             :   size_t n_free_constraints_;
+     286             : };
+     287             : 
+     288             : // Constraint class that aggregates all constraints from incoming Vertices.
+     289       21380 : struct Constraint
+     290             : {
+     291       33910 :   inline bool operator<(const Constraint& rhs) const {
+     292       33910 :     if (vertex_idx < rhs.vertex_idx)
+     293             :       return true;
+     294       33068 :     if (rhs.vertex_idx < vertex_idx)
+     295             :       return false;
+     296             : 
+     297       11934 :     if (constraint_idx < rhs.constraint_idx)
+     298             :       return true;
+     299             :     if (rhs.constraint_idx < constraint_idx)
+     300             :       return false;
+     301             :     return false;
+     302             :   }
+     303             : 
+     304      404500 :   inline bool operator==(const Constraint& rhs) const {
+     305      404500 :     return vertex_idx == rhs.vertex_idx && constraint_idx == rhs.constraint_idx;
+     306             :   }
+     307             : 
+     308             :   size_t                  vertex_idx;
+     309             :   size_t                  constraint_idx;
+     310             :   Vertex::ConstraintValue value;
+     311             : };
+     312             : 
+     313             : }  // namespace eth_trajectory_generation
+     314             : 
+     315             : #include "eth_trajectory_generation/impl/polynomial_optimization_linear_impl.h"
+     316             : 
+     317             : #endif  // ETH_TRAJECTORY_GENERATION_POLYNOMIAL_OPTIMIZATION_LINEAR_H_
+
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          Line data    Source code
+
+       1             : /*
+       2             :  * Copyright (c) 2016, Markus Achtelik, ASL, ETH Zurich, Switzerland
+       3             :  * Copyright (c) 2016, Michael Burri, ASL, ETH Zurich, Switzerland
+       4             :  * Copyright (c) 2016, Helen Oleynikova, ASL, ETH Zurich, Switzerland
+       5             :  * Copyright (c) 2016, Rik Bähnemann, ASL, ETH Zurich, Switzerland
+       6             :  * Copyright (c) 2016, Marija Popovic, ASL, ETH Zurich, Switzerland
+       7             :  *
+       8             :  * Licensed under the Apache License, Version 2.0 (the "License");
+       9             :  * you may not use this file except in compliance with the License.
+      10             :  * You may obtain a copy of the License at
+      11             :  *
+      12             :  * http://www.apache.org/licenses/LICENSE-2.0
+      13             :  *
+      14             :  * Unless required by applicable law or agreed to in writing, software
+      15             :  * distributed under the License is distributed on an "AS IS" BASIS,
+      16             :  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+      17             :  * See the License for the specific language governing permissions and
+      18             :  * limitations under the License.
+      19             :  */
+      20             : 
+      21             : #ifndef ETH_TRAJECTORY_GENERATION_POLYNOMIAL_OPTIMIZATION_NONLINEAR_H_
+      22             : #define ETH_TRAJECTORY_GENERATION_POLYNOMIAL_OPTIMIZATION_NONLINEAR_H_
+      23             : 
+      24             : #include <memory>
+      25             : #include <nlopt.hpp>
+      26             : 
+      27             : #include <eth_trajectory_generation/polynomial_optimization_linear.h>
+      28             : 
+      29             : namespace eth_trajectory_generation
+      30             : {
+      31             : 
+      32             : constexpr double kOptimizationTimeLowerBound = 0.01;
+      33             : 
+      34             : // Class holding all important parameters for nonlinear optimization.
+      35             : struct NonlinearOptimizationParameters
+      36             : {
+      37             :   // Default parameters should be reasonable enough to use without further
+      38             :   // fine-tuning.
+      39             : 
+      40             :   // Stopping criteria, if objective function changes less than absolute value.
+      41             :   // Disabled if negative.
+      42             :   double f_abs = -1;
+      43             : 
+      44             :   // Stopping criteria, if objective function changes less than relative value.
+      45             :   // Disabled if negative.
+      46             :   double f_rel = 0.05;
+      47             : 
+      48             :   // Stopping criteria, if state changes less than relative value.
+      49             :   // Disabled if negative.
+      50             :   double x_rel = -1;
+      51             : 
+      52             :   // Stopping criteria, if state changes less than absolute value.
+      53             :   // Disabled if negative.
+      54             :   double x_abs = -1;
+      55             : 
+      56             :   // Determines a fraction of the initial guess as initial step size.
+      57             :   // Heuristic value if negative.
+      58             :   double initial_stepsize_rel = 0.1;
+      59             : 
+      60             :   // Absolute tolerance, within an equality constraint is considered as met.
+      61             :   double equality_constraint_tolerance = 1.0e-3;
+      62             : 
+      63             :   // Absolute tolerance, within an inequality constraint is considered as met.
+      64             :   double inequality_constraint_tolerance = 0.1;
+      65             : 
+      66             :   // Maximum number of iterations. Disabled if negative.
+      67             :   int max_iterations = 3000;
+      68             : 
+      69             :   // max execution time in secs
+      70             :   double max_time = 1.0;
+      71             : 
+      72             :   // Penalty for the segment time.
+      73             :   double time_penalty = 500.0;
+      74             : 
+      75             :   // Optimization algorithm used by nlopt, see
+      76             :   // http://ab-initio.mit.edu/wiki/index.php/NLopt_Algorithms
+      77             :   // Previous value was nlopt::LN_SBPLX, but we found that BOBYQA has slightly
+      78             :   // better convergence and lower run-time in the unit tests.
+      79             :   nlopt::algorithm algorithm = nlopt::LN_BOBYQA;
+      80             : 
+      81             :   // Random seed, if an optimization algorithm involving random numbers
+      82             :   // is used (e.g. nlopt::GN_ISRES).
+      83             :   // If set to a value < 0, a "random" (getTimeofday) value for the seed
+      84             :   // is chosen.
+      85             :   int random_seed = 0;
+      86             : 
+      87             :   // Decide whether to use soft constraints.
+      88             :   bool use_soft_constraints = true;
+      89             : 
+      90             :   // Weights the relative violation of a soft constraint.
+      91             :   double soft_constraint_weight = 100.0;
+      92             : 
+      93             :   enum TimeAllocMethod
+      94             :   {
+      95             :     kSquaredTime               = 0,
+      96             :     kRichterTime               = 1,
+      97             :     kMellingerOuterLoop        = 2,
+      98             :     kSquaredTimeAndConstraints = 3,
+      99             :     kRichterTimeAndConstraints = 4,
+     100             :     kUnknown                   = 5,
+     101             :   } time_alloc_method = kSquaredTimeAndConstraints;
+     102             : 
+     103             :   bool print_debug_info                 = false;
+     104             :   bool print_debug_info_time_allocation = false;
+     105             : };
+     106             : 
+     107         122 : struct OptimizationInfo
+     108             : {
+     109             :   int                     n_iterations          = 0;
+     110             :   int                     stopping_reason       = nlopt::FAILURE;
+     111             :   double                  cost_trajectory       = 0.0;
+     112             :   double                  cost_time             = 0.0;
+     113             :   double                  cost_soft_constraints = 0.0;
+     114             :   double                  optimization_time     = 0.0;
+     115             :   std::map<int, Extremum> maxima;
+     116             : };
+     117             : 
+     118             : std::ostream& operator<<(std::ostream& stream, const OptimizationInfo& val);
+     119             : 
+     120             : // Implements a nonlinear optimization of the unconstrained optimization
+     121             : // of paths consisting of polynomial segments as described in [1]
+     122             : // [1]: Polynomial Trajectory Planning for Aggressive Quadrotor Flight in Dense
+     123             : // Indoor Environments.
+     124             : // Charles Richter, Adam Bry, and Nicholas Roy. In ISRR 2013
+     125             : // _N specifies the number of coefficients for the underlying polynomials.
+     126             : template <int _N = 10>
+     127             : class PolynomialOptimizationNonLinear {
+     128             :   static_assert(_N % 2 == 0, "The number of coefficients has to be even.");
+     129             : 
+     130             : public:
+     131             :   enum
+     132             :   {
+     133             :     N = _N
+     134             :   };
+     135             : 
+     136             :   // Sets up the nonlinear optimization problem.
+     137             :   // Input: dimension = Spatial dimension of the problem. Usually 1 or 3.
+     138             :   // Input: parameters = Parameters for the optimization problem.
+     139             :   // Input: optimize_time_only = Specifies whether the optimization is run
+     140             :   // over the segment times only.
+     141             :   // If true, only the segment times are optimization parameters, and the
+     142             :   // remaining free parameters are found by solving the linear optimization
+     143             :   // problem with the given segment times in every iteration.
+     144             :   // If false, both segment times and free derivatives become optimization
+     145             :   // variables. The latter case is theoretically correct, but may result in
+     146             :   // more iterations.
+     147             :   PolynomialOptimizationNonLinear(size_t dimension, const NonlinearOptimizationParameters& parameters);
+     148             : 
+     149             :   // Sets up the optimization problem from a vector of Vertex objects and
+     150             :   // a vector of times between the vertices.
+     151             :   // Input: vertices = Vector containing the vertices defining the support
+     152             :   // points and constraints of the path.
+     153             :   // Input: segment_times = Vector containing an initial guess of the time
+     154             :   // between two vertices. Thus, its size is size(vertices) - 1.
+     155             :   // Input: derivative_to_optimize = Specifies the derivative of which the
+     156             :   // cost is optimized.
+     157             :   bool setupFromVertices(const Vertex::Vector& vertices, const std::vector<double>& segment_times,
+     158             :                          int derivative_to_optimize = PolynomialOptimization<N>::kHighestDerivativeToOptimize);
+     159             : 
+     160             :   // Adds a constraint for the maximum of magnitude to the optimization
+     161             :   // problem.
+     162             :   // Input: derivative_order = Order of the derivative, for which the
+     163             :   // constraint should be checked. Usually velocity (=1) or acceleration (=2).
+     164             :   // maximum_value = Maximum magnitude of the specified derivative.
+     165             :   bool addMaximumMagnitudeConstraint(int dimension, int derivative_order, double maximum_value);
+     166             : 
+     167             :   // Solves the linear optimization problem according to [1].
+     168             :   // The solver is re-used for every dimension, which means:
+     169             :   //  - segment times are equal for each dimension.
+     170             :   //  - each dimension has the same type/set of constraints. Their values can of
+     171             :   // course differ.
+     172             :   bool solveLinear();
+     173             : 
+     174             :   // Runs the optimization until one of the stopping criteria in
+     175             :   // NonlinearOptimizationParameters and the constraints are met.
+     176             :   int optimize();
+     177             : 
+     178             :   // Get the resulting trajectory out -- prefer this as the main method
+     179             :   // to get the results of the optimization, over getting the reference
+     180             :   // to the linear optimizer.
+     181          27 :   void getTrajectory(Trajectory* trajectory) const {
+     182          27 :     poly_opt_.getTrajectory(trajectory);
+     183          27 :   }
+     184             : 
+     185             :   // Returns a const reference to the underlying linear optimization
+     186             :   // object.
+     187             :   const PolynomialOptimization<N>& getPolynomialOptimizationRef() const {
+     188             :     return poly_opt_;
+     189             :   }
+     190             : 
+     191             :   // Returns a non-const reference to the underlying linear optimization
+     192             :   // object.
+     193          27 :   PolynomialOptimization<N>& getPolynomialOptimizationRef() {
+     194             :     return poly_opt_;
+     195             :   }
+     196             : 
+     197          81 :   OptimizationInfo getOptimizationInfo() const {
+     198         143 :     return optimization_info_;
+     199             :   }
+     200             : 
+     201             :   // Functions for optimization, but may be useful for diagnostics outside.
+     202             :   // Gets the trajectory cost (same as the cost in the linear problem).
+     203             :   double getCost() const;
+     204             : 
+     205             :   // Gets the cost including the soft constraints and time costs, should be
+     206             :   // the same cost function as used in the full optimization. Returns the same
+     207             :   // metrics regardless of time estimation method set.
+     208             :   double getTotalCostWithSoftConstraints() const;
+     209             : 
+     210             :   void scaleSegmentTimesWithViolation();
+     211             : 
+     212             : private:
+     213             :   // Holds the data for constraint evaluation, since these methods are
+     214             :   // static.
+     215             :   struct ConstraintData
+     216             :   {
+     217             :     PolynomialOptimizationNonLinear<N>* this_object;
+     218             :     int                                 derivative;
+     219             :     int                                 dimension;
+     220             :     double                              value;
+     221             :   };
+     222             : 
+     223             :   // Objective function for the time-only version.
+     224             :   // Input: segment_times = Segment times in the current iteration.
+     225             :   // Input: gradient = Gradient of the objective function w.r.t. changes of
+     226             :   // parameters. We can't compute the gradient analytically here.
+     227             :   // Thus, only gradient-free optimization methods are possible.
+     228             :   // Input: Custom data pointer = In our case, it's an ConstraintData object.
+     229             :   // Output: Cost = based on the parameters passed in.
+     230             :   static double objectiveFunctionTime(const std::vector<double>& segment_times, std::vector<double>& gradient, void* data);
+     231             : 
+     232             :   // Objective function for the time-only Mellinger Outer Loop.
+     233             :   // Input: segment_times = Segment times in the current iteration.
+     234             :   // Input: gradient = Gradient of the objective function w.r.t. changes of
+     235             :   // parameters. We can't compute the gradient analytically here.
+     236             :   // Thus, only gradient-free optimization methods are possible.
+     237             :   // Input: Custom data pointer = In our case, it's an ConstraintData object.
+     238             :   // Output: Cost = based on the parameters passed in.
+     239             :   static double objectiveFunctionTimeMellingerOuterLoop(const std::vector<double>& segment_times, std::vector<double>& gradient, void* data);
+     240             : 
+     241             :   // Objective function for the version optimizing segment times and free
+     242             :   // derivatives.
+     243             :   // Input: optimization_variables = Optimization variables times in the
+     244             :   // current iteration.
+     245             :   // The variables (time, derivatives) are stacked as follows: [segment_times
+     246             :   // derivatives_dim_0 ... derivatives_dim_N]
+     247             :   // Input: gradient = Gradient of the objective function wrt. changes of
+     248             :   // parameters. We can't compute the gradient analytically here.
+     249             :   // Thus, only gradient free optimization methods are possible.
+     250             :   // Input: data = Custom data pointer. In our case, it's an ConstraintData
+     251             :   // object.
+     252             :   // Output: Cost based on the parameters passed in.
+     253             :   static double objectiveFunctionTimeAndConstraints(const std::vector<double>& optimization_variables, std::vector<double>& gradient, void* data);
+     254             : 
+     255             :   // Evaluates the maximum magnitude constraint at the current value of
+     256             :   // the optimization variables.
+     257             :   // All input parameters are ignored, all information is contained in data.
+     258             :   static double evaluateMaximumMagnitudeConstraint(const std::vector<double>& optimization_variables, std::vector<double>& gradient, void* data);
+     259             : 
+     260             :   // Does the actual optimization work for the time-only version.
+     261             :   int optimizeTime();
+     262             :   int optimizeTimeMellingerOuterLoop();
+     263             : 
+     264             :   // Does the actual optimization work for the full optimization version.
+     265             :   int optimizeTimeAndFreeConstraints();
+     266             : 
+     267             :   // Evaluates the maximum magnitude constraints as soft constraints and
+     268             :   // returns a cost, depending on the violation of the constraints.
+     269             :   // cost_i = min(maximum_cost, exp(abs_violation_i / max_allowed_i * weight))
+     270             :   //  cost = sum(cost_i)
+     271             :   // Input: inequality_constraints = Vector of ConstraintData shared_ptrs,
+     272             :   // describing the constraints.
+     273             :   // Input: weight = Multiplicative weight of the constraint violation.
+     274             :   // Input: maximum_cost = Upper bound of the cost. Necessary, since exp of a
+     275             :   // high violation can end up in inf.
+     276             :   // Output: Sum of the costs per constraint.
+     277             :   double evaluateMaximumMagnitudeAsSoftConstraint(const std::vector<std::shared_ptr<ConstraintData>>& inequality_constraints, double weight,
+     278             :                                                   double maximum_cost = 1.0e12) const;
+     279             : 
+     280             :   // Set lower and upper bounds on the optimization parameters
+     281             :   void setFreeEndpointDerivativeHardConstraints(const Vertex::Vector& vertices, std::vector<double>* lower_bounds, std::vector<double>* upper_bounds);
+     282             : 
+     283             :   // Computes the gradients by doing forward difference!
+     284             :   double getCostAndGradientMellinger(std::vector<double>* gradients);
+     285             : 
+     286             :   // Computes the total trajectory time.
+     287             :   static double computeTotalTrajectoryTime(const std::vector<double>& segment_times);
+     288             : 
+     289             :   // nlopt optimization object.
+     290             :   std::shared_ptr<nlopt::opt> nlopt_;
+     291             : 
+     292             :   // Underlying linear optimization object.
+     293             :   PolynomialOptimization<N> poly_opt_;
+     294             : 
+     295             :   // Parameters for the nonlinear optimzation.
+     296             :   NonlinearOptimizationParameters optimization_parameters_;
+     297             : 
+     298             :   // Holds the data for evaluating inequality constraints.
+     299             :   std::vector<std::shared_ptr<ConstraintData>> inequality_constraints_;
+     300             : 
+     301             :   OptimizationInfo optimization_info_;
+     302             : };
+     303             : 
+     304             : }  // namespace eth_trajectory_generation
+     305             : 
+     306             : namespace nlopt
+     307             : {
+     308             : // Convenience function that turns nlopt's return values into something
+     309             : // readable.
+     310             : std::string returnValueToString(int return_value);
+     311             : }  // namespace nlopt
+     312             : 
+     313             : #endif  // ETH_TRAJECTORY_GENERATION_POLYNOMIAL_OPTIMIZATION_NONLINEAR_H_
+     314             : 
+     315             : #include "eth_trajectory_generation/impl/polynomial_optimization_nonlinear_impl.h"
+
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+
          Line data    Source code
+
+       1             : /*
+       2             :  * Copyright (c) 2016, Markus Achtelik, ASL, ETH Zurich, Switzerland
+       3             :  * Copyright (c) 2016, Michael Burri, ASL, ETH Zurich, Switzerland
+       4             :  * Copyright (c) 2016, Helen Oleynikova, ASL, ETH Zurich, Switzerland
+       5             :  * Copyright (c) 2016, Rik Bähnemann, ASL, ETH Zurich, Switzerland
+       6             :  * Copyright (c) 2016, Marija Popovic, ASL, ETH Zurich, Switzerland
+       7             :  *
+       8             :  * Licensed under the Apache License, Version 2.0 (the "License");
+       9             :  * you may not use this file except in compliance with the License.
+      10             :  * You may obtain a copy of the License at
+      11             :  *
+      12             :  * http://www.apache.org/licenses/LICENSE-2.0
+      13             :  *
+      14             :  * Unless required by applicable law or agreed to in writing, software
+      15             :  * distributed under the License is distributed on an "AS IS" BASIS,
+      16             :  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+      17             :  * See the License for the specific language governing permissions and
+      18             :  * limitations under the License.
+      19             :  */
+      20             : 
+      21             : #ifndef ETH_TRAJECTORY_GENERATION_SEGMENT_H_
+      22             : #define ETH_TRAJECTORY_GENERATION_SEGMENT_H_
+      23             : 
+      24             : #include <Eigen/Core>
+      25             : #include <chrono>
+      26             : #include <map>
+      27             : #include <vector>
+      28             : 
+      29             : #include <eth_trajectory_generation/misc.h>
+      30             : #include <eth_trajectory_generation/extremum.h>
+      31             : #include <eth_trajectory_generation/motion_defines.h>
+      32             : #include <eth_trajectory_generation/polynomial.h>
+      33             : 
+      34             : namespace eth_trajectory_generation
+      35             : {
+      36             : 
+      37             : constexpr double kNumNSecPerSec = 1.0e9;
+      38             : constexpr double kNumSecPerNsec = 1.0e-9;
+      39             : 
+      40             : // Class holding the properties of parametric segment of a path.
+      41             : // Time of the segment and one polynomial for each dimension.
+      42             : //    X------------X---------------X
+      43             : //  vertex             segment
+      44        1600 : class Segment {
+      45             : public:
+      46             :   typedef std::vector<Segment> Vector;
+      47             : 
+      48          30 :   Segment(int N, int D) : time_(0.0), N_(N), D_(D) {
+      49          30 :     polynomials_.resize(D_, Polynomial(N_));
+      50          30 :   }
+      51        1570 :   Segment(const Segment& segment) = default;
+      52             : 
+      53             :   bool        operator==(const Segment& rhs) const;
+      54             :   inline bool operator!=(const Segment& rhs) const {
+      55             :     return !operator==(rhs);
+      56             :   }
+      57             : 
+      58        2947 :   int D() const {
+      59        2947 :     return D_;
+      60             :   }
+      61         842 :   int N() const {
+      62         842 :     return N_;
+      63             :   }
+      64       36663 :   double getTime() const {
+      65       34978 :     return time_;
+      66             :   }
+      67             :   uint64_t getTimeNSec() const {
+      68             :     return static_cast<uint64_t>(kNumNSecPerSec * time_);
+      69             :   }
+      70             : 
+      71      168317 :   void setTime(double time_sec) {
+      72      168317 :     time_ = time_sec;
+      73             :   }
+      74             :   void setTimeNSec(uint64_t time_ns) {
+      75             :     time_ = time_ns * kNumSecPerNsec;
+      76             :   }
+      77             : 
+      78             :   Polynomial& operator[](size_t idx);
+      79             : 
+      80             :   const Polynomial& operator[](size_t idx) const;
+      81             : 
+      82             :   const Polynomial::Vector& getPolynomialsRef() const {
+      83             :     return polynomials_;
+      84             :   }
+      85             : 
+      86             :   Eigen::VectorXd evaluate(double t, int derivative_order = derivative_order::POSITION) const;
+      87             : 
+      88             :   // Computes the candidates for the minimum and maximum magnitude of a single
+      89             :   // segment in the specified derivative. In the 1D case, it simply returns the
+      90             :   // roots of the derivative of the segment-polynomial. For higher dimensions,
+      91             :   // e.g. 3D, we need to find the extrema of \sqrt{x(t)^2 + y(t)^2 + z(t)^2}
+      92             :   // where x, y, z are polynomials describing the position or the derivative,
+      93             :   // specified by Derivative. Taking the derivative yields
+      94             :   // 2 x \dot{x} + 2 y \dot{y} + 2 z \dot{z}, which needs to be zero at the
+      95             :   // extrema. The multiplication of two polynomials is a convolution of their
+      96             :   // coefficients. Re-ordering by their powers and addition yields a polynomial,
+      97             :   // for which we can compute the roots.
+      98             :   // Input: derivative = Derivative of position, in which to find the maxima.
+      99             :   // Input: t_start = Only maxima >= t_start are returned. Usually set to 0.
+     100             :   // Input: t_stop = Only maxima <= t_stop are returned. Usually set to segment
+     101             :   // time.
+     102             :   // Input: dimensions = Vector containing the dimensions that are evaluated.
+     103             :   // Usually [0, 1, 2] for position, [3] for yaw.
+     104             :   // Output: candidates = Vector containing the candidate extrema times.
+     105             :   // Returns whether the computation succeeded -- false means no candidates
+     106             :   // were found by Jenkins-Traub.
+     107             :   bool computeMinMaxMagnitudeCandidateTimes(int derivative, double t_start, double t_end, const std::vector<int>& dimensions,
+     108             :                                             std::vector<double>* candidate_times) const;
+     109             : 
+     110             :   // Convenience function. Additionally evaluates the candidate times.
+     111             :   bool computeMinMaxMagnitudeCandidates(int derivative, double t_start, double t_end, const std::vector<int>& dimensions,
+     112             :                                         std::vector<Extremum>* candidates) const;
+     113             : 
+     114             :   // Convenience function. Evaluates the magnitudes between t_start and t_end
+     115             :   // for a set of candidates for given dimensions.
+     116             :   bool selectMinMaxMagnitudeFromCandidates(int derivative, double t_start, double t_end, const std::vector<int>& dimensions,
+     117             :                                            const std::vector<Extremum>& candidates, Extremum* minimum, Extremum* maximum) const;
+     118             : 
+     119             :   // Split a segment to get a segment with the specified dimension.
+     120             :   bool getSegmentWithSingleDimension(int dimension, Segment* new_segment) const;
+     121             :   // Compose this segment and another segment to a new segment.
+     122             :   bool getSegmentWithAppendedDimension(const Segment& segment_to_append, Segment* new_segment) const;
+     123             : 
+     124             :   // Offset this segment by vector A_r_B.
+     125             :   bool offsetSegment(const Eigen::VectorXd& A_r_B);
+     126             : 
+     127             : protected:
+     128             :   Polynomial::Vector polynomials_;
+     129             :   double             time_;
+     130             : 
+     131             : private:
+     132             :   int N_;  // Number of coefficients.
+     133             :   int D_;  // Number of dimensions.
+     134             : };
+     135             : 
+     136             : // Prints the properties of the segment.
+     137             : // Polynomial coefficients are printed with increasing powers,
+     138             : // i.e. c_0 + c_1*t ... c_{N-1} * t^{N-1}
+     139             : void printSegment(std::ostream& stream, const Segment& s, int derivative);
+     140             : 
+     141             : std::ostream& operator<<(std::ostream& stream, const Segment& s);
+     142             : 
+     143             : std::ostream& operator<<(std::ostream& stream, const std::vector<Segment>& segments);
+     144             : 
+     145             : }  // namespace eth_trajectory_generation
+     146             : 
+     147             : #endif  // ETH_TRAJECTORY_GENERATION_SEGMENT_H_
+
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          Line data    Source code
+
+       1             : /*
+       2             :  * Copyright (c) 2016, Markus Achtelik, ASL, ETH Zurich, Switzerland
+       3             :  * Copyright (c) 2016, Michael Burri, ASL, ETH Zurich, Switzerland
+       4             :  * Copyright (c) 2016, Helen Oleynikova, ASL, ETH Zurich, Switzerland
+       5             :  * Copyright (c) 2016, Rik Bähnemann, ASL, ETH Zurich, Switzerland
+       6             :  * Copyright (c) 2016, Marija Popovic, ASL, ETH Zurich, Switzerland
+       7             :  *
+       8             :  * Licensed under the Apache License, Version 2.0 (the "License");
+       9             :  * you may not use this file except in compliance with the License.
+      10             :  * You may obtain a copy of the License at
+      11             :  *
+      12             :  * http://www.apache.org/licenses/LICENSE-2.0
+      13             :  *
+      14             :  * Unless required by applicable law or agreed to in writing, software
+      15             :  * distributed under the License is distributed on an "AS IS" BASIS,
+      16             :  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+      17             :  * See the License for the specific language governing permissions and
+      18             :  * limitations under the License.
+      19             :  */
+      20             : 
+      21             : /* Adapted from Paul Furgale Schweizer Messer sm_timing */
+      22             : 
+      23             : #ifndef ETH_TRAJECTORY_GENERATION_TIMING_H_
+      24             : #define ETH_TRAJECTORY_GENERATION_TIMING_H_
+      25             : 
+      26             : #include <algorithm>
+      27             : #include <chrono>
+      28             : #include <limits>
+      29             : #include <map>
+      30             : #include <string>
+      31             : #include <vector>
+      32             : 
+      33             : namespace eth_trajectory_generation
+      34             : {
+      35             : namespace timing
+      36             : {
+      37             : 
+      38             : template <typename T, typename Total, int N>
+      39             : class Accumulator {
+      40             : public:
+      41           0 :   Accumulator() : window_samples_(0), total_samples_(0), window_sum_(0), sum_(0), min_(std::numeric_limits<T>::max()), max_(std::numeric_limits<T>::min()) {
+      42             :   }
+      43             : 
+      44           0 :   void Add(T sample) {
+      45           0 :     if (window_samples_ < N) {
+      46           0 :       samples_[window_samples_++] = sample;
+      47           0 :       window_sum_ += sample;
+      48             :     } else {
+      49           0 :       T& oldest = samples_[window_samples_++ % N];
+      50           0 :       window_sum_ += sample - oldest;
+      51           0 :       oldest = sample;
+      52             :     }
+      53           0 :     sum_ += sample;
+      54           0 :     ++total_samples_;
+      55           0 :     if (sample > max_) {
+      56           0 :       max_ = sample;
+      57             :     }
+      58           0 :     if (sample < min_) {
+      59           0 :       min_ = sample;
+      60             :     }
+      61           0 :   }
+      62             : 
+      63           0 :   int TotalSamples() const {
+      64             :     return total_samples_;
+      65             :   }
+      66             : 
+      67           0 :   double Sum() const {
+      68             :     return sum_;
+      69             :   }
+      70             : 
+      71           0 :   double Mean() const {
+      72           0 :     return sum_ / total_samples_;
+      73             :   }
+      74             : 
+      75           0 :   double RollingMean() const {
+      76           0 :     return window_sum_ / std::min(window_samples_, N);
+      77             :   }
+      78             : 
+      79           0 :   double Max() const {
+      80             :     return max_;
+      81             :   }
+      82             : 
+      83           0 :   double Min() const {
+      84             :     return min_;
+      85             :   }
+      86             : 
+      87           0 :   double LazyVariance() const {
+      88           0 :     if (window_samples_ == 0) {
+      89             :       return 0.0;
+      90             :     }
+      91           0 :     double var  = 0;
+      92           0 :     double mean = RollingMean();
+      93           0 :     for (int i = 0; i < std::min(window_samples_, N); ++i) {
+      94           0 :       var += (samples_[i] - mean) * (samples_[i] - mean);
+      95             :     }
+      96           0 :     var /= std::min(window_samples_, N);
+      97           0 :     return var;
+      98             :   }
+      99             : 
+     100             : private:
+     101             :   int   window_samples_;
+     102             :   int   total_samples_;
+     103             :   Total window_sum_;
+     104             :   Total sum_;
+     105             :   T     min_;
+     106             :   T     max_;
+     107             :   T     samples_[N];
+     108             : };
+     109             : 
+     110             : struct TimerMapValue
+     111             : {
+     112           0 :   TimerMapValue() {
+     113             :   }
+     114             : 
+     115             :   // Create an accumulator with specified window size.
+     116             :   Accumulator<double, double, 50> acc_;
+     117             : };
+     118             : 
+     119             : // A class that has the timer interface but does nothing. Swapping this in in
+     120             : // place of the Timer class (say with a typedef) should allow one to disable
+     121             : // timing. Because all of the functions are inline, they should just disappear.
+     122             : class DummyTimer {
+     123             : public:
+     124             :   DummyTimer(size_t /*handle*/, bool /*constructStopped*/ = false) {
+     125             :   }
+     126             :   DummyTimer(std::string const& /*tag*/, bool /*constructStopped*/ = false) {
+     127             :   }
+     128             :   ~DummyTimer() {
+     129             :   }
+     130             : 
+     131             :   void Start() {
+     132             :   }
+     133             :   void Stop() {
+     134             :   }
+     135             :   bool IsTiming() {
+     136             :     return false;
+     137             :   }
+     138             : };
+     139             : 
+     140             : class Timer {
+     141             : public:
+     142             :   Timer(size_t handle, bool constructStopped = false);
+     143             :   Timer(std::string const& tag, bool constructStopped = false);
+     144             :   ~Timer();
+     145             : 
+     146             :   void Start();
+     147             :   void Stop();
+     148             :   bool IsTiming() const;
+     149             : 
+     150             : private:
+     151             :   std::chrono::time_point<std::chrono::system_clock> time_;
+     152             : 
+     153             :   bool   timing_;
+     154             :   size_t handle_;
+     155             : };
+     156             : 
+     157             : class Timing {
+     158             : public:
+     159             :   typedef std::map<std::string, size_t> map_t;
+     160             :   friend class Timer;
+     161             :   // Definition of static functions to query the timers.
+     162             :   static size_t       GetHandle(std::string const& tag);
+     163             :   static std::string  GetTag(size_t handle);
+     164             :   static double       GetTotalSeconds(size_t handle);
+     165             :   static double       GetTotalSeconds(std::string const& tag);
+     166             :   static double       GetMeanSeconds(size_t handle);
+     167             :   static double       GetMeanSeconds(std::string const& tag);
+     168             :   static size_t       GetNumSamples(size_t handle);
+     169             :   static size_t       GetNumSamples(std::string const& tag);
+     170             :   static double       GetVarianceSeconds(size_t handle);
+     171             :   static double       GetVarianceSeconds(std::string const& tag);
+     172             :   static double       GetMinSeconds(size_t handle);
+     173             :   static double       GetMinSeconds(std::string const& tag);
+     174             :   static double       GetMaxSeconds(size_t handle);
+     175             :   static double       GetMaxSeconds(std::string const& tag);
+     176             :   static double       GetHz(size_t handle);
+     177             :   static double       GetHz(std::string const& tag);
+     178             :   static void         Print(std::ostream& out);
+     179             :   static std::string  Print();
+     180             :   static std::string  SecondsToTimeString(double seconds);
+     181             :   static void         Reset();
+     182             :   static const map_t& GetTimers() {
+     183             :     return Instance().tag_map_;
+     184             :   }
+     185             : 
+     186             : private:
+     187             :   void AddTime(size_t handle, double seconds);
+     188             : 
+     189             :   static Timing& Instance();
+     190             : 
+     191             :   Timing();
+     192             :   ~Timing();
+     193             : 
+     194             :   typedef std::vector<TimerMapValue> list_t;
+     195             : 
+     196             :   list_t timers_;
+     197             :   map_t  tag_map_;
+     198             :   size_t max_tag_length_;
+     199             : };
+     200             : 
+     201             : #if DISABLE_TIMING
+     202             : typedef DummyTimer DebugTimer;
+     203             : #else
+     204             : typedef Timer DebugTimer;
+     205             : #endif
+     206             : 
+     207             : // Small timer for benchmarking.
+     208             : class MiniTimer {
+     209             : public:
+     210             :   MiniTimer() : start_(std::chrono::system_clock::now()) {
+     211             :   }
+     212             : 
+     213             :   void start() {
+     214             :     start_ = std::chrono::system_clock::now();
+     215             :   }
+     216             : 
+     217             :   double stop() {
+     218             :     end_ = std::chrono::system_clock::now();
+     219             :     return getTime();
+     220             :   }
+     221             : 
+     222             :   double getTime() const {
+     223             :     if (end_ < start_) {
+     224             :       return 0.0;
+     225             :     }
+     226             :     std::chrono::duration<double> duration = end_ - start_;
+     227             :     return duration.count();
+     228             :   }
+     229             : 
+     230             : private:
+     231             :   std::chrono::time_point<std::chrono::system_clock> start_;
+     232             :   std::chrono::time_point<std::chrono::system_clock> end_;
+     233             : };
+     234             : 
+     235             : }  // namespace timing
+     236             : }  // namespace eth_trajectory_generation
+     237             : 
+     238             : #endif  // ETH_TRAJECTORY_GENERATION_TIMING_H_
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_trajectory_generation/include/eth_trajectory_generation/timing.h.gcov.overview.html b/mrs_uav_trajectory_generation/include/eth_trajectory_generation/timing.h.gcov.overview.html new file mode 100644 index 0000000000..aacb270f7b --- /dev/null +++ b/mrs_uav_trajectory_generation/include/eth_trajectory_generation/timing.h.gcov.overview.html @@ -0,0 +1,80 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trajectory_generation/include/eth_trajectory_generation/timing.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 + + +
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+ Overview +
+ + diff --git a/mrs_uav_trajectory_generation/include/eth_trajectory_generation/timing.h.gcov.png b/mrs_uav_trajectory_generation/include/eth_trajectory_generation/timing.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..99b3a26b1866150aa650537725f0658ba5a7e50d GIT binary patch literal 1036 zcmV+n1oQieP)qV$0000OP)t-s|NsB0 zs;a7|?_FK${{R500003000620&P%hU00009a7bBm000ie000ie0hKEb8vplDp8i`|TLK*x5@=RVUdZm7Oy-9hA#gU@oCH7@!S!|j!}|^L z`|zJg1u|H{J%I5uxWGuvpHKk~aGH)C;FQ%!%!J>>ca1Ufg)AK^A7Kq7ygw1$RMAs9 zHiQarhGX;|vbV!GfXM??iB5rGJVwj#kreEZ^peAb$wlHGl2?u*|Fm!5s_1>8R+1*;Uj6Yva-hoVnQ zz0C2b{1`lUJek*`dkSXYF;Iw=}s+cIa&uZi}Sf)92B zQ`L>liII_F7;#*GO0i_i-&se~>eqBU@5=J%n98+>e&^Ve2o8N&#`=(u^RNAoj(;K6 ze?doXtNom;THJL;kAR%HrZHY?nBmpv435v583FIEd0ci>?eP56%`_Nuvf<~MyXT$m zXU);y70%D7Sf0k%9G4fD<4!L~+~j)e1sXw5mu6c@^j#q_V3z|ugO7vP9Ho)VV(mUC zN_r_PyY609gfLn$(fX1;f3wh_--$0s!-<6n+O{ z)Y9k=vc<`ZCRurfGLcF!moNUYwRB?^#RFR@YHB8BDi>$@hrqMoBu8_8d}qo9kH4pk z0hcY499=v)B+EpJ)Ps`^ACANlA4-n)%XXIe3(wE5M6Kp0000 + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trajectory_generation/include/eth_trajectory_generation/trajectory.h - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_trajectory_generation/include/eth_trajectory_generation - trajectory.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:244158.5 %
Date:2024-01-20 21:44:18Functions:2366.7 %
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Function Name Sort by function nameHit count Sort by hit count
eth_trajectory_generation::Trajectory::clear()0
eth_trajectory_generation::Trajectory::addSegments(std::vector<eth_trajectory_generation::Segment, std::allocator<eth_trajectory_generation::Segment> > const&)57
eth_trajectory_generation::Trajectory::setSegments(std::vector<eth_trajectory_generation::Segment, std::allocator<eth_trajectory_generation::Segment> > const&)57
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eth_trajectory_generation::Trajectory::addSegments(std::vector<eth_trajectory_generation::Segment, std::allocator<eth_trajectory_generation::Segment> > const&)57
eth_trajectory_generation::Trajectory::setSegments(std::vector<eth_trajectory_generation::Segment, std::allocator<eth_trajectory_generation::Segment> > const&)57
eth_trajectory_generation::Trajectory::clear()0
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+
          Line data    Source code
+
+       1             : /*
+       2             :  * Copyright (c) 2016, Markus Achtelik, ASL, ETH Zurich, Switzerland
+       3             :  * Copyright (c) 2016, Michael Burri, ASL, ETH Zurich, Switzerland
+       4             :  * Copyright (c) 2016, Helen Oleynikova, ASL, ETH Zurich, Switzerland
+       5             :  * Copyright (c) 2016, Rik Bähnemann, ASL, ETH Zurich, Switzerland
+       6             :  * Copyright (c) 2016, Marija Popovic, ASL, ETH Zurich, Switzerland
+       7             :  *
+       8             :  * Licensed under the Apache License, Version 2.0 (the "License");
+       9             :  * you may not use this file except in compliance with the License.
+      10             :  * You may obtain a copy of the License at
+      11             :  *
+      12             :  * http://www.apache.org/licenses/LICENSE-2.0
+      13             :  *
+      14             :  * Unless required by applicable law or agreed to in writing, software
+      15             :  * distributed under the License is distributed on an "AS IS" BASIS,
+      16             :  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+      17             :  * See the License for the specific language governing permissions and
+      18             :  * limitations under the License.
+      19             :  */
+      20             : 
+      21             : #ifndef ETH_TRAJECTORY_GENERATION_TRAJECTORY_H_
+      22             : #define ETH_TRAJECTORY_GENERATION_TRAJECTORY_H_
+      23             : 
+      24             : #include <eth_trajectory_generation/extremum.h>
+      25             : #include <eth_trajectory_generation/segment.h>
+      26             : #include <eth_trajectory_generation/vertex.h>
+      27             : 
+      28             : namespace eth_trajectory_generation
+      29             : {
+      30             : 
+      31             : // Holder class for trajectories of D dimensions, of K segments, and
+      32             : // polynomial order N-1. (N=12 -> 11th order polynomial, with 12 coefficients).
+      33           0 : class Trajectory {
+      34             : public:
+      35          57 :   Trajectory() : D_(0), N_(0), max_time_(0.0) {
+      36             :   }
+      37          57 :   ~Trajectory() {
+      38          27 :   }
+      39             : 
+      40             :   bool        operator==(const Trajectory& rhs) const;
+      41             :   inline bool operator!=(const Trajectory& rhs) const {
+      42             :     return !operator==(rhs);
+      43             :   }
+      44             : 
+      45        3275 :   int D() const {
+      46        3275 :     return D_;
+      47             :   }
+      48           0 :   int N() const {
+      49           0 :     return N_;
+      50             :   }
+      51           0 :   int K() const {
+      52           0 :     return segments_.size();
+      53             :   }
+      54             : 
+      55             :   bool empty() const {
+      56             :     return segments_.empty();
+      57             :   }
+      58           0 :   void clear() {
+      59           0 :     segments_.clear();
+      60           0 :     D_        = 0;
+      61           0 :     N_        = 0;
+      62           0 :     max_time_ = 0.0;
+      63           0 :   }
+      64             : 
+      65          57 :   void setSegments(const Segment::Vector& segments) {
+      66          57 :     CHECK(!segments.empty());
+      67             :     // Reset states.
+      68          57 :     D_        = segments.front().D();
+      69          57 :     N_        = segments.front().N();
+      70          57 :     max_time_ = 0.0;
+      71          57 :     segments_.clear();
+      72             : 
+      73          57 :     addSegments(segments);
+      74          57 :   }
+      75             : 
+      76          57 :   void addSegments(const Segment::Vector& segments) {
+      77         842 :     for (const Segment& segment : segments) {
+      78         785 :       CHECK_EQ(segment.D(), D_);
+      79         785 :       CHECK_EQ(segment.N(), N_);
+      80         785 :       max_time_ += segment.getTime();
+      81             :     }
+      82          57 :     segments_.insert(segments_.end(), segments.begin(), segments.end());
+      83          57 :   }
+      84             : 
+      85           0 :   void getSegments(Segment::Vector* segments) const {
+      86           0 :     CHECK_NOTNULL(segments);
+      87           0 :     *segments = segments_;
+      88           0 :   }
+      89             : 
+      90           0 :   const Segment::Vector& segments() const {
+      91           0 :     return segments_;
+      92             :   }
+      93             : 
+      94          54 :   double getMinTime() const {
+      95          54 :     return 0.0;
+      96             :   }
+      97          54 :   double getMaxTime() const {
+      98          54 :     return max_time_;
+      99             :   }
+     100             :   std::vector<double> getSegmentTimes() const;
+     101             : 
+     102             :   // Functions to create new trajectories by splitting (getting a NEW trajectory
+     103             :   // with a single dimension) or compositing (create a new trajectory with
+     104             :   // another trajectory appended).
+     105             :   Trajectory getTrajectoryWithSingleDimension(int dimension) const;
+     106             :   bool       getTrajectoryWithAppendedDimension(const Trajectory& trajectory_to_append, Trajectory* new_trajectory) const;
+     107             : 
+     108             :   // Add trajectories with same dimensions and coefficients to this trajectory.
+     109             :   bool addTrajectories(const std::vector<Trajectory>& trajectories, Trajectory* merged) const;
+     110             : 
+     111             :   // Offset this trajectory by vector A_r_B.
+     112             :   bool offsetTrajectory(const Eigen::VectorXd& A_r_B);
+     113             : 
+     114             :   // Evaluate the vertex constraint at time t.
+     115             :   Vertex getVertexAtTime(double t, int max_derivative_order) const;
+     116             :   // Evaluate the vertex constraint at start time.
+     117             :   Vertex getStartVertex(int max_derivative_order) const;
+     118             :   // Evaluate the vertex constraint at goal time.
+     119             :   Vertex getGoalVertex(int max_derivative_order) const;
+     120             :   // Evaluate all underlying vertices.
+     121             :   bool getVertices(int max_derivative_order_pos, int max_derivative_order_yaw, Vertex::Vector* pos_vertices, Vertex::Vector* yaw_vertices) const;
+     122             :   bool getVertices(int max_derivative_order, Vertex::Vector* vertices) const;
+     123             : 
+     124             :   // Evaluation functions.
+     125             :   // Evaluate at a single time, and a single derivative. Return type of
+     126             :   // dimension D.
+     127             :   Eigen::VectorXd evaluate(double t, int derivative_order = derivative_order::POSITION) const;
+     128             : 
+     129             :   // Evaluates the trajectory in a specified range and derivative.
+     130             :   // Outputs are a vector of the sampled values (size of VectorXd is D) by
+     131             :   // time and optionally the actual sampling times.
+     132             :   void evaluateRange(double t_start, double t_end, double dt, int derivative_order, std::vector<Eigen::VectorXd>* result,
+     133             :                      std::vector<double>* sampling_times = nullptr) const;
+     134             : 
+     135             :   // Compute the analytic minimum and maximum of magnitude for a given
+     136             :   // derivative and dimensions, e.g., [0, 1, 2] for position or [3] for yaw.
+     137             :   // Returns false in case of extremum calculation failure.
+     138             :   bool computeMinMaxMagnitude(int derivative, const std::vector<int>& dimensions, Extremum* minimum, Extremum* maximum, int seg) const;
+     139             : 
+     140             :   // Compute the analytic minimum and maximum of magnitude for a given
+     141             :   // derivative and dimensions, e.g., [0, 1, 2] for position or [3] for yaw.
+     142             :   // Returns false in case of extremum calculation failure.
+     143             :   bool computeMinMaxMagnitude(int derivative, const std::vector<int>& dimensions, Extremum* minimum, Extremum* maximum) const;
+     144             : 
+     145             :   // Compute max velocity and max acceleration. Shorthand for the method above.
+     146             :   bool computeMaxDerivativesHorizontal(double* v_max, double* a_max, double* j_max, int seg) const;
+     147             :   bool computeMaxDerivativesHorizontal(double* v_max, double* a_max, double* j_max) const;
+     148             : 
+     149             :   bool computeMaxDerivativesVertical(double* v_max, double* a_max, double* j_max, int seg) const;
+     150             :   bool computeMaxDerivativesVertical(double* v_max, double* a_max, double* j_max) const;
+     151             : 
+     152             :   bool computeMaxDerivativesHeading(double* v_max, double* a_max, double* j_max, int seg) const;
+     153             :   bool computeMaxDerivativesHeading(double* v_max, double* a_max, double* j_max) const;
+     154             : 
+     155             :   // This method SCALES the segment times evenly.
+     156             :   bool scaleSegmentTimes(double scaling);
+     157             : 
+     158             :   // This method SCALES the segment times evenly to ensure that the trajectory
+     159             :   // is feasible given the provided v_max and a_max. Does not change the shape
+     160             :   // of the trajectory, and only *increases* segment times.
+     161             :   bool scaleSegmentTimesToMeetConstraints(const double v_max_translation_horizontal, const double v_max_translation_vertical,
+     162             :                                           const double a_max_translation_horizontal, const double a_max_translation_vertical,
+     163             :                                           const double j_max_translation_horizontal, const double j_max_translation_vertical, const double v_max_heading,
+     164             :                                           const double a_max_heading, const double j_max_heading);
+     165             : 
+     166             : private:
+     167             :   int    D_;         // Number of dimensions.
+     168             :   int    N_;         // Number of coefficients.
+     169             :   double max_time_;  // Time at the end of the trajectory.
+     170             : 
+     171             :   // K is number of segments...
+     172             :   Segment::Vector segments_;
+     173             : };
+     174             : 
+     175             : }  // namespace eth_trajectory_generation
+     176             : 
+     177             : #endif  // ETH_TRAJECTORY_GENERATION_TRAJECTORY_H_
+
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          Line data    Source code
+
+       1             : /*
+       2             :  * Copyright (c) 2016, Markus Achtelik, ASL, ETH Zurich, Switzerland
+       3             :  * Copyright (c) 2016, Michael Burri, ASL, ETH Zurich, Switzerland
+       4             :  * Copyright (c) 2016, Helen Oleynikova, ASL, ETH Zurich, Switzerland
+       5             :  * Copyright (c) 2016, Rik Bähnemann, ASL, ETH Zurich, Switzerland
+       6             :  * Copyright (c) 2016, Marija Popovic, ASL, ETH Zurich, Switzerland
+       7             :  *
+       8             :  * Licensed under the Apache License, Version 2.0 (the "License");
+       9             :  * you may not use this file except in compliance with the License.
+      10             :  * You may obtain a copy of the License at
+      11             :  *
+      12             :  * http://www.apache.org/licenses/LICENSE-2.0
+      13             :  *
+      14             :  * Unless required by applicable law or agreed to in writing, software
+      15             :  * distributed under the License is distributed on an "AS IS" BASIS,
+      16             :  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+      17             :  * See the License for the specific language governing permissions and
+      18             :  * limitations under the License.
+      19             :  */
+      20             : 
+      21             : #ifndef ETH_TRAJECTORY_GENERATION_VERTEX_H_
+      22             : #define ETH_TRAJECTORY_GENERATION_VERTEX_H_
+      23             : 
+      24             : #include <Eigen/Core>
+      25             : #include <chrono>
+      26             : #include <map>
+      27             : #include <vector>
+      28             : #include <eth_trajectory_generation/misc.h>
+      29             : #include <eth_trajectory_generation/motion_defines.h>
+      30             : #include <eth_trajectory_generation/polynomial.h>
+      31             : 
+      32             : namespace eth_trajectory_generation
+      33             : {
+      34             : 
+      35             : // A vertex describes the properties of a support point of a path.
+      36             : // A vertex has a set of constraints, the derivative of position a value, that
+      37             : // have to be matched during optimization procedures. In case of a
+      38             : // multi-dimensional vertex (mostly 3D), the constraint for a derivative
+      39             : // exists in all dimensions, but can have different values in each dimension.
+      40             : //     X------------X---------------X
+      41             : //   vertex             segment
+      42        4000 : class Vertex {
+      43             : public:
+      44             :   typedef std::vector<Vertex>             Vector;
+      45             :   typedef Eigen::VectorXd                 ConstraintValue;
+      46             :   typedef std::pair<int, ConstraintValue> Constraint;
+      47             :   typedef std::map<int, ConstraintValue>  Constraints;
+      48             : 
+      49             :   // Constructs an empty vertex and sets time_to_next and
+      50             :   // derivative_to_optimize to zero.
+      51         920 :   Vertex(size_t dimension) : D_(dimension) {
+      52             :   }
+      53             : 
+      54           0 :   int D() const {
+      55           0 :     return D_;
+      56             :   }
+      57             : 
+      58             :   // Adds a constraint for the specified derivative order with the given
+      59             :   // value. If this is a multi-dimensional vertex, all dimensions are
+      60             :   // set to the same value.
+      61             :   inline void addConstraint(int derivative_order, double value) {
+      62             :     constraints_[derivative_order] = ConstraintValue::Constant(D_, value);
+      63             :   }
+      64             : 
+      65             :   // Adds a constraint for the derivative specified in type with the given
+      66             :   // values in the constraint vector. The dimension has to match the derivative.
+      67             :   void addConstraint(int type, const Eigen::VectorXd& constraint);
+      68             : 
+      69             :   // Removes a constraint for the derivative specified in type. Returns false if
+      70             :   // constraint was not set.
+      71             :   bool removeConstraint(int type);
+      72             : 
+      73             :   // Sets a constraint for position and sets all derivatives up to
+      74             :   // (including) up_to_derivative to zero. Convenience method for
+      75             :   // beginning / end vertices. up_to_derivative should be set to
+      76             :   // getHighestDerivativeFromN(N), where N is the order of your polynomial.
+      77             :   void makeStartOrEnd(const Eigen::VectorXd& constraint, int up_to_derivative);
+      78             : 
+      79             :   void makeStartOrEnd(double value, int up_to_derivative) {
+      80             :     makeStartOrEnd(Eigen::VectorXd::Constant(D_, value), up_to_derivative);
+      81             :   }
+      82             : 
+      83             :   // Returns whether the vertex has a constraint for the specified derivative
+      84             :   // order.
+      85             :   bool hasConstraint(int derivative_order) const;
+      86             : 
+      87             :   // Passes the value of the constraint for derivative order to *value,
+      88             :   // and returns whether the constraint is set.
+      89             :   bool getConstraint(int derivative_order, Eigen::VectorXd* constraint) const;
+      90             : 
+      91             :   // Returns a const iterator to the first constraint.
+      92         451 :   typename Constraints::const_iterator cBegin() const {
+      93         451 :     return constraints_.begin();
+      94             :   }
+      95             : 
+      96             :   // Returns a const iterator to the end of the constraints,
+      97             :   // i.e. one after the last element.
+      98        1040 :   typename Constraints::const_iterator cEnd() const {
+      99        1040 :     return constraints_.end();
+     100             :   }
+     101             : 
+     102             :   // Returns the number of constraints.
+     103             :   size_t getNumberOfConstraints() const {
+     104             :     return constraints_.size();
+     105             :   }
+     106             : 
+     107             :   // Checks if both lhs and rhs are equal up to tol in case of double values.
+     108             :   bool isEqualTol(const Vertex& rhs, double tol) const;
+     109             : 
+     110             :   // Get subdimension vertex.
+     111             :   bool getSubdimension(const std::vector<size_t>& subdimensions, int max_derivative_order, Vertex* subvertex) const;
+     112             : 
+     113             : private:
+     114             :   int         D_;
+     115             :   Constraints constraints_;
+     116             : };
+     117             : 
+     118             : std::ostream& operator<<(std::ostream& stream, const Vertex& v);
+     119             : 
+     120             : std::ostream& operator<<(std::ostream& stream, const std::vector<Vertex>& vertices);
+     121             : 
+     122             : // Makes a rough estimate based on v_max and a_max about the time
+     123             : // required to get from one vertex to the next. Uses the current preferred
+     124             : // method.
+     125             : std::vector<double> estimateSegmentTimes(const Vertex::Vector& vertices, const double v_max_horizontal, const double v_max_vertical,
+     126             :                                          const double a_max_horizontal, const double a_max_vertical, const double j_max_horizontal, const double j_max_vertical,
+     127             :                                          const double heading_speed_max, const double heading_acc_max);
+     128             : 
+     129             : // Calculate the velocity assuming instantaneous constant acceleration a_max
+     130             : // and straight line rest-to-rest trajectories.
+     131             : // The time_factor \in [1..Inf] increases the allocated time making the segments
+     132             : // slower and thus feasibility more likely. This method does not take into
+     133             : // account the start and goal velocity and acceleration.
+     134             : std::vector<double> estimateSegmentTimesVelocityRamp(const Vertex::Vector& vertices, double v_max, double a_max, double time_factor = 1.0);
+     135             : 
+     136             : std::vector<double> estimateSegmentTimesEuclidean(const Vertex::Vector& vertices, const double v_max_horizontal, const double v_max_vertical,
+     137             :                                                   const double a_max_horizontal, const double a_max_vertical, const double j_max_horizontal,
+     138             :                                                   const double j_max_vertical, const double heading_speed_max, const double heading_acc_max);
+     139             : 
+     140             : std::vector<double> estimateSegmentTimesBaca(const Vertex::Vector& vertices, const double v_max_horizontal, const double v_max_vertical,
+     141             :                                              const double a_max_horizontal, const double a_max_vertical, const double j_max_horizontal,
+     142             :                                              const double j_max_vertical, const double heading_speed_max, const double heading_acc_max);
+     143             : 
+     144             : double computeTimeVelocityRamp(const Eigen::VectorXd& start, const Eigen::VectorXd& goal, double v_max, double a_max);
+     145             : 
+     146             : inline int getHighestDerivativeFromN(int N) {
+     147             :   return N / 2 - 1;
+     148             : }
+     149             : 
+     150             : // Creates random vertices for position within minimum_position and
+     151             : // maximum_position.
+     152             : // Vertices at the beginning and end have only fixed constraints with their
+     153             : // derivative set to zero, while  all vertices in between have position as fixed
+     154             : // constraint and the derivatives are left free.
+     155             : // Input: maximum_derivative = The maximum derivative to be set to zero for
+     156             : // beginning and end.
+     157             : // Input: n_segments = Number of segments of the resulting trajectory. Number
+     158             : // of vertices is n_segments + 1.
+     159             : // Input: minimum_position = Minimum position of the space to sample.
+     160             : // Input: maximum_position = Maximum position of the space to sample.
+     161             : // Input: seed = Initial seed for random number generation.
+     162             : // Output: return = Vector containing n_segments + 1 vertices.
+     163             : Vertex::Vector createRandomVertices(int maximum_derivative, size_t n_segments, const Eigen::VectorXd& minimum_position, const Eigen::VectorXd& maximum_position,
+     164             :                                     size_t seed = 0);
+     165             : 
+     166             : Vertex::Vector createSquareVertices(int maximum_derivative, const Eigen::Vector3d& center, double side_length, int rounds);
+     167             : 
+     168             : // Conveninence function to create 1D vertices.
+     169             : Vertex::Vector createRandomVertices1D(int maximum_derivative, size_t n_segments, double minimum_position, double maximum_position, size_t seed = 0);
+     170             : }  // namespace eth_trajectory_generation
+     171             : 
+     172             : #endif  // ETH_TRAJECTORY_GENERATION_VERTEX_H_
+
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LCOV - code coverage report
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Current view:top level - mrs_uav_trajectory_generation/src/eth_trajectory_generationHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:45099645.2 %
Date:2024-01-20 21:44:18Functions:3110529.5 %
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LCOV - code coverage report
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Current view:top level - mrs_uav_trajectory_generation/src/eth_trajectory_generationHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:45099645.2 %
Date:2024-01-20 21:44:18Functions:3110529.5 %
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+ + + diff --git a/mrs_uav_trajectory_generation/src/eth_trajectory_generation/index-sort-l.html b/mrs_uav_trajectory_generation/src/eth_trajectory_generation/index-sort-l.html new file mode 100644 index 0000000000..bc3f7f56f8 --- /dev/null +++ b/mrs_uav_trajectory_generation/src/eth_trajectory_generation/index-sort-l.html @@ -0,0 +1,162 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trajectory_generation/src/eth_trajectory_generation + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_trajectory_generation/src/eth_trajectory_generationHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:45099645.2 %
Date:2024-01-20 21:44:18Functions:3110529.5 %
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Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
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+ + + diff --git a/mrs_uav_trajectory_generation/src/eth_trajectory_generation/index.html b/mrs_uav_trajectory_generation/src/eth_trajectory_generation/index.html new file mode 100644 index 0000000000..73bc0336ba --- /dev/null +++ b/mrs_uav_trajectory_generation/src/eth_trajectory_generation/index.html @@ -0,0 +1,162 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trajectory_generation/src/eth_trajectory_generation + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_trajectory_generation/src/eth_trajectory_generationHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:45099645.2 %
Date:2024-01-20 21:44:18Functions:3110529.5 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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+ + + diff --git a/mrs_uav_trajectory_generation/src/eth_trajectory_generation/motion_defines.cpp.func-sort-c.html b/mrs_uav_trajectory_generation/src/eth_trajectory_generation/motion_defines.cpp.func-sort-c.html new file mode 100644 index 0000000000..a36acf739b --- /dev/null +++ b/mrs_uav_trajectory_generation/src/eth_trajectory_generation/motion_defines.cpp.func-sort-c.html @@ -0,0 +1,96 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trajectory_generation/src/eth_trajectory_generation/motion_defines.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_trajectory_generation/src/eth_trajectory_generation - motion_defines.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:0240.0 %
Date:2024-01-20 21:44:18Functions:040.0 %
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Function Name Sort by function nameHit count Sort by hit count
eth_trajectory_generation::positionDerivativeToInt(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
eth_trajectory_generation::orientationDerivativeToInt(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
eth_trajectory_generation::positionDerivativeToString[abi:cxx11](int)0
eth_trajectory_generation::orintationDerivativeToString[abi:cxx11](int)0
+
+
+ + + +
Generated by: LCOV version 1.14
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LCOV - code coverage report
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Current view:top level - mrs_uav_trajectory_generation/src/eth_trajectory_generation - motion_defines.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:0240.0 %
Date:2024-01-20 21:44:18Functions:040.0 %
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Function Name Sort by function nameHit count Sort by hit count
eth_trajectory_generation::positionDerivativeToInt(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
eth_trajectory_generation::orientationDerivativeToInt(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
eth_trajectory_generation::positionDerivativeToString[abi:cxx11](int)0
eth_trajectory_generation::orintationDerivativeToString[abi:cxx11](int)0
+
+
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Generated by: LCOV version 1.14
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LCOV - code coverage report
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Current view:top level - mrs_uav_trajectory_generation/src/eth_trajectory_generation - motion_defines.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:0240.0 %
Date:2024-01-20 21:44:18Functions:040.0 %
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+
          Line data    Source code
+
+       1             : /*
+       2             :  * Copyright (c) 2016, Markus Achtelik, ASL, ETH Zurich, Switzerland
+       3             :  * Copyright (c) 2016, Michael Burri, ASL, ETH Zurich, Switzerland
+       4             :  * Copyright (c) 2016, Helen Oleynikova, ASL, ETH Zurich, Switzerland
+       5             :  * Copyright (c) 2016, Rik Bähnemann, ASL, ETH Zurich, Switzerland
+       6             :  * Copyright (c) 2016, Marija Popovic, ASL, ETH Zurich, Switzerland
+       7             :  *
+       8             :  * Licensed under the Apache License, Version 2.0 (the "License");
+       9             :  * you may not use this file except in compliance with the License.
+      10             :  * You may obtain a copy of the License at
+      11             :  *
+      12             :  * http://www.apache.org/licenses/LICENSE-2.0
+      13             :  *
+      14             :  * Unless required by applicable law or agreed to in writing, software
+      15             :  * distributed under the License is distributed on an "AS IS" BASIS,
+      16             :  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+      17             :  * See the License for the specific language governing permissions and
+      18             :  * limitations under the License.
+      19             :  */
+      20             : 
+      21             : #include <eth_trajectory_generation/motion_defines.h>
+      22             : 
+      23             : namespace eth_trajectory_generation
+      24             : {
+      25             : 
+      26             : /* positionDerivativeToString //{ */
+      27             : 
+      28           0 : std::string positionDerivativeToString(int derivative) {
+      29           0 :   if (derivative >= derivative_order::POSITION && derivative <= derivative_order::SNAP) {
+      30           0 :     static constexpr const char* text[] = {"position", "velocity", "acceleration", "jerk", "snap"};
+      31           0 :     return std::string(text[derivative]);
+      32             :   } else {
+      33           0 :     return std::string("invalid");
+      34             :   }
+      35             : }
+      36             : 
+      37             : //}
+      38             : 
+      39             : /* positionDerivativeToInt() //{ */
+      40             : 
+      41           0 : int positionDerivativeToInt(const std::string& string) {
+      42           0 :   using namespace derivative_order;
+      43           0 :   if (string == "position") {
+      44             :     return POSITION;
+      45           0 :   } else if (string == "velocity") {
+      46             :     return VELOCITY;
+      47           0 :   } else if (string == "acceleration") {
+      48             :     return ACCELERATION;
+      49           0 :   } else if (string == "jerk") {
+      50             :     return JERK;
+      51           0 :   } else if (string == "snap") {
+      52             :     return SNAP;
+      53             :   } else {
+      54           0 :     return INVALID;
+      55             :   }
+      56             : }
+      57             : 
+      58             : //}
+      59             : 
+      60             : /* orintationDerivativeToString() //{ */
+      61             : 
+      62           0 : std::string orintationDerivativeToString(int derivative) {
+      63           0 :   if (derivative >= derivative_order::ORIENTATION && derivative <= derivative_order::ANGULAR_ACCELERATION) {
+      64           0 :     static constexpr const char* text[] = {"orientation", "angular_velocity", "angular_acceleration"};
+      65           0 :     return std::string(text[derivative]);
+      66             :   } else {
+      67           0 :     return std::string("invalid");
+      68             :   }
+      69             : }
+      70             : 
+      71             : //}
+      72             : 
+      73             : /* orientationDerivativeToInt() //{ */
+      74             : 
+      75           0 : int orientationDerivativeToInt(const std::string& string) {
+      76           0 :   using namespace derivative_order;
+      77           0 :   if (string == "orientation") {
+      78             :     return ORIENTATION;
+      79           0 :   } else if (string == "angular_velocity") {
+      80             :     return ANGULAR_VELOCITY;
+      81           0 :   } else if (string == "angular_acceleration") {
+      82             :     return ANGULAR_ACCELERATION;
+      83             :   } else {
+      84           0 :     return INVALID;
+      85             :   }
+      86             : }
+      87             : 
+      88             : //}
+      89             : 
+      90             : }  // namespace eth_trajectory_generation
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ Top

+ Overview +
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Current view:top level - mrs_uav_trajectory_generation/src/eth_trajectory_generation - polynomial.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:5210350.5 %
Date:2024-01-20 21:44:18Functions:61154.5 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
eth_trajectory_generation::Polynomial::offsetPolynomial(double)0
eth_trajectory_generation::Polynomial::computeMinMax(double, double, int, std::pair<double, double>*, std::pair<double, double>*) const0
eth_trajectory_generation::Polynomial::selectMinMaxFromRoots(double, double, int, Eigen::Matrix<std::complex<double>, -1, 1, 0, -1, 1> const&, std::pair<double, double>*, std::pair<double, double>*) const0
eth_trajectory_generation::Polynomial::selectMinMaxFromCandidates(std::vector<double, std::allocator<double> > const&, int, std::pair<double, double>*, std::pair<double, double>*) const0
eth_trajectory_generation::Polynomial::getPolynomialWithAppendedCoefficients(int, eth_trajectory_generation::Polynomial*) const0
eth_trajectory_generation::computeBaseCoefficients(int)65
eth_trajectory_generation::Polynomial::scalePolynomialInTime(double)1684
eth_trajectory_generation::Polynomial::convolve(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, Eigen::Matrix<double, -1, 1, 0, -1, 1> const&)5052
eth_trajectory_generation::Polynomial::selectMinMaxCandidatesFromRoots(double, double, Eigen::Matrix<std::complex<double>, -1, 1, 0, -1, 1> const&, std::vector<double, std::allocator<double> >*)7578
eth_trajectory_generation::Polynomial::computeMinMaxCandidates(double, double, int, std::vector<double, std::allocator<double> >*) const7578
eth_trajectory_generation::Polynomial::getRoots(int, Eigen::Matrix<std::complex<double>, -1, 1, 0, -1, 1>*) const7578
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Function Name Sort by function nameHit count Sort by hit count
eth_trajectory_generation::Polynomial::offsetPolynomial(double)0
eth_trajectory_generation::Polynomial::scalePolynomialInTime(double)1684
eth_trajectory_generation::Polynomial::selectMinMaxCandidatesFromRoots(double, double, Eigen::Matrix<std::complex<double>, -1, 1, 0, -1, 1> const&, std::vector<double, std::allocator<double> >*)7578
eth_trajectory_generation::Polynomial::convolve(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, Eigen::Matrix<double, -1, 1, 0, -1, 1> const&)5052
eth_trajectory_generation::computeBaseCoefficients(int)65
eth_trajectory_generation::Polynomial::computeMinMax(double, double, int, std::pair<double, double>*, std::pair<double, double>*) const0
eth_trajectory_generation::Polynomial::selectMinMaxFromRoots(double, double, int, Eigen::Matrix<std::complex<double>, -1, 1, 0, -1, 1> const&, std::pair<double, double>*, std::pair<double, double>*) const0
eth_trajectory_generation::Polynomial::computeMinMaxCandidates(double, double, int, std::vector<double, std::allocator<double> >*) const7578
eth_trajectory_generation::Polynomial::selectMinMaxFromCandidates(std::vector<double, std::allocator<double> > const&, int, std::pair<double, double>*, std::pair<double, double>*) const0
eth_trajectory_generation::Polynomial::getPolynomialWithAppendedCoefficients(int, eth_trajectory_generation::Polynomial*) const0
eth_trajectory_generation::Polynomial::getRoots(int, Eigen::Matrix<std::complex<double>, -1, 1, 0, -1, 1>*) const7578
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          Line data    Source code
+
+       1             : /*
+       2             :  * Copyright (c) 2016, Markus Achtelik, ASL, ETH Zurich, Switzerland
+       3             :  * Copyright (c) 2016, Michael Burri, ASL, ETH Zurich, Switzerland
+       4             :  * Copyright (c) 2016, Helen Oleynikova, ASL, ETH Zurich, Switzerland
+       5             :  * Copyright (c) 2016, Rik Bähnemann, ASL, ETH Zurich, Switzerland
+       6             :  * Copyright (c) 2016, Marija Popovic, ASL, ETH Zurich, Switzerland
+       7             :  *
+       8             :  * Licensed under the Apache License, Version 2.0 (the "License");
+       9             :  * you may not use this file except in compliance with the License.
+      10             :  * You may obtain a copy of the License at
+      11             :  *
+      12             :  * http://www.apache.org/licenses/LICENSE-2.0
+      13             :  *
+      14             :  * Unless required by applicable law or agreed to in writing, software
+      15             :  * distributed under the License is distributed on an "AS IS" BASIS,
+      16             :  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
+      17             :  * implied. See the License for the specific language governing
+      18             :  * permissions and limitations under the License.
+      19             :  */
+      20             : 
+      21             : #include <eth_trajectory_generation/polynomial.h>
+      22             : #include <eth_trajectory_generation/rpoly/rpoly_ak1.h>
+      23             : 
+      24             : #include <algorithm>
+      25             : #include <limits>
+      26             : 
+      27             : namespace eth_trajectory_generation
+      28             : {
+      29             : 
+      30        7578 : bool Polynomial::getRoots(int derivative, Eigen::VectorXcd* roots) const {
+      31        7578 :   return findRootsJenkinsTraub(getCoefficients(derivative), roots);
+      32             : }
+      33             : 
+      34             : /* selectMinMaxCandidatesFromRoots() //{ */
+      35             : 
+      36        7578 : bool Polynomial::selectMinMaxCandidatesFromRoots(double t_start, double t_end, const Eigen::VectorXcd& roots_derivative_of_derivative,
+      37             :                                                  std::vector<double>* candidates) {
+      38        7578 :   CHECK_NOTNULL(candidates);
+      39        7578 :   if (t_start > t_end) {
+      40           0 :     LOG(WARNING) << "t_start is greater than t_end.";
+      41           0 :     return false;
+      42             :   }
+      43        7578 :   candidates->clear();
+      44        7578 :   candidates->reserve(roots_derivative_of_derivative.size() + 2);
+      45             :   // Put start and end in, as they are valid candidates.
+      46        7578 :   candidates->push_back(t_start);
+      47        7578 :   candidates->push_back(t_end);
+      48       65328 :   for (size_t i = 0; i < static_cast<size_t>(roots_derivative_of_derivative.size()); i++) {
+      49             :     // Only real roots are considered as critical points.
+      50       57750 :     if (std::abs(roots_derivative_of_derivative[i].imag()) > std::numeric_limits<double>::epsilon()) {
+      51       41059 :       continue;
+      52             :     }
+      53       26286 :     const double candidate = roots_derivative_of_derivative[i].real();
+      54             : 
+      55             :     // Do not evaluate points outside the domain.
+      56       26286 :     if (candidate < t_start || candidate > t_end) {
+      57        9595 :       continue;
+      58             :     } else {
+      59       16691 :       candidates->push_back(candidate);
+      60             :     }
+      61             :   }
+      62             :   return true;
+      63             : }
+      64             : 
+      65             : //}
+      66             : 
+      67             : /* computeMinMaxCandidates() //{ */
+      68             : 
+      69        7578 : bool Polynomial::computeMinMaxCandidates(double t_start, double t_end, int derivative, std::vector<double>* candidates) const {
+      70        7578 :   CHECK_NOTNULL(candidates);
+      71        7578 :   candidates->clear();
+      72        7578 :   if (N_ - derivative - 1 < 0) {
+      73           0 :     LOG(WARNING) << "N - derivative - 1 has to be at least 0.";
+      74           0 :     return false;
+      75             :   }
+      76       15156 :   Eigen::VectorXcd roots;
+      77        7578 :   bool             success = getRoots(derivative + 1, &roots);
+      78        7578 :   if (!success) {
+      79           0 :     VLOG(1) << "Couldn't find roots, polynomial may be constant.";
+      80             :   }
+      81        7578 :   if (!selectMinMaxCandidatesFromRoots(t_start, t_end, roots, candidates)) {
+      82           0 :     return false;
+      83             :   }
+      84             :   return true;
+      85             : }
+      86             : 
+      87             : //}
+      88             : 
+      89             : /* selectMinMaxFromRoots() //{ */
+      90             : 
+      91           0 : bool Polynomial::selectMinMaxFromRoots(double t_start, double t_end, int derivative, const Eigen::VectorXcd& roots_derivative_of_derivative,
+      92             :                                        std::pair<double, double>* minimum, std::pair<double, double>* maximum) const {
+      93           0 :   CHECK_NOTNULL(minimum);
+      94           0 :   CHECK_NOTNULL(maximum);
+      95             :   // Find candidates in interval t_start to t_end computing the roots.
+      96           0 :   std::vector<double> candidates;
+      97           0 :   if (!selectMinMaxCandidatesFromRoots(t_start, t_end, roots_derivative_of_derivative, &candidates)) {
+      98             :     return false;
+      99             :   }
+     100             :   // Evaluate minimum and maximum.
+     101           0 :   return selectMinMaxFromCandidates(candidates, derivative, minimum, maximum);
+     102             : }
+     103             : 
+     104             : //}
+     105             : 
+     106             : /* computeMinMax() //{ */
+     107             : 
+     108           0 : bool Polynomial::computeMinMax(double t_start, double t_end, int derivative, std::pair<double, double>* minimum, std::pair<double, double>* maximum) const {
+     109           0 :   CHECK_NOTNULL(minimum);
+     110           0 :   CHECK_NOTNULL(maximum);
+     111             :   // Find candidates in interval t_start to t_end by computing the roots.
+     112           0 :   std::vector<double> candidates;
+     113           0 :   if (!computeMinMaxCandidates(t_start, t_end, derivative, &candidates)) {
+     114             :     return false;
+     115             :   }
+     116             :   // Evaluate minimum and maximum.
+     117           0 :   return selectMinMaxFromCandidates(candidates, derivative, minimum, maximum);
+     118             : }
+     119             : 
+     120             : //}
+     121             : 
+     122             : /* selectMinMaxFromCandidates() //{ */
+     123             : 
+     124           0 : bool Polynomial::selectMinMaxFromCandidates(const std::vector<double>& candidates, int derivative, std::pair<double, double>* minimum,
+     125             :                                             std::pair<double, double>* maximum) const {
+     126           0 :   CHECK_NOTNULL(minimum);
+     127           0 :   CHECK_NOTNULL(maximum);
+     128           0 :   if (candidates.empty()) {
+     129           0 :     LOG(WARNING) << "Cannot find extrema from an empty candidates vector.";
+     130           0 :     return false;
+     131             :   }
+     132           0 :   minimum->first  = candidates[0];
+     133           0 :   minimum->second = std::numeric_limits<double>::max();
+     134           0 :   maximum->first  = candidates[0];
+     135           0 :   maximum->second = std::numeric_limits<double>::lowest();
+     136             : 
+     137           0 :   for (const double& t : candidates) {
+     138           0 :     const double value = evaluate(t, derivative);
+     139           0 :     if (value < minimum->second) {
+     140           0 :       minimum->first  = t;
+     141           0 :       minimum->second = value;
+     142             :     }
+     143           0 :     if (value > maximum->second) {
+     144           0 :       maximum->first  = t;
+     145           0 :       maximum->second = value;
+     146             :     }
+     147             :   }
+     148             :   return true;
+     149             : }
+     150             : 
+     151             : //}
+     152             : 
+     153             : /* computeBaseCoefficients() //{ */
+     154             : 
+     155          65 : Eigen::MatrixXd computeBaseCoefficients(int N) {
+     156          65 :   Eigen::MatrixXd base_coefficients(N, N);
+     157             : 
+     158          65 :   base_coefficients.setZero();
+     159          65 :   base_coefficients.row(0).setOnes();
+     160             : 
+     161          65 :   const int DEG   = N - 1;
+     162          65 :   int       order = DEG;
+     163        1430 :   for (int n = 1; n < N; n++) {
+     164       17745 :     for (int i = DEG - order; i < N; i++) {
+     165       16380 :       base_coefficients(n, i) = (order - DEG + i) * base_coefficients(n - 1, i);
+     166             :     }
+     167        1365 :     order--;
+     168             :   }
+     169          65 :   return base_coefficients;
+     170             : }
+     171             : 
+     172             : //}
+     173             : 
+     174             : /* convolve() //{ */
+     175             : 
+     176        5052 : Eigen::VectorXd Polynomial::convolve(const Eigen::VectorXd& data, const Eigen::VectorXd& kernel) {
+     177        5052 :   const int       convolution_dimension = getConvolutionLength(data.size(), kernel.size());
+     178        5052 :   Eigen::VectorXd convolved             = Eigen::VectorXd::Zero(convolution_dimension);
+     179       10104 :   Eigen::VectorXd kernel_reverse        = kernel.reverse();
+     180             : 
+     181       75780 :   for (int i = 0; i < convolution_dimension; i++) {
+     182       70728 :     const int data_idx = i - kernel.size() + 1;
+     183             : 
+     184       70728 :     int lower_bound = std::max(0, -data_idx);
+     185       70728 :     int upper_bound = std::min(kernel.size(), data.size() - data_idx);
+     186             : 
+     187      357008 :     for (int kernel_idx = lower_bound; kernel_idx < upper_bound; ++kernel_idx) {
+     188      286280 :       convolved[i] += kernel_reverse[kernel_idx] * data[data_idx + kernel_idx];
+     189             :     }
+     190             :   }
+     191        5052 :   return convolved;
+     192             : }
+     193             : 
+     194             : //}
+     195             : 
+     196             : /* getPolynomialWithAppendedCoefficients() //{ */
+     197             : 
+     198           0 : bool Polynomial::getPolynomialWithAppendedCoefficients(int new_N, Polynomial* new_polynomial) const {
+     199           0 :   if (new_N == N_) {
+     200           0 :     *new_polynomial = *this;
+     201           0 :     return true;
+     202           0 :   } else if (new_N < N_) {
+     203           0 :     LOG(WARNING) << "You shan't decrease the number of coefficients.";
+     204           0 :     *new_polynomial = *this;
+     205           0 :     return false;
+     206             :   } else {
+     207           0 :     Eigen::VectorXd coeffs = Eigen::VectorXd::Zero(new_N);
+     208           0 :     coeffs.head(N_)        = coefficients_;
+     209           0 :     *new_polynomial        = Polynomial(coeffs);
+     210           0 :     return true;
+     211             :   }
+     212             : }
+     213             : 
+     214             : //}
+     215             : 
+     216             : /* scalePolynomialInTime() //{ */
+     217             : 
+     218        1684 : void Polynomial::scalePolynomialInTime(double scaling_factor) {
+     219        1684 :   double scale = 1.0;
+     220       18524 :   for (int n = 0; n < N_; n++) {
+     221       16840 :     coefficients_[n] *= scale;
+     222       16840 :     scale *= scaling_factor;
+     223             :   }
+     224        1684 : }
+     225             : 
+     226             : //}
+     227             : 
+     228             : /* offsetPolynomial() //{ */
+     229             : 
+     230           0 : void Polynomial::offsetPolynomial(const double offset) {
+     231           0 :   if (coefficients_.size() == 0)
+     232             :     return;
+     233             : 
+     234           0 :   coefficients_[0] += offset;
+     235             : }
+     236             : 
+     237             : //}
+     238             : 
+     239             : Eigen::MatrixXd Polynomial::base_coefficients_ = computeBaseCoefficients(Polynomial::kMaxConvolutionSize);
+     240             : 
+     241             : }  // namespace eth_trajectory_generation
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Function Name Sort by function nameHit count Sort by hit count
eth_trajectory_generation::rpoly_impl::rpoly_ak1(double*, int*, double*, double*)6678
eth_trajectory_generation::rpolyWrapper(double*, int*, double*, double*)6678
eth_trajectory_generation::findLastNonZeroCoeff(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&)7578
eth_trajectory_generation::findRootsJenkinsTraub(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, Eigen::Matrix<std::complex<double>, -1, 1, 0, -1, 1>*)7578
eth_trajectory_generation::rpoly_impl::RealIT_ak1(int*, int*, double*, int, double*, int, double*, double*, double*, double*, double*)20360
eth_trajectory_generation::rpoly_impl::QuadIT_ak1(int, int*, double, double, double*, double*, double*, double*, double*, int, double*, double*, double*, double*, double*, double*, double*, double*, double*, double*, double*, double*, double*)20426
eth_trajectory_generation::rpoly_impl::Fxshfr_ak1(int, int*, double, double, double*, int, double*, int, double*, double*, double*, double*, double*)32159
eth_trajectory_generation::rpoly_impl::Quad_ak1(double, double, double, double*, double*, double*, double*)67097
eth_trajectory_generation::rpoly_impl::newest_ak1(int, double*, double*, double, double, double, double, double, double, double, double, double, double, double, double, double*, int, double*)122151
eth_trajectory_generation::rpoly_impl::nextK_ak1(int, int, double, double, double, double*, double*, double*, double*, double*)122351
eth_trajectory_generation::rpoly_impl::calcSC_ak1(int, double, double, double*, double*, double*, double*, double*, double*, double*, double*, double*, double*, double, double, double*)201821
eth_trajectory_generation::rpoly_impl::QuadSD_ak1(int, double, double, double*, double*, double*, double*)295901
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Current view:top level - mrs_uav_trajectory_generation/src/eth_trajectory_generation/rpoly - rpoly_ak1.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:35738991.8 %
Date:2024-01-20 21:44:18Functions:1212100.0 %
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Function Name Sort by function nameHit count Sort by hit count
eth_trajectory_generation::rpoly_impl::Fxshfr_ak1(int, int*, double, double, double*, int, double*, int, double*, double*, double*, double*, double*)32159
eth_trajectory_generation::rpoly_impl::QuadIT_ak1(int, int*, double, double, double*, double*, double*, double*, double*, int, double*, double*, double*, double*, double*, double*, double*, double*, double*, double*, double*, double*, double*)20426
eth_trajectory_generation::rpoly_impl::QuadSD_ak1(int, double, double, double*, double*, double*, double*)295901
eth_trajectory_generation::rpoly_impl::RealIT_ak1(int*, int*, double*, int, double*, int, double*, double*, double*, double*, double*)20360
eth_trajectory_generation::rpoly_impl::calcSC_ak1(int, double, double, double*, double*, double*, double*, double*, double*, double*, double*, double*, double*, double, double, double*)201821
eth_trajectory_generation::rpoly_impl::newest_ak1(int, double*, double*, double, double, double, double, double, double, double, double, double, double, double, double, double*, int, double*)122151
eth_trajectory_generation::rpoly_impl::Quad_ak1(double, double, double, double*, double*, double*, double*)67097
eth_trajectory_generation::rpoly_impl::nextK_ak1(int, int, double, double, double, double*, double*, double*, double*, double*)122351
eth_trajectory_generation::rpoly_impl::rpoly_ak1(double*, int*, double*, double*)6678
eth_trajectory_generation::rpolyWrapper(double*, int*, double*, double*)6678
eth_trajectory_generation::findLastNonZeroCoeff(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&)7578
eth_trajectory_generation::findRootsJenkinsTraub(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, Eigen::Matrix<std::complex<double>, -1, 1, 0, -1, 1>*)7578
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Current view:top level - mrs_uav_trajectory_generation/src/eth_trajectory_generation/rpoly - rpoly_ak1.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:35738991.8 %
Date:2024-01-20 21:44:18Functions:1212100.0 %
Legend: Lines: + hit + not hit +
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+
          Line data    Source code
+
+       1             : // rpoly_ak1.cpp - Program for calculating the roots of a polynomial of real
+       2             : // coefficients.
+       3             : // Written in Microsoft Visual Studio Express 2013 for Windows Desktop
+       4             : // 27 May 2014
+       5             : //
+       6             : // The sub-routines listed below are translations of the FORTRAN routines
+       7             : // included in RPOLY.FOR,
+       8             : // posted off the NETLIB site as TOMS/493:
+       9             : //
+      10             : // http://www.netlib.org/toms/493
+      11             : //
+      12             : // TOMS/493 is based on the Jenkins-Traub algorithm.
+      13             : //
+      14             : // To distinguish the routines posted below from others, an _ak1 suffix has been
+      15             : // appended to them.
+      16             : //
+      17             : // Following is a list of the major changes made in the course of translating
+      18             : // the TOMS/493 routines
+      19             : // to the C++ versions posted below:
+      20             : // 1) All global variables have been eliminated.
+      21             : // 2) The "FAIL" parameter passed into RPOLY.FOR has been eliminated.
+      22             : // 3) RPOLY.FOR solves polynomials of degree up to 100, but does not explicitly
+      23             : // state this limit.
+      24             : //     rpoly_ak1 explicitly states this limit; uses the macro name MAXDEGREE to
+      25             : //     specify this limit;
+      26             : //     and does a check to ensure that the user input variable Degree is not
+      27             : //     greater than MAXDEGREE
+      28             : //     (if it is, an error message is output and rpoly_ak1 terminates). If a
+      29             : //     user wishes to compute
+      30             : //     roots of polynomials of degree greater than MAXDEGREE, using a macro name
+      31             : //     like MAXDEGREE provides
+      32             : //     the simplest way of offering this capability.
+      33             : // 4) All "GO TO" statements have been eliminated.
+      34             : //
+      35             : // A small main program is included also, to provide an example of how to use
+      36             : // rpoly_ak1. In this
+      37             : // example, data is input from a file to eliminate the need for a user to type
+      38             : // data in via
+      39             : // the console.
+      40             : 
+      41             : #include <iostream>
+      42             : #include <fstream>
+      43             : #include <cctype>
+      44             : #include <cmath>
+      45             : #include <cfloat>
+      46             : 
+      47             : #include <eth_trajectory_generation/rpoly/rpoly_ak1.h>
+      48             : 
+      49             : namespace eth_trajectory_generation
+      50             : {
+      51             : 
+      52             : constexpr int kRpolyMaxDegree = 100;
+      53             : 
+      54             : // Wraps the call to rpoly_ak1.
+      55             : void rpolyWrapper(double* coefficients_decreasing, int* degree, double* roots_real, double* roots_imag);
+      56             : 
+      57             : /* findLastNonZeroCoeff() //{ */
+      58             : 
+      59        7578 : int findLastNonZeroCoeff(const Eigen::VectorXd& coefficients) {
+      60        7578 :   int last_non_zero_coefficient = -1;
+      61             : 
+      62             :   // Find last non-zero coefficient:
+      63       29034 :   for (int i = coefficients.size() - 1; i != -1; i--) {
+      64       28134 :     if (std::abs(coefficients(i)) >= std::numeric_limits<double>::min()) {
+      65             :       last_non_zero_coefficient = i;
+      66             :       break;
+      67             :     }
+      68             :   }
+      69        7578 :   return last_non_zero_coefficient;
+      70             : }
+      71             : 
+      72             : //}
+      73             : 
+      74             : /* findRootsJenkinsTraub() //{ */
+      75             : 
+      76        7578 : bool findRootsJenkinsTraub(const Eigen::VectorXd& coefficients_increasing, Eigen::VectorXcd* roots) {
+      77             :   // Remove trailing zeros.
+      78        7578 :   const int last_non_zero_coefficient = findLastNonZeroCoeff(coefficients_increasing);
+      79        7578 :   if (last_non_zero_coefficient == -1) {
+      80             :     // The polynomial has all zero coefficients and has no roots.
+      81         900 :     roots->resize(0);
+      82         900 :     return true;
+      83             :   }
+      84             : 
+      85             :   // Reverse coefficients in descending order.
+      86       14256 :   Eigen::VectorXd coefficients_decreasing = coefficients_increasing.head(last_non_zero_coefficient + 1).reverse();
+      87             : 
+      88        6678 :   const int n_coefficients = coefficients_decreasing.size();
+      89        6678 :   if (n_coefficients < 2) {
+      90             :     // The polynomial is 0th order and has no roots.
+      91        6678 :     roots->resize(0);
+      92             :     return true;
+      93             :   }
+      94        6678 :   int     degree     = n_coefficients - 1;
+      95        6678 :   double* polynomial = new double[kRpolyMaxDegree + 1];
+      96        6678 :   double* roots_real = new double[kRpolyMaxDegree];
+      97        6678 :   double* roots_imag = new double[kRpolyMaxDegree];
+      98             : 
+      99       71106 :   for (size_t i = 0; i < n_coefficients; i++) {
+     100       64428 :     polynomial[i] = coefficients_decreasing(i);
+     101             :   }
+     102             : 
+     103        6678 :   rpolyWrapper(polynomial, &degree, roots_real, roots_imag);
+     104        6678 :   if (degree > 0) {
+     105        6678 :     roots->resize(degree);
+     106       64428 :     for (int i = 0; i < degree; ++i) {
+     107       57750 :       (*roots)[i] = std::complex<double>(roots_real[i], roots_imag[i]);
+     108             :     }
+     109             :   }
+     110             : 
+     111        6678 :   delete[] polynomial;
+     112        6678 :   delete[] roots_real;
+     113        6678 :   delete[] roots_imag;
+     114             : 
+     115        6678 :   if (degree > 0) {
+     116             :     return true;
+     117             :   } else {
+     118           0 :     return false;
+     119             :   }
+     120             : }
+     121             : 
+     122             : //}
+     123             : 
+     124             : /* findRootsJenkinsTraub() //{ */
+     125             : 
+     126             : namespace rpoly_impl
+     127             : {
+     128             : 
+     129             : using namespace std;
+     130             : 
+     131             : #define MAXDEGREE 100
+     132             : #define MDP1 MAXDEGREE + 1
+     133             : 
+     134             : void rpoly_ak1(double op[MDP1], int* Degree, double zeror[MAXDEGREE], double zeroi[MAXDEGREE]);
+     135             : void Fxshfr_ak1(int L2, int* NZ, double sr, double bnd, double K[MDP1], int N, double p[MDP1], int NN, double qp[MDP1], double* lzi, double* lzr, double* szi,
+     136             :                 double* szr);
+     137             : void QuadSD_ak1(int NN, double u, double v, double p[MDP1], double q[MDP1], double* a, double* b);
+     138             : int  calcSC_ak1(int N, double a, double b, double* a1, double* a3, double* a7, double* c, double* d, double* e, double* f, double* g, double* h, double K[MDP1],
+     139             :                 double u, double v, double qk[MDP1]);
+     140             : void nextK_ak1(int N, int tFlag, double a, double b, double a1, double* a3, double* a7, double K[MDP1], double qk[MDP1], double qp[MDP1]);
+     141             : void newest_ak1(int tFlag, double* uu, double* vv, double a, double a1, double a3, double a7, double b, double c, double d, double f, double g, double h,
+     142             :                 double u, double v, double K[MDP1], int N, double p[MDP1]);
+     143             : void QuadIT_ak1(int N, int* NZ, double uu, double vv, double* szr, double* szi, double* lzr, double* lzi, double qp[MDP1], int NN, double* a, double* b,
+     144             :                 double p[MDP1], double qk[MDP1], double* a1, double* a3, double* a7, double* d, double* e, double* f, double* g, double* h, double K[MDP1]);
+     145             : void RealIT_ak1(int* iFlag, int* NZ, double* sss, int N, double p[MDP1], int NN, double qp[MDP1], double* szr, double* szi, double K[MDP1], double qk[MDP1]);
+     146             : void Quad_ak1(double a, double b1, double c, double* sr, double* si, double* lr, double* li);
+     147             : 
+     148        6678 : void rpoly_ak1(double op[MDP1], int* Degree, double zeror[MAXDEGREE], double zeroi[MAXDEGREE]) {
+     149        6678 :   int i, j, jj, l, N, NM1, NN, NZ, zerok;
+     150             : 
+     151        6678 :   double K[MDP1], p[MDP1], pt[MDP1], qp[MDP1], temp[MDP1];
+     152        6678 :   double bnd, df, dx, factor, ff, moduli_max, moduli_min, sc, x, xm;
+     153        6678 :   double aa, bb, cc, lzi, lzr, sr, szi, szr, t, xx, xxx, yy;
+     154             : 
+     155        6678 :   const double RADFAC = 3.14159265358979323846 / 180;  // Degrees-to-radians conversion factor = pi/180
+     156        6678 :   const double lb2    = log(2.0);                      // Dummy variable to avoid re-calculating this value in loop below
+     157        6678 :   const double lo     = FLT_MIN / DBL_EPSILON;
+     158        6678 :   const double cosr   = cos(94.0 * RADFAC);  // = -0.069756474
+     159        6678 :   const double sinr   = sin(94.0 * RADFAC);  // = 0.99756405
+     160             : 
+     161        6678 :   if ((*Degree) > MAXDEGREE) {
+     162           0 :     cout << "\nThe entered Degree is greater than MAXDEGREE. Exiting rpoly. No "
+     163           0 :             "further action taken.\n";
+     164           0 :     *Degree = -1;
+     165           0 :     return;
+     166             :   }  // End ((*Degree) > MAXDEGREE)
+     167             : 
+     168             :   // Do a quick check to see if leading coefficient is 0
+     169        6678 :   if (op[0] != 0) {
+     170             :     N  = *Degree;
+     171        6882 :     xx = sqrt(0.5);  // = 0.70710678
+     172        6882 :     yy = -xx;
+     173             : 
+     174             :     // Remove zeros at the origin, if any
+     175             :     j = 0;
+     176        6882 :     while (op[N] == 0) {
+     177         204 :       zeror[j] = zeroi[j] = 0.0;
+     178         204 :       N--;
+     179         204 :       j++;
+     180             :     }  // End while (op[N] == 0)
+     181             : 
+     182        6678 :     NN = N + 1;
+     183             : 
+     184             :     // Make a copy of the coefficients
+     185       70902 :     for (i = 0; i < NN; i++)
+     186       64224 :       p[i] = op[i];
+     187             : 
+     188       38706 :     while (N >= 1) {  // Main loop
+     189             :       // Start the algorithm for one zero
+     190       38706 :       if (N <= 2) {
+     191             :         // Calculate the final zero or pair of zeros
+     192        6678 :         if (N < 2) {
+     193        2408 :           zeror[(*Degree) - 1] = -(p[1] / p[0]);
+     194        2408 :           zeroi[(*Degree) - 1] = 0.0;
+     195             :         }       // End if (N < 2)
+     196             :         else {  // else N == 2
+     197        4270 :           Quad_ak1(p[0], p[1], p[2], &zeror[(*Degree) - 2], &zeroi[(*Degree) - 2], &zeror[(*Degree) - 1], &zeroi[(*Degree) - 1]);
+     198             :         }  // End else N == 2
+     199             :         break;
+     200             :       }  // End if (N <= 2)
+     201             : 
+     202             :       // Find the largest and smallest moduli of the coefficients
+     203             : 
+     204             :       moduli_max = 0.0;
+     205             :       moduli_min = FLT_MAX;
+     206             : 
+     207      285462 :       for (i = 0; i < NN; i++) {
+     208      253434 :         x = fabs(p[i]);
+     209      253434 :         if (x > moduli_max)
+     210      105523 :           moduli_max = x;
+     211      253434 :         if ((x != 0) && (x < moduli_min))
+     212      125549 :           moduli_min = x;
+     213             :       }  // End for i
+     214             : 
+     215             :       // Scale if there are large or very small coefficients
+     216             :       // Computes a scale factor to multiply the coefficients of the polynomial.
+     217             :       // The scaling
+     218             :       // is done to avoid overflow and to avoid undetected underflow interfering
+     219             :       // with the
+     220             :       // convergence criterion.
+     221             :       // The factor is a power of the base.
+     222             : 
+     223       32028 :       sc = lo / moduli_min;
+     224             : 
+     225       32028 :       if (((sc <= 1.0) && (moduli_max >= 10)) || ((sc > 1.0) && (FLT_MAX / sc >= moduli_max))) {
+     226        5210 :         sc     = ((sc == 0) ? FLT_MIN : sc);
+     227        5210 :         l      = (int)(log(sc) / lb2 + 0.5);
+     228        5210 :         factor = pow(2.0, l);
+     229        5210 :         if (factor != 1.0) {
+     230       59248 :           for (i = 0; i < NN; i++)
+     231       54040 :             p[i] *= factor;
+     232             :         }  // End if (factor != 1.0)
+     233             :       }    // End if (((sc <= 1.0) && (moduli_max >= 10)) || ((sc > 1.0) &&
+     234             :            // (FLT_MAX/sc >= moduli_max)))
+     235             : 
+     236             :       // Compute lower bound on moduli of zeros
+     237             : 
+     238      285462 :       for (i = 0; i < NN; i++)
+     239      253434 :         pt[i] = fabs(p[i]);
+     240       32028 :       pt[N] = -(pt[N]);
+     241             : 
+     242       32028 :       NM1 = N - 1;
+     243             : 
+     244             :       // Compute upper estimate of bound
+     245             : 
+     246       32028 :       x = exp((log(-pt[N]) - log(pt[0])) / (double)N);
+     247             : 
+     248       32028 :       if (pt[NM1] != 0) {
+     249             :         // If Newton step at the origin is better, use it
+     250       32028 :         xm = -pt[N] / pt[NM1];
+     251       32028 :         x  = ((xm < x) ? xm : x);
+     252             :       }  // End if (pt[NM1] != 0)
+     253             : 
+     254             :       // Chop the interval (0, x) until ff <= 0
+     255             : 
+     256             :       xm = x;
+     257       32650 :       do {
+     258       32650 :         x  = xm;
+     259       32650 :         xm = 0.1 * x;
+     260       32650 :         ff = pt[0];
+     261      261820 :         for (i = 1; i < NN; i++)
+     262      229170 :           ff = ff * xm + pt[i];
+     263       32650 :       } while (ff > 0);  // End do-while loop
+     264             : 
+     265             :       dx = x;
+     266             : 
+     267             :       // Do Newton iteration until x converges to two decimal places
+     268             : 
+     269      140632 :       while (fabs(dx / x) > 0.005) {
+     270             :         df = ff = pt[0];
+     271      800743 :         for (i = 1; i < N; i++) {
+     272      692139 :           ff = x * ff + pt[i];
+     273      692139 :           df = x * df + ff;
+     274             :         }  // End for i
+     275      108604 :         ff = x * ff + pt[N];
+     276      108604 :         dx = ff / df;
+     277      108604 :         x -= dx;
+     278             :       }  // End while loop
+     279             : 
+     280      221406 :       bnd = x;
+     281             : 
+     282             :       // Compute the derivative as the initial K polynomial and do 5 steps with
+     283             :       // no shift
+     284             : 
+     285      221406 :       for (i = 1; i < N; i++)
+     286      189378 :         K[i] = (double)(N - i) * p[i] / ((double)N);
+     287       32028 :       K[0] = p[0];
+     288             : 
+     289       32028 :       aa    = p[N];
+     290       32028 :       bb    = p[NM1];
+     291       32028 :       zerok = ((K[NM1] == 0) ? 1 : 0);
+     292             : 
+     293      192168 :       for (jj = 0; jj < 5; jj++) {
+     294      160140 :         cc = K[NM1];
+     295      160140 :         if (zerok) {
+     296             :           // Use unscaled form of recurrence
+     297           0 :           for (i = 0; i < NM1; i++) {
+     298           0 :             j    = NM1 - i;
+     299           0 :             K[j] = K[j - 1];
+     300             :           }  // End for i
+     301           0 :           K[0]  = 0;
+     302           0 :           zerok = ((K[NM1] == 0) ? 1 : 0);
+     303             :         }  // End if (zerok)
+     304             : 
+     305             :         else {  // else !zerok
+     306             :           // Used scaled form of recurrence if value of K at 0 is nonzero
+     307      160140 :           t = -aa / cc;
+     308     1107030 :           for (i = 0; i < NM1; i++) {
+     309      946890 :             j    = NM1 - i;
+     310      946890 :             K[j] = t * K[j - 1] + p[j];
+     311             :           }  // End for i
+     312      160140 :           K[0]  = p[0];
+     313      160140 :           zerok = ((fabs(K[NM1]) <= fabs(bb) * DBL_EPSILON * 10.0) ? 1 : 0);
+     314             :         }  // End else !zerok
+     315             : 
+     316             :       }  // End for jj
+     317             : 
+     318             :       // Save K for restarts with new shifts
+     319      253434 :       for (i = 0; i < N; i++)
+     320      221406 :         temp[i] = K[i];
+     321             : 
+     322             :       // Loop to select the quadratic corresponding to each new shift
+     323             : 
+     324       32159 :       for (jj = 1; jj <= 20; jj++) {
+     325             :         // Quadratic corresponds to a double shift to a non-real point and its
+     326             :         // complex conjugate. The point has modulus BND and amplitude rotated
+     327             :         // by 94 degrees from the previous shift.
+     328             : 
+     329       32159 :         xxx = -(sinr * yy) + cosr * xx;
+     330       32159 :         yy  = sinr * xx + cosr * yy;
+     331       32159 :         xx  = xxx;
+     332       32159 :         sr  = bnd * xx;
+     333             : 
+     334             :         // Second stage calculation, fixed quadratic
+     335             : 
+     336       32159 :         Fxshfr_ak1(20 * jj, &NZ, sr, bnd, K, N, p, NN, qp, &lzi, &lzr, &szi, &szr);
+     337             : 
+     338       32159 :         if (NZ != 0) {
+     339             :           // The second stage jumps directly to one of the third stage
+     340             :           // iterations and
+     341             :           // returns here if successful. Deflate the polynomial, store the zero
+     342             :           // or
+     343             :           // zeros, and return to the main algorithm.
+     344             : 
+     345       32028 :           j        = (*Degree) - N;
+     346       32028 :           zeror[j] = szr;
+     347       32028 :           zeroi[j] = szi;
+     348       32028 :           NN       = NN - NZ;
+     349       32028 :           N        = NN - 1;
+     350      238864 :           for (i = 0; i < NN; i++)
+     351      206836 :             p[i] = qp[i];
+     352       32028 :           if (NZ != 1) {
+     353       14570 :             zeror[j + 1] = lzr;
+     354       14570 :             zeroi[j + 1] = lzi;
+     355             :           }  // End if (NZ != 1)
+     356             :           break;
+     357             :         }       // End if (NZ != 0)
+     358             :         else {  // Else (NZ == 0)
+     359             : 
+     360             :           // If the iteration is unsuccessful, another quadratic is chosen after
+     361             :           // restoring K
+     362        1512 :           for (i = 0; i < N; i++)
+     363        1381 :             K[i] = temp[i];
+     364             :         }  // End else (NZ == 0)
+     365             : 
+     366             :       }  // End for jj
+     367             : 
+     368             :       // Return with failure if no convergence with 20 shifts
+     369             : 
+     370       32028 :       if (jj > 20) {
+     371           0 :         cout << "\nFailure. No convergence after 20 shifts. Program "
+     372           0 :                 "terminated.\n";
+     373           0 :         *Degree -= N;
+     374           0 :         break;
+     375             :       }  // End if (jj > 20)
+     376             : 
+     377             :     }  // End while (N >= 1)
+     378             : 
+     379             :   }       // End if op[0] != 0
+     380             :   else {  // else op[0] == 0
+     381           0 :     cout << "\nThe leading coefficient is zero. No further action taken. "
+     382           0 :             "Program terminated.\n";
+     383           0 :     *Degree = 0;
+     384             :   }  // End else op[0] == 0
+     385             : 
+     386             :   return;
+     387             : }  // End rpoly_ak1
+     388             : 
+     389       32159 : void Fxshfr_ak1(int L2, int* NZ, double sr, double bnd, double K[MDP1], int N, double p[MDP1], int NN, double qp[MDP1], double* lzi, double* lzr, double* szi,
+     390             :                 double* szr) {
+     391             :   // Computes up to L2 fixed shift K-polynomials, testing for convergence in the
+     392             :   // linear or
+     393             :   // quadratic case. Initiates one of the variable shift iterations and returns
+     394             :   // with the
+     395             :   // number of zeros found.
+     396             : 
+     397             :   // L2 limit of fixed shift steps
+     398             :   // NZ number of zeros found
+     399             : 
+     400       32159 :   int    fflag, i, iFlag, j, spass, stry, tFlag, vpass, vtry;
+     401       32159 :   double a, a1, a3, a7, b, betas, betav, c, d, e, f, g, h, oss, ots, otv, ovv, s, ss, ts, tss, tv, tvv, u, ui, v, vi, vv;
+     402       32159 :   double qk[MDP1], svk[MDP1];
+     403             : 
+     404       32159 :   *NZ   = 0;
+     405       32159 :   betav = betas = 0.25;
+     406       32159 :   u             = -(2.0 * sr);
+     407       32159 :   oss           = sr;
+     408       32159 :   ovv = v = bnd;
+     409             : 
+     410             :   // Evaluate polynomial by synthetic division
+     411       32159 :   QuadSD_ak1(NN, u, v, p, qp, &a, &b);
+     412             : 
+     413       32159 :   tFlag = calcSC_ak1(N, a, b, &a1, &a3, &a7, &c, &d, &e, &f, &g, &h, K, u, v, qk);
+     414             : 
+     415       79863 :   for (j = 0; j < L2; j++) {
+     416             :     // Calculate next K polynomial and estimate v
+     417       79732 :     nextK_ak1(N, tFlag, a, b, a1, &a3, &a7, K, qk, qp);
+     418       79732 :     tFlag = calcSC_ak1(N, a, b, &a1, &a3, &a7, &c, &d, &e, &f, &g, &h, K, u, v, qk);
+     419       79732 :     newest_ak1(tFlag, &ui, &vi, a, a1, a3, a7, b, c, d, f, g, h, u, v, K, N, p);
+     420             : 
+     421       79732 :     vv = vi;
+     422             : 
+     423             :     // Estimate s
+     424             : 
+     425       79732 :     ss = ((K[N - 1] != 0.0) ? -(p[N] / K[N - 1]) : 0.0);
+     426             : 
+     427       79732 :     ts = tv = 1.0;
+     428             : 
+     429       79732 :     if ((j != 0) && (tFlag != 3)) {
+     430             :       // Compute relative measures of convergence of s and v sequences
+     431             : 
+     432       47573 :       tv = ((vv != 0.0) ? fabs((vv - ovv) / vv) : tv);
+     433       47573 :       ts = ((ss != 0.0) ? fabs((ss - oss) / ss) : ts);
+     434             : 
+     435             :       // If decreasing, multiply the two most recent convergence measures
+     436             : 
+     437       47573 :       tvv = ((tv < otv) ? tv * otv : 1.0);
+     438       47573 :       tss = ((ts < ots) ? ts * ots : 1.0);
+     439             : 
+     440             :       // Compare with convergence criteria
+     441             : 
+     442       47573 :       vpass = ((tvv < betav) ? 1 : 0);
+     443       47573 :       spass = ((tss < betas) ? 1 : 0);
+     444             : 
+     445       47573 :       if ((spass) || (vpass)) {
+     446             :         // At least one sequence has passed the convergence test.
+     447             :         // Store variables before iterating
+     448             : 
+     449      292021 :         for (i = 0; i < N; i++)
+     450      255101 :           svk[i] = K[i];
+     451             : 
+     452       36920 :         s = ss;
+     453             : 
+     454             :         // Choose iteration according to the fastest converging sequence
+     455             : 
+     456       36920 :         stry = vtry = 0;
+     457       36920 :         fflag       = 1;
+     458             : 
+     459       37612 :         do {
+     460       37612 :           iFlag = 1;  // Begin each loop by assuming RealIT will be called
+     461             :                       // UNLESS iFlag changed below
+     462             : 
+     463       37612 :           if ((fflag && ((fflag = 0) == 0)) && ((spass) && (!vpass || (tss < tvv)))) {
+     464             :             ;  // Do nothing. Provides a quick "short circuit".
+     465             :           }    // End if (fflag)
+     466             : 
+     467             :           else {  // else !fflag
+     468       20426 :             QuadIT_ak1(N, NZ, ui, vi, szr, szi, lzr, lzi, qp, NN, &a, &b, p, qk, &a1, &a3, &a7, &d, &e, &f, &g, &h, K);
+     469             : 
+     470       20426 :             if ((*NZ) > 0)
+     471             :               return;
+     472             : 
+     473             :             // Quadratic iteration has failed. Flag that it has been tried and
+     474             :             // decrease the
+     475             :             // convergence criterion
+     476             : 
+     477        5856 :             vtry = 1;
+     478        5856 :             betav *= 0.25;
+     479             : 
+     480             :             // Try linear iteration if it has not been tried and the s sequence
+     481             :             // is converging
+     482        5856 :             if (stry || (!spass)) {
+     483        2682 :               iFlag = 0;
+     484             :             }  // End if (stry || (!spass))
+     485             :             else {
+     486       23581 :               for (i = 0; i < N; i++)
+     487       20407 :                 K[i] = svk[i];
+     488             :             }  // End if (stry || !spass)
+     489             : 
+     490             :           }  // End else !fflag
+     491             : 
+     492       23042 :           if (iFlag != 0) {
+     493       20360 :             RealIT_ak1(&iFlag, NZ, &s, N, p, NN, qp, szr, szi, K, qk);
+     494             : 
+     495       20360 :             if ((*NZ) > 0)
+     496             :               return;
+     497             : 
+     498             :             // Linear iteration has failed. Flag that it has been tried and
+     499             :             // decrease the
+     500             :             // convergence criterion
+     501             : 
+     502        2902 :             stry = 1;
+     503        2902 :             betas *= 0.25;
+     504             : 
+     505        2902 :             if (iFlag != 0) {
+     506             :               // If linear iteration signals an almost double real zero, attempt
+     507             :               // quadratic iteration
+     508             : 
+     509         173 :               ui = -(s + s);
+     510         173 :               vi = s * s;
+     511         173 :               continue;
+     512             : 
+     513             :             }  // End if (iFlag != 0)
+     514             :           }    // End if (iFlag != 0)
+     515             : 
+     516             :           // Restore variables
+     517       42037 :           for (i = 0; i < N; i++)
+     518       36626 :             K[i] = svk[i];
+     519             : 
+     520             :           // Try quadratic iteration if it has not been tried and the v sequence
+     521             :           // is converging
+     522             : 
+     523        5584 :         } while (vpass && !vtry);  // End do-while loop
+     524             : 
+     525             :         // Re-compute qp and scalar values to continue the second stage
+     526             : 
+     527        4892 :         QuadSD_ak1(NN, u, v, p, qp, &a, &b);
+     528        4892 :         tFlag = calcSC_ak1(N, a, b, &a1, &a3, &a7, &c, &d, &e, &f, &g, &h, K, u, v, qk);
+     529             : 
+     530             :       }  // End if ((spass) || (vpass))
+     531             : 
+     532             :     }  // End if ((j != 0) && (tFlag != 3))
+     533             : 
+     534       47704 :     ovv = vv;
+     535       47704 :     oss = ss;
+     536       47704 :     otv = tv;
+     537       47704 :     ots = ts;
+     538             :   }  // End for j
+     539             : 
+     540             :   return;
+     541             : }  // End Fxshfr_ak1
+     542             : 
+     543      295901 : void QuadSD_ak1(int NN, double u, double v, double p[MDP1], double q[MDP1], double* a, double* b) {
+     544             :   // Divides p by the quadratic 1, u, v placing the quotient in q and the
+     545             :   // remainder in a, b
+     546             : 
+     547      295901 :   int i;
+     548             : 
+     549      295901 :   q[0] = *b = p[0];
+     550      295901 :   q[1] = *a = -((*b) * u) + p[1];
+     551             : 
+     552     1858020 :   for (i = 2; i < NN; i++) {
+     553     1562120 :     q[i] = -((*a) * u + (*b) * v) + p[i];
+     554     1562120 :     *b   = (*a);
+     555     1562120 :     *a   = q[i];
+     556             :   }  // End for i
+     557             : 
+     558      295901 :   return;
+     559             : }  // End QuadSD_ak1
+     560             : 
+     561      201821 : int calcSC_ak1(int N, double a, double b, double* a1, double* a3, double* a7, double* c, double* d, double* e, double* f, double* g, double* h, double K[MDP1],
+     562             :                double u, double v, double qk[MDP1]) {
+     563             :   // This routine calculates scalar quantities used to compute the next K
+     564             :   // polynomial and
+     565             :   // new estimates of the quadratic coefficients.
+     566             : 
+     567             :   // calcSC - integer variable set here indicating how the calculations are
+     568             :   // normalized
+     569             :   //  to avoid overflow.
+     570             : 
+     571      201821 :   int dumFlag = 3;  // TYPE = 3 indicates the quadratic is almost a factor of K
+     572             : 
+     573             :   // Synthetic division of K by the quadratic 1, u, v
+     574      201821 :   QuadSD_ak1(N, u, v, K, qk, c, d);
+     575             : 
+     576      201821 :   if (fabs((*c)) <= (10.0 * DBL_EPSILON * fabs(K[N - 1]))) {
+     577           0 :     if (fabs((*d)) <= (10.0 * DBL_EPSILON * fabs(K[N - 2])))
+     578             :       return dumFlag;
+     579             :   }  // End if (fabs(c) <= (100.0*DBL_EPSILON*fabs(K[N - 1])))
+     580             : 
+     581      201821 :   *h = v * b;
+     582      201821 :   if (fabs((*d)) >= fabs((*c))) {
+     583      165310 :     dumFlag = 2;  // TYPE = 2 indicates that all formulas are divided by d
+     584      165310 :     *e      = a / (*d);
+     585      165310 :     *f      = (*c) / (*d);
+     586      165310 :     *g      = u * b;
+     587      165310 :     *a3     = (*e) * ((*g) + a) + (*h) * (b / (*d));
+     588      165310 :     *a1     = -a + (*f) * b;
+     589      165310 :     *a7     = (*h) + ((*f) + u) * a;
+     590             :   }  // End if(fabs(d) >= fabs(c))
+     591             :   else {
+     592       36511 :     dumFlag = 1;  // TYPE = 1 indicates that all formulas are divided by c;
+     593       36511 :     *e      = a / (*c);
+     594       36511 :     *f      = (*d) / (*c);
+     595       36511 :     *g      = (*e) * u;
+     596       36511 :     *a3     = (*e) * a + ((*g) + (*h) / (*c)) * b;
+     597       36511 :     *a1     = -(a * ((*d) / (*c))) + b;
+     598       36511 :     *a7     = (*g) * (*d) + (*h) * (*f) + a;
+     599             :   }  // End else
+     600             : 
+     601             :   return dumFlag;
+     602             : }  // End calcSC_ak1
+     603             : 
+     604      122351 : void nextK_ak1(int N, int tFlag, double a, double b, double a1, double* a3, double* a7, double K[MDP1], double qk[MDP1], double qp[MDP1]) {
+     605             :   // Computes the next K polynomials using the scalars computed in calcSC_ak1
+     606             : 
+     607      122351 :   int    i;
+     608      122351 :   double temp;
+     609             : 
+     610      122351 :   if (tFlag == 3) {  // Use unscaled form of the recurrence
+     611           0 :     K[1] = K[0] = 0.0;
+     612             : 
+     613           0 :     for (i = 2; i < N; i++)
+     614           0 :       K[i] = qk[i - 2];
+     615             : 
+     616             :     return;
+     617             :   }  // End if (tFlag == 3)
+     618             : 
+     619      122351 :   temp = ((tFlag == 1) ? b : a);
+     620             : 
+     621      122351 :   if (fabs(a1) > (10.0 * DBL_EPSILON * fabs(temp))) {
+     622             :     // Use scaled form of the recurrence
+     623             : 
+     624      122351 :     (*a7) /= a1;
+     625      122351 :     (*a3) /= a1;
+     626      122351 :     K[0] = qp[0];
+     627      122351 :     K[1] = -((*a7) * qp[0]) + qp[1];
+     628             : 
+     629      750835 :     for (i = 2; i < N; i++)
+     630      628484 :       K[i] = -((*a7) * qp[i - 1]) + (*a3) * qk[i - 2] + qp[i];
+     631             : 
+     632             :   }  // End if (fabs(a1) > (10.0*DBL_EPSILON*fabs(temp)))
+     633             :   else {
+     634             :     // If a1 is nearly zero, then use a special form of the recurrence
+     635             : 
+     636           0 :     K[0] = 0.0;
+     637           0 :     K[1] = -(*a7) * qp[0];
+     638             : 
+     639           0 :     for (i = 2; i < N; i++)
+     640           0 :       K[i] = -((*a7) * qp[i - 1]) + (*a3) * qk[i - 2];
+     641             :   }  // End else
+     642             : 
+     643             :   return;
+     644             : 
+     645             : }  // End nextK_ak1
+     646             : 
+     647      122151 : void newest_ak1(int tFlag, double* uu, double* vv, double a, double a1, double a3, double a7, double b, double c, double d, double f, double g, double h,
+     648             :                 double u, double v, double K[MDP1], int N, double p[MDP1]) {
+     649             :   // Compute new estimates of the quadratic coefficients using the scalars
+     650             :   // computed in calcSC_ak1
+     651             : 
+     652      122151 :   double a4, a5, b1, b2, c1, c2, c3, c4, temp;
+     653             : 
+     654      122151 :   (*vv) = (*uu) = 0.0;  // The quadratic is zeroed
+     655             : 
+     656      122151 :   if (tFlag != 3) {
+     657      122151 :     if (tFlag != 2) {
+     658       21120 :       a4 = a + u * b + h * f;
+     659       21120 :       a5 = c + (u + v * f) * d;
+     660             :     }       // End if (tFlag != 2)
+     661             :     else {  // else tFlag == 2
+     662      101031 :       a4 = (a + g) * f + h;
+     663      101031 :       a5 = (f + u) * c + v * d;
+     664             :     }  // End else tFlag == 2
+     665             : 
+     666             :     // Evaluate new quadratic coefficients
+     667             : 
+     668      122151 :     b1   = -K[N - 1] / p[N];
+     669      122151 :     b2   = -(K[N - 2] + b1 * p[N - 1]) / p[N];
+     670      122151 :     c1   = v * b2 * a1;
+     671      122151 :     c2   = b1 * a7;
+     672      122151 :     c3   = b1 * b1 * a3;
+     673      122151 :     c4   = -(c2 + c3) + c1;
+     674      122151 :     temp = -c4 + a5 + b1 * a4;
+     675      122151 :     if (temp != 0.0) {
+     676      122110 :       *uu = -((u * (c3 + c2) + v * (b1 * a1 + b2 * a7)) / temp) + u;
+     677      122110 :       *vv = v * (1.0 + c4 / temp);
+     678             :     }  // End if (temp != 0)
+     679             : 
+     680             :   }  // End if (tFlag != 3)
+     681             : 
+     682      122151 :   return;
+     683             : }  // End newest_ak1
+     684             : 
+     685       20426 : void QuadIT_ak1(int N, int* NZ, double uu, double vv, double* szr, double* szi, double* lzr, double* lzi, double qp[MDP1], int NN, double* a, double* b,
+     686             :                 double p[MDP1], double qk[MDP1], double* a1, double* a3, double* a7, double* d, double* e, double* f, double* g, double* h, double K[MDP1]) {
+     687             :   // Variable-shift K-polynomial iteration for a quadratic factor converges only
+     688             :   // if the
+     689             :   // zeros are equimodular or nearly so.
+     690             : 
+     691       20426 :   int    i, j = 0, tFlag, triedFlag = 0;
+     692       20426 :   double c, ee, mp, omp, relstp, t, u, ui, v, vi, zm;
+     693             : 
+     694       20426 :   *NZ = 0;   // Number of zeros found
+     695       20426 :   u   = uu;  // uu and vv are coefficients of the starting quadratic
+     696       20426 :   v   = vv;
+     697             : 
+     698       62827 :   do {
+     699       62827 :     Quad_ak1(1.0, u, v, szr, szi, lzr, lzi);
+     700             : 
+     701             :     // Return if roots of the quadratic are real and not close to multiple or
+     702             :     // nearly
+     703             :     // equal and of opposite sign.
+     704             : 
+     705       62827 :     if (fabs(fabs(*szr) - fabs(*lzr)) > 0.01 * fabs(*lzr))
+     706             :       break;
+     707             : 
+     708             :     // Evaluate polynomial by quadratic synthetic division
+     709             : 
+     710       56989 :     QuadSD_ak1(NN, u, v, p, qp, a, b);
+     711             : 
+     712       56989 :     mp = fabs(-((*szr) * (*b)) + (*a)) + fabs((*szi) * (*b));
+     713             : 
+     714             :     // Compute a rigorous bound on the rounding error in evaluating p
+     715             : 
+     716       56989 :     zm = sqrt(fabs(v));
+     717       56989 :     ee = 2.0 * fabs(qp[0]);
+     718       56989 :     t  = -((*szr) * (*b));
+     719             : 
+     720      385584 :     for (i = 1; i < N; i++)
+     721      328595 :       ee = ee * zm + fabs(qp[i]);
+     722             : 
+     723       56989 :     ee = ee * zm + fabs((*a) + t);
+     724       56989 :     ee = (9.0 * ee + 2.0 * fabs(t) - 7.0 * (fabs((*a) + t) + zm * fabs((*b)))) * DBL_EPSILON;
+     725             : 
+     726             :     // Iteration has converged sufficiently if the polynomial value is less than
+     727             :     // 20 times this bound
+     728             : 
+     729       56989 :     if (mp <= 20.0 * ee) {
+     730       14570 :       *NZ = 2;
+     731       14570 :       break;
+     732             :     }  // End if (mp <= 20.0*ee)
+     733             : 
+     734       42419 :     j++;
+     735             : 
+     736             :     // Stop iteration after 20 steps
+     737       42419 :     if (j > 20)
+     738             :       break;
+     739             : 
+     740       42419 :     if (j >= 2) {
+     741       26739 :       if ((relstp <= 0.01) && (mp >= omp) && (!triedFlag)) {
+     742             :         // A cluster appears to be stalling the convergence. Five fixed shift
+     743             :         // steps are taken with a u, v close to the cluster.
+     744             : 
+     745          40 :         relstp = ((relstp < DBL_EPSILON) ? sqrt(DBL_EPSILON) : sqrt(relstp));
+     746             : 
+     747          40 :         u -= u * relstp;
+     748          40 :         v += v * relstp;
+     749             : 
+     750          40 :         QuadSD_ak1(NN, u, v, p, qp, a, b);
+     751             : 
+     752         240 :         for (i = 0; i < 5; i++) {
+     753         200 :           tFlag = calcSC_ak1(N, *a, *b, a1, a3, a7, &c, d, e, f, g, h, K, u, v, qk);
+     754         200 :           nextK_ak1(N, tFlag, *a, *b, *a1, a3, a7, K, qk, qp);
+     755             :         }  // End for i
+     756             : 
+     757             :         triedFlag = 1;
+     758             :         j         = 0;
+     759             : 
+     760             :       }  // End if ((relstp <= 0.01) && (mp >= omp) && (!triedFlag))
+     761             : 
+     762             :     }  // End if (j >= 2)
+     763             : 
+     764       42419 :     omp = mp;
+     765             : 
+     766             :     // Calculate next K polynomial and new u and v
+     767             : 
+     768       42419 :     tFlag = calcSC_ak1(N, *a, *b, a1, a3, a7, &c, d, e, f, g, h, K, u, v, qk);
+     769       42419 :     nextK_ak1(N, tFlag, *a, *b, *a1, a3, a7, K, qk, qp);
+     770       42419 :     tFlag = calcSC_ak1(N, *a, *b, a1, a3, a7, &c, d, e, f, g, h, K, u, v, qk);
+     771       42419 :     newest_ak1(tFlag, &ui, &vi, *a, *a1, *a3, *a7, *b, c, *d, *f, *g, *h, u, v, K, N, p);
+     772             : 
+     773             :     // If vi is zero, the iteration is not converging
+     774       42419 :     if (vi != 0) {
+     775       42401 :       relstp = fabs((-v + vi) / vi);
+     776       42401 :       u      = ui;
+     777       42401 :       v      = vi;
+     778             :     }                 // End if (vi != 0)
+     779       42419 :   } while (vi != 0);  // End do-while loop
+     780             : 
+     781       20426 :   return;
+     782             : 
+     783             : }  // End QuadIT_ak1
+     784             : 
+     785       20360 : void RealIT_ak1(int* iFlag, int* NZ, double* sss, int N, double p[MDP1], int NN, double qp[MDP1], double* szr, double* szi, double K[MDP1], double qk[MDP1]) {
+     786             :   // Variable-shift H-polynomial iteration for a real zero
+     787             : 
+     788             :   // sss  - starting iterate
+     789             :   // NZ - number of zeros found
+     790             :   // iFlag  - flag to indicate a pair of zeros near real axis
+     791             : 
+     792       20360 :   int    i, j = 0, nm1 = N - 1;
+     793       20360 :   double ee, kv, mp, ms, omp, pv, s, t;
+     794             : 
+     795       20360 :   *iFlag = *NZ = 0;
+     796       20360 :   s            = *sss;
+     797             : 
+     798      169168 :   for (;;) {
+     799       94764 :     qp[0] = pv = p[0];
+     800             : 
+     801             :     // Evaluate p at s
+     802      741514 :     for (i = 1; i < NN; i++)
+     803      646750 :       qp[i] = pv = pv * s + p[i];
+     804             : 
+     805       94764 :     mp = fabs(pv);
+     806             : 
+     807             :     // Compute a rigorous bound on the error in evaluating p
+     808             : 
+     809       94764 :     ms = fabs(s);
+     810       94764 :     ee = 0.5 * fabs(qp[0]);
+     811      741514 :     for (i = 1; i < NN; i++)
+     812      646750 :       ee = ee * ms + fabs(qp[i]);
+     813             : 
+     814             :     // Iteration has converged sufficiently if the polynomial value is less than
+     815             :     // 20 times this bound
+     816             : 
+     817       94764 :     if (mp <= 20.0 * DBL_EPSILON * (2.0 * ee - mp)) {
+     818       17458 :       *NZ  = 1;
+     819       17458 :       *szr = s;
+     820       17458 :       *szi = 0.0;
+     821       17458 :       break;
+     822             :     }  // End if (mp <= 20.0*DBL_EPSILON*(2.0*ee - mp))
+     823             : 
+     824       77306 :     j++;
+     825             : 
+     826             :     // Stop iteration after 10 steps
+     827             : 
+     828       77306 :     if (j > 10)
+     829             :       break;
+     830             : 
+     831       74577 :     if (j >= 2) {
+     832       54463 :       if ((fabs(t) <= 0.001 * fabs(-t + s)) && (mp > omp)) {
+     833             :         // A cluster of zeros near the real axis has been encountered;
+     834             :         // Return with iFlag set to initiate a quadratic iteration
+     835             : 
+     836         173 :         *iFlag = 1;
+     837         173 :         *sss   = s;
+     838         173 :         break;
+     839             :       }  // End if ((fabs(t) <= 0.001*fabs(s - t)) && (mp > omp))
+     840             : 
+     841             :     }  // End if (j >= 2)
+     842             : 
+     843             :     // Return if the polynomial value has increased significantly
+     844             : 
+     845       74404 :     omp = mp;
+     846             : 
+     847             :     // Compute t, the next polynomial and the new iterate
+     848       74404 :     qk[0] = kv = K[0];
+     849      503594 :     for (i = 1; i < N; i++)
+     850      429190 :       qk[i] = kv = kv * s + K[i];
+     851             : 
+     852       74404 :     if (fabs(kv) > fabs(K[nm1]) * 10.0 * DBL_EPSILON) {
+     853             :       // Use the scaled form of the recurrence if the value of K at s is
+     854             :       // non-zero
+     855       74404 :       t    = -(pv / kv);
+     856       74404 :       K[0] = qp[0];
+     857      503594 :       for (i = 1; i < N; i++)
+     858      429190 :         K[i] = t * qk[i - 1] + qp[i];
+     859             :     }       // End if (fabs(kv) > fabs(K[nm1])*10.0*DBL_EPSILON)
+     860             :     else {  // else (fabs(kv) <= fabs(K[nm1])*10.0*DBL_EPSILON)
+     861             :       // Use unscaled form
+     862           0 :       K[0] = 0.0;
+     863           0 :       for (i = 1; i < N; i++)
+     864           0 :         K[i] = qk[i - 1];
+     865             :     }  // End else (fabs(kv) <= fabs(K[nm1])*10.0*DBL_EPSILON)
+     866             : 
+     867       74404 :     kv = K[0];
+     868      503594 :     for (i = 1; i < N; i++)
+     869      429190 :       kv = kv * s + K[i];
+     870             : 
+     871       74404 :     t = ((fabs(kv) > (fabs(K[nm1]) * 10.0 * DBL_EPSILON)) ? -(pv / kv) : 0.0);
+     872             : 
+     873       74404 :     s += t;
+     874             : 
+     875             :   }  // End infinite for loop
+     876             : 
+     877       20360 :   return;
+     878             : 
+     879             : }  // End RealIT_ak1
+     880             : 
+     881       67097 : void Quad_ak1(double a, double b1, double c, double* sr, double* si, double* lr, double* li) {
+     882             :   // Calculates the zeros of the quadratic a*Z^2 + b1*Z + c
+     883             :   // The quadratic formula, modified to avoid overflow, is used to find the
+     884             :   // larger zero if the
+     885             :   // zeros are real and both zeros are complex. The smaller real zero is found
+     886             :   // directly from
+     887             :   // the product of the zeros c/a.
+     888             : 
+     889       67097 :   double b, d, e;
+     890             : 
+     891       67097 :   *sr = *si = *lr = *li = 0.0;
+     892             : 
+     893       67097 :   if (a == 0) {
+     894           0 :     *sr = ((b1 != 0) ? -(c / b1) : *sr);
+     895           0 :     return;
+     896             :   }  // End if (a == 0))
+     897             : 
+     898       67097 :   if (c == 0) {
+     899           0 :     *lr = -(b1 / a);
+     900           0 :     return;
+     901             :   }  // End if (c == 0)
+     902             : 
+     903             :   // Compute discriminant avoiding overflow
+     904             : 
+     905       67097 :   b = b1 / 2.0;
+     906       67097 :   if (fabs(b) < fabs(c)) {
+     907       18937 :     e = ((c >= 0) ? a : -a);
+     908       18937 :     e = -e + b * (b / fabs(c));
+     909       18937 :     d = sqrt(fabs(e)) * sqrt(fabs(c));
+     910             :   }       // End if (fabs(b) < fabs(c))
+     911             :   else {  // Else (fabs(b) >= fabs(c))
+     912       48160 :     e = -((a / b) * (c / b)) + 1.0;
+     913       48160 :     d = sqrt(fabs(e)) * (fabs(b));
+     914             :   }  // End else (fabs(b) >= fabs(c))
+     915             : 
+     916       67097 :   if (e >= 0) {
+     917             :     // Real zeros
+     918             : 
+     919        9417 :     d   = ((b >= 0) ? -d : d);
+     920        9417 :     *lr = (-b + d) / a;
+     921        9417 :     *sr = ((*lr != 0) ? (c / (*lr)) / a : *sr);
+     922             :   }       // End if (e >= 0)
+     923             :   else {  // Else (e < 0)
+     924             :     // Complex conjugate zeros
+     925             : 
+     926       57680 :     *lr = *sr = -(b / a);
+     927       57680 :     *si       = fabs(d / a);
+     928       57680 :     *li       = -(*si);
+     929             :   }  // End else (e < 0)
+     930             : 
+     931             :   return;
+     932             : }  // End Quad_ak1
+     933             : 
+     934             : 
+     935             : }  // namespace rpoly_impl
+     936             : 
+     937             : //}
+     938             : 
+     939        6678 : void rpolyWrapper(double* coefficients_decreasing, int* degree, double* roots_real, double* roots_imag) {
+     940        6678 :   rpoly_impl::rpoly_ak1(coefficients_decreasing, degree, roots_real, roots_imag);
+     941        6678 : }
+     942             : 
+     943             : }  // namespace eth_trajectory_generation
+
+
+
+ + + + +
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+ + diff --git a/mrs_uav_trajectory_generation/src/eth_trajectory_generation/rpoly/rpoly_ak1.cpp.gcov.png b/mrs_uav_trajectory_generation/src/eth_trajectory_generation/rpoly/rpoly_ak1.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..2834566af0900b07cd43dca4d0d16bd8201e6d05 GIT binary patch literal 4791 zcmV;o5=iZdP)61V<(woqQ53@ zF{%6)Lthac-P5y_Uc2m)RvI?!X{UeY2YOp8#Kk+PVfy&i`aL%c_;0rM~o z5|G9uO)gK;N6kW7;4;R-#AZ@?fC4$wr+dOQdYg_#E(A#P^jwls7z@^3O&>87wysG z3tlzx@oYMK*)z;NEDPIQF~H$MY#BN!o{FqW%;EgHE22aIl+ULk%9CYC-b+gXWMaB= zR9SgXQ>KjqMtgK83Bd3i?_0KV{7d_w$7K6yP4-6GRYPO&6jI$zk284GVGWDLYW3Jh z5k>GawDy=jUdlA>dADujXMQ*5mD{w|kU8)2x2jE-?_L2;DwtB2yUNhpw&^Ul=kVL} zCs%WL4!v*HBrwpFbbq zgq$~VG|VO2AlO+tXj;egG)ft zak;EJ@7EGVHP^+4!aJD(WBB=k&9wr5&TjYyV6Y96Ft)Fk;vc&0=jZS5@AvQT@zZb9 zj|Tz3FIdh0fCZptwFCGKrvmQ!eLbQ}&uumVlMuTFh6ZV{C|301vrr^N0W}PyF-92j z$!r4pXfH%k^(cWRbqe_T$&Ug!+Xo4e@}nKP?(IAc8Ct_)w(o>V**PxfAq{Y6=%mq~ zG7Hn=EEqJSa{sC7(M;fF;f9173qyPjBhM8HO?c}Hk#X)hS>9~qZpQq}<#n+DwoDIX zZe80{LuR3>>8*a)Ujf+$7gG|ChXq&x(htw_cw*cA%{gYqht=3m8z^u3MnMk)J{9-L z;5h(kjd@qVOn~{tJb4*9Q;)^&%G=8a9KiQhy%{6r+LS4Phc5hmkUlIrk$*YfvTshL z>HhG>(Hctg0D3$E+O+@%wCm5~IYXY%F{9Rp;(KPIR6&xsDP(OrSrF{IMy!-fRC6h_ zvIBKN-wQzBh8&3Za9(PW#8y+;rC4ZdmA%m6u~n^RLQ!rTa|9S!%m82}`N0!y0)|_m z%(l6t8KjIRui7S6aZ|`i>0lA)+4=#Ou{jd03#Caa_l9PNUZi zCJ!Bqrcx>{-Qg%u6I;usRVCN{R*z(a$8tGTt8mL=)_NN@nT;sJW=@kVt7TjV)G$R~ z0AbH;v}Lzu$3s05mpS`&2$jo>1Z09aek}pX0O!BXVo<}1*X$}x^1#rV{9M=!K)x0a z=+X5Gb&ipQrP%#aeen@r7E*_~C(uNOlkrVvI*VO->p3EYkSRc#nSZab2Fd#MvpZfmq^)?kH>8Ew|)9x)wEyw#uW6-4kKzq zj&|EC;m?5LHTQcwT%Syw(WIlQ4@|TLIMT$X5c&Od>^>sSQzi#GDA?&B`UO29K$41X zo(q(T^cdK$EFUSS-|M%Kun6V6v%R@r+V+E+>oyBhNN59f^K62Qfm*psTJO+!xgAac zWiB0wS3pqaDhXHNk(|wLr!`t_EXG}qS#^MMHPqJ!RF}O6I7C8UC%mT>q}*fNiwDD(6e1I@y|>t(D`g9W#tXDwD?4hbm^xcb}!WmFuRmP{Qq6$)Ys zBAfDDC9Z=XW03{`Q2?PP_5~mXT_1nHzmLbG#AUBzpB$cj{QUkNu-&L@>GH1tUWafE zAVppqgId79zn@2^Hw*YEq1@kNQP(q=bmZSwn3({F8iFpq3Rtu}T6TAd7|&XATI_6!R6HpxCgyF{_wVuhSt4Ca$U; zqq|3GF(6ZmH`XzUyEiFP<1x@MN6k(mIwGmdQN^;V*yC_&Z!spJ$HotSL5z0=BBib# z;hZJeIh(@`vq5)R+1vChbEJ7~tl-*Pq3}2Dm!?IofF5N47!v@2CV12k*c>cs@1nZ_hZg)u?ra6KHNh5Cg#$3iRi=UsFWr{$)aD^!CEqo9V0SGq@7|xOq z197gT$7L`+?n|ghvQXlMB7@-o1F*c;?TpaqE4hl+K~FP+@L>Cj1t1kaDpk_EYH20@ zZWN@ORg*3JOJxmY=$6uo@=p2xFjn&qm0mQfE&xb<^@}P1*aZS0%<#UiFwhdtXU;cK zQMcer^+w&){_n$`OJc}bk;<4toZlbgN&%{cQYne?5zdt^g%5gOT)ah zzFJHVuKe0ikwvv%VtnkKx@(dYh`{5Fs3{CY;RKyjq+K1Dq=pG4h@9*@3AXD{5)kvd z2bbV&%&HHFJmwu^A15G?BFJjW;Ws1fVcTVaL+UxBl<#=ZLseTp=`&L5c2v!U0Ld}) zoiqM(?$;{O&;;lOuP7%K%K}82p5BGFUm7PFrGg}bKp)4=)c;2Ny44=wwEJnn=lP(AY#ul?`GX6?7)jjT1 zTb@Ojnc{dkoeKQGR{7jcD?G&(O)8y+HYVJw6*Pt(ExqDcayCrAk#s;xW6MV7ZkV8%0ClUC zQg`|Hk(3W(Mm!ZU7WPeEk1BS-b(bs9V?U5GL>XST7BK2TBn@xs=^{2FeNkd78%Jkz zZdi1v(uJ$ey~De)ri)Q&foq;PdR!F=L&5rs*|7I|#s{w^Bq^j+YHL-;VUGTpR}AgR zd*g`rv)z|-yeuvrYe`u21`C!};ve6s1ORJc$&h4I-T99R0GwuBIKG)+Alm)@|4jgJ zk1kgTWj2JWRNb+9rFUxl+=w1726Xc?fx}3K&F)N9${CTxOKPZMzbpHp)}4dL;grUG z=s{u<8JXE^z$F>0G@xeU?HFGVyY0qf+H^oCuKgd zq8F0JZX^k`Lz1~NmYt!ta#JFyi!}IV|3Td_Cr| z^K+z*v;eyCS<|Dpn3B}YsOD9%dvP&e0raAz7d^HBRqhcgTRldC9z?RfKDv<_eGz-kV5E3(hANXvg^8YnR@E3fjF=j4zBrg903d*PF2A6-75kZYg6!$2B&;6c2#Yw9=m0`4oeCV7i=A#t52m+ z(j7Y9?uZ0c?W+})9FNvVqvooL%5yM7J-SVNg=@cS#vjVq*0R1!kk(;5TF2#fjqO5H z$RW2&UtB5umUi_3gOFSZgw{_$@bT;1yH4r=)N7~qPNDr2u7FLn=ylTgvdH=O!5^XMcM=Hx^(~jn%9?P>J25Vz=gP_#x=F)KB7Is(&VM1Kr^XLIev~^ z=IClysqc1lVU`PO?@E8;T)#>8SM}`)2bIMn;cCzt0c#IZl-z*>3*rmXy zI(tTamLPBq$g)E8zt-84%F7b)6+?xt=QT0E?nDuL{eIe-N~Hn7C(g8^3e7`g~;sF5ZMuu9Q(cb;QEr9b)A2Um&S zeF5}94N|O4s%P+>)8wSQUvd-Tu_qTzAs$;1I3MYeJvMs^VY43^Lr>Dnm8}YXS#{t> z7ZLUlX6-|K2O!<`8|X0#D4YX~T*jLwzM=AvOp@sRP)KB=?g-DN`~;CH*YwLKOvLc%vaP2*0~CH^Dm`L8_9Ark&8 zE~yqkW+v3ubV;))Y<&``REFn}yA6SUaN1~H*^2X%O@%F@fU#JLUI8!6yOBL-WctW* zzVbaaC#m#VHS*USAA4Wng1a`;Y3Qh8AE}+WT@9OHh>63$e7XFJA^}?gMZaXNECmgH zQmuU5u6G@YRtyEULI{z(XG(UI3Di83Yt#FB^DdeIR;S%xYM^UmX!N~@o}XaJPyvh- z_~6nzw-j*tF*l*fEqU7BsPAEU+o#|9PR!mb8XnmSOkR_Gk>G)()c3I-8y?KNb5!Sb ze$yFyq0GPKUz_~;IdQK3HDr<`*b60XJ#KY8G$9u#dzY_wKE{Un_rIBV#u*pA&*0?< z_%dk%(p~m48$}cOfY&$~@3Q1zGG6|kZ+q`DL*KKL^I`shj}&Bngz^ysl$ z+Bkyn!Nv3keseMXvhR3X + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trajectory_generation/src/eth_trajectory_generation/segment.cpp - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_trajectory_generation/src/eth_trajectory_generation - segment.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:5212740.9 %
Date:2024-01-20 21:44:18Functions:61346.2 %
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Function Name Sort by function nameHit count Sort by hit count
eth_trajectory_generation::printSegment(std::basic_ostream<char, std::char_traits<char> >&, eth_trajectory_generation::Segment const&, int)0
eth_trajectory_generation::Segment::offsetSegment(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&)0
eth_trajectory_generation::operator<<(std::basic_ostream<char, std::char_traits<char> >&, eth_trajectory_generation::Segment const&)0
eth_trajectory_generation::operator<<(std::basic_ostream<char, std::char_traits<char> >&, std::vector<eth_trajectory_generation::Segment, std::allocator<eth_trajectory_generation::Segment> > const&)0
eth_trajectory_generation::Segment::getSegmentWithSingleDimension(int, eth_trajectory_generation::Segment*) const0
eth_trajectory_generation::Segment::getSegmentWithAppendedDimension(eth_trajectory_generation::Segment const&, eth_trajectory_generation::Segment*) const0
eth_trajectory_generation::Segment::operator==(eth_trajectory_generation::Segment const&) const0
eth_trajectory_generation::Segment::computeMinMaxMagnitudeCandidates(int, double, double, std::vector<int, std::allocator<int> > const&, std::vector<eth_trajectory_generation::Extremum, std::allocator<eth_trajectory_generation::Extremum> >*) const7578
eth_trajectory_generation::Segment::selectMinMaxMagnitudeFromCandidates(int, double, double, std::vector<int, std::allocator<int> > const&, std::vector<eth_trajectory_generation::Extremum, std::allocator<eth_trajectory_generation::Extremum> > const&, eth_trajectory_generation::Extremum*, eth_trajectory_generation::Extremum*) const7578
eth_trajectory_generation::Segment::computeMinMaxMagnitudeCandidateTimes(int, double, double, std::vector<int, std::allocator<int> > const&, std::vector<double, std::allocator<double> >*) const7578
eth_trajectory_generation::Segment::evaluate(double, int) const16240
eth_trajectory_generation::Segment::operator[](unsigned long) const155160
eth_trajectory_generation::Segment::operator[](unsigned long)169580
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Generated by: LCOV version 1.14
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LCOV - code coverage report
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Current view:top level - mrs_uav_trajectory_generation/src/eth_trajectory_generation - segment.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:5212740.9 %
Date:2024-01-20 21:44:18Functions:61346.2 %
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Function Name Sort by function nameHit count Sort by hit count
eth_trajectory_generation::printSegment(std::basic_ostream<char, std::char_traits<char> >&, eth_trajectory_generation::Segment const&, int)0
eth_trajectory_generation::Segment::offsetSegment(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&)0
eth_trajectory_generation::Segment::operator[](unsigned long)169580
eth_trajectory_generation::operator<<(std::basic_ostream<char, std::char_traits<char> >&, eth_trajectory_generation::Segment const&)0
eth_trajectory_generation::operator<<(std::basic_ostream<char, std::char_traits<char> >&, std::vector<eth_trajectory_generation::Segment, std::allocator<eth_trajectory_generation::Segment> > const&)0
eth_trajectory_generation::Segment::getSegmentWithSingleDimension(int, eth_trajectory_generation::Segment*) const0
eth_trajectory_generation::Segment::getSegmentWithAppendedDimension(eth_trajectory_generation::Segment const&, eth_trajectory_generation::Segment*) const0
eth_trajectory_generation::Segment::computeMinMaxMagnitudeCandidates(int, double, double, std::vector<int, std::allocator<int> > const&, std::vector<eth_trajectory_generation::Extremum, std::allocator<eth_trajectory_generation::Extremum> >*) const7578
eth_trajectory_generation::Segment::selectMinMaxMagnitudeFromCandidates(int, double, double, std::vector<int, std::allocator<int> > const&, std::vector<eth_trajectory_generation::Extremum, std::allocator<eth_trajectory_generation::Extremum> > const&, eth_trajectory_generation::Extremum*, eth_trajectory_generation::Extremum*) const7578
eth_trajectory_generation::Segment::computeMinMaxMagnitudeCandidateTimes(int, double, double, std::vector<int, std::allocator<int> > const&, std::vector<double, std::allocator<double> >*) const7578
eth_trajectory_generation::Segment::evaluate(double, int) const16240
eth_trajectory_generation::Segment::operator==(eth_trajectory_generation::Segment const&) const0
eth_trajectory_generation::Segment::operator[](unsigned long) const155160
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Generated by: LCOV version 1.14
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LCOV - code coverage report
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Current view:top level - mrs_uav_trajectory_generation/src/eth_trajectory_generation - segment.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:5212740.9 %
Date:2024-01-20 21:44:18Functions:61346.2 %
Legend: Lines: + hit + not hit +
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+
          Line data    Source code
+
+       1             : /*
+       2             :  * Copyright (c) 2016, Markus Achtelik, ASL, ETH Zurich, Switzerland
+       3             :  * Copyright (c) 2016, Michael Burri, ASL, ETH Zurich, Switzerland
+       4             :  * Copyright (c) 2016, Helen Oleynikova, ASL, ETH Zurich, Switzerland
+       5             :  * Copyright (c) 2016, Rik Bähnemann, ASL, ETH Zurich, Switzerland
+       6             :  * Copyright (c) 2016, Marija Popovic, ASL, ETH Zurich, Switzerland
+       7             :  *
+       8             :  * Licensed under the Apache License, Version 2.0 (the "License");
+       9             :  * you may not use this file except in compliance with the License.
+      10             :  * You may obtain a copy of the License at
+      11             :  *
+      12             :  * http://www.apache.org/licenses/LICENSE-2.0
+      13             :  *
+      14             :  * Unless required by applicable law or agreed to in writing, software
+      15             :  * distributed under the License is distributed on an "AS IS" BASIS,
+      16             :  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+      17             :  * See the License for the specific language governing permissions and
+      18             :  * limitations under the License.
+      19             :  */
+      20             : 
+      21             : #include <eth_trajectory_generation/segment.h>
+      22             : 
+      23             : #include <cmath>
+      24             : #include <limits>
+      25             : 
+      26             : namespace eth_trajectory_generation
+      27             : {
+      28             : 
+      29             : /* operator==(const Segment& rhs)() //{ */
+      30             : 
+      31           0 : bool Segment::operator==(const Segment& rhs) const {
+      32           0 :   if (D_ != rhs.D_ || time_ != rhs.time_) {
+      33             :     return false;
+      34             :   } else {
+      35           0 :     for (int i = 0; i < D(); i++) {
+      36           0 :       if (polynomials_[i] != rhs[i]) {
+      37             :         return false;
+      38             :       }
+      39             :     }
+      40             :   }
+      41             :   return true;
+      42             : }
+      43             : 
+      44             : //}
+      45             : 
+      46             : /* Segment::operator[](size_t idx) //{ */
+      47             : 
+      48      169580 : Polynomial& Segment::operator[](size_t idx) {
+      49      169580 :   CHECK_LT(idx, static_cast<size_t>(D_));
+      50      169580 :   return polynomials_[idx];
+      51             : }
+      52             : 
+      53             : //}
+      54             : 
+      55             : /* Segment::operator[](size_t idx) //{ */
+      56             : 
+      57      155160 : const Polynomial& Segment::operator[](size_t idx) const {
+      58      155160 :   CHECK_LT(idx, static_cast<size_t>(D_));
+      59      155160 :   return polynomials_[idx];
+      60             : }
+      61             : 
+      62             : //}
+      63             : 
+      64             : /* evaluate() //{ */
+      65             : 
+      66       16240 : Eigen::VectorXd Segment::evaluate(double t, int derivative) const {
+      67       16240 :   Eigen::VectorXd result(D_);
+      68       16240 :   result.setZero();
+      69       81200 :   for (int d = 0; d < D_; ++d) {
+      70       64960 :     result[d] = polynomials_[d].evaluate(t, derivative);
+      71             :   }
+      72       16240 :   return result;
+      73             : }
+      74             : 
+      75             : //}
+      76             : 
+      77             : /* printSegment() //{ */
+      78             : 
+      79           0 : void printSegment(std::ostream& stream, const Segment& s, int derivative) {
+      80           0 :   CHECK(derivative >= 0 && derivative < s.N());
+      81           0 :   stream << "t: " << s.getTime() << std::endl;
+      82           0 :   stream << " coefficients for " << positionDerivativeToString(derivative) << ": " << std::endl;
+      83           0 :   for (int i = 0; i < s.D(); ++i) {
+      84           0 :     stream << "dim " << i << ": " << std::endl;
+      85           0 :     stream << s[i].getCoefficients(derivative) << std::endl;
+      86             :   }
+      87           0 : }
+      88             : 
+      89             : //}
+      90             : 
+      91             : /* operator<<(std::ostream& stream, const Segment& s) //{ */
+      92             : 
+      93           0 : std::ostream& operator<<(std::ostream& stream, const Segment& s) {
+      94           0 :   printSegment(stream, s, derivative_order::POSITION);
+      95           0 :   return stream;
+      96             : }
+      97             : 
+      98             : //}
+      99             : 
+     100             : /* operator<<(std::ostream& stream, const std::vector<Segment>& segments) //{ */
+     101             : 
+     102           0 : std::ostream& operator<<(std::ostream& stream, const std::vector<Segment>& segments) {
+     103           0 :   for (const Segment& s : segments)
+     104           0 :     stream << s << std::endl;
+     105             : 
+     106           0 :   return stream;
+     107             : }
+     108             : 
+     109             : //}
+     110             : 
+     111             : /* computeMinMaxMagnitudeCandidateTimes() //{ */
+     112             : 
+     113        7578 : bool Segment::computeMinMaxMagnitudeCandidateTimes(
+     114             : 
+     115             :     int derivative, double t_start, double t_end, const std::vector<int>& dimensions, std::vector<double>* candidate_times) const {
+     116        7578 :   CHECK_NOTNULL(candidate_times);
+     117        7578 :   candidate_times->clear();
+     118             :   // Compute magnitude derivative roots.
+     119        7578 :   if (dimensions.empty()) {
+     120           0 :     LOG(WARNING) << "No dimensions specified." << std::endl;
+     121           0 :     return false;
+     122        7578 :   } else if (dimensions.size() > 1) {
+     123        2526 :     const int       n_d                           = N_ - derivative;
+     124        2526 :     const int       n_dd                          = n_d - 1;
+     125        2526 :     const int       convolved_coefficients_length = Polynomial::getConvolutionLength(n_d, n_dd);
+     126        2526 :     Eigen::VectorXd convolved_coefficients(convolved_coefficients_length);
+     127        2526 :     convolved_coefficients.setZero();
+     128        7578 :     for (int dim : dimensions) {
+     129        5052 :       if (dim < 0 || dim >= D_) {
+     130           0 :         LOG(WARNING) << "Specified dimensions " << dim << " are out of bounds [0.." << D_ - 1 << "]." << std::endl;
+     131           0 :         return false;
+     132             :       }
+     133             :       // Our coefficients are INCREASING, so when you take the derivative,
+     134             :       // only the lower powers of t have non-zero coefficients.
+     135             :       // So we take the head.
+     136       10104 :       Eigen::VectorXd d  = polynomials_[dim].getCoefficients(derivative).head(n_d);
+     137       15156 :       Eigen::VectorXd dd = polynomials_[dim].getCoefficients(derivative + 1).head(n_dd);
+     138       10104 :       convolved_coefficients += Polynomial::convolve(d, dd);
+     139             :     }
+     140        5052 :     Polynomial polynomial_convolved(convolved_coefficients);
+     141             : 
+     142             :     // derivative = -1 because the convolved polynomial is the derivative
+     143             :     // already. We wish to find the minimum and maximum candidates for the
+     144             :     // integral.
+     145        2526 :     if (!polynomial_convolved.computeMinMaxCandidates(t_start, t_end, -1, candidate_times)) {
+     146           0 :       return false;
+     147             :     }
+     148             :   } else {
+     149             :     // For dimension.size() == 1  we can simply evaluate the roots of the
+     150             :     // derivative.
+     151        5052 :     if (!polynomials_[dimensions[0]].computeMinMaxCandidates(t_start, t_end, derivative, candidate_times)) {
+     152           0 :       return false;
+     153             :     }
+     154             :   }
+     155             :   return true;
+     156             : }
+     157             : 
+     158             : //}
+     159             : 
+     160             : /* computeMinMaxMagnitudeCandidates() //{ */
+     161             : 
+     162        7578 : bool Segment::computeMinMaxMagnitudeCandidates(
+     163             : 
+     164             :     int derivative, double t_start, double t_end, const std::vector<int>& dimensions, std::vector<Extremum>* candidates) const {
+     165        7578 :   CHECK_NOTNULL(candidates);
+     166             :   // Find candidate times (roots + start + end).
+     167        7578 :   std::vector<double> candidate_times;
+     168        7578 :   computeMinMaxMagnitudeCandidateTimes(derivative, t_start, t_end, dimensions, &candidate_times);
+     169             : 
+     170             :   // Evaluate candidate times.
+     171        7578 :   candidates->resize(candidate_times.size());
+     172       39425 :   for (size_t i = 0; i < candidate_times.size(); i++) {
+     173       31847 :     double magnitude = 0.0;
+     174       76133 :     for (int dim : dimensions) {
+     175       44286 :       magnitude += std::pow(polynomials_[dim].evaluate(candidate_times[i], derivative), 2);
+     176             :     }
+     177       31847 :     magnitude        = std::sqrt(magnitude);
+     178       31847 :     (*candidates)[i] = Extremum(candidate_times[i], magnitude, 0);
+     179             :   }
+     180             : 
+     181       15156 :   return true;
+     182             : }
+     183             : 
+     184             : //}
+     185             : 
+     186             : /* selectMinMaxMagnitudeFromCandidates() //{ */
+     187             : 
+     188        7578 : bool Segment::selectMinMaxMagnitudeFromCandidates(
+     189             : 
+     190             :     int derivative, double t_start, double t_end, const std::vector<int>& dimensions, const std::vector<Extremum>& candidates, Extremum* minimum,
+     191             :     Extremum* maximum) const {
+     192        7578 :   CHECK_NOTNULL(minimum);
+     193        7578 :   CHECK_NOTNULL(maximum);
+     194        7578 :   if (t_start > t_end) {
+     195           0 :     LOG(WARNING) << "t_start is greater than t_end.";
+     196           0 :     return false;
+     197             :   }
+     198             : 
+     199        7578 :   minimum->value = std::numeric_limits<double>::max();
+     200        7578 :   maximum->value = std::numeric_limits<double>::lowest();
+     201             : 
+     202             :   // Evaluate passed candidates.
+     203       39425 :   for (const Extremum& candidate : candidates) {
+     204       31847 :     if (candidate.time < t_start || candidate.time > t_end) {
+     205           0 :       continue;
+     206             :     }
+     207       31847 :     *maximum = std::max(*maximum, candidate);
+     208       46246 :     *minimum = std::min(*minimum, candidate);
+     209             :   }
+     210             : 
+     211             :   return true;
+     212             : }
+     213             : 
+     214             : //}
+     215             : 
+     216             : /* selectMinMaxMagnitudeFromCandidates() //{ */
+     217             : 
+     218           0 : bool Segment::getSegmentWithSingleDimension(int dimension, Segment* new_segment) const {
+     219           0 :   if (dimension < 0 || dimension >= D_) {
+     220           0 :     LOG(WARNING) << "You shan't ask for a dimension that does not exist in the segment.";
+     221           0 :     return false;
+     222             :   }
+     223             : 
+     224           0 :   *new_segment      = Segment(N_, 1);
+     225           0 :   (*new_segment)[0] = polynomials_[dimension];
+     226           0 :   new_segment->setTime(time_);
+     227           0 :   return true;
+     228             : }
+     229             : 
+     230             : //}
+     231             : 
+     232             : /* getSegmentWithAppendedDimension() //{ */
+     233             : 
+     234           0 : bool Segment::getSegmentWithAppendedDimension(const Segment& segment_to_append, Segment* new_segment) const {
+     235           0 :   if (N_ == 0 || D_ == 0) {
+     236           0 :     *new_segment = segment_to_append;
+     237           0 :     return true;
+     238             :   }
+     239           0 :   if (segment_to_append.N() == 0 || segment_to_append.D() == 0) {
+     240           0 :     *new_segment = *this;
+     241           0 :     return true;
+     242             :   }
+     243             : 
+     244             :   // Get common polynomial order.
+     245           0 :   const int new_N = std::max(segment_to_append.N(), N_);
+     246           0 :   const int new_D = D_ + segment_to_append.D();
+     247             : 
+     248             :   // Create temporary segments to scale polynomials if necessary.
+     249           0 :   Segment current_segment        = *this;
+     250           0 :   Segment segment_to_append_temp = segment_to_append;
+     251             : 
+     252             :   // Scale segment polynomials to the longer segment time.
+     253           0 :   const double new_time = std::max(time_, segment_to_append.getTime());
+     254           0 :   if (time_ < new_time && new_time > 0.0) {
+     255           0 :     for (int d = 0; d < D_; d++) {
+     256           0 :       current_segment[d].scalePolynomialInTime(time_ / new_time);
+     257             :     }
+     258           0 :   } else if (segment_to_append.getTime() < new_time && new_time > 0.0) {
+     259           0 :     for (int d = 0; d < segment_to_append.D(); d++) {
+     260           0 :       segment_to_append_temp[d].scalePolynomialInTime(segment_to_append.getTime() / new_time);
+     261             :     }
+     262             :   }
+     263             : 
+     264           0 :   *new_segment = Segment(new_N, new_D);
+     265             : 
+     266           0 :   if (N_ == segment_to_append.N()) {
+     267           0 :     for (int i = 0; i < new_D; i++) {
+     268           0 :       if (i < D_) {
+     269           0 :         (*new_segment)[i] = current_segment[i];
+     270             :       } else {
+     271           0 :         (*new_segment)[i] = segment_to_append_temp[i - D_];
+     272             :       }
+     273             :     }
+     274             :   } else {
+     275           0 :     for (int i = 0; i < new_D; i++) {
+     276           0 :       Polynomial polynomial_to_append(new_N);
+     277           0 :       if (i < D_) {
+     278           0 :         if (!polynomials_[i].getPolynomialWithAppendedCoefficients(new_N, &polynomial_to_append)) {
+     279           0 :           return false;
+     280             :         }
+     281             :       } else {
+     282           0 :         if (!segment_to_append[i - D_].getPolynomialWithAppendedCoefficients(new_N, &polynomial_to_append)) {
+     283             :           return false;
+     284             :         }
+     285             :       }
+     286           0 :       (*new_segment)[i] = polynomial_to_append;
+     287             :     }
+     288             :   }
+     289             : 
+     290           0 :   new_segment->setTime(new_time);
+     291           0 :   return true;
+     292             : }
+     293             : 
+     294             : //}
+     295             : 
+     296             : /* offsetSegment() //{ */
+     297             : 
+     298           0 : bool Segment::offsetSegment(const Eigen::VectorXd& A_r_B) {
+     299             : 
+     300           0 :   if (A_r_B.size() < std::min(D_, 3)) {
+     301           0 :     LOG(WARNING) << "Offset vector size smaller than segment dimension.";
+     302           0 :     return false;
+     303             :   }
+     304             : 
+     305             :   // Only translate the first three dimensions.
+     306           0 :   for (size_t i = 0; i < std::min(D_, 3); ++i) {
+     307           0 :     polynomials_[i].offsetPolynomial(A_r_B(i));
+     308             :   }
+     309             : 
+     310             :   return true;
+     311             : }
+     312             : 
+     313             : //}
+     314             : 
+     315             : }  // namespace eth_trajectory_generation
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + diff --git a/mrs_uav_trajectory_generation/src/eth_trajectory_generation/segment.cpp.gcov.png b/mrs_uav_trajectory_generation/src/eth_trajectory_generation/segment.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..40fd4130ce0ea43a66ba68b929f4f1ccaac06d09 GIT binary patch literal 1506 zcmV<81s(c{P)GAU`EmxJcx zFa9&}!QgXxElU%K;0CS&!guolHVclwmn?o#Q_$57pUSg&aSoM)3^yN z{NR9UdN5dML=pXv;@_L(70JFhZ7*xrnx^%2hMr*v+(rlj4!)B>y?XwH!fjjUFRAwb zwZh-d$BbSLJ#MyGfwWEvr*Hb|Sry7g;4#*=ZPupwwmvWoX{Ar#lLRVln4RJh_;;M* zNw=uh>j1B?!@?YPT9zl5m-LWV>%FnwC1Ct1qF|BV_r{`$gJGfI5h&^Sa1zV)c)iB? zd}1;)+6SH{ldMkes_G!15(lM%3i#n1j$1O?Wce}RD9SZ zZY8rle#A-;4t!O>qjYJHC>1XYoY%C)#5qSFywB7I6pcXo82V+VL`2XL`{7z_XYJOB zTr^>^VF#GZ&Vb1<+~W2ny+>D*l2dfJleX54nD-whw*nW|KAf2{QNMFBh-moExnBss zy3CL3+7pC?ggwio^s?w?x|K%XL1ONhWXDHC0;h_KOMNN!h1B312jnAC>qP$M4$>2w zs!jl&V))|=`zTXDg9Y~c(V;eYHGtgj`oo@T3LdEFv+3!E)Foq^VdS)@Zno?qBWZ~f znYnK8K_Z1}W*gT%cUIS=h>M(dH`zxpm!%6tVT6Wo(hSu0Qq+WMydLo{HC;Hp*Zov1 z)nr1odX$-h9XHLx#f}Hp$VzvBDJ9rZydZ zwz-wW^5aEmv6lS1F&0kB=fy|D2_S7L!;Vd?)c)P^#Mu940&ux|iB0kj6Q%VTMB8ov z>;MGNU-#GkYJ=_Flf{ld(y2y%!Yc^zpdh{t)RXaECR?>0_3j0?RBF?e^TOE=~dOb@6$c!hgXp|hITJZ8r$EHuM);9S=u zg2sXbYJ1J + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trajectory_generation/src/eth_trajectory_generation/timing.cpp - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_trajectory_generation/src/eth_trajectory_generation - timing.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:01110.0 %
Date:2024-01-20 21:44:18Functions:0300.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
eth_trajectory_generation::timing::Timer::Stop()0
eth_trajectory_generation::timing::Timer::Start()0
eth_trajectory_generation::timing::Timer::Timer(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool)0
eth_trajectory_generation::timing::Timer::Timer(unsigned long, bool)0
eth_trajectory_generation::timing::Timer::~Timer()0
eth_trajectory_generation::timing::Timing::GetMaxSeconds(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
eth_trajectory_generation::timing::Timing::GetMaxSeconds(unsigned long)0
eth_trajectory_generation::timing::Timing::GetMinSeconds(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
eth_trajectory_generation::timing::Timing::GetMinSeconds(unsigned long)0
eth_trajectory_generation::timing::Timing::GetNumSamples(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
eth_trajectory_generation::timing::Timing::GetNumSamples(unsigned long)0
eth_trajectory_generation::timing::Timing::GetMeanSeconds(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
eth_trajectory_generation::timing::Timing::GetMeanSeconds(unsigned long)0
eth_trajectory_generation::timing::Timing::GetTotalSeconds(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
eth_trajectory_generation::timing::Timing::GetTotalSeconds(unsigned long)0
eth_trajectory_generation::timing::Timing::GetVarianceSeconds(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
eth_trajectory_generation::timing::Timing::GetVarianceSeconds(unsigned long)0
eth_trajectory_generation::timing::Timing::SecondsToTimeString[abi:cxx11](double)0
eth_trajectory_generation::timing::Timing::GetHz(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
eth_trajectory_generation::timing::Timing::GetHz(unsigned long)0
eth_trajectory_generation::timing::Timing::Print[abi:cxx11]()0
eth_trajectory_generation::timing::Timing::Print(std::basic_ostream<char, std::char_traits<char> >&)0
eth_trajectory_generation::timing::Timing::Reset()0
eth_trajectory_generation::timing::Timing::GetTag[abi:cxx11](unsigned long)0
eth_trajectory_generation::timing::Timing::AddTime(unsigned long, double)0
eth_trajectory_generation::timing::Timing::Instance()0
eth_trajectory_generation::timing::Timing::GetHandle(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
eth_trajectory_generation::timing::Timing::Timing()0
eth_trajectory_generation::timing::Timing::~Timing()0
eth_trajectory_generation::timing::Timer::IsTiming() const0
+
+
+ + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_trajectory_generation/src/eth_trajectory_generation/timing.cpp.func.html b/mrs_uav_trajectory_generation/src/eth_trajectory_generation/timing.cpp.func.html new file mode 100644 index 0000000000..3a4a4bd87d --- /dev/null +++ b/mrs_uav_trajectory_generation/src/eth_trajectory_generation/timing.cpp.func.html @@ -0,0 +1,200 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trajectory_generation/src/eth_trajectory_generation/timing.cpp - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_trajectory_generation/src/eth_trajectory_generation - timing.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:01110.0 %
Date:2024-01-20 21:44:18Functions:0300.0 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
eth_trajectory_generation::timing::Timer::Stop()0
eth_trajectory_generation::timing::Timer::Start()0
eth_trajectory_generation::timing::Timer::Timer(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool)0
eth_trajectory_generation::timing::Timer::Timer(unsigned long, bool)0
eth_trajectory_generation::timing::Timer::~Timer()0
eth_trajectory_generation::timing::Timing::GetMaxSeconds(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
eth_trajectory_generation::timing::Timing::GetMaxSeconds(unsigned long)0
eth_trajectory_generation::timing::Timing::GetMinSeconds(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
eth_trajectory_generation::timing::Timing::GetMinSeconds(unsigned long)0
eth_trajectory_generation::timing::Timing::GetNumSamples(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
eth_trajectory_generation::timing::Timing::GetNumSamples(unsigned long)0
eth_trajectory_generation::timing::Timing::GetMeanSeconds(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
eth_trajectory_generation::timing::Timing::GetMeanSeconds(unsigned long)0
eth_trajectory_generation::timing::Timing::GetTotalSeconds(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
eth_trajectory_generation::timing::Timing::GetTotalSeconds(unsigned long)0
eth_trajectory_generation::timing::Timing::GetVarianceSeconds(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
eth_trajectory_generation::timing::Timing::GetVarianceSeconds(unsigned long)0
eth_trajectory_generation::timing::Timing::SecondsToTimeString[abi:cxx11](double)0
eth_trajectory_generation::timing::Timing::GetHz(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
eth_trajectory_generation::timing::Timing::GetHz(unsigned long)0
eth_trajectory_generation::timing::Timing::Print[abi:cxx11]()0
eth_trajectory_generation::timing::Timing::Print(std::basic_ostream<char, std::char_traits<char> >&)0
eth_trajectory_generation::timing::Timing::Reset()0
eth_trajectory_generation::timing::Timing::GetTag[abi:cxx11](unsigned long)0
eth_trajectory_generation::timing::Timing::AddTime(unsigned long, double)0
eth_trajectory_generation::timing::Timing::Instance()0
eth_trajectory_generation::timing::Timing::GetHandle(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
eth_trajectory_generation::timing::Timing::Timing()0
eth_trajectory_generation::timing::Timing::~Timing()0
eth_trajectory_generation::timing::Timer::IsTiming() const0
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Current view:top level - mrs_uav_trajectory_generation/src/eth_trajectory_generation - timing.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:01110.0 %
Date:2024-01-20 21:44:18Functions:0300.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : /*
+       2             :  * Copyright (c) 2016, Markus Achtelik, ASL, ETH Zurich, Switzerland
+       3             :  * Copyright (c) 2016, Michael Burri, ASL, ETH Zurich, Switzerland
+       4             :  * Copyright (c) 2016, Helen Oleynikova, ASL, ETH Zurich, Switzerland
+       5             :  * Copyright (c) 2016, Rik Bähnemann, ASL, ETH Zurich, Switzerland
+       6             :  * Copyright (c) 2016, Marija Popovic, ASL, ETH Zurich, Switzerland
+       7             :  *
+       8             :  * Licensed under the Apache License, Version 2.0 (the "License");
+       9             :  * you may not use this file except in compliance with the License.
+      10             :  * You may obtain a copy of the License at
+      11             :  *
+      12             :  * http://www.apache.org/licenses/LICENSE-2.0
+      13             :  *
+      14             :  * Unless required by applicable law or agreed to in writing, software
+      15             :  * distributed under the License is distributed on an "AS IS" BASIS,
+      16             :  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+      17             :  * See the License for the specific language governing permissions and
+      18             :  * limitations under the License.
+      19             :  */
+      20             : 
+      21             : /* Adapted from Paul Furgale Schweizer Messer sm_timing*/
+      22             : 
+      23             : #include <math.h>
+      24             : #include <stdio.h>
+      25             : #include <algorithm>
+      26             : #include <ostream>
+      27             : #include <sstream>
+      28             : #include <string>
+      29             : 
+      30             : #include <eth_trajectory_generation/timing.h>
+      31             : 
+      32             : namespace eth_trajectory_generation
+      33             : {
+      34             : namespace timing
+      35             : {
+      36             : 
+      37           0 : Timing& Timing::Instance() {
+      38           0 :   static Timing t;
+      39           0 :   return t;
+      40             : }
+      41             : 
+      42           0 : Timing::Timing() : max_tag_length_(0) {
+      43           0 : }
+      44             : 
+      45           0 : Timing::~Timing() {
+      46           0 : }
+      47             : 
+      48             : /* GetHandle() //{ */
+      49             : 
+      50             : // Static functions to query the timers:
+      51           0 : size_t Timing::GetHandle(std::string const& tag) {
+      52             :   // Search for an existing tag.
+      53           0 :   map_t::iterator i = Instance().tag_map_.find(tag);
+      54           0 :   if (i == Instance().tag_map_.end()) {
+      55             :     // If it is not there, create a tag.
+      56           0 :     size_t handle            = Instance().timers_.size();
+      57           0 :     Instance().tag_map_[tag] = handle;
+      58           0 :     Instance().timers_.push_back(TimerMapValue());
+      59             :     // Track the maximum tag length to help printing a table of timing values
+      60             :     // later.
+      61           0 :     Instance().max_tag_length_ = std::max(Instance().max_tag_length_, tag.size());
+      62           0 :     return handle;
+      63             :   } else {
+      64           0 :     return i->second;
+      65             :   }
+      66             : }
+      67             : 
+      68             : //}
+      69             : 
+      70             : /* GetTag() //{ */
+      71             : 
+      72           0 : std::string Timing::GetTag(size_t handle) {
+      73           0 :   std::string tag;
+      74             : 
+      75             :   // Perform a linear search for the tag.
+      76           0 :   for (typename map_t::value_type current_tag : Instance().tag_map_) {
+      77           0 :     if (current_tag.second == handle) {
+      78           0 :       return current_tag.first;
+      79             :     }
+      80             :   }
+      81           0 :   return tag;
+      82             : }
+      83             : 
+      84             : //}
+      85             : 
+      86             : /* Timer() //{ */
+      87             : 
+      88             : // Class functions used for timing.
+      89           0 : Timer::Timer(size_t handle, bool constructStopped) : timing_(false), handle_(handle) {
+      90           0 :   if (!constructStopped)
+      91           0 :     Start();
+      92           0 : }
+      93             : 
+      94             : //}
+      95             : 
+      96             : /* Timer() //{ */
+      97             : 
+      98           0 : Timer::Timer(std::string const& tag, bool constructStopped) : timing_(false), handle_(Timing::GetHandle(tag)) {
+      99           0 :   if (!constructStopped)
+     100           0 :     Start();
+     101           0 : }
+     102             : 
+     103             : //}
+     104             : 
+     105             : /* ~Timer() //{ */
+     106             : 
+     107           0 : Timer::~Timer() {
+     108           0 :   if (IsTiming())
+     109           0 :     Stop();
+     110           0 : }
+     111             : 
+     112             : //}
+     113             : 
+     114             : /* Start() //{ */
+     115             : 
+     116           0 : void Timer::Start() {
+     117           0 :   timing_ = true;
+     118           0 :   time_   = std::chrono::system_clock::now();
+     119           0 : }
+     120             : 
+     121             : //}
+     122             : 
+     123             : /* Stop() //{ */
+     124             : 
+     125           0 : void Timer::Stop() {
+     126           0 :   std::chrono::time_point<std::chrono::system_clock> now = std::chrono::system_clock::now();
+     127           0 :   double                                             dt  = std::chrono::duration<double>(now - time_).count();
+     128             : 
+     129           0 :   Timing::Instance().AddTime(handle_, dt);
+     130           0 :   timing_ = false;
+     131           0 : }
+     132             : 
+     133             : //}
+     134             : 
+     135             : /* IsTiming() //{ */
+     136             : 
+     137           0 : bool Timer::IsTiming() const {
+     138           0 :   return timing_;
+     139             : }
+     140             : 
+     141             : //}
+     142             : 
+     143             : /* AddTime() //{ */
+     144             : 
+     145           0 : void Timing::AddTime(size_t handle, double seconds) {
+     146           0 :   timers_[handle].acc_.Add(seconds);
+     147           0 : }
+     148             : 
+     149             : //}
+     150             : 
+     151             : /* GetTotalSeconds() //{ */
+     152             : 
+     153           0 : double Timing::GetTotalSeconds(size_t handle) {
+     154           0 :   return Instance().timers_[handle].acc_.Sum();
+     155             : }
+     156             : 
+     157             : //}
+     158             : 
+     159             : /* GetTotalSeconds() //{ */
+     160             : 
+     161           0 : double Timing::GetTotalSeconds(std::string const& tag) {
+     162           0 :   return GetTotalSeconds(GetHandle(tag));
+     163             : }
+     164             : 
+     165             : //}
+     166             : 
+     167             : /* GetMeanSeconds() //{ */
+     168             : 
+     169           0 : double Timing::GetMeanSeconds(size_t handle) {
+     170           0 :   return Instance().timers_[handle].acc_.Mean();
+     171             : }
+     172             : 
+     173             : //}
+     174             : 
+     175             : /* GetMeanSeconds() //{ */
+     176             : 
+     177           0 : double Timing::GetMeanSeconds(std::string const& tag) {
+     178           0 :   return GetMeanSeconds(GetHandle(tag));
+     179             : }
+     180             : 
+     181             : //}
+     182             : 
+     183             : /* GetNumSamples() //{ */
+     184             : 
+     185           0 : size_t Timing::GetNumSamples(size_t handle) {
+     186           0 :   return Instance().timers_[handle].acc_.TotalSamples();
+     187             : }
+     188             : 
+     189             : //}
+     190             : 
+     191             : /* GetNumSamples() //{ */
+     192             : 
+     193           0 : size_t Timing::GetNumSamples(std::string const& tag) {
+     194           0 :   return GetNumSamples(GetHandle(tag));
+     195             : }
+     196             : 
+     197             : //}
+     198             : 
+     199             : /* GetVarianceSeconds() //{ */
+     200             : 
+     201           0 : double Timing::GetVarianceSeconds(size_t handle) {
+     202           0 :   return Instance().timers_[handle].acc_.LazyVariance();
+     203             : }
+     204             : 
+     205             : //}
+     206             : 
+     207             : /* GetVarianceSeconds() //{ */
+     208             : 
+     209           0 : double Timing::GetVarianceSeconds(std::string const& tag) {
+     210           0 :   return GetVarianceSeconds(GetHandle(tag));
+     211             : }
+     212             : 
+     213             : //}
+     214             : 
+     215             : /* GetMinSeconds() //{ */
+     216             : 
+     217           0 : double Timing::GetMinSeconds(size_t handle) {
+     218           0 :   return Instance().timers_[handle].acc_.Min();
+     219             : }
+     220             : 
+     221             : //}
+     222             : 
+     223             : /* GetMinSeconds() //{ */
+     224             : 
+     225           0 : double Timing::GetMinSeconds(std::string const& tag) {
+     226           0 :   return GetMinSeconds(GetHandle(tag));
+     227             : }
+     228             : 
+     229             : //}
+     230             : 
+     231             : /* GetMaxSeconds() //{ */
+     232             : 
+     233           0 : double Timing::GetMaxSeconds(size_t handle) {
+     234           0 :   return Instance().timers_[handle].acc_.Max();
+     235             : }
+     236             : 
+     237             : //}
+     238             : 
+     239             : /* GetMaxSeconds() //{ */
+     240             : 
+     241           0 : double Timing::GetMaxSeconds(std::string const& tag) {
+     242           0 :   return GetMaxSeconds(GetHandle(tag));
+     243             : }
+     244             : 
+     245             : //}
+     246             : 
+     247             : /* GetHz() //{ */
+     248             : 
+     249           0 : double Timing::GetHz(size_t handle) {
+     250           0 :   return 1.0 / Instance().timers_[handle].acc_.RollingMean();
+     251             : }
+     252             : 
+     253             : //}
+     254             : 
+     255             : /* GetHz() //{ */
+     256             : 
+     257           0 : double Timing::GetHz(std::string const& tag) {
+     258           0 :   return GetHz(GetHandle(tag));
+     259             : }
+     260             : 
+     261             : //}
+     262             : 
+     263             : /* SecondsToTimeString() //{ */
+     264             : 
+     265           0 : std::string Timing::SecondsToTimeString(double seconds) {
+     266           0 :   char buffer[256];
+     267           0 :   snprintf(buffer, sizeof(buffer), "%09.6f", seconds);
+     268           0 :   return buffer;
+     269             : }
+     270             : 
+     271             : //}
+     272             : 
+     273             : /* Print() //{ */
+     274             : 
+     275           0 : void Timing::Print(std::ostream& out) {
+     276           0 :   map_t& tagMap = Instance().tag_map_;
+     277             : 
+     278           0 :   if (tagMap.empty()) {
+     279             :     return;
+     280             :   }
+     281             : 
+     282           0 :   out << "SM Timing\n";
+     283           0 :   out << "-----------\n";
+     284           0 :   for (typename map_t::value_type t : tagMap) {
+     285           0 :     size_t i = t.second;
+     286           0 :     out.width((std::streamsize)Instance().max_tag_length_);
+     287           0 :     out.setf(std::ios::left, std::ios::adjustfield);
+     288           0 :     out << t.first << "\t";
+     289           0 :     out.width(7);
+     290             : 
+     291           0 :     out.setf(std::ios::right, std::ios::adjustfield);
+     292           0 :     out << GetNumSamples(i) << "\t";
+     293           0 :     if (GetNumSamples(i) > 0) {
+     294           0 :       out << SecondsToTimeString(GetTotalSeconds(i)) << "\t";
+     295           0 :       double meansec = GetMeanSeconds(i);
+     296           0 :       double stddev  = sqrt(GetVarianceSeconds(i));
+     297           0 :       out << "(" << SecondsToTimeString(meansec) << " +- ";
+     298           0 :       out << SecondsToTimeString(stddev) << ")\t";
+     299             : 
+     300           0 :       double minsec = GetMinSeconds(i);
+     301           0 :       double maxsec = GetMaxSeconds(i);
+     302             : 
+     303             :       // The min or max are out of bounds.
+     304           0 :       out << "[" << SecondsToTimeString(minsec) << "," << SecondsToTimeString(maxsec) << "]";
+     305             :     }
+     306           0 :     out << std::endl;
+     307             :   }
+     308             : }
+     309             : 
+     310             : //}
+     311             : 
+     312             : /* Print() //{ */
+     313             : 
+     314           0 : std::string Timing::Print() {
+     315           0 :   std::stringstream ss;
+     316           0 :   Print(ss);
+     317           0 :   return ss.str();
+     318             : }
+     319             : 
+     320             : //}
+     321             : 
+     322             : /* Reset() //{ */
+     323             : 
+     324           0 : void Timing::Reset() {
+     325           0 :   Instance().tag_map_.clear();
+     326           0 : }
+     327             : 
+     328             : //}
+     329             : 
+     330             : }  // namespace timing
+     331             : }  // namespace eth_trajectory_generation
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_trajectory_generation/src/eth_trajectory_generation/timing.cpp.gcov.overview.html b/mrs_uav_trajectory_generation/src/eth_trajectory_generation/timing.cpp.gcov.overview.html new file mode 100644 index 0000000000..6ba786c671 --- /dev/null +++ b/mrs_uav_trajectory_generation/src/eth_trajectory_generation/timing.cpp.gcov.overview.html @@ -0,0 +1,103 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trajectory_generation/src/eth_trajectory_generation/timing.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 + + +
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+ + diff --git a/mrs_uav_trajectory_generation/src/eth_trajectory_generation/timing.cpp.gcov.png b/mrs_uav_trajectory_generation/src/eth_trajectory_generation/timing.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..2f4fd270567baa761be463cdc93a69a9924d1442 GIT binary patch literal 1087 zcmV-F1i<@=P)Z0lnW9N1_Hw;hw~? zpKb>rwd<7JmSwAAl}o{^1eKU7q)3w&!7y`d(*7LYV{5s^ZW(~E-Fz0~l)84`bCRz*| z4tziMqgHq+U1A!Cm>EP>_6(D7*rq@lfUPMuMimBVYEhN3t7F$iuxe^5VT`uODx^dn zAWuI0RWo!vx4L2F+N8&YYeKLH8&>%2K>%yT7S2prNJH)^G%@5cWHScg8&=l?JX2+Q zpgf0UyfS~9@b#&AzS&cW@HtR1Q0gSY7b{$|DEB$sDW2h(2h;8`k$-j!;Y$Uc37>5F zE^3SGH?qa9(*toE+SEWc;a!*b9w>=oxNRNAYwCD>Olt+xRvv^#VB71iHdzyaM zgdV%-etE1STQ{+d@`%!N6pzc6nvNafbqcA+md}^RQF=sq{PJ9ZKkJR_%&N#Hc*ITt z{zpA-o5ji_N$0_**TXo>*zu}&l5`K(l_8hw;8mUuzn`&!fBRs?9F&|Zq zk9_ziXY0#Il&{m7m%0FO68#Za216)=!d`uP#&s`g6i78g0!zR57Q<}x_?#_SWE_6- zS~JEnWwdYDE5_XwZLug%prz*PQVg~`YiKA6Sc)=4%3_F`W`#8f&Y%yo>Bf*$xB9>-zEu?T+Q(f~-PRI6d93_!UE$#y?lVw!SVUm7maD<@MT36RGXx zOaZ6KQN0WM + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trajectory_generation/src/eth_trajectory_generation/trajectory.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_trajectory_generation/src/eth_trajectory_generation - trajectory.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:18229861.1 %
Date:2024-01-20 21:44:18Functions:112347.8 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
eth_trajectory_generation::Trajectory::offsetTrajectory(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&)0
eth_trajectory_generation::Trajectory::scaleSegmentTimes(double)0
eth_trajectory_generation::Trajectory::getVertices(int, std::vector<eth_trajectory_generation::Vertex, std::allocator<eth_trajectory_generation::Vertex> >*) const0
eth_trajectory_generation::Trajectory::getVertices(int, int, std::vector<eth_trajectory_generation::Vertex, std::allocator<eth_trajectory_generation::Vertex> >*, std::vector<eth_trajectory_generation::Vertex, std::allocator<eth_trajectory_generation::Vertex> >*) const0
eth_trajectory_generation::Trajectory::getGoalVertex(int) const0
eth_trajectory_generation::Trajectory::getStartVertex(int) const0
eth_trajectory_generation::Trajectory::addTrajectories(std::vector<eth_trajectory_generation::Trajectory, std::allocator<eth_trajectory_generation::Trajectory> > const&, eth_trajectory_generation::Trajectory*) const0
eth_trajectory_generation::Trajectory::getVertexAtTime(double, int) const0
eth_trajectory_generation::Trajectory::getTrajectoryWithSingleDimension(int) const0
eth_trajectory_generation::Trajectory::getTrajectoryWithAppendedDimension(eth_trajectory_generation::Trajectory const&, eth_trajectory_generation::Trajectory*) const0
eth_trajectory_generation::Trajectory::evaluate(double, int) const0
eth_trajectory_generation::Trajectory::operator==(eth_trajectory_generation::Trajectory const&) const0
eth_trajectory_generation::Trajectory::scaleSegmentTimesToMeetConstraints(double, double, double, double, double, double, double, double, double)30
eth_trajectory_generation::Trajectory::getSegmentTimes() const30
eth_trajectory_generation::Trajectory::computeMaxDerivativesHeading(double*, double*, double*) const30
eth_trajectory_generation::Trajectory::computeMaxDerivativesVertical(double*, double*, double*) const30
eth_trajectory_generation::Trajectory::computeMaxDerivativesHorizontal(double*, double*, double*) const30
eth_trajectory_generation::Trajectory::evaluateRange(double, double, double, int, std::vector<Eigen::Matrix<double, -1, 1, 0, -1, 1>, std::allocator<Eigen::Matrix<double, -1, 1, 0, -1, 1> > >*, std::vector<double, std::allocator<double> >*) const135
eth_trajectory_generation::Trajectory::computeMinMaxMagnitude(int, std::vector<int, std::allocator<int> > const&, eth_trajectory_generation::Extremum*, eth_trajectory_generation::Extremum*) const270
eth_trajectory_generation::Trajectory::computeMaxDerivativesHeading(double*, double*, double*, int) const421
eth_trajectory_generation::Trajectory::computeMaxDerivativesVertical(double*, double*, double*, int) const421
eth_trajectory_generation::Trajectory::computeMaxDerivativesHorizontal(double*, double*, double*, int) const421
eth_trajectory_generation::Trajectory::computeMinMaxMagnitude(int, std::vector<int, std::allocator<int> > const&, eth_trajectory_generation::Extremum*, eth_trajectory_generation::Extremum*, int) const3789
+
+
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Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_trajectory_generation/src/eth_trajectory_generation/trajectory.cpp.func.html b/mrs_uav_trajectory_generation/src/eth_trajectory_generation/trajectory.cpp.func.html new file mode 100644 index 0000000000..23d8f1c9c2 --- /dev/null +++ b/mrs_uav_trajectory_generation/src/eth_trajectory_generation/trajectory.cpp.func.html @@ -0,0 +1,172 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trajectory_generation/src/eth_trajectory_generation/trajectory.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_trajectory_generation/src/eth_trajectory_generation - trajectory.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:18229861.1 %
Date:2024-01-20 21:44:18Functions:112347.8 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
eth_trajectory_generation::Trajectory::offsetTrajectory(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&)0
eth_trajectory_generation::Trajectory::scaleSegmentTimes(double)0
eth_trajectory_generation::Trajectory::scaleSegmentTimesToMeetConstraints(double, double, double, double, double, double, double, double, double)30
eth_trajectory_generation::Trajectory::getVertices(int, std::vector<eth_trajectory_generation::Vertex, std::allocator<eth_trajectory_generation::Vertex> >*) const0
eth_trajectory_generation::Trajectory::getVertices(int, int, std::vector<eth_trajectory_generation::Vertex, std::allocator<eth_trajectory_generation::Vertex> >*, std::vector<eth_trajectory_generation::Vertex, std::allocator<eth_trajectory_generation::Vertex> >*) const0
eth_trajectory_generation::Trajectory::evaluateRange(double, double, double, int, std::vector<Eigen::Matrix<double, -1, 1, 0, -1, 1>, std::allocator<Eigen::Matrix<double, -1, 1, 0, -1, 1> > >*, std::vector<double, std::allocator<double> >*) const135
eth_trajectory_generation::Trajectory::getGoalVertex(int) const0
eth_trajectory_generation::Trajectory::getStartVertex(int) const0
eth_trajectory_generation::Trajectory::addTrajectories(std::vector<eth_trajectory_generation::Trajectory, std::allocator<eth_trajectory_generation::Trajectory> > const&, eth_trajectory_generation::Trajectory*) const0
eth_trajectory_generation::Trajectory::getSegmentTimes() const30
eth_trajectory_generation::Trajectory::getVertexAtTime(double, int) const0
eth_trajectory_generation::Trajectory::computeMinMaxMagnitude(int, std::vector<int, std::allocator<int> > const&, eth_trajectory_generation::Extremum*, eth_trajectory_generation::Extremum*) const270
eth_trajectory_generation::Trajectory::computeMinMaxMagnitude(int, std::vector<int, std::allocator<int> > const&, eth_trajectory_generation::Extremum*, eth_trajectory_generation::Extremum*, int) const3789
eth_trajectory_generation::Trajectory::computeMaxDerivativesHeading(double*, double*, double*) const30
eth_trajectory_generation::Trajectory::computeMaxDerivativesHeading(double*, double*, double*, int) const421
eth_trajectory_generation::Trajectory::computeMaxDerivativesVertical(double*, double*, double*) const30
eth_trajectory_generation::Trajectory::computeMaxDerivativesVertical(double*, double*, double*, int) const421
eth_trajectory_generation::Trajectory::computeMaxDerivativesHorizontal(double*, double*, double*) const30
eth_trajectory_generation::Trajectory::computeMaxDerivativesHorizontal(double*, double*, double*, int) const421
eth_trajectory_generation::Trajectory::getTrajectoryWithSingleDimension(int) const0
eth_trajectory_generation::Trajectory::getTrajectoryWithAppendedDimension(eth_trajectory_generation::Trajectory const&, eth_trajectory_generation::Trajectory*) const0
eth_trajectory_generation::Trajectory::evaluate(double, int) const0
eth_trajectory_generation::Trajectory::operator==(eth_trajectory_generation::Trajectory const&) const0
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Generated by: LCOV version 1.14
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LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_trajectory_generation/src/eth_trajectory_generation - trajectory.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:18229861.1 %
Date:2024-01-20 21:44:18Functions:112347.8 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : /*
+       2             :  * Copyright (c) 2016, Markus Achtelik, ASL, ETH Zurich, Switzerland
+       3             :  * Copyright (c) 2016, Michael Burri, ASL, ETH Zurich, Switzerland
+       4             :  * Copyright (c) 2016, Helen Oleynikova, ASL, ETH Zurich, Switzerland
+       5             :  * Copyright (c) 2016, Rik Bähnemann, ASL, ETH Zurich, Switzerland
+       6             :  * Copyright (c) 2016, Marija Popovic, ASL, ETH Zurich, Switzerland
+       7             :  *
+       8             :  * Licensed under the Apache License, Version 2.0 (the "License");
+       9             :  * you may not use this file except in compliance with the License.
+      10             :  * You may obtain a copy of the License at
+      11             :  *
+      12             :  * http://www.apache.org/licenses/LICENSE-2.0
+      13             :  *
+      14             :  * Unless required by applicable law or agreed to in writing, software
+      15             :  * distributed under the License is distributed on an "AS IS" BASIS,
+      16             :  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+      17             :  * See the License for the specific language governing permissions and
+      18             :  * limitations under the License.
+      19             :  */
+      20             : 
+      21             : #include <eth_trajectory_generation/trajectory.h>
+      22             : #include <limits>
+      23             : 
+      24             : // fixes error due to std::iota (has been introduced in c++ standard lately
+      25             : // and may cause compilation errors depending on compiler)
+      26             : #if __cplusplus <= 199711L
+      27             : #include <algorithm>
+      28             : #else
+      29             : #include <numeric>
+      30             : #endif
+      31             : 
+      32             : namespace eth_trajectory_generation
+      33             : {
+      34             : 
+      35             : /* operator==(const Trajectory& rhs) //{ */
+      36             : 
+      37           0 : bool Trajectory::operator==(const Trajectory& rhs) const {
+      38           0 :   if (segments_.size() != rhs.segments_.size()) {
+      39             :     // Different number of segments.
+      40             :     return false;
+      41             :   } else {
+      42           0 :     for (int i = 0; i < K(); i++) {
+      43           0 :       if (segments_ != rhs.segments_) {
+      44             :         return false;
+      45             :       }
+      46             :     }
+      47             :     return true;
+      48             :   }
+      49             : }
+      50             : 
+      51             : //}
+      52             : 
+      53             : /* evaluate() //{ */
+      54             : 
+      55           0 : Eigen::VectorXd Trajectory::evaluate(double t, int derivative_order) const {
+      56             : 
+      57           0 :   double accumulated_time = 0.0;
+      58             : 
+      59             :   // Look for the correct segment.
+      60           0 :   size_t i = 0;
+      61           0 :   for (i = 0; i < segments_.size(); ++i) {
+      62           0 :     accumulated_time += segments_[i].getTime();
+      63             :     // |<--t_accumulated -->|
+      64             :     // x----------x---------x
+      65             :     //               ^t_start
+      66             :     //            |chosen it|
+      67             :     // in case t_start falls on a vertex, the iterator right of the vertex is
+      68             :     // chosen, hence accumulated_segment_time_ns > t_start
+      69           0 :     if (accumulated_time > t) {
+      70             :       break;
+      71             :     }
+      72             :   }
+      73           0 :   if (t > accumulated_time) {
+      74           0 :     LOG(ERROR) << "Time out of range of the trajectory!";
+      75           0 :     return Eigen::VectorXd::Zero(D(), 1);
+      76             :   }
+      77             : 
+      78             :   // Make sure we don't go off the end of the segments (can happen if t is
+      79             :   // equal to trajectory max time).
+      80           0 :   if (i >= segments_.size()) {
+      81           0 :     i = segments_.size() - 1;
+      82             :   }
+      83             :   // Go back to the start of this segment.
+      84           0 :   accumulated_time -= segments_[i].getTime();
+      85             : 
+      86           0 :   return segments_[i].evaluate(t - accumulated_time, derivative_order);
+      87             : }
+      88             : 
+      89             : //}
+      90             : 
+      91             : /* evaluateRange() //{ */
+      92             : 
+      93         135 : void Trajectory::evaluateRange(double t_start, double t_end, double dt, int derivative_order, std::vector<Eigen::VectorXd>* result,
+      94             :                                std::vector<double>* sampling_times) const {
+      95         135 :   const size_t expected_number_of_samples = (t_end - t_start) / dt + 1;
+      96             : 
+      97         135 :   result->clear();
+      98         135 :   result->reserve(expected_number_of_samples);
+      99             : 
+     100         135 :   if (sampling_times != nullptr) {
+     101           0 :     sampling_times->clear();
+     102           0 :     sampling_times->reserve(expected_number_of_samples);
+     103             :   }
+     104             : 
+     105         135 :   double accumulated_time = 0.0;
+     106             : 
+     107             :   // Look for the correct segment to start.
+     108         135 :   size_t i = 0;
+     109         135 :   for (i = 0; i < segments_.size(); ++i) {
+     110         135 :     accumulated_time += segments_[i].getTime();
+     111             :     // |<--t_accumulated -->|
+     112             :     // x----------x---------x
+     113             :     //               ^t_start
+     114             :     //            |chosen it|
+     115             :     // in case t_start falls on a vertex, the iterator right of the vertex is
+     116             :     // chosen, hence accumulated_segment_time_ns > t_start
+     117         135 :     if (accumulated_time > t_start) {
+     118             :       break;
+     119             :     }
+     120             :   }
+     121         135 :   if (t_start > accumulated_time) {
+     122           0 :     LOG(ERROR) << "Start time out of range of the trajectory!";
+     123           0 :     return;
+     124             :   }
+     125             : 
+     126             :   // Go back to the start of this segment.
+     127         135 :   accumulated_time -= segments_[i].getTime();
+     128         135 :   double time_in_segment = t_start - accumulated_time;
+     129             : 
+     130             :   // Get all the samples, incrementing the segments as we go.
+     131       18060 :   while (accumulated_time < t_end) {
+     132       17925 :     if (time_in_segment > segments_[i].getTime()) {
+     133        1685 :       time_in_segment = time_in_segment - segments_[i].getTime();
+     134        1685 :       i++;
+     135             :       // Make sure we don't access segments that don't exist!
+     136        1685 :       if (i >= segments_.size()) {
+     137             :         break;
+     138             :       }
+     139        1685 :       continue;
+     140             :     }
+     141             : 
+     142       32480 :     result->push_back(segments_[i].evaluate(time_in_segment, derivative_order));
+     143             : 
+     144       16240 :     if (sampling_times != nullptr) {
+     145           0 :       sampling_times->push_back(accumulated_time);
+     146             :     }
+     147             : 
+     148       16240 :     time_in_segment += dt;
+     149       16240 :     accumulated_time += dt;
+     150             :   }
+     151             : }
+     152             : 
+     153             : //}
+     154             : 
+     155             : /* getTrajectoryWithSingleDimension() //{ */
+     156             : 
+     157           0 : Trajectory Trajectory::getTrajectoryWithSingleDimension(int dimension) const {
+     158           0 :   CHECK_LT(dimension, D_);
+     159             : 
+     160             :   // Create a new set of segments with just 1 dimension.
+     161           0 :   Segment::Vector segments;
+     162           0 :   segments.reserve(segments_.size());
+     163             : 
+     164           0 :   for (size_t k = 0; k < segments_.size(); ++k) {
+     165           0 :     Segment segment(N_, 1);
+     166           0 :     segment[0] = (segments_[k])[dimension];
+     167           0 :     segments.push_back(segment);
+     168             :   }
+     169             : 
+     170           0 :   Trajectory traj;
+     171           0 :   traj.setSegments(segments);
+     172           0 :   return traj;
+     173             : }
+     174             : 
+     175             : //}
+     176             : 
+     177             : /* getTrajectoryWithAppendedDimension() //{ */
+     178             : 
+     179           0 : bool Trajectory::getTrajectoryWithAppendedDimension(const Trajectory& trajectory_to_append, Trajectory* new_trajectory) const {
+     180             :   // Handle the case of one of the trajectories being empty.
+     181           0 :   if (N_ == 0 || D_ == 0) {
+     182           0 :     *new_trajectory = trajectory_to_append;
+     183           0 :     return true;
+     184             :   }
+     185           0 :   if (trajectory_to_append.N() == 0 || trajectory_to_append.D() == 0) {
+     186           0 :     *new_trajectory = *this;
+     187           0 :     return true;
+     188             :   }
+     189           0 :   CHECK_EQ(static_cast<int>(segments_.size()), trajectory_to_append.K());
+     190             : 
+     191             :   // Create a new set of segments with all of the dimensions.
+     192           0 :   Segment::Vector segments;
+     193           0 :   segments.reserve(segments_.size());
+     194             : 
+     195           0 :   for (size_t k = 0; k < segments_.size(); ++k) {
+     196           0 :     Segment new_segment(0, 0);
+     197           0 :     if (!segments_[k].getSegmentWithAppendedDimension(trajectory_to_append.segments()[k], &new_segment)) {
+     198           0 :       return false;
+     199             :     }
+     200           0 :     segments.push_back(new_segment);
+     201             :   }
+     202             : 
+     203           0 :   new_trajectory->setSegments(segments);
+     204             :   return true;
+     205             : }
+     206             : 
+     207             : //}
+     208             : 
+     209             : /* computeMinMaxMagnitude() //{ */
+     210             : 
+     211        3789 : bool Trajectory::computeMinMaxMagnitude(int derivative, const std::vector<int>& dimensions, Extremum* minimum, Extremum* maximum, int seg) const {
+     212             : 
+     213        3789 :   CHECK_NOTNULL(minimum);
+     214        3789 :   CHECK_NOTNULL(maximum);
+     215             : 
+     216        3789 :   minimum->value = std::numeric_limits<double>::max();
+     217        3789 :   maximum->value = std::numeric_limits<double>::lowest();
+     218             : 
+     219             :   // Compute candidates.
+     220        7578 :   std::vector<Extremum> candidates;
+     221        3789 :   if (!segments_[seg].computeMinMaxMagnitudeCandidates(derivative, 0.0, segments_[seg].getTime(), dimensions, &candidates)) {
+     222             :     return false;
+     223             :   }
+     224             :   // Evaluate candidates.
+     225        3789 :   Extremum minimum_candidate, maximum_candidate;
+     226        3789 :   if (!segments_[seg].selectMinMaxMagnitudeFromCandidates(derivative, 0.0, segments_[seg].getTime(), dimensions, candidates, &minimum_candidate,
+     227             :                                                           &maximum_candidate)) {
+     228             :     return false;
+     229             :   }
+     230             :   // Select minimum / maximum.
+     231        3789 :   if (minimum_candidate < *minimum) {
+     232        3789 :     *minimum             = minimum_candidate;
+     233        3789 :     minimum->segment_idx = static_cast<int>(seg);
+     234             :   }
+     235        3789 :   if (maximum_candidate > *maximum) {
+     236        3789 :     *maximum             = maximum_candidate;
+     237        3789 :     maximum->segment_idx = static_cast<int>(seg);
+     238             :   }
+     239             : 
+     240             :   return true;
+     241             : }
+     242             : 
+     243             : //}
+     244             : 
+     245             : /* computeMinMaxMagnitude() //{ */
+     246             : 
+     247         270 : bool Trajectory::computeMinMaxMagnitude(int derivative, const std::vector<int>& dimensions, Extremum* minimum, Extremum* maximum) const {
+     248             : 
+     249         270 :   CHECK_NOTNULL(minimum);
+     250         270 :   CHECK_NOTNULL(maximum);
+     251             : 
+     252         270 :   minimum->value = std::numeric_limits<double>::max();
+     253         270 :   maximum->value = std::numeric_limits<double>::lowest();
+     254             : 
+     255             :   // For all segments in the trajectory:
+     256        4059 :   for (size_t segment_idx = 0; segment_idx < segments_.size(); segment_idx++) {
+     257             : 
+     258             :     // Compute candidates.
+     259        7578 :     std::vector<Extremum> candidates;
+     260        3789 :     if (!segments_[segment_idx].computeMinMaxMagnitudeCandidates(derivative, 0.0, segments_[segment_idx].getTime(), dimensions, &candidates)) {
+     261           0 :       return false;
+     262             :     }
+     263             :     // Evaluate candidates.
+     264        3789 :     Extremum minimum_candidate, maximum_candidate;
+     265        3789 :     if (!segments_[segment_idx].selectMinMaxMagnitudeFromCandidates(derivative, 0.0, segments_[segment_idx].getTime(), dimensions, candidates,
+     266             :                                                                     &minimum_candidate, &maximum_candidate)) {
+     267             :       return false;
+     268             :     }
+     269             :     // Select minimum / maximum.
+     270        3789 :     if (minimum_candidate < *minimum) {
+     271         772 :       *minimum             = minimum_candidate;
+     272         772 :       minimum->segment_idx = static_cast<int>(segment_idx);
+     273             :     }
+     274        3789 :     if (maximum_candidate > *maximum) {
+     275         714 :       *maximum             = maximum_candidate;
+     276         714 :       maximum->segment_idx = static_cast<int>(segment_idx);
+     277             :     }
+     278             :   }
+     279             :   return true;
+     280             : }
+     281             : 
+     282             : //}
+     283             : 
+     284             : /* getSegmentTimes() //{ */
+     285             : 
+     286          30 : std::vector<double> Trajectory::getSegmentTimes() const {
+     287          30 :   std::vector<double> segment_times(segments_.size());
+     288         451 :   for (size_t i = 0; i < segment_times.size(); ++i) {
+     289         421 :     segment_times[i] = segments_[i].getTime();
+     290             :   }
+     291          30 :   return segment_times;
+     292             : }
+     293             : 
+     294             : //}
+     295             : 
+     296             : /* addTrajectories() //{ */
+     297             : 
+     298           0 : bool Trajectory::addTrajectories(const std::vector<Trajectory>& trajectories, Trajectory* merged) const {
+     299           0 :   CHECK_NOTNULL(merged);
+     300           0 :   merged->clear();
+     301           0 :   *merged = *this;
+     302             : 
+     303           0 :   for (const Trajectory& t : trajectories) {
+     304             :     // Check dimensions and coefficients.
+     305             :     // TODO(rikba): Allow different number of coefficients.
+     306           0 :     if (t.D() != D_ || t.N() != N_) {
+     307           0 :       LOG(WARNING) << "Dimension to append: " << t.D() << " this dimension: " << D_;
+     308           0 :       LOG(WARNING) << "Number of coefficients to append: " << t.N() << " this number of coefficients: " << N_;
+     309           0 :       return false;
+     310             :     }
+     311             :     // Add segments.
+     312           0 :     Segment::Vector segments;
+     313           0 :     t.getSegments(&segments);
+     314           0 :     merged->addSegments(segments);
+     315             :   }
+     316             : 
+     317             :   return true;
+     318             : }
+     319             : 
+     320             : //}
+     321             : 
+     322             : /* offsetTrajectory() //{ */
+     323             : 
+     324           0 : bool Trajectory::offsetTrajectory(const Eigen::VectorXd& A_r_B) {
+     325           0 :   if (A_r_B.size() < std::min(D_, 3)) {
+     326           0 :     LOG(WARNING) << "Offset vector size smaller than trajectory dimension.";
+     327           0 :     return false;
+     328             :   }
+     329             : 
+     330           0 :   for (Segment& s : segments_) {
+     331             :     // Returns false if dimension check fails at segment level.
+     332           0 :     if (!s.offsetSegment(A_r_B))
+     333           0 :       return false;
+     334             :   }
+     335             : 
+     336             :   return true;
+     337             : }
+     338             : 
+     339             : //}
+     340             : 
+     341             : /* offsetTrajectory() //{ */
+     342             : 
+     343           0 : Vertex Trajectory::getVertexAtTime(double t, int max_derivative_order) const {
+     344           0 :   Vertex v(D_);
+     345           0 :   for (int i = 0; i <= max_derivative_order; i++) {
+     346           0 :     v.addConstraint(i, evaluate(t, i));
+     347             :   }
+     348           0 :   return v;
+     349             : }
+     350             : 
+     351             : //}
+     352             : 
+     353             : /* getStartVertex() //{ */
+     354             : 
+     355           0 : Vertex Trajectory::getStartVertex(int max_derivative_order) const {
+     356           0 :   return getVertexAtTime(0.0, max_derivative_order);
+     357             : }
+     358             : 
+     359             : //}
+     360             : 
+     361             : /* getGoalVertex() //{ */
+     362             : 
+     363           0 : Vertex Trajectory::getGoalVertex(int max_derivative_order) const {
+     364           0 :   return getVertexAtTime(max_time_, max_derivative_order);
+     365             : }
+     366             : 
+     367             : //}
+     368             : 
+     369             : /* getVertices() //{ */
+     370             : 
+     371           0 : bool Trajectory::getVertices(int max_derivative_order_pos, int max_derivative_order_yaw, Vertex::Vector* pos_vertices, Vertex::Vector* yaw_vertices) const {
+     372           0 :   CHECK_NOTNULL(pos_vertices);
+     373           0 :   CHECK_NOTNULL(yaw_vertices);
+     374           0 :   const std::vector<size_t> kPosDimensions      = {0, 1, 2};
+     375           0 :   const std::vector<size_t> kYawDimensions      = {3};
+     376           0 :   const int                 kMaxDerivativeOrder = std::max(max_derivative_order_pos, max_derivative_order_yaw);
+     377           0 :   pos_vertices->resize(segments_.size() + 1, Vertex(3));
+     378           0 :   yaw_vertices->resize(segments_.size() + 1, Vertex(1));
+     379             : 
+     380             :   // Start vertex.
+     381           0 :   Vertex temp_vertex(4);
+     382           0 :   temp_vertex = getStartVertex(kMaxDerivativeOrder);
+     383           0 :   if (!temp_vertex.getSubdimension(kPosDimensions, max_derivative_order_pos, &pos_vertices->front()))
+     384             :     return false;
+     385           0 :   if (!temp_vertex.getSubdimension(kYawDimensions, max_derivative_order_yaw, &yaw_vertices->front()))
+     386             :     return false;
+     387             : 
+     388             :   double t = 0.0;
+     389           0 :   for (size_t i = 0; i < segments_.size(); ++i) {
+     390           0 :     t += segments_[i].getTime();
+     391           0 :     temp_vertex = getVertexAtTime(t, kMaxDerivativeOrder);
+     392           0 :     if (!temp_vertex.getSubdimension(kPosDimensions, max_derivative_order_pos, &(*pos_vertices)[i + 1]))
+     393             :       return false;
+     394           0 :     if (!temp_vertex.getSubdimension(kYawDimensions, max_derivative_order_yaw, &(*yaw_vertices)[i + 1]))
+     395             :       return false;
+     396             :   }
+     397             :   return true;
+     398             : }
+     399             : 
+     400             : //}
+     401             : 
+     402             : /* getVertices() //{ */
+     403             : 
+     404           0 : bool Trajectory::getVertices(int max_derivative_order, Vertex::Vector* vertices) const {
+     405           0 :   CHECK_NOTNULL(vertices);
+     406           0 :   vertices->resize(segments_.size() + 1, D_);
+     407           0 :   vertices->front() = getStartVertex(max_derivative_order);
+     408             : 
+     409           0 :   double t = 0.0;
+     410           0 :   for (size_t i = 0; i < segments_.size(); ++i) {
+     411           0 :     t += segments_[i].getTime();
+     412           0 :     (*vertices)[i + 1] = getVertexAtTime(t, max_derivative_order);
+     413             :   }
+     414           0 :   return true;
+     415             : }
+     416             : 
+     417             : //}
+     418             : 
+     419             : /* computeMaxDerivativesHorizontal() //{ */
+     420             : 
+     421             : // compute max velocity, acceleration and jerk
+     422         421 : bool Trajectory::computeMaxDerivativesHorizontal(double* v_max, double* a_max, double* j_max, int seg) const {
+     423             : 
+     424             :   // not counting the heading dimension, that is going to be solved separately
+     425         421 :   std::vector<int> dimensions;  // Evaluate in whatever dimensions we have.
+     426             : 
+     427         421 :   dimensions.push_back(0);
+     428         421 :   dimensions.push_back(1);
+     429             : 
+     430         421 :   Extremum v_min_traj, v_max_traj, a_min_traj, a_max_traj, j_min_traj, j_max_traj;
+     431             : 
+     432         421 :   bool success = computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::VELOCITY, dimensions, &v_min_traj, &v_max_traj, seg);
+     433         421 :   success &= computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::ACCELERATION, dimensions, &a_min_traj, &a_max_traj, seg);
+     434         421 :   success &= computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::JERK, dimensions, &j_min_traj, &j_max_traj, seg);
+     435             : 
+     436         421 :   *v_max = v_max_traj.value;
+     437         421 :   *a_max = a_max_traj.value;
+     438         421 :   *j_max = j_max_traj.value;
+     439             : 
+     440         842 :   return success;
+     441             : }
+     442             : 
+     443             : //}
+     444             : 
+     445             : /* computeMaxDerivativesHorizontal() //{ */
+     446             : 
+     447             : // compute max velocity, acceleration and jerk
+     448          30 : bool Trajectory::computeMaxDerivativesHorizontal(double* v_max, double* a_max, double* j_max) const {
+     449             : 
+     450             :   // not counting the heading dimension, that is going to be solved separately
+     451          30 :   std::vector<int> dimensions;  // Evaluate in whatever dimensions we have.
+     452             : 
+     453          30 :   dimensions.push_back(0);
+     454          30 :   dimensions.push_back(1);
+     455             : 
+     456          30 :   Extremum v_min_traj, v_max_traj, a_min_traj, a_max_traj, j_min_traj, j_max_traj;
+     457             : 
+     458          30 :   bool success = computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::VELOCITY, dimensions, &v_min_traj, &v_max_traj);
+     459          30 :   success &= computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::ACCELERATION, dimensions, &a_min_traj, &a_max_traj);
+     460          30 :   success &= computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::JERK, dimensions, &j_min_traj, &j_max_traj);
+     461             : 
+     462          30 :   *v_max = v_max_traj.value;
+     463          30 :   *a_max = a_max_traj.value;
+     464          30 :   *j_max = j_max_traj.value;
+     465             : 
+     466          60 :   return success;
+     467             : }
+     468             : 
+     469             : //}
+     470             : 
+     471             : /* computeMaxDerivativesVertical() //{ */
+     472             : 
+     473             : // compute max velocity, acceleration and jerk
+     474         421 : bool Trajectory::computeMaxDerivativesVertical(double* v_max, double* a_max, double* j_max, int seg) const {
+     475             : 
+     476             :   // not counting the heading dimension, that is going to be solved separately
+     477         421 :   std::vector<int> dimensions;  // Evaluate in whatever dimensions we have.
+     478             : 
+     479         421 :   dimensions.push_back(2);
+     480             : 
+     481         421 :   Extremum v_min_traj, v_max_traj, a_min_traj, a_max_traj, j_min_traj, j_max_traj;
+     482             : 
+     483         421 :   bool success = computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::VELOCITY, dimensions, &v_min_traj, &v_max_traj, seg);
+     484         421 :   success &= computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::ACCELERATION, dimensions, &a_min_traj, &a_max_traj, seg);
+     485         421 :   success &= computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::JERK, dimensions, &j_min_traj, &j_max_traj, seg);
+     486             : 
+     487         421 :   *v_max = v_max_traj.value;
+     488         421 :   *a_max = a_max_traj.value;
+     489         421 :   *j_max = j_max_traj.value;
+     490             : 
+     491         842 :   return success;
+     492             : }
+     493             : 
+     494             : //}
+     495             : 
+     496             : /* computeMaxDerivativesVertical() //{ */
+     497             : 
+     498             : // compute max velocity, acceleration and jerk
+     499          30 : bool Trajectory::computeMaxDerivativesVertical(double* v_max, double* a_max, double* j_max) const {
+     500             : 
+     501             :   // not counting the heading dimension, that is going to be solved separately
+     502          30 :   std::vector<int> dimensions;  // Evaluate in whatever dimensions we have.
+     503             : 
+     504          30 :   dimensions.push_back(2);
+     505             : 
+     506          30 :   Extremum v_min_traj, v_max_traj, a_min_traj, a_max_traj, j_min_traj, j_max_traj;
+     507             : 
+     508          30 :   bool success = computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::VELOCITY, dimensions, &v_min_traj, &v_max_traj);
+     509          30 :   success &= computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::ACCELERATION, dimensions, &a_min_traj, &a_max_traj);
+     510          30 :   success &= computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::JERK, dimensions, &j_min_traj, &j_max_traj);
+     511             : 
+     512          30 :   *v_max = v_max_traj.value;
+     513          30 :   *a_max = a_max_traj.value;
+     514          30 :   *j_max = j_max_traj.value;
+     515             : 
+     516          60 :   return success;
+     517             : }
+     518             : 
+     519             : //}
+     520             : 
+     521             : /* computeMaxDerivativesHeading() //{ */
+     522             : 
+     523             : // compute max velocity, acceleration and jerk
+     524         421 : bool Trajectory::computeMaxDerivativesHeading(double* v_max, double* a_max, double* j_max, int seg) const {
+     525             : 
+     526         421 :   std::vector<int> dimensions;  // Evaluate in whatever dimensions we have.
+     527             : 
+     528         421 :   dimensions.push_back(3);  // 3 = heading
+     529             : 
+     530         421 :   Extremum v_min_traj, v_max_traj, a_min_traj, a_max_traj, j_min_traj, j_max_traj;
+     531             : 
+     532         421 :   bool success = computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::VELOCITY, dimensions, &v_min_traj, &v_max_traj, seg);
+     533         421 :   success &= computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::ACCELERATION, dimensions, &a_min_traj, &a_max_traj, seg);
+     534         421 :   success &= computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::JERK, dimensions, &j_min_traj, &j_max_traj, seg);
+     535             : 
+     536         421 :   *v_max = v_max_traj.value;
+     537         421 :   *a_max = a_max_traj.value;
+     538         421 :   *j_max = j_max_traj.value;
+     539             : 
+     540         842 :   return success;
+     541             : }
+     542             : 
+     543             : //}
+     544             : 
+     545             : /* computeMaxDerivativesHeading() //{ */
+     546             : 
+     547             : // compute max velocity, acceleration and jerk
+     548          30 : bool Trajectory::computeMaxDerivativesHeading(double* v_max, double* a_max, double* j_max) const {
+     549             : 
+     550          30 :   std::vector<int> dimensions;  // Evaluate in whatever dimensions we have.
+     551             : 
+     552          30 :   dimensions.push_back(3);  // 3 = heading
+     553             : 
+     554          30 :   Extremum v_min_traj, v_max_traj, a_min_traj, a_max_traj, j_min_traj, j_max_traj;
+     555             : 
+     556          30 :   bool success = computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::VELOCITY, dimensions, &v_min_traj, &v_max_traj);
+     557          30 :   success &= computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::ACCELERATION, dimensions, &a_min_traj, &a_max_traj);
+     558          30 :   success &= computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::JERK, dimensions, &j_min_traj, &j_max_traj);
+     559             : 
+     560          30 :   *v_max = v_max_traj.value;
+     561          30 :   *a_max = a_max_traj.value;
+     562          30 :   *j_max = j_max_traj.value;
+     563             : 
+     564          60 :   return success;
+     565             : }
+     566             : 
+     567             : //}
+     568             : 
+     569             : /* scaleSegmentTimes() //{ */
+     570             : 
+     571           0 : bool Trajectory::scaleSegmentTimes(double scaling) {
+     572           0 :   if (scaling < 1.0e-6)
+     573             :     return false;
+     574             : 
+     575             :   // Scale the segment times of each segment.
+     576           0 :   double new_max_time    = 0.0;
+     577           0 :   double scaling_inverse = 1.0 / scaling;
+     578           0 :   for (size_t i = 0; i < segments_.size(); i++) {
+     579           0 :     double new_time = segments_[i].getTime() * scaling;
+     580           0 :     for (int d = 0; d < segments_[i].D(); d++) {
+     581           0 :       (segments_[i])[d].scalePolynomialInTime(scaling_inverse);
+     582             :     }
+     583           0 :     segments_[i].setTime(new_time);
+     584           0 :     new_max_time += new_time;
+     585             :   }
+     586           0 :   max_time_ = new_max_time;
+     587             : 
+     588           0 :   return true;
+     589             : }
+     590             : 
+     591             : //}
+     592             : 
+     593             : /* scaleSegmentTimesToMeetConstraints() //{ */
+     594             : 
+     595             : // This method SCALES the segment times evenly to ensure that the trajectory
+     596             : // is feasible given the provided v_max and a_max. Does not change the shape
+     597             : // of the trajectory, and only *increases* segment times.
+     598          30 : bool Trajectory::scaleSegmentTimesToMeetConstraints(const double v_max_horizontal, const double v_max_vertical, const double a_max_horizontal,
+     599             :                                                     const double a_max_vertical, const double j_max_horizontal, const double j_max_vertical,
+     600             :                                                     const double v_max_heading, const double a_max_heading, const double j_max_heading) {
+     601             : 
+     602             :   // In vast majority of cases, this will converge within 1 iteration.
+     603          30 :   constexpr size_t kMaxCounter = 20;
+     604          30 :   constexpr double kTolerance  = 1e-3;
+     605             : 
+     606          30 :   bool within_range = false;
+     607             : 
+     608          30 :   for (size_t i = 0; i < kMaxCounter; i++) {
+     609             : 
+     610         451 :     for (size_t seg = 0; seg < segments_.size(); seg++) {
+     611             : 
+     612             :       // From Liu, Sikang, et al. "Planning Dynamically Feasible Trajectories for
+     613             :       // Quadrotors Using Safe Flight Corridors in 3-D Complex Environments." IEEE
+     614             :       // Robotics and Automation Letters 2.3 (2017).
+     615         421 :       double v_max_horizontal_actual, a_max_horizontal_actual, j_max_horizontal_actual;
+     616         421 :       computeMaxDerivativesHorizontal(&v_max_horizontal_actual, &a_max_horizontal_actual, &j_max_horizontal_actual, seg);
+     617             : 
+     618         421 :       double v_max_vertical_actual, a_max_vertical_actual, j_max_vertical_actual;
+     619         421 :       computeMaxDerivativesVertical(&v_max_vertical_actual, &a_max_vertical_actual, &j_max_vertical_actual, seg);
+     620             : 
+     621         421 :       double v_max_heading_actual, a_max_heading_actual, j_max_heading_actual;
+     622         421 :       computeMaxDerivativesHeading(&v_max_heading_actual, &a_max_heading_actual, &j_max_heading_actual, seg);
+     623             : 
+     624             :       // Reevaluate constraint/bound violation
+     625         421 :       double velocity_violation_horizontal     = v_max_horizontal_actual / v_max_horizontal;
+     626         421 :       double velocity_violation_vertical       = v_max_vertical_actual / v_max_vertical;
+     627         421 :       double acceleration_violation_horizontal = a_max_horizontal_actual / a_max_horizontal;
+     628         421 :       double acceleration_violation_vertical   = a_max_vertical_actual / a_max_vertical;
+     629         421 :       double jerk_violation_horizontal         = j_max_horizontal_actual / j_max_horizontal;
+     630         421 :       double jerk_violation_vertical           = j_max_vertical_actual / j_max_vertical;
+     631             : 
+     632         421 :       double velocity_violation_heading     = v_max_heading_actual / v_max_heading;
+     633         421 :       double acceleration_violation_heading = a_max_heading_actual / a_max_heading;
+     634         421 :       double jerk_violation_heading         = j_max_heading_actual / j_max_heading;
+     635             : 
+     636         421 :       double velocity_violation     = std::max(std::max(velocity_violation_horizontal, velocity_violation_vertical), velocity_violation_heading);
+     637         421 :       double acceleration_violation = std::max(std::max(acceleration_violation_horizontal, acceleration_violation_vertical), acceleration_violation_heading);
+     638         421 :       double jerk_violation         = std::max(std::max(jerk_violation_horizontal, jerk_violation_vertical), jerk_violation_heading);
+     639             : 
+     640         421 :       within_range = velocity_violation <= 1.0 + kTolerance && acceleration_violation <= 1.0 + kTolerance && jerk_violation <= 1.0 + kTolerance;
+     641             : 
+     642         743 :       double violation_scaling = std::max(1.0, std::max(std::max(velocity_violation, sqrt(acceleration_violation)), cbrt(jerk_violation)));
+     643             : 
+     644             :       // First figure out how to stretch the trajectory in time.
+     645         421 :       double violation_scaling_inverse = 1.0 / violation_scaling;
+     646             : 
+     647             :       // Scale the segment times of each segment.
+     648         421 :       double new_max_time = 0.0;
+     649         421 :       double new_time     = segments_[seg].getTime() * violation_scaling;
+     650             : 
+     651        2105 :       for (int d = 0; d < segments_[seg].D(); d++) {
+     652        1684 :         (segments_[seg])[d].scalePolynomialInTime(violation_scaling_inverse);
+     653             :       }
+     654             : 
+     655         421 :       segments_[seg].setTime(new_time);
+     656         421 :       new_max_time += new_time;
+     657         421 :       max_time_ = new_max_time;
+     658             :     }
+     659             : 
+     660          30 :     double v_max_horizontal_actual, a_max_horizontal_actual, j_max_horizontal_actual;
+     661          30 :     computeMaxDerivativesHorizontal(&v_max_horizontal_actual, &a_max_horizontal_actual, &j_max_horizontal_actual);
+     662             : 
+     663          30 :     double v_max_vertical_actual, a_max_vertical_actual, j_max_vertical_actual;
+     664          30 :     computeMaxDerivativesVertical(&v_max_vertical_actual, &a_max_vertical_actual, &j_max_vertical_actual);
+     665             : 
+     666          30 :     double v_max_heading_actual, a_max_heading_actual, j_max_heading_actual;
+     667          30 :     computeMaxDerivativesHeading(&v_max_heading_actual, &a_max_heading_actual, &j_max_heading_actual);
+     668             : 
+     669             :     // Reevaluate constraint/bound violation
+     670          30 :     double velocity_violation_horizontal     = v_max_horizontal_actual / v_max_horizontal;
+     671          30 :     double velocity_violation_vertical       = v_max_vertical_actual / v_max_vertical;
+     672          30 :     double acceleration_violation_horizontal = a_max_horizontal_actual / a_max_horizontal;
+     673          30 :     double acceleration_violation_vertical   = a_max_vertical_actual / a_max_vertical;
+     674          30 :     double jerk_violation_horizontal         = j_max_horizontal_actual / j_max_horizontal;
+     675          30 :     double jerk_violation_vertical           = j_max_vertical_actual / j_max_vertical;
+     676             : 
+     677          30 :     double velocity_violation_heading     = v_max_heading_actual / v_max_heading;
+     678          30 :     double acceleration_violation_heading = a_max_heading_actual / a_max_heading;
+     679          30 :     double jerk_violation_heading         = j_max_heading_actual / j_max_heading;
+     680             : 
+     681          30 :     double velocity_violation     = std::max(std::max(velocity_violation_horizontal, velocity_violation_vertical), velocity_violation_heading);
+     682          30 :     double acceleration_violation = std::max(std::max(acceleration_violation_horizontal, acceleration_violation_vertical), acceleration_violation_heading);
+     683          30 :     double jerk_violation         = std::max(std::max(jerk_violation_horizontal, jerk_violation_vertical), jerk_violation_heading);
+     684             : 
+     685          30 :     within_range = velocity_violation <= 1.0 + kTolerance && acceleration_violation <= 1.0 + kTolerance && jerk_violation <= 1.0 + kTolerance;
+     686             : 
+     687          30 :     if (within_range) {
+     688             :       break;
+     689             :     }
+     690             :   }
+     691          30 :   return within_range;
+     692             : }
+     693             : 
+     694             : //}
+     695             : 
+     696             : }  // namespace eth_trajectory_generation
+
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LCOV - code coverage report
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Current view:top level - mrs_uav_trajectory_generation/src/eth_trajectory_generation - trajectory_sampling.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:296942.0 %
Date:2024-01-20 21:44:18Functions:2728.6 %
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Function Name Sort by function nameHit count Sort by hit count
eth_trajectory_generation::sampleSegmentAtTime(eth_trajectory_generation::Segment const&, double, eth_mav_msgs::EigenTrajectoryPoint*)0
bool eth_trajectory_generation::sampleFlatStateAtTime<eth_trajectory_generation::Trajectory>(eth_trajectory_generation::Trajectory const&, double, eth_mav_msgs::EigenTrajectoryPoint*)0
bool eth_trajectory_generation::sampleFlatStateAtTime<eth_trajectory_generation::Segment>(eth_trajectory_generation::Segment const&, double, eth_mav_msgs::EigenTrajectoryPoint*)0
eth_trajectory_generation::sampleTrajectoryAtTime(eth_trajectory_generation::Trajectory const&, double, eth_mav_msgs::EigenTrajectoryPoint*)0
eth_trajectory_generation::sampleTrajectoryStartDuration(eth_trajectory_generation::Trajectory const&, double, double, double, std::vector<eth_mav_msgs::EigenTrajectoryPoint, Eigen::aligned_allocator<eth_mav_msgs::EigenTrajectoryPoint> >*)0
eth_trajectory_generation::sampleWholeTrajectory(eth_trajectory_generation::Trajectory const&, double, std::vector<eth_mav_msgs::EigenTrajectoryPoint, Eigen::aligned_allocator<eth_mav_msgs::EigenTrajectoryPoint> >*)27
eth_trajectory_generation::sampleTrajectoryInRange(eth_trajectory_generation::Trajectory const&, double, double, double, std::vector<eth_mav_msgs::EigenTrajectoryPoint, Eigen::aligned_allocator<eth_mav_msgs::EigenTrajectoryPoint> >*)27
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Current view:top level - mrs_uav_trajectory_generation/src/eth_trajectory_generation - trajectory_sampling.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:296942.0 %
Date:2024-01-20 21:44:18Functions:2728.6 %
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Function Name Sort by function nameHit count Sort by hit count
eth_trajectory_generation::sampleSegmentAtTime(eth_trajectory_generation::Segment const&, double, eth_mav_msgs::EigenTrajectoryPoint*)0
bool eth_trajectory_generation::sampleFlatStateAtTime<eth_trajectory_generation::Trajectory>(eth_trajectory_generation::Trajectory const&, double, eth_mav_msgs::EigenTrajectoryPoint*)0
bool eth_trajectory_generation::sampleFlatStateAtTime<eth_trajectory_generation::Segment>(eth_trajectory_generation::Segment const&, double, eth_mav_msgs::EigenTrajectoryPoint*)0
eth_trajectory_generation::sampleWholeTrajectory(eth_trajectory_generation::Trajectory const&, double, std::vector<eth_mav_msgs::EigenTrajectoryPoint, Eigen::aligned_allocator<eth_mav_msgs::EigenTrajectoryPoint> >*)27
eth_trajectory_generation::sampleTrajectoryAtTime(eth_trajectory_generation::Trajectory const&, double, eth_mav_msgs::EigenTrajectoryPoint*)0
eth_trajectory_generation::sampleTrajectoryInRange(eth_trajectory_generation::Trajectory const&, double, double, double, std::vector<eth_mav_msgs::EigenTrajectoryPoint, Eigen::aligned_allocator<eth_mav_msgs::EigenTrajectoryPoint> >*)27
eth_trajectory_generation::sampleTrajectoryStartDuration(eth_trajectory_generation::Trajectory const&, double, double, double, std::vector<eth_mav_msgs::EigenTrajectoryPoint, Eigen::aligned_allocator<eth_mav_msgs::EigenTrajectoryPoint> >*)0
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Generated by: LCOV version 1.14
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Current view:top level - mrs_uav_trajectory_generation/src/eth_trajectory_generation - trajectory_sampling.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:296942.0 %
Date:2024-01-20 21:44:18Functions:2728.6 %
Legend: Lines: + hit + not hit +
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+
          Line data    Source code
+
+       1             : /*
+       2             :  * Copyright (c) 2016, Markus Achtelik, ASL, ETH Zurich, Switzerland
+       3             :  * Copyright (c) 2016, Michael Burri, ASL, ETH Zurich, Switzerland
+       4             :  * Copyright (c) 2016, Helen Oleynikova, ASL, ETH Zurich, Switzerland
+       5             :  * Copyright (c) 2016, Rik Bähnemann, ASL, ETH Zurich, Switzerland
+       6             :  * Copyright (c) 2016, Marija Popovic, ASL, ETH Zurich, Switzerland
+       7             :  *
+       8             :  * Licensed under the Apache License, Version 2.0 (the "License");
+       9             :  * you may not use this file except in compliance with the License.
+      10             :  * You may obtain a copy of the License at
+      11             :  *
+      12             :  * http://www.apache.org/licenses/LICENSE-2.0
+      13             :  *
+      14             :  * Unless required by applicable law or agreed to in writing, software
+      15             :  * distributed under the License is distributed on an "AS IS" BASIS,
+      16             :  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+      17             :  * See the License for the specific language governing permissions and
+      18             :  * limitations under the License.
+      19             :  */
+      20             : 
+      21             : #include <eth_trajectory_generation/trajectory_sampling.h>
+      22             : 
+      23             : namespace eth_trajectory_generation
+      24             : {
+      25             : 
+      26             : const double kNumNanosecondsPerSecond = 1.e9;
+      27             : 
+      28             : /* sampleTrajectoryAtTime() //{ */
+      29             : 
+      30           0 : bool sampleTrajectoryAtTime(const Trajectory& trajectory, double sample_time, eth_mav_msgs::EigenTrajectoryPoint* state) {
+      31           0 :   CHECK_NOTNULL(state);
+      32           0 :   if (sample_time < trajectory.getMinTime() || sample_time > trajectory.getMaxTime()) {
+      33           0 :     LOG(ERROR) << "Sample time should be within [" << trajectory.getMinTime() << " " << trajectory.getMaxTime() << "] but is " << sample_time;
+      34           0 :     return false;
+      35             :   }
+      36             : 
+      37           0 :   if (trajectory.D() < 3) {
+      38           0 :     LOG(ERROR) << "Dimension has to be at least 3, but is " << trajectory.D();
+      39           0 :     return false;
+      40             :   }
+      41             : 
+      42           0 :   return sampleFlatStateAtTime<Trajectory>(trajectory, sample_time, state);
+      43             : }
+      44             : 
+      45             : //}
+      46             : 
+      47             : /* sampleTrajectoryInRange() //{ */
+      48             : 
+      49          27 : bool sampleTrajectoryInRange(const Trajectory& trajectory, double min_time, double max_time, double sampling_interval,
+      50             :                              eth_mav_msgs::EigenTrajectoryPointVector* states) {
+      51          27 :   CHECK_NOTNULL(states);
+      52          27 :   if (min_time < trajectory.getMinTime() || max_time > trajectory.getMaxTime()) {
+      53           0 :     LOG(ERROR) << "Sample time should be within [" << trajectory.getMinTime() << " " << trajectory.getMaxTime() << "] but is [" << min_time << " " << max_time
+      54           0 :                << "]";
+      55           0 :     return false;
+      56             :   }
+      57             : 
+      58          27 :   if (trajectory.D() < 3) {
+      59           0 :     LOG(ERROR) << "Dimension has to be at least 3, but is " << trajectory.D();
+      60           0 :     return false;
+      61             :   }
+      62             : 
+      63          54 :   std::vector<Eigen::VectorXd> position, velocity, acceleration, jerk, snap, yaw, yaw_rate;
+      64             : 
+      65          27 :   trajectory.evaluateRange(min_time, max_time, sampling_interval, derivative_order::POSITION, &position);
+      66          27 :   trajectory.evaluateRange(min_time, max_time, sampling_interval, derivative_order::VELOCITY, &velocity);
+      67          27 :   trajectory.evaluateRange(min_time, max_time, sampling_interval, derivative_order::ACCELERATION, &acceleration);
+      68          27 :   trajectory.evaluateRange(min_time, max_time, sampling_interval, derivative_order::JERK, &jerk);
+      69          27 :   trajectory.evaluateRange(min_time, max_time, sampling_interval, derivative_order::SNAP, &snap);
+      70             : 
+      71          27 :   size_t n_samples = position.size();
+      72             : 
+      73          27 :   states->resize(n_samples);
+      74        3275 :   for (size_t i = 0; i < n_samples; ++i) {
+      75        3248 :     eth_mav_msgs::EigenTrajectoryPoint& state = (*states)[i];
+      76             : 
+      77             :     /* state.degrees_of_freedom = eth_mav_msgs::MavActuation::DOF4; */
+      78        3248 :     state.position_W         = position[i].head<3>();
+      79        3248 :     state.velocity_W         = velocity[i].head<3>();
+      80        3248 :     state.acceleration_W     = acceleration[i].head<3>();
+      81        3248 :     state.jerk_W             = jerk[i].head<3>();
+      82        3248 :     state.snap_W             = snap[i].head<3>();
+      83        3248 :     state.time_from_start_ns = static_cast<int64_t>((min_time + sampling_interval * i) * kNumNanosecondsPerSecond);
+      84        3248 :     if (trajectory.D() == 4) {
+      85        3248 :       state.setFromYaw(position[i](3));
+      86        3248 :       state.setFromYawRate(velocity[i](3));
+      87        3248 :       state.setFromYawAcc(acceleration[i](3));
+      88             :     }
+      89             :     /* else if (trajectory.D() == 6) { */
+      90             :     /*   // overactuated, write quaternion from interpolated rotation vector */
+      91             :     /*   Eigen::Vector3d rot_vec, rot_vec_vel, rot_vec_acc; */
+      92             :     /*   rot_vec = position[i].tail<3>(); */
+      93             :     /*   rot_vec_vel  = velocity[i].tail<3>(); */
+      94             :     /*   rot_vec_acc  = acceleration[i].tail<3>(); */
+      95             :     /*   Eigen::Matrix3d rot_matrix; */
+      96             :     /*   eth_mav_msgs::matrixFromRotationVector(rot_vec, &rot_matrix); */
+      97             :     /*   state.orientation_W_B = Eigen::Quaterniond(rot_matrix); */
+      98             :     /*   state.angular_velocity_W = eth_mav_msgs::omegaFromRotationVector(rot_vec, rot_vec_vel); */
+      99             :     /*   state.angular_acceleration_W = eth_mav_msgs::omegaDotFromRotationVector(rot_vec, rot_vec_vel, rot_vec_acc); */
+     100             :     /*   state.degrees_of_freedom = eth_mav_msgs::MavActuation::DOF6; */
+     101             :     /* } */
+     102             :   }
+     103          27 :   return true;
+     104             : }
+     105             : 
+     106             : //}
+     107             : 
+     108             : /* sampleTrajectoryStartDuration() //{ */
+     109             : 
+     110           0 : bool sampleTrajectoryStartDuration(const Trajectory& trajectory, double start_time, double duration, double sampling_interval,
+     111             :                                    eth_mav_msgs::EigenTrajectoryPointVector* states) {
+     112           0 :   return sampleTrajectoryInRange(trajectory, start_time, start_time + duration, sampling_interval, states);
+     113             : }
+     114             : 
+     115             : //}
+     116             : 
+     117             : /* sampleWholeTrajectory() //{ */
+     118             : 
+     119          27 : bool sampleWholeTrajectory(const Trajectory& trajectory, double sampling_interval, eth_mav_msgs::EigenTrajectoryPoint::Vector* states) {
+     120          27 :   const double min_time = trajectory.getMinTime();
+     121          27 :   const double max_time = trajectory.getMaxTime();
+     122             : 
+     123          27 :   return sampleTrajectoryInRange(trajectory, min_time, max_time, sampling_interval, states);
+     124             : }
+     125             : 
+     126             : //}
+     127             : 
+     128             : /* sampleSegmentAtTime() //{ */
+     129             : 
+     130           0 : bool sampleSegmentAtTime(const Segment& segment, double sample_time, eth_mav_msgs::EigenTrajectoryPoint* state) {
+     131           0 :   CHECK_NOTNULL(state);
+     132           0 :   if (sample_time < 0.0 || sample_time > segment.getTime()) {
+     133           0 :     LOG(ERROR) << "Sample time should be within [" << 0.0 << " " << segment.getTime() << "] but is " << sample_time;
+     134           0 :     return false;
+     135             :   }
+     136             : 
+     137           0 :   return sampleFlatStateAtTime<Segment>(segment, sample_time, state);
+     138             : }
+     139             : 
+     140             : //}
+     141             : 
+     142             : /* sampleFlatStateAtTime() //{ */
+     143             : 
+     144             : template <class T>
+     145           0 : bool sampleFlatStateAtTime(const T& type, double sample_time, eth_mav_msgs::EigenTrajectoryPoint* state) {
+     146           0 :   if (type.D() < 3) {
+     147           0 :     LOG(ERROR) << "Dimension has to be 3, 4, or 6 but is " << type.D();
+     148           0 :     return false;
+     149             :   }
+     150             : 
+     151           0 :   Eigen::VectorXd position     = type.evaluate(sample_time, derivative_order::POSITION);
+     152           0 :   Eigen::VectorXd velocity     = type.evaluate(sample_time, derivative_order::VELOCITY);
+     153           0 :   Eigen::VectorXd acceleration = type.evaluate(sample_time, derivative_order::ACCELERATION);
+     154             : 
+     155             :   /* state->degrees_of_freedom = eth_mav_msgs::MavActuation::DOF4; */
+     156           0 :   state->position_W     = position.head(3);
+     157           0 :   state->velocity_W     = velocity.head(3);
+     158           0 :   state->acceleration_W = acceleration.head(3);
+     159           0 :   state->jerk_W         = type.evaluate(sample_time, derivative_order::JERK).head(3);
+     160           0 :   state->snap_W         = type.evaluate(sample_time, derivative_order::SNAP).head(3);
+     161             : 
+     162           0 :   if (type.D() == 4) {
+     163           0 :     state->setFromYaw(position(3));
+     164           0 :     state->setFromYawRate(velocity(3));
+     165           0 :     state->setFromYawAcc(acceleration(3));
+     166             :   }
+     167             :   /* else if (type.D() == 6) { */
+     168             :   /*   // overactuated, write quaternion from interpolated rotation vector */
+     169             :   /*   Eigen::Vector3d rot_vec, rot_vec_vel, rot_vec_acc; */
+     170             :   /*   rot_vec  = position.tail(3); */
+     171             :   /*   rot_vec_vel = velocity.tail(3); */
+     172             :   /*   rot_vec_acc = acceleration.tail(3); */
+     173             :   /*   Eigen::Matrix3d rot_matrix; */
+     174             :   /*   eth_mav_msgs::matrixFromRotationVector(rot_vec, &rot_matrix); */
+     175             :   /*   state->orientation_W_B = Eigen::Quaterniond(rot_matrix); */
+     176             :   /*   state->angular_velocity_W = eth_mav_msgs::omegaFromRotationVector(rot_vec, rot_vec_vel); */
+     177             :   /*   state->angular_acceleration_W = eth_mav_msgs::omegaDotFromRotationVector(rot_vec, rot_vec_vel, rot_vec_acc); */
+     178             :   /*   state->degrees_of_freedom = eth_mav_msgs::MavActuation::DOF6; */
+     179             :   /* } */
+     180             : 
+     181           0 :   state->time_from_start_ns = static_cast<int64_t>(sample_time * kNumNanosecondsPerSecond);
+     182           0 :   return true;
+     183             : }
+     184             : 
+     185             : //}
+     186             : 
+     187             : }  // namespace eth_trajectory_generation
+
+
+
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LCOV - code coverage report
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Current view:top level - mrs_uav_trajectory_generation/src/eth_trajectory_generation - vertex.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:13526451.1 %
Date:2024-01-20 21:44:18Functions:61735.3 %
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Function Name Sort by function nameHit count Sort by hit count
eth_trajectory_generation::createRandomVertices(int, unsigned long, Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, unsigned long)0
eth_trajectory_generation::createSquareVertices(int, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double, int)0
eth_trajectory_generation::createRandomVertices1D(int, unsigned long, double, double, unsigned long)0
eth_trajectory_generation::computeTimeVelocityRamp(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, double, double)0
eth_trajectory_generation::estimateSegmentTimesVelocityRamp(std::vector<eth_trajectory_generation::Vertex, std::allocator<eth_trajectory_generation::Vertex> > const&, double, double, double)0
eth_trajectory_generation::Vertex::removeConstraint(int)0
eth_trajectory_generation::operator<<(std::basic_ostream<char, std::char_traits<char> >&, eth_trajectory_generation::Vertex const&)0
eth_trajectory_generation::operator<<(std::basic_ostream<char, std::char_traits<char> >&, std::vector<eth_trajectory_generation::Vertex, std::allocator<eth_trajectory_generation::Vertex> > const&)0
eth_trajectory_generation::Vertex::isEqualTol(eth_trajectory_generation::Vertex const&, double) const0
eth_trajectory_generation::Vertex::hasConstraint(int) const0
eth_trajectory_generation::Vertex::getSubdimension(std::vector<unsigned long, std::allocator<unsigned long> > const&, int, eth_trajectory_generation::Vertex*) const0
eth_trajectory_generation::estimateSegmentTimes(std::vector<eth_trajectory_generation::Vertex, std::allocator<eth_trajectory_generation::Vertex> > const&, double, double, double, double, double, double, double, double)34
eth_trajectory_generation::estimateSegmentTimesBaca(std::vector<eth_trajectory_generation::Vertex, std::allocator<eth_trajectory_generation::Vertex> > const&, double, double, double, double, double, double, double, double)34
eth_trajectory_generation::estimateSegmentTimesEuclidean(std::vector<eth_trajectory_generation::Vertex, std::allocator<eth_trajectory_generation::Vertex> > const&, double, double, double, double, double, double, double, double)34
eth_trajectory_generation::Vertex::makeStartOrEnd(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, int)60
eth_trajectory_generation::Vertex::addConstraint(int, Eigen::Matrix<double, -1, 1, 0, -1, 1> const&)1172
eth_trajectory_generation::Vertex::getConstraint(int, Eigen::Matrix<double, -1, 1, 0, -1, 1>*) const6752
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Test:MRS UAV System - Test coverage reportLines:13526451.1 %
Date:2024-01-20 21:44:18Functions:61735.3 %
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Function Name Sort by function nameHit count Sort by hit count
eth_trajectory_generation::createRandomVertices(int, unsigned long, Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, unsigned long)0
eth_trajectory_generation::createSquareVertices(int, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double, int)0
eth_trajectory_generation::estimateSegmentTimes(std::vector<eth_trajectory_generation::Vertex, std::allocator<eth_trajectory_generation::Vertex> > const&, double, double, double, double, double, double, double, double)34
eth_trajectory_generation::createRandomVertices1D(int, unsigned long, double, double, unsigned long)0
eth_trajectory_generation::computeTimeVelocityRamp(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, double, double)0
eth_trajectory_generation::estimateSegmentTimesBaca(std::vector<eth_trajectory_generation::Vertex, std::allocator<eth_trajectory_generation::Vertex> > const&, double, double, double, double, double, double, double, double)34
eth_trajectory_generation::estimateSegmentTimesEuclidean(std::vector<eth_trajectory_generation::Vertex, std::allocator<eth_trajectory_generation::Vertex> > const&, double, double, double, double, double, double, double, double)34
eth_trajectory_generation::estimateSegmentTimesVelocityRamp(std::vector<eth_trajectory_generation::Vertex, std::allocator<eth_trajectory_generation::Vertex> > const&, double, double, double)0
eth_trajectory_generation::Vertex::addConstraint(int, Eigen::Matrix<double, -1, 1, 0, -1, 1> const&)1172
eth_trajectory_generation::Vertex::makeStartOrEnd(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, int)60
eth_trajectory_generation::Vertex::removeConstraint(int)0
eth_trajectory_generation::operator<<(std::basic_ostream<char, std::char_traits<char> >&, eth_trajectory_generation::Vertex const&)0
eth_trajectory_generation::operator<<(std::basic_ostream<char, std::char_traits<char> >&, std::vector<eth_trajectory_generation::Vertex, std::allocator<eth_trajectory_generation::Vertex> > const&)0
eth_trajectory_generation::Vertex::isEqualTol(eth_trajectory_generation::Vertex const&, double) const0
eth_trajectory_generation::Vertex::getConstraint(int, Eigen::Matrix<double, -1, 1, 0, -1, 1>*) const6752
eth_trajectory_generation::Vertex::hasConstraint(int) const0
eth_trajectory_generation::Vertex::getSubdimension(std::vector<unsigned long, std::allocator<unsigned long> > const&, int, eth_trajectory_generation::Vertex*) const0
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Current view:top level - mrs_uav_trajectory_generation/src/eth_trajectory_generation - vertex.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:13526451.1 %
Date:2024-01-20 21:44:18Functions:61735.3 %
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+ + + + + + + + +

+
          Line data    Source code
+
+       1             : /*
+       2             :  * Copyright (c) 2016, Markus Achtelik, ASL, ETH Zurich, Switzerland
+       3             :  * Copyright (c) 2016, Michael Burri, ASL, ETH Zurich, Switzerland
+       4             :  * Copyright (c) 2016, Helen Oleynikova, ASL, ETH Zurich, Switzerland
+       5             :  * Copyright (c) 2016, Rik Bähnemann, ASL, ETH Zurich, Switzerland
+       6             :  * Copyright (c) 2016, Marija Popovic, ASL, ETH Zurich, Switzerland
+       7             :  *
+       8             :  * Licensed under the Apache License, Version 2.0 (the "License");
+       9             :  * you may not use this file except in compliance with the License.
+      10             :  * You may obtain a copy of the License at
+      11             :  *
+      12             :  * http://www.apache.org/licenses/LICENSE-2.0
+      13             :  *
+      14             :  * Unless required by applicable law or agreed to in writing, software
+      15             :  * distributed under the License is distributed on an "AS IS" BASIS,
+      16             :  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+      17             :  * See the License for the specific language governing permissions and
+      18             :  * limitations under the License.
+      19             :  */
+      20             : 
+      21             : #include <random>
+      22             : #include <iostream>
+      23             : 
+      24             : #include <eth_trajectory_generation/vertex.h>
+      25             : 
+      26             : #include <mrs_lib/geometry/cyclic.h>
+      27             : 
+      28             : namespace eth_trajectory_generation
+      29             : {
+      30             : 
+      31             : /* createRandomVertices() //{ */
+      32             : 
+      33           0 : Vertex::Vector createRandomVertices(int maximum_derivative, size_t n_segments, const Eigen::VectorXd& pos_min, const Eigen::VectorXd& pos_max, size_t seed) {
+      34           0 :   CHECK_GE(static_cast<int>(n_segments), 1);
+      35           0 :   CHECK_EQ(pos_min.size(), pos_max.size());
+      36           0 :   CHECK_GE((pos_max - pos_min).norm(), 0.2);
+      37           0 :   CHECK_GT(maximum_derivative, 0);
+      38             : 
+      39           0 :   Vertex::Vector                                      vertices;
+      40           0 :   std::mt19937                                        generator(seed);
+      41           0 :   std::vector<std::uniform_real_distribution<double>> distribution;
+      42             : 
+      43           0 :   const size_t dimension = pos_min.size();
+      44             : 
+      45           0 :   distribution.resize(dimension);
+      46             : 
+      47           0 :   for (size_t i = 0; i < dimension; ++i) {
+      48           0 :     distribution[i] = std::uniform_real_distribution<double>(pos_min[i], pos_max[i]);
+      49             :   }
+      50             : 
+      51           0 :   const double min_distance = 0.2;
+      52           0 :   const size_t n_vertices   = n_segments + 1;
+      53             : 
+      54           0 :   Eigen::VectorXd last_pos(dimension);
+      55           0 :   for (size_t i = 0; i < dimension; ++i) {
+      56           0 :     last_pos[i] = distribution[i](generator);
+      57             :   }
+      58             : 
+      59           0 :   vertices.reserve(n_segments + 1);
+      60           0 :   vertices.push_back(Vertex(dimension));
+      61             : 
+      62           0 :   vertices.front().makeStartOrEnd(last_pos, maximum_derivative);
+      63             : 
+      64           0 :   for (size_t i = 1; i < n_vertices; ++i) {
+      65           0 :     Eigen::VectorXd pos(dimension);
+      66             : 
+      67           0 :     while (true) {
+      68           0 :       for (size_t d = 0; d < dimension; ++d) {
+      69           0 :         pos[d] = distribution[d](generator);
+      70             :       }
+      71           0 :       if ((pos - last_pos).norm() > min_distance) {
+      72             :         break;
+      73             :       }
+      74             :     }
+      75             : 
+      76           0 :     Vertex v(dimension);
+      77           0 :     v.addConstraint(derivative_order::POSITION, pos);
+      78           0 :     vertices.push_back(v);
+      79           0 :     last_pos = pos;
+      80             :   }
+      81           0 :   vertices.back().makeStartOrEnd(last_pos, maximum_derivative);
+      82             : 
+      83           0 :   return vertices;
+      84             : }
+      85             : 
+      86             : //}
+      87             : 
+      88             : /* createSquareVertices() //{ */
+      89             : 
+      90           0 : Vertex::Vector createSquareVertices(int maximum_derivative, const Eigen::Vector3d& center, double side_length, int rounds) {
+      91           0 :   Vertex::Vector vertices;
+      92           0 :   const size_t   dimension = center.size();
+      93             : 
+      94           0 :   Eigen::Vector3d pos1(center[0] - side_length / 2.0, center[1] - side_length / 2.0, center[2]);
+      95           0 :   Vertex          v1(dimension);
+      96           0 :   v1.addConstraint(derivative_order::POSITION, pos1);
+      97           0 :   Eigen::Vector3d pos2(center[0] - side_length / 2.0, center[1] + side_length / 2.0, center[2]);
+      98           0 :   Vertex          v2(dimension);
+      99           0 :   v2.addConstraint(derivative_order::POSITION, pos2);
+     100           0 :   Eigen::Vector3d pos3(center[0] + side_length / 2.0, center[1] + side_length / 2.0, center[2]);
+     101           0 :   Vertex          v3(dimension);
+     102           0 :   v3.addConstraint(derivative_order::POSITION, pos3);
+     103           0 :   Eigen::Vector3d pos4(center[0] + side_length / 2.0, center[1] - side_length / 2.0, center[2]);
+     104           0 :   Vertex          v4(dimension);
+     105           0 :   v4.addConstraint(derivative_order::POSITION, pos4);
+     106             : 
+     107           0 :   vertices.reserve(4 * rounds);
+     108           0 :   vertices.push_back(v1);
+     109           0 :   vertices.front().makeStartOrEnd(pos1, maximum_derivative);
+     110             : 
+     111           0 :   for (int i = 0; i < rounds; ++i) {
+     112           0 :     vertices.push_back(v2);
+     113           0 :     vertices.push_back(v3);
+     114           0 :     vertices.push_back(v4);
+     115           0 :     vertices.push_back(v1);
+     116             :   }
+     117           0 :   vertices.back().makeStartOrEnd(pos1, maximum_derivative);
+     118             : 
+     119           0 :   return vertices;
+     120             : }
+     121             : 
+     122             : //}
+     123             : 
+     124             : /* createRandomVertices1D() //{ */
+     125             : 
+     126           0 : Vertex::Vector createRandomVertices1D(int maximum_derivative, size_t n_segments, double pos_min, double pos_max, size_t seed) {
+     127           0 :   return createRandomVertices(maximum_derivative, n_segments, Eigen::VectorXd::Constant(1, pos_min), Eigen::VectorXd::Constant(1, pos_max), seed);
+     128             : }
+     129             : 
+     130             : //}
+     131             : 
+     132             : /* addConstraint() //{ */
+     133             : 
+     134        1172 : void Vertex::addConstraint(int derivative_order, const Eigen::VectorXd& constraint) {
+     135        1172 :   CHECK_EQ(constraint.rows(), static_cast<long>(D_));
+     136        1172 :   constraints_[derivative_order] = constraint;
+     137        1172 : }
+     138             : 
+     139             : //}
+     140             : 
+     141             : /* removeConstraint() //{ */
+     142             : 
+     143           0 : bool Vertex::removeConstraint(int type) {
+     144           0 :   Constraints::const_iterator it = constraints_.find(type);
+     145           0 :   if (it != constraints_.end()) {
+     146           0 :     constraints_.erase(it);
+     147           0 :     return true;
+     148             :   } else {
+     149             :     // Constraint not found.
+     150             :     return false;
+     151             :   }
+     152             : }
+     153             : 
+     154             : //}
+     155             : 
+     156             : /* makeStartOrEnd() //{ */
+     157             : 
+     158          60 : void Vertex::makeStartOrEnd(const Eigen::VectorXd& constraint, int up_to_derivative) {
+     159          60 :   addConstraint(derivative_order::POSITION, constraint);
+     160         180 :   for (int i = 1; i <= up_to_derivative; ++i) {
+     161         120 :     constraints_[i] = ConstraintValue::Zero(static_cast<int>(D_));
+     162             :   }
+     163          60 : }
+     164             : 
+     165             : //}
+     166             : 
+     167             : /* getConstraint() //{ */
+     168             : 
+     169        6752 : bool Vertex::getConstraint(int derivative_order, Eigen::VectorXd* value) const {
+     170        6752 :   CHECK_NOTNULL(value);
+     171        6752 :   typename Constraints::const_iterator it = constraints_.find(derivative_order);
+     172        6752 :   if (it != constraints_.end()) {
+     173        3522 :     *value = it->second;
+     174        3522 :     return true;
+     175             :   } else
+     176             :     return false;
+     177             : }
+     178             : 
+     179             : //}
+     180             : 
+     181             : /* hasConstraint() //{ */
+     182             : 
+     183           0 : bool Vertex::hasConstraint(int derivative_order) const {
+     184           0 :   typename Constraints::const_iterator it = constraints_.find(derivative_order);
+     185           0 :   return it != constraints_.end();
+     186             : }
+     187             : 
+     188             : //}
+     189             : 
+     190             : /* isEqualTol() //{ */
+     191             : 
+     192           0 : bool Vertex::isEqualTol(const Vertex& rhs, double tol) const {
+     193           0 :   if (constraints_.size() != rhs.constraints_.size())
+     194             :     return false;
+     195             :   // loop through lhs constraint map
+     196           0 :   for (typename Constraints::const_iterator it = cBegin(); it != cEnd(); ++it) {
+     197             :     // look for matching key
+     198           0 :     typename Constraints::const_iterator rhs_it = rhs.constraints_.find(it->first);
+     199           0 :     if (rhs_it == rhs.constraints_.end())
+     200           0 :       return false;
+     201             :     // check value
+     202           0 :     if (!((it->second - rhs_it->second).isZero(tol)))
+     203             :       return false;
+     204             :   }
+     205             :   return true;
+     206             : }
+     207             : 
+     208             : //}
+     209             : 
+     210             : /* getSubdimension() //{ */
+     211             : 
+     212           0 : bool Vertex::getSubdimension(const std::vector<size_t>& subdimensions, int max_derivative_order, Vertex* subvertex) const {
+     213           0 :   CHECK_NOTNULL(subvertex);
+     214           0 :   *subvertex = Vertex(subdimensions.size());
+     215             : 
+     216             :   // Check if all subdimensions exist.
+     217           0 :   for (size_t subdimension : subdimensions)
+     218           0 :     if (subdimension >= D_)
+     219           0 :       return false;
+     220             : 
+     221             :   // Copy constraints up to maximum derivative order.
+     222           0 :   for (Constraints::const_iterator it = constraints_.begin(); it != constraints_.end(); ++it) {
+     223           0 :     int derivative_order = it->first;
+     224           0 :     if (derivative_order > max_derivative_order)
+     225           0 :       continue;
+     226           0 :     const ConstraintValue& original_constraint = it->second;
+     227           0 :     ConstraintValue        subsconstraint(subvertex->D());
+     228           0 :     for (size_t i = 0; i < subdimensions.size(); i++) {
+     229           0 :       subsconstraint[i] = original_constraint[subdimensions[i]];
+     230             :     }
+     231           0 :     subvertex->addConstraint(derivative_order, subsconstraint);
+     232             :   }
+     233             :   return true;
+     234             : }
+     235             : 
+     236             : //}
+     237             : 
+     238             : /* operator<<(std::ostream& stream, const Vertex& v) //{ */
+     239             : 
+     240           0 : std::ostream& operator<<(std::ostream& stream, const Vertex& v) {
+     241           0 :   stream << "constraints: " << std::endl;
+     242           0 :   Eigen::IOFormat format(4, 0, ", ", "\n", "[", "]");
+     243           0 :   for (typename Vertex::Constraints::const_iterator it = v.cBegin(); it != v.cEnd(); ++it) {
+     244           0 :     stream << "  type: " << positionDerivativeToString(it->first);
+     245           0 :     stream << "  value: " << it->second.transpose().format(format) << std::endl;
+     246             :   }
+     247           0 :   return stream;
+     248             : }
+     249             : 
+     250             : //}
+     251             : 
+     252             : /* operator<<(std::ostream& stream, const std::vector<Vertex>& vertices) //{ */
+     253             : 
+     254           0 : std::ostream& operator<<(std::ostream& stream, const std::vector<Vertex>& vertices) {
+     255           0 :   for (const Vertex& v : vertices) {
+     256           0 :     stream << v << std::endl;
+     257             :   }
+     258           0 :   return stream;
+     259             : }
+     260             : 
+     261             : //}
+     262             : 
+     263             : /* estimateSegmentTimes() //{ */
+     264             : 
+     265          34 : std::vector<double> estimateSegmentTimes(const Vertex::Vector& vertices, const double v_max_horizontal, const double v_max_vertical,
+     266             :                                          const double a_max_horizontal, const double a_max_vertical, const double j_max_horizontal, const double j_max_vertical,
+     267             :                                          const double heading_speed_max, const double heading_acc_max) {
+     268             : 
+     269          34 :   return estimateSegmentTimesEuclidean(vertices, v_max_horizontal, v_max_vertical, a_max_horizontal, a_max_vertical, j_max_horizontal, j_max_vertical,
+     270          34 :                                        heading_speed_max, heading_acc_max);
+     271             : }
+     272             : 
+     273             : //}
+     274             : 
+     275             : /* estimateSegmentTimesVelocityRamp() //{ */
+     276             : 
+     277           0 : std::vector<double> estimateSegmentTimesVelocityRamp(const Vertex::Vector& vertices, double v_max, double a_max, double time_factor) {
+     278           0 :   CHECK_GE(vertices.size(), 2);
+     279           0 :   std::vector<double> segment_times;
+     280             : 
+     281           0 :   segment_times.reserve(vertices.size() - 1);
+     282             : 
+     283           0 :   constexpr double kMinSegmentTime = 0.1;
+     284             : 
+     285           0 :   for (size_t i = 0; i < vertices.size() - 1; ++i) {
+     286           0 :     Eigen::VectorXd start, end;
+     287           0 :     vertices[i].getConstraint(derivative_order::POSITION, &start);
+     288           0 :     vertices[i + 1].getConstraint(derivative_order::POSITION, &end);
+     289           0 :     double t = computeTimeVelocityRamp(start, end, v_max, a_max);
+     290           0 :     t        = std::max(kMinSegmentTime, t);
+     291           0 :     segment_times.push_back(t);
+     292             :   }
+     293             : 
+     294           0 :   return segment_times;
+     295             : }
+     296             : 
+     297             : //}
+     298             : 
+     299             : /* estimateSegmentTimesBaca() //{ */
+     300             : 
+     301          34 : std::vector<double> estimateSegmentTimesBaca(const Vertex::Vector& vertices, const double v_max_horizontal, const double v_max_vertical,
+     302             :                                              const double a_max_horizontal, const double a_max_vertical, const double j_max_horizontal,
+     303             :                                              const double j_max_vertical, const double heading_speed_max, const double heading_acc_max) {
+     304             : 
+     305          34 :   CHECK_GE(vertices.size(), 2);
+     306          34 :   std::vector<double> segment_times;
+     307          34 :   segment_times.reserve(vertices.size() - 1);
+     308             : 
+     309             :   // for each vertex in the path
+     310         469 :   for (size_t i = 0; i < vertices.size() - 1; ++i) {
+     311             : 
+     312         870 :     Eigen::VectorXd start4d, end4d;
+     313             : 
+     314         435 :     vertices[i].getConstraint(derivative_order::POSITION, &start4d);
+     315         435 :     vertices[i + 1].getConstraint(derivative_order::POSITION, &end4d);
+     316             : 
+     317         435 :     Eigen::Vector3d start     = start4d.head(3);
+     318         435 :     Eigen::Vector3d end       = end4d.head(3);
+     319         435 :     double          start_hdg = start4d(3);
+     320         435 :     double          end_hdg   = end4d(3);
+     321             : 
+     322         435 :     double acceleration_time_1 = 0;
+     323         435 :     double acceleration_time_2 = 0;
+     324             : 
+     325         435 :     double jerk_time_1 = 0;
+     326         435 :     double jerk_time_2 = 0;
+     327             : 
+     328         435 :     double acc_1_coeff = 0;
+     329         435 :     double acc_2_coeff = 0;
+     330             : 
+     331         435 :     double distance = (end - start).norm();
+     332             : 
+     333         435 :     double inclinator = atan2(end(2) - start(2), sqrt(pow(end(0) - start(0), 2) + pow(end(1) - start(1), 2)));
+     334             : 
+     335         435 :     double v_max, a_max, j_max;
+     336             : 
+     337         435 :     if (inclinator > atan2(v_max_vertical, v_max_horizontal) || inclinator < -atan2(v_max_vertical, v_max_horizontal)) {
+     338           0 :       v_max = fabs(v_max_vertical / sin(inclinator));
+     339             :     } else {
+     340         435 :       v_max = fabs(v_max_horizontal / cos(inclinator));
+     341             :     }
+     342             : 
+     343         435 :     if (inclinator > atan2(a_max_vertical, a_max_horizontal) || inclinator < -atan2(a_max_vertical, a_max_horizontal)) {
+     344           0 :       a_max = fabs(a_max_vertical / sin(inclinator));
+     345             :     } else {
+     346         435 :       a_max = fabs(a_max_horizontal / cos(inclinator));
+     347             :     }
+     348             : 
+     349         435 :     if (inclinator > atan2(j_max_vertical, j_max_horizontal) || inclinator < -atan2(j_max_vertical, j_max_horizontal)) {
+     350           0 :       j_max = fabs(j_max_vertical / sin(inclinator));
+     351             :     } else {
+     352         435 :       j_max = fabs(j_max_horizontal / cos(inclinator));
+     353             :     }
+     354             : 
+     355         435 :     if (i >= 1) {
+     356             : 
+     357         802 :       Eigen::VectorXd pre4d;
+     358             : 
+     359         401 :       vertices[i - 1].getConstraint(derivative_order::POSITION, &pre4d);
+     360             : 
+     361         401 :       Eigen::Vector3d pre = pre4d.head(3);
+     362             : 
+     363         401 :       Eigen::Vector3d vec1 = start - pre;
+     364         401 :       Eigen::Vector3d vec2 = end - start;
+     365             : 
+     366         401 :       vec1.normalize();
+     367         401 :       vec2.normalize();
+     368             : 
+     369         802 :       double scalar = vec1.dot(vec2) < 0 ? 0.0 : vec1.dot(vec2);
+     370             : 
+     371         401 :       acc_1_coeff = (1 - scalar);
+     372             : 
+     373         401 :       acceleration_time_1 = acc_1_coeff * ((v_max / a_max) + (a_max / j_max));
+     374             : 
+     375         401 :       jerk_time_1 = acc_1_coeff * (2 * (a_max / j_max));
+     376             :     }
+     377             : 
+     378             :     // the first vertex
+     379         435 :     if (i == 0) {
+     380          34 :       acc_1_coeff         = 1.0;
+     381          34 :       acceleration_time_1 = (v_max / a_max) + (a_max / j_max);
+     382          34 :       jerk_time_1         = (2 * (a_max / j_max));
+     383             :     }
+     384             : 
+     385             :     // last vertex
+     386         435 :     if (i == vertices.size() - 2) {
+     387          34 :       acc_2_coeff         = 1.0;
+     388          34 :       acceleration_time_2 = (v_max / a_max) + (a_max / j_max);
+     389          34 :       jerk_time_2         = (2 * (a_max / j_max));
+     390             :     }
+     391             : 
+     392             :     // a vertex
+     393         435 :     if (i < vertices.size() - 2) {
+     394             : 
+     395         802 :       Eigen::VectorXd post4d;
+     396             : 
+     397         401 :       vertices[i + 2].getConstraint(derivative_order::POSITION, &post4d);
+     398             : 
+     399         401 :       Eigen::Vector3d post = post4d.head(3);
+     400             : 
+     401         401 :       Eigen::Vector3d vec1 = end - start;
+     402         401 :       Eigen::Vector3d vec2 = post - end;
+     403             : 
+     404         401 :       vec1.normalize();
+     405         401 :       vec2.normalize();
+     406             : 
+     407         802 :       double scalar = vec1.dot(vec2) < 0 ? 0.0 : vec1.dot(vec2);
+     408             : 
+     409         401 :       acc_2_coeff = (1 - scalar);
+     410             : 
+     411         401 :       acceleration_time_2 = acc_2_coeff * ((v_max / a_max) + (a_max / j_max));
+     412             : 
+     413         401 :       jerk_time_2 = acc_2_coeff * (2 * (a_max / j_max));
+     414             :     }
+     415             : 
+     416         435 :     if (acceleration_time_1 > sqrt(2 * distance / a_max)) {
+     417          62 :       acceleration_time_1 = sqrt(2 * distance / a_max);
+     418             :     }
+     419             : 
+     420         435 :     if (jerk_time_1 > sqrt(2 * v_max / j_max)) {
+     421           0 :       jerk_time_1 = sqrt(2 * v_max / j_max);
+     422             :     }
+     423             : 
+     424         435 :     if (acceleration_time_2 > sqrt(2 * distance / a_max)) {
+     425          62 :       acceleration_time_2 = sqrt(2 * distance / a_max);
+     426             :     }
+     427             : 
+     428         435 :     if (jerk_time_2 > sqrt(2 * v_max / j_max)) {
+     429           0 :       jerk_time_2 = sqrt(2 * v_max / j_max);
+     430             :     }
+     431             : 
+     432         435 :     double max_velocity_time;
+     433             : 
+     434         435 :     const double distance_due_acceleration = a_max * pow(acceleration_time_1, 2) + a_max * pow(acceleration_time_2, 2);
+     435             : 
+     436         435 :     if (distance > distance_due_acceleration) {
+     437             :       max_velocity_time = ((distance - distance_due_acceleration) / v_max);
+     438             :     } else {
+     439         435 :       max_velocity_time = (distance_due_acceleration / v_max);
+     440             :     }
+     441             : 
+     442         435 :     max_velocity_time = ((distance) / v_max);
+     443             : 
+     444             :     /* double t = max_velocity_time + acceleration_time_1 + acceleration_time_2 + jerk_time_1 + jerk_time_2; */
+     445         435 :     double t = max_velocity_time + acceleration_time_1 + acceleration_time_2;
+     446             : 
+     447             :     /* printf("segment %d, [%.2f %.2f %.2f] - > [%.2f %.2f %.2f] = %.2f\n", i, start(0), start(1), start(2), end(0), end(1), end(2), distance); */
+     448             :     /* printf("segment %d time %.2f, distance %.2f, %.2f, %.2f, %.2f, vmax: %.2f, amax: %.2f, jmax: %.2f\n", i, t, distance, max_velocity_time, */
+     449             :     /*        acceleration_time_1, acceleration_time_2, v_max, a_max, j_max); */
+     450             : 
+     451         435 :     if (t < 0.01) {
+     452           0 :       t = 0.01;
+     453             :     }
+     454             : 
+     455             :     // | ------------- check the heading rotation time ------------ |
+     456             : 
+     457         435 :     double angular_distance = fabs(mrs_lib::geometry::radians::dist(start_hdg, end_hdg));
+     458             : 
+     459         435 :     double hdg_velocity_time     = 0;
+     460         435 :     double hdg_acceleration_time = 0;
+     461             : 
+     462         435 :     if (heading_speed_max < std::numeric_limits<float>::max() && heading_acc_max < std::numeric_limits<float>::max()) {
+     463             : 
+     464         435 :       if (((angular_distance - (2 * (heading_speed_max * heading_speed_max) / heading_acc_max)) / heading_speed_max) < 0) {
+     465         431 :         hdg_velocity_time = ((angular_distance) / heading_speed_max);
+     466             :       } else {
+     467             :         hdg_velocity_time = ((angular_distance - (2 * (heading_speed_max * heading_speed_max) / heading_acc_max)) / heading_speed_max);
+     468             :       }
+     469             : 
+     470         435 :       if (angular_distance > M_PI / 4) {
+     471          42 :         hdg_acceleration_time = 2 * (heading_speed_max / heading_acc_max);
+     472             :       }
+     473             :     }
+     474             : 
+     475             :     // what will take longer? to fix the lateral or the heading
+     476         435 :     double heading_fix_time = 1.5 * (hdg_velocity_time + hdg_acceleration_time);
+     477             : 
+     478         435 :     if (heading_fix_time > t) {
+     479           0 :       t = heading_fix_time;
+     480             :     }
+     481             : 
+     482         435 :     segment_times.push_back(t);
+     483             :   }
+     484          34 :   return segment_times;
+     485             : }
+     486             : 
+     487             : //}
+     488             : 
+     489             : /* estimateSegmentTimesEuclidean() //{ */
+     490             : 
+     491          34 : std::vector<double> estimateSegmentTimesEuclidean(const Vertex::Vector& vertices, const double v_max_horizontal, const double v_max_vertical,
+     492             :                                                   const double a_max_horizontal, const double a_max_vertical, const double j_max_horizontal,
+     493             :                                                   const double j_max_vertical, const double heading_speed_max, const double heading_acc_max) {
+     494             : 
+     495          34 :   double v_max = std::min(v_max_horizontal, v_max_vertical);
+     496             : 
+     497          34 :   CHECK_GE(vertices.size(), 2);
+     498          34 :   std::vector<double> segment_times;
+     499          34 :   segment_times.reserve(vertices.size() - 1);
+     500             : 
+     501             :   // for each vertex in the path
+     502         469 :   for (size_t i = 0; i < vertices.size() - 1; ++i) {
+     503             : 
+     504         870 :     Eigen::VectorXd start4d, end4d;
+     505             : 
+     506         435 :     vertices[i].getConstraint(derivative_order::POSITION, &start4d);
+     507         435 :     vertices[i + 1].getConstraint(derivative_order::POSITION, &end4d);
+     508             : 
+     509         435 :     Eigen::Vector3d start = start4d.head(3);
+     510         435 :     Eigen::Vector3d end   = end4d.head(3);
+     511             : 
+     512         435 :     double inclinator = atan2(end(2) - start(2), sqrt(pow(end(0) - start(0), 2) + pow(end(1) - start(1), 2)));
+     513             : 
+     514         435 :     double v_max;
+     515             : 
+     516         435 :     if (inclinator > atan2(v_max_vertical, v_max_horizontal) || inclinator < -atan2(v_max_vertical, v_max_horizontal)) {
+     517           0 :       v_max = fabs(v_max_vertical / sin(inclinator));
+     518             :     } else {
+     519         435 :       v_max = fabs(v_max_horizontal / cos(inclinator));
+     520             :     }
+     521             : 
+     522         435 :     double start_hdg = start4d(3);
+     523         435 :     double end_hdg   = end4d(3);
+     524             : 
+     525         435 :     double distance = (end - start).norm();
+     526             : 
+     527         435 :     double t = distance / v_max;
+     528             : 
+     529         435 :     if (t < 0.01) {
+     530           0 :       t = 0.01;
+     531             :     }
+     532             : 
+     533             :     // | ------------- check the heading rotation time ------------ |
+     534             : 
+     535             : 
+     536         435 :     double angular_distance = fabs(mrs_lib::geometry::radians::dist(start_hdg, end_hdg));
+     537             : 
+     538         435 :     double hdg_velocity_time     = 0;
+     539         435 :     double hdg_acceleration_time = 0;
+     540             : 
+     541         435 :     if (heading_speed_max < std::numeric_limits<float>::max() && heading_acc_max < std::numeric_limits<float>::max()) {
+     542             : 
+     543         435 :       if (((angular_distance - ((heading_speed_max * heading_speed_max) / heading_acc_max)) / heading_speed_max) < 0) {
+     544         395 :         hdg_velocity_time = ((angular_distance) / heading_speed_max);
+     545             :       } else {
+     546             :         hdg_velocity_time = ((angular_distance - ((heading_speed_max * heading_speed_max) / heading_acc_max)) / heading_speed_max);
+     547             :       }
+     548             : 
+     549         435 :       if (angular_distance > M_PI / 4) {
+     550          42 :         hdg_acceleration_time = 2 * (heading_speed_max / heading_acc_max);
+     551             :       }
+     552             :     }
+     553             : 
+     554             :     // what will take longer? to fix the lateral or the heading
+     555         435 :     double heading_fix_time = 1.5 * (hdg_velocity_time + hdg_acceleration_time);
+     556             : 
+     557         435 :     if (heading_fix_time > t) {
+     558          18 :       t = heading_fix_time;
+     559             :     }
+     560             : 
+     561         435 :     segment_times.push_back(t);
+     562             :   }
+     563             : 
+     564          34 :   return segment_times;
+     565             : }
+     566             : 
+     567             : //}
+     568             : 
+     569             : /* computeTimeVelocityRamp() //{ */
+     570             : 
+     571           0 : double computeTimeVelocityRamp(const Eigen::VectorXd& start, const Eigen::VectorXd& goal, double v_max, double a_max) {
+     572             : 
+     573           0 :   const double distance = (start - goal).norm();
+     574             :   // Time to accelerate or decelerate to or from maximum velocity:
+     575           0 :   const double acc_time = v_max / a_max;
+     576             :   // Distance covered during complete acceleration or decelerate:
+     577           0 :   const double acc_distance = 0.5 * v_max * acc_time;
+     578             :   // Compute total segment time:
+     579           0 :   if (distance < 2.0 * acc_distance) {
+     580             :     // Case 1: Distance too small to accelerate to maximum velocity.
+     581           0 :     return 2.0 * std::sqrt(distance / a_max);
+     582             :   } else {
+     583             :     // Case 2: Distance long enough to accelerate to maximum velocity.
+     584           0 :     return 2.0 * acc_time + (distance - 2.0 * acc_distance) / v_max;
+     585             :   }
+     586             : }
+     587             : 
+     588             : //}
+     589             : 
+     590             : }  // namespace eth_trajectory_generation
+
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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::findTrajectoryFallback(std::vector<Waypoint_t, std::allocator<Waypoint_t> > const&, double const&, bool 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::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&)9
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::prepareInitialCondition(ros::Time)9
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)9
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::checkNaN(Waypoint_t const&)24
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&)29
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&)30
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&)30
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::timeLeft()30
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::callbackDrs(mrs_uav_trajectory_generation::drsConfig&, unsigned int)65
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::onInit()65
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::interpolatePoint(Waypoint_t const&, Waypoint_t const&, double const&)629
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::overtime()3146
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&)6952
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::callbackUavState(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>)109065
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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.func.html b/mrs_uav_trajectory_generation/src/mrs_trajectory_generation.cpp.func.html new file mode 100644 index 0000000000..1b64942533 --- /dev/null +++ b/mrs_uav_trajectory_generation/src/mrs_trajectory_generation.cpp.func.html @@ -0,0 +1,164 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trajectory_generation/src/mrs_trajectory_generation.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_trajectory_generation/src - mrs_trajectory_generation.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:744106769.7 %
Date:2024-01-20 21:44:18Functions:2121100.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::callbackDrs(mrs_uav_trajectory_generation::drsConfig&, unsigned int)65
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&)30
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::preprocessPath(std::vector<Waypoint_t, std::allocator<Waypoint_t> > const&)9
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&)6952
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::callbackUavState(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>)109065
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::interpolatePoint(Waypoint_t const&, Waypoint_t const&, double const&)629
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&)30
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::findTrajectoryFallback(std::vector<Waypoint_t, std::allocator<Waypoint_t> > const&, double const&, bool const&)4
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)9
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&)29
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::onInit()65
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)9
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::overtime()3146
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::timeLeft()30
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Generated by: LCOV version 1.14
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LCOV - code coverage report
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Current view:top level - mrs_uav_trajectory_generation/src - mrs_trajectory_generation.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:744106769.7 %
Date:2024-01-20 21:44:18Functions:2121100.0 %
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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        1496 : } 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             :   std::string _uav_name_;
+     106             : 
+     107             :   bool   _trajectory_max_segment_deviation_enabled_;
+     108             :   double trajectory_max_segment_deviation_;
+     109             :   int    _trajectory_max_segment_deviation_max_iterations_;
+     110             : 
+     111             :   bool   _path_straightener_enabled_;
+     112             :   double _path_straightener_max_deviation_;
+     113             :   double _path_straightener_max_hdg_deviation_;
+     114             : 
+     115             :   // | -------- variable parameters (come with the path) -------- |
+     116             : 
+     117             :   std::string frame_id_;
+     118             :   bool        fly_now_                              = false;
+     119             :   bool        use_heading_                          = false;
+     120             :   bool        stop_at_waypoints_                    = false;
+     121             :   bool        override_constraints_                 = false;
+     122             :   bool        loop_                                 = false;
+     123             :   double      override_max_velocity_horizontal_     = 0.0;
+     124             :   double      override_max_velocity_vertical_       = 0.0;
+     125             :   double      override_max_acceleration_horizontal_ = 0.0;
+     126             :   double      override_max_acceleration_vertical_   = 0.0;
+     127             :   double      override_max_jerk_horizontal_         = 0.0;
+     128             :   double      override_max_jerk_vertical_           = 0.0;
+     129             : 
+     130             :   // | -------------- variable parameters (deduced) ------------- |
+     131             : 
+     132             :   double     max_execution_time_ = 0;
+     133             :   std::mutex mutex_max_execution_time_;
+     134             : 
+     135             :   bool max_deviation_first_segment_;
+     136             : 
+     137             :   std::atomic<bool> dont_prepend_initial_condition_ = false;
+     138             : 
+     139             :   // | -------------------- the transformer  -------------------- |
+     140             : 
+     141             :   std::shared_ptr<mrs_lib::Transformer> transformer_;
+     142             : 
+     143             :   // | ------------------- scope timer logger ------------------- |
+     144             : 
+     145             :   bool                                       scope_timer_enabled_ = false;
+     146             :   std::shared_ptr<mrs_lib::ScopeTimerLogger> scope_timer_logger_;
+     147             : 
+     148             :   // service client for input
+     149             :   bool               callbackPathSrv(mrs_msgs::PathSrv::Request& req, mrs_msgs::PathSrv::Response& res);
+     150             :   ros::ServiceServer service_server_path_;
+     151             : 
+     152             :   // service client for returning result to the user
+     153             :   bool               callbackGetPathSrv(mrs_msgs::GetPathSrv::Request& req, mrs_msgs::GetPathSrv::Response& res);
+     154             :   ros::ServiceServer service_server_get_path_;
+     155             : 
+     156             :   void                                      callbackPath(const mrs_msgs::Path::ConstPtr msg);
+     157             :   mrs_lib::SubscribeHandler<mrs_msgs::Path> sh_path_;
+     158             : 
+     159             :   mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand>      sh_tracker_cmd_;
+     160             :   mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints> sh_constraints_;
+     161             : 
+     162             :   void                                          callbackUavState(const mrs_msgs::UavState::ConstPtr msg);
+     163             :   mrs_lib::SubscribeHandler<mrs_msgs::UavState> sh_uav_state_;
+     164             : 
+     165             :   mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics> sh_control_manager_diag_;
+     166             : 
+     167             :   // service client for publishing trajectory out
+     168             :   ros::ServiceClient service_client_trajectory_reference_;
+     169             : 
+     170             :   // solve the whole problem
+     171             :   std::tuple<bool, std::string, mrs_msgs::TrajectoryReference> optimize(const std::vector<Waypoint_t>& waypoints_in, const std_msgs::Header& waypoints_stamp,
+     172             :                                                                         bool fallback_sampling, const bool relax_heading);
+     173             : 
+     174             :   std::tuple<std::optional<mrs_msgs::TrackerCommand>, bool, int> prepareInitialCondition(const ros::Time path_time);
+     175             : 
+     176             :   // batch vizualizer
+     177             :   mrs_lib::BatchVisualizer bw_original_;
+     178             :   mrs_lib::BatchVisualizer bw_final_;
+     179             : 
+     180             :   // transforming TrackerCommand
+     181             :   std::optional<mrs_msgs::Path> transformPath(const mrs_msgs::Path& path, const std::string& target_frame);
+     182             : 
+     183             :   // | ------------------ trajectory validation ----------------- |
+     184             : 
+     185             :   /**
+     186             :    * @brief validates samples of a trajectory agains a path of waypoints
+     187             :    *
+     188             :    * @param trajectory
+     189             :    * @param segments
+     190             :    *
+     191             :    * @return <success, traj_fail_idx, path_fail_segment>
+     192             :    */
+     193             :   std::tuple<bool, int, std::vector<bool>, double> validateTrajectorySpatial(const eth_mav_msgs::EigenTrajectoryPoint::Vector& trajectory,
+     194             :                                                                              const std::vector<Waypoint_t>&                    waypoints);
+     195             : 
+     196             :   std::optional<eth_mav_msgs::EigenTrajectoryPoint::Vector> findTrajectory(const std::vector<Waypoint_t>&                 waypoints,
+     197             :                                                                            const std::optional<mrs_msgs::TrackerCommand>& initial_state,
+     198             :                                                                            const double& sampling_dt, const bool& relax_heading);
+     199             : 
+     200             :   std::optional<eth_mav_msgs::EigenTrajectoryPoint::Vector> findTrajectoryFallback(const std::vector<Waypoint_t>& waypoints, const double& sampling_dt,
+     201             :                                                                                    const bool& relax_heading);
+     202             : 
+     203             :   std::future<std::optional<eth_mav_msgs::EigenTrajectoryPoint::Vector>> future_trajectory_result_;
+     204             :   std::atomic<bool>                                                      running_async_planning_ = false;
+     205             : 
+     206             :   std::optional<eth_mav_msgs::EigenTrajectoryPoint::Vector> findTrajectoryAsync(const std::vector<Waypoint_t>&                 waypoints,
+     207             :                                                                                 const std::optional<mrs_msgs::TrackerCommand>& initial_state,
+     208             :                                                                                 const double& sampling_dt, const bool& relax_heading);
+     209             : 
+     210             :   std::vector<Waypoint_t> preprocessPath(const std::vector<Waypoint_t>& waypoints_in);
+     211             : 
+     212             :   mrs_msgs::TrajectoryReference getTrajectoryReference(const eth_mav_msgs::EigenTrajectoryPoint::Vector& trajectory,
+     213             :                                                        const std::optional<mrs_msgs::TrackerCommand>& initial_condition, const double& sampling_dt);
+     214             : 
+     215             :   Waypoint_t interpolatePoint(const Waypoint_t& a, const Waypoint_t& b, const double& coeff);
+     216             : 
+     217             :   bool checkNaN(const Waypoint_t& a);
+     218             : 
+     219             :   double distFromSegment(const vec3_t& point, const vec3_t& seg1, const vec3_t& seg2);
+     220             : 
+     221             :   bool trajectorySrv(const mrs_msgs::TrajectoryReference& msg);
+     222             : 
+     223             :   // | --------------- dynamic reconfigure server --------------- |
+     224             : 
+     225             :   boost::recursive_mutex                           mutex_drs_;
+     226             :   typedef mrs_uav_trajectory_generation::drsConfig DrsParams_t;
+     227             :   typedef dynamic_reconfigure::Server<DrsParams_t> Drs_t;
+     228             :   boost::shared_ptr<Drs_t>                         drs_;
+     229             :   void                                             callbackDrs(mrs_uav_trajectory_generation::drsConfig& params, uint32_t level);
+     230             :   DrsParams_t                                      params_;
+     231             :   std::mutex                                       mutex_params_;
+     232             : 
+     233             :   // | ------------ Republisher for the desired path ------------ |
+     234             : 
+     235             :   mrs_lib::PublisherHandler<mrs_msgs::Path> ph_original_path_;
+     236             : 
+     237             :   // | ------------- measuring the time of execution ------------ |
+     238             : 
+     239             :   ros::Time  start_time_total_;
+     240             :   std::mutex mutex_start_time_total_;
+     241             :   bool       overtime(void);
+     242             :   double     timeLeft(void);
+     243             : };
+     244             : 
+     245             : //}
+     246             : 
+     247             : /* onInit() //{ */
+     248             : 
+     249          65 : void MrsTrajectoryGeneration::onInit() {
+     250             : 
+     251             :   /* obtain node handle */
+     252          65 :   nh_ = nodelet::Nodelet::getMTPrivateNodeHandle();
+     253             : 
+     254             :   /* waits for the ROS to publish clock */
+     255          65 :   ros::Time::waitForValid();
+     256             : 
+     257             :   // | ----------------------- publishers ----------------------- |
+     258             : 
+     259         195 :   ph_original_path_ = mrs_lib::PublisherHandler<mrs_msgs::Path>(nh_, "original_path_out", 1);
+     260             : 
+     261             :   // | ----------------------- subscribers ---------------------- |
+     262             : 
+     263         130 :   mrs_lib::SubscribeHandlerOptions shopts;
+     264          65 :   shopts.nh                 = nh_;
+     265          65 :   shopts.node_name          = "TrajectoryGeneration";
+     266          65 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     267          65 :   shopts.threadsafe         = true;
+     268          65 :   shopts.autostart          = true;
+     269          65 :   shopts.queue_size         = 10;
+     270         130 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     271             : 
+     272          65 :   sh_constraints_          = mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints>(shopts, "constraints_in");
+     273          65 :   sh_tracker_cmd_          = mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand>(shopts, "tracker_cmd_in");
+     274          65 :   sh_uav_state_            = mrs_lib::SubscribeHandler<mrs_msgs::UavState>(shopts, "uav_state_in", &MrsTrajectoryGeneration::callbackUavState, this);
+     275          65 :   sh_control_manager_diag_ = mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics>(shopts, "control_manager_diag_in");
+     276             : 
+     277          65 :   sh_path_ = mrs_lib::SubscribeHandler<mrs_msgs::Path>(shopts, "path_in", &MrsTrajectoryGeneration::callbackPath, this);
+     278             : 
+     279             :   // | --------------------- service servers -------------------- |
+     280             : 
+     281          65 :   service_server_path_ = nh_.advertiseService("path_in", &MrsTrajectoryGeneration::callbackPathSrv, this);
+     282             : 
+     283          65 :   service_server_get_path_ = nh_.advertiseService("get_path_in", &MrsTrajectoryGeneration::callbackGetPathSrv, this);
+     284             : 
+     285         130 :   service_client_trajectory_reference_ = nh_.serviceClient<mrs_msgs::TrajectoryReferenceSrv>("trajectory_reference_out");
+     286             : 
+     287             :   // | ----------------------- parameters ----------------------- |
+     288             : 
+     289          65 :   mrs_lib::ParamLoader param_loader(nh_, "MrsTrajectoryGeneration");
+     290             : 
+     291         130 :   std::string custom_config_path;
+     292          65 :   std::string platform_config_path;
+     293             : 
+     294          65 :   param_loader.loadParam("custom_config", custom_config_path);
+     295          65 :   param_loader.loadParam("platform_config", platform_config_path);
+     296             : 
+     297          65 :   if (custom_config_path != "") {
+     298          65 :     param_loader.addYamlFile(custom_config_path);
+     299             :   }
+     300             : 
+     301          65 :   if (platform_config_path != "") {
+     302          65 :     param_loader.addYamlFile(platform_config_path);
+     303             :   }
+     304             : 
+     305          65 :   param_loader.addYamlFileFromParam("private_config");
+     306          65 :   param_loader.addYamlFileFromParam("public_config");
+     307             : 
+     308         130 :   const std::string yaml_prefix = "mrs_uav_trajectory_generation/";
+     309             : 
+     310          65 :   param_loader.loadParam("uav_name", _uav_name_);
+     311             : 
+     312         130 :   param_loader.loadParam(yaml_prefix + "sampling_dt", _sampling_dt_);
+     313             : 
+     314         130 :   param_loader.loadParam(yaml_prefix + "enforce_fallback_solver", params_.enforce_fallback_solver);
+     315             : 
+     316         130 :   param_loader.loadParam(yaml_prefix + "max_trajectory_len_factor", _max_trajectory_len_factor_);
+     317         130 :   param_loader.loadParam(yaml_prefix + "min_trajectory_len_factor", _min_trajectory_len_factor_);
+     318             : 
+     319         130 :   param_loader.loadParam(yaml_prefix + "n_attempts", _n_attempts_);
+     320         130 :   param_loader.loadParam(yaml_prefix + "fallback_sampling/enabled", _fallback_sampling_enabled_);
+     321         130 :   param_loader.loadParam(yaml_prefix + "fallback_sampling/speed_factor", _fallback_sampling_speed_factor_);
+     322         130 :   param_loader.loadParam(yaml_prefix + "fallback_sampling/accel_factor", _fallback_sampling_accel_factor_);
+     323         130 :   param_loader.loadParam(yaml_prefix + "fallback_sampling/stopping_time", _fallback_sampling_stopping_time_);
+     324         130 :   param_loader.loadParam(yaml_prefix + "fallback_sampling/first_waypoint_additional_stop", _fallback_sampling_first_waypoint_additional_stop_);
+     325             : 
+     326         130 :   param_loader.loadParam(yaml_prefix + "check_trajectory_deviation/enabled", _trajectory_max_segment_deviation_enabled_);
+     327         130 :   param_loader.loadParam(yaml_prefix + "check_trajectory_deviation/max_deviation", params_.max_deviation);
+     328         130 :   param_loader.loadParam(yaml_prefix + "check_trajectory_deviation/max_iterations", _trajectory_max_segment_deviation_max_iterations_);
+     329             : 
+     330         130 :   param_loader.loadParam(yaml_prefix + "path_straightener/enabled", _path_straightener_enabled_);
+     331         130 :   param_loader.loadParam(yaml_prefix + "path_straightener/max_deviation", _path_straightener_max_deviation_);
+     332         130 :   param_loader.loadParam(yaml_prefix + "path_straightener/max_hdg_deviation", _path_straightener_max_hdg_deviation_);
+     333             : 
+     334         130 :   param_loader.loadParam(yaml_prefix + "min_waypoint_distance", _min_waypoint_distance_);
+     335             : 
+     336             :   // | --------------------- tf transformer --------------------- |
+     337             : 
+     338          65 :   transformer_ = std::make_shared<mrs_lib::Transformer>(nh_, "TrajectoryGeneration");
+     339          65 :   transformer_->setDefaultPrefix(_uav_name_);
+     340          65 :   transformer_->retryLookupNewest(true);
+     341             : 
+     342             :   // | ------------------- scope timer logger ------------------- |
+     343             : 
+     344         130 :   param_loader.loadParam(yaml_prefix + "scope_timer/enabled", scope_timer_enabled_);
+     345         195 :   const std::string scope_timer_log_filename = param_loader.loadParam2("scope_timer/log_filename", std::string(""));
+     346          65 :   scope_timer_logger_                        = std::make_shared<mrs_lib::ScopeTimerLogger>(scope_timer_log_filename, scope_timer_enabled_);
+     347             : 
+     348             :   // | --------------------- service clients -------------------- |
+     349             : 
+     350         130 :   param_loader.loadParam(yaml_prefix + "time_penalty", params_.time_penalty);
+     351         130 :   param_loader.loadParam(yaml_prefix + "soft_constraints_enabled", params_.soft_constraints_enabled);
+     352         130 :   param_loader.loadParam(yaml_prefix + "soft_constraints_weight", params_.soft_constraints_weight);
+     353         130 :   param_loader.loadParam(yaml_prefix + "time_allocation", params_.time_allocation);
+     354         130 :   param_loader.loadParam(yaml_prefix + "equality_constraint_tolerance", params_.equality_constraint_tolerance);
+     355         130 :   param_loader.loadParam(yaml_prefix + "inequality_constraint_tolerance", params_.inequality_constraint_tolerance);
+     356         130 :   param_loader.loadParam(yaml_prefix + "max_iterations", params_.max_iterations);
+     357         130 :   param_loader.loadParam(yaml_prefix + "derivative_to_optimize", params_.derivative_to_optimize);
+     358             : 
+     359         130 :   param_loader.loadParam(yaml_prefix + "max_time", params_.max_execution_time);
+     360             : 
+     361          65 :   if (!param_loader.loadedSuccessfully()) {
+     362           0 :     ROS_ERROR("[MrsTrajectoryGeneration]: could not load all parameters!");
+     363           0 :     ros::shutdown();
+     364             :   }
+     365             : 
+     366             :   // | -------------------- batch visualizer -------------------- |
+     367             : 
+     368         130 :   bw_original_ = mrs_lib::BatchVisualizer(nh_, "markers/original", "");
+     369             : 
+     370          65 :   bw_original_.clearBuffers();
+     371          65 :   bw_original_.clearVisuals();
+     372             : 
+     373          65 :   bw_final_ = mrs_lib::BatchVisualizer(nh_, "markers/final", "");
+     374             : 
+     375          65 :   bw_final_.clearBuffers();
+     376          65 :   bw_final_.clearVisuals();
+     377             : 
+     378             :   // | --------------- dynamic reconfigure server --------------- |
+     379             : 
+     380          65 :   drs_.reset(new Drs_t(mutex_drs_, nh_));
+     381          65 :   drs_->updateConfig(params_);
+     382         130 :   Drs_t::CallbackType f = boost::bind(&MrsTrajectoryGeneration::callbackDrs, this, _1, _2);
+     383          65 :   drs_->setCallback(f);
+     384             : 
+     385             :   // | --------------------- finish the init -------------------- |
+     386             : 
+     387         130 :   ROS_INFO_ONCE("[MrsTrajectoryGeneration]: initialized");
+     388             : 
+     389          65 :   is_initialized_ = true;
+     390          65 : }
+     391             : 
+     392             : //}
+     393             : 
+     394             : // | ---------------------- main routines --------------------- |
+     395             : 
+     396             : /*
+     397             :  * 1. preprocessPath(): preprocessing the incoming path
+     398             :  *    - throughs away too close waypoints
+     399             :  *    - straightness path by neglecting waypoints close to segments
+     400             :  * 2. optimize(): solves the whole problem including
+     401             :  *    - subdivision for satisfying max deviation
+     402             :  * 3. findTrajectory(): solves single instance by the ETH tool
+     403             :  * 4. findTrajectoryFallback(): Baca's sampling for backup solution
+     404             :  * 5. validateTrajectorySpatial(): checks for the spatial soundness of a trajectory vs. the original path
+     405             :  */
+     406             : 
+     407             : /* preprocessPath() //{ */
+     408             : 
+     409           9 : std::vector<Waypoint_t> MrsTrajectoryGeneration::preprocessPath(const std::vector<Waypoint_t>& waypoints_in) {
+     410             : 
+     411          18 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MrsTrajectoryGeneration::preprocessPath", scope_timer_logger_, scope_timer_enabled_);
+     412             : 
+     413           9 :   std::vector<Waypoint_t> waypoints;
+     414             : 
+     415           9 :   size_t last_added_idx = 0;  // in "waypoints_in"
+     416             : 
+     417          50 :   for (size_t i = 0; i < waypoints_in.size(); i++) {
+     418             : 
+     419          41 :     double x       = waypoints_in.at(i).coords[0];
+     420          41 :     double y       = waypoints_in.at(i).coords[1];
+     421          41 :     double z       = waypoints_in.at(i).coords[2];
+     422          41 :     double heading = waypoints_in.at(i).coords[3];
+     423             : 
+     424          41 :     bw_original_.addPoint(vec3_t(x, y, z), 1.0, 0.0, 0.0, 1.0);
+     425             : 
+     426          41 :     if (_path_straightener_enabled_ && waypoints_in.size() >= 3 && i > 0 && i < (waypoints_in.size() - 1)) {
+     427             : 
+     428           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]);
+     429           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]);
+     430             : 
+     431           0 :       double first_hdg = waypoints_in.at(last_added_idx).coords[3];
+     432           0 :       double last_hdg  = waypoints_in.at(i + 1).coords[3];
+     433             : 
+     434           0 :       size_t next_point = last_added_idx + 1;
+     435             : 
+     436           0 :       bool segment_is_ok = true;
+     437             : 
+     438           0 :       for (size_t j = next_point; j < i + 1; j++) {
+     439             : 
+     440           0 :         vec3_t mid(waypoints_in.at(j).coords[0], waypoints_in.at(j).coords[1], waypoints_in.at(j).coords[2]);
+     441           0 :         double mid_hdg = waypoints_in.at(j).coords[3];
+     442             : 
+     443           0 :         double dist_from_segment = distFromSegment(mid, first, last);
+     444             : 
+     445           0 :         if (dist_from_segment > _path_straightener_max_deviation_ || fabs(radians::diff(first_hdg, mid_hdg) > _path_straightener_max_hdg_deviation_) ||
+     446           0 :             fabs(radians::diff(last_hdg, mid_hdg) > _path_straightener_max_hdg_deviation_)) {
+     447           0 :           segment_is_ok = false;
+     448           0 :           break;
+     449             :         }
+     450             :       }
+     451             : 
+     452           0 :       if (segment_is_ok) {
+     453           0 :         continue;
+     454             :       }
+     455             :     }
+     456             : 
+     457          41 :     if (i > 0 && i < (waypoints_in.size() - 1)) {
+     458             : 
+     459          23 :       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]);
+     460          23 :       vec3_t last(waypoints_in.at(i).coords[0], waypoints_in.at(i).coords[1], waypoints_in.at(i).coords[2]);
+     461             : 
+     462          23 :       if (mrs_lib::geometry::dist(first, last) < _min_waypoint_distance_) {
+     463           0 :         ROS_INFO("[MrsTrajectoryGeneration]: waypoint #%d too close (< %.3f m) to the previous one (#%d), throwing it away", int(i), _min_waypoint_distance_,
+     464             :                  int(last_added_idx));
+     465           0 :         continue;
+     466             :       }
+     467             :     }
+     468             : 
+     469          41 :     Waypoint_t wp;
+     470          41 :     wp.coords  = Eigen::Vector4d(x, y, z, heading);
+     471          41 :     wp.stop_at = waypoints_in.at(i).stop_at;
+     472          41 :     waypoints.push_back(wp);
+     473             : 
+     474          41 :     last_added_idx = i;
+     475             :   }
+     476             : 
+     477           9 :   return waypoints;
+     478             : }
+     479             : 
+     480             : //}
+     481             : 
+     482             : /* prepareInitialCondition() //{ */
+     483             : 
+     484           9 : std::tuple<std::optional<mrs_msgs::TrackerCommand>, bool, int> MrsTrajectoryGeneration::prepareInitialCondition(const ros::Time path_time) {
+     485             : 
+     486           9 :   if (dont_prepend_initial_condition_) {
+     487           0 :     return {{}, false, 0};
+     488             :   }
+     489             : 
+     490           9 :   if (!sh_tracker_cmd_.hasMsg()) {
+     491           4 :     return {{}, false, 0};
+     492             :   }
+     493             : 
+     494          14 :   auto tracker_cmd = sh_tracker_cmd_.getMsg();
+     495             : 
+     496             :   // | ------------- prepare the initial conditions ------------- |
+     497             : 
+     498          10 :   mrs_msgs::TrackerCommand initial_condition;
+     499             : 
+     500           5 :   bool path_from_future = false;
+     501             : 
+     502             :   // positive = in the future
+     503           5 :   double path_time_offset = 0;
+     504             : 
+     505           5 :   if (path_time != ros::Time(0)) {
+     506           0 :     path_time_offset = (path_time - ros::Time::now()).toSec();
+     507             :   }
+     508             : 
+     509           5 :   int path_sample_offset = 0;
+     510             : 
+     511             :   // if the desired path starts in the future, more than one MPC step ahead
+     512           5 :   if (path_time_offset > 0.2) {
+     513             : 
+     514           0 :     ROS_INFO("[MrsTrajectoryGeneration]: desired path is from the future by %.2f s", path_time_offset);
+     515             : 
+     516             :     // calculate the offset in samples in the predicted trajectory
+     517             :     // 0.01 is subtracted for the first sample, which is smaller
+     518             :     // +1 is added due to the first sample, which was subtarcted
+     519           0 :     path_sample_offset = int(ceil((path_time_offset * FUTURIZATION_FIRST_WAYPOINT_FACTOR - 0.01) / 0.2)) + 1;
+     520             : 
+     521           0 :     if (path_sample_offset > (int(tracker_cmd->full_state_prediction.position.size()) - 1)) {
+     522             : 
+     523           0 :       ROS_ERROR("[MrsTrajectoryGeneration]: can not extrapolate into the waypoints, using tracker_cmd instead");
+     524           0 :       initial_condition = *tracker_cmd;
+     525             : 
+     526             :     } else {
+     527             : 
+     528             :       // copy the sample from the current prediction into TrackerCommand, so that we can easily transform it
+     529           0 :       mrs_msgs::TrackerCommand full_state;
+     530             : 
+     531           0 :       full_state.header = tracker_cmd->full_state_prediction.header;
+     532             : 
+     533           0 :       full_state.position     = tracker_cmd->full_state_prediction.position[path_sample_offset];
+     534           0 :       full_state.velocity     = tracker_cmd->full_state_prediction.velocity[path_sample_offset];
+     535           0 :       full_state.acceleration = tracker_cmd->full_state_prediction.acceleration[path_sample_offset];
+     536           0 :       full_state.jerk         = tracker_cmd->full_state_prediction.jerk[path_sample_offset];
+     537             : 
+     538           0 :       full_state.heading              = tracker_cmd->full_state_prediction.heading[path_sample_offset];
+     539           0 :       full_state.heading_rate         = tracker_cmd->full_state_prediction.heading_rate[path_sample_offset];
+     540           0 :       full_state.heading_acceleration = tracker_cmd->full_state_prediction.heading_acceleration[path_sample_offset];
+     541           0 :       full_state.heading_jerk         = tracker_cmd->full_state_prediction.heading_jerk[path_sample_offset];
+     542             : 
+     543           0 :       ROS_INFO("[MrsTrajectoryGeneration]: getting initial condition from the %d-th sample of the MPC prediction", path_sample_offset);
+     544             : 
+     545           0 :       initial_condition.header = full_state.header;
+     546             : 
+     547           0 :       initial_condition.position     = full_state.position;
+     548           0 :       initial_condition.velocity     = full_state.velocity;
+     549           0 :       initial_condition.acceleration = full_state.acceleration;
+     550           0 :       initial_condition.jerk         = full_state.jerk;
+     551             : 
+     552           0 :       initial_condition.heading              = full_state.heading;
+     553           0 :       initial_condition.heading_rate         = full_state.heading_rate;
+     554           0 :       initial_condition.heading_acceleration = full_state.heading_acceleration;
+     555           0 :       initial_condition.heading_jerk         = full_state.heading_jerk;
+     556             : 
+     557           0 :       path_from_future = true;
+     558             :     }
+     559             : 
+     560             :   } else {
+     561             : 
+     562           9 :     ROS_INFO("[MrsTrajectoryGeneration]: desired path is NOT from the future, using tracker_cmd as the initial condition");
+     563             : 
+     564           5 :     initial_condition = *tracker_cmd;
+     565             :   }
+     566             : 
+     567          10 :   auto control_manager_diag = sh_control_manager_diag_.getMsg();
+     568             : 
+     569           5 :   if (path_time == ros::Time(0)) {
+     570           5 :     if (!control_manager_diag->tracker_status.have_goal) {
+     571           1 :       initial_condition.header.stamp = ros::Time(0);
+     572             :     }
+     573             :   }
+     574             : 
+     575          10 :   return {{initial_condition}, path_from_future, path_sample_offset};
+     576             : }
+     577             : 
+     578             : //}
+     579             : 
+     580             : /* optimize() //{ */
+     581             : 
+     582           9 : std::tuple<bool, std::string, mrs_msgs::TrajectoryReference> MrsTrajectoryGeneration::optimize(const std::vector<Waypoint_t>& waypoints_in,
+     583             :                                                                                                const std_msgs::Header&        waypoints_header,
+     584             :                                                                                                const bool fallback_sampling, const bool relax_heading) {
+     585             : 
+     586          18 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MrsTrajectoryGeneration::optimize", scope_timer_logger_, scope_timer_enabled_);
+     587             : 
+     588           9 :   ros::Time optimize_time_start = ros::Time::now();
+     589             : 
+     590             :   // | ---------------- reset the visual markers ---------------- |
+     591             : 
+     592           9 :   bw_original_.clearBuffers();
+     593           9 :   bw_original_.clearVisuals();
+     594           9 :   bw_final_.clearBuffers();
+     595           9 :   bw_final_.clearVisuals();
+     596             : 
+     597           9 :   bw_original_.setParentFrame(transformer_->resolveFrame(frame_id_));
+     598           9 :   bw_final_.setParentFrame(transformer_->resolveFrame(frame_id_));
+     599             : 
+     600           9 :   bw_original_.setPointsScale(0.4);
+     601           9 :   bw_final_.setPointsScale(0.35);
+     602             : 
+     603             :   // empty path is invalid
+     604           9 :   if (waypoints_in.size() == 0) {
+     605           0 :     std::stringstream ss;
+     606           0 :     ss << "the path is empty (before postprocessing)";
+     607           0 :     ROS_ERROR_STREAM("[MrsTrajectoryGeneration]: " << ss.str());
+     608           0 :     return std::tuple(false, ss.str(), mrs_msgs::TrajectoryReference());
+     609             :   }
+     610             : 
+     611          18 :   std::vector<Waypoint_t> waypoints_in_with_init = waypoints_in;
+     612             : 
+     613           9 :   double path_time_offset = (waypoints_header.stamp - ros::Time::now()).toSec();
+     614             : 
+     615           9 :   if (path_time_offset > 0.2 && waypoints_in_with_init.size() >= 2) {
+     616           0 :     waypoints_in_with_init.erase(waypoints_in_with_init.begin());
+     617             :   }
+     618             : 
+     619          18 :   auto [initial_condition, path_from_future, path_sample_offset] = prepareInitialCondition(waypoints_header.stamp);
+     620             : 
+     621             :   // prepend the initial condition
+     622           9 :   if (initial_condition) {
+     623             : 
+     624           5 :     Waypoint_t initial_waypoint;
+     625           5 :     initial_waypoint.coords =
+     626           5 :         Eigen::Vector4d(initial_condition->position.x, initial_condition->position.y, initial_condition->position.z, initial_condition->heading);
+     627           5 :     initial_waypoint.stop_at = false;
+     628           5 :     waypoints_in_with_init.insert(waypoints_in_with_init.begin(), initial_waypoint);
+     629             : 
+     630             :   } else {
+     631           4 :     if (!dont_prepend_initial_condition_) {
+     632           4 :       fly_now_ = false;
+     633             :     }
+     634             :   }
+     635             : 
+     636          18 :   std::vector<Waypoint_t> waypoints = preprocessPath(waypoints_in_with_init);
+     637             : 
+     638           9 :   if (waypoints.size() <= 1) {
+     639           0 :     std::stringstream ss;
+     640           0 :     ss << "the path is empty (after postprocessing)";
+     641           0 :     ROS_ERROR_STREAM("[MrsTrajectoryGeneration]: " << ss.str());
+     642           0 :     return std::tuple(false, ss.str(), mrs_msgs::TrajectoryReference());
+     643             :   }
+     644             : 
+     645           9 :   bool              safe = false;
+     646           9 :   int               traj_idx;
+     647          18 :   std::vector<bool> segment_safeness;
+     648           9 :   double            max_deviation = 0;
+     649             : 
+     650          18 :   eth_mav_msgs::EigenTrajectoryPoint::Vector trajectory;
+     651             : 
+     652           9 :   double sampling_dt = 0;
+     653             : 
+     654           9 :   if (path_from_future) {
+     655           0 :     ROS_INFO("[MrsTrajectoryGeneration]: changing dt = 0.2, cause the path is from the future");
+     656           0 :     sampling_dt = 0.2;
+     657             :   } else {
+     658           9 :     sampling_dt = _sampling_dt_;
+     659             :   }
+     660             : 
+     661           9 :   std::optional<eth_mav_msgs::EigenTrajectoryPoint::Vector> result;
+     662             : 
+     663          18 :   auto params = mrs_lib::get_mutexed(mutex_params_, params_);
+     664             : 
+     665           9 :   if (params.enforce_fallback_solver) {
+     666           0 :     ROS_WARN("[MrsTrajectoryGeneration]: fallback sampling enforced");
+     667           0 :     result = findTrajectoryFallback(waypoints, sampling_dt, relax_heading);
+     668           9 :   } else if (fallback_sampling) {
+     669           0 :     ROS_WARN("[MrsTrajectoryGeneration]: executing fallback sampling");
+     670           0 :     result = findTrajectoryFallback(waypoints, sampling_dt, relax_heading);
+     671           9 :   } else if (running_async_planning_) {
+     672           6 :     ROS_WARN("[MrsTrajectoryGeneration]: executing fallback sampling, the previous async task is still running");
+     673           9 :     result = findTrajectoryFallback(waypoints, sampling_dt, relax_heading);
+     674           6 :   } else if (overtime()) {
+     675           2 :     ROS_WARN("[MrsTrajectoryGeneration]: executing fallback sampling, we are running over time");
+     676           3 :     result = findTrajectoryFallback(waypoints, sampling_dt, relax_heading);
+     677             :   } else {
+     678             : 
+     679          15 :     result = findTrajectoryAsync(waypoints, initial_condition, sampling_dt, relax_heading);
+     680             :   }
+     681             : 
+     682           9 :   if (result) {
+     683           9 :     trajectory = result.value();
+     684             :   } else {
+     685           0 :     std::stringstream ss;
+     686           0 :     ss << "failed to find trajectory";
+     687           0 :     ROS_ERROR_STREAM("[MrsTrajectoryGeneration]: " << ss.str());
+     688           0 :     return std::tuple(false, ss.str(), mrs_msgs::TrajectoryReference());
+     689             :   }
+     690             : 
+     691          31 :   for (int k = 0; k < _trajectory_max_segment_deviation_max_iterations_; k++) {
+     692             : 
+     693          35 :     ROS_DEBUG("[MrsTrajectoryGeneration]: revalidation cycle #%d", k);
+     694             : 
+     695          29 :     std::tie(safe, traj_idx, segment_safeness, max_deviation) = validateTrajectorySpatial(trajectory, waypoints);
+     696             : 
+     697          29 :     if (_trajectory_max_segment_deviation_enabled_ && !safe) {
+     698             : 
+     699          30 :       ROS_DEBUG("[MrsTrajectoryGeneration]: trajectory is not safe, max deviation %.3f m", max_deviation);
+     700             : 
+     701          25 :       std::vector<Waypoint_t>::iterator waypoint = waypoints.begin();
+     702          25 :       std::vector<bool>::iterator       safeness = segment_safeness.begin();
+     703             : 
+     704         332 :       for (; waypoint < waypoints.end() - 1; waypoint++) {
+     705             : 
+     706         307 :         if (!(*safeness)) {
+     707             : 
+     708          96 :           if (waypoint > waypoints.begin() || max_deviation_first_segment_ || int(waypoints.size()) <= 2) {
+     709          96 :             Waypoint_t midpoint2 = interpolatePoint(*waypoint, *(waypoint + 1), 0.5);
+     710          96 :             waypoint             = waypoints.insert(waypoint + 1, midpoint2);
+     711             :           }
+     712             :         }
+     713             : 
+     714         307 :         safeness++;
+     715             :       }
+     716             : 
+     717          25 :       if (params.enforce_fallback_solver) {
+     718           0 :         ROS_WARN("[MrsTrajectoryGeneration]: fallback sampling enforced");
+     719           0 :         result = findTrajectoryFallback(waypoints, sampling_dt, relax_heading);
+     720          25 :       } else if (fallback_sampling) {
+     721           0 :         ROS_WARN("[MrsTrajectoryGeneration]: executing fallback sampling");
+     722           0 :         result = findTrajectoryFallback(waypoints, sampling_dt, relax_heading);
+     723          25 :       } else if (running_async_planning_) {
+     724           0 :         ROS_WARN("[MrsTrajectoryGeneration]: executing fallback sampling, the previous async task is still running");
+     725           0 :         result = findTrajectoryFallback(waypoints, sampling_dt, relax_heading);
+     726          25 :       } else if (overtime()) {
+     727           0 :         ROS_WARN("[MrsTrajectoryGeneration]: executing fallback sampling, we are running over time");
+     728           0 :         result = findTrajectoryFallback(waypoints, sampling_dt, relax_heading);
+     729             :       } else {
+     730          72 :         result = findTrajectoryAsync(waypoints, initial_condition, sampling_dt, relax_heading);
+     731             :       }
+     732             : 
+     733          25 :       if (result) {
+     734          22 :         trajectory = result.value();
+     735             :       } else {
+     736           3 :         std::stringstream ss;
+     737           3 :         ss << "failed to find trajectory";
+     738           9 :         ROS_WARN_STREAM("[MrsTrajectoryGeneration]: " << ss.str());
+     739           6 :         return std::tuple(false, ss.str(), mrs_msgs::TrajectoryReference());
+     740             :       }
+     741             : 
+     742             :     } else {
+     743           8 :       ROS_DEBUG("[MrsTrajectoryGeneration]: trajectory is safe (%.2f)", max_deviation);
+     744           4 :       safe = true;
+     745           4 :       break;
+     746             :     }
+     747             :   }
+     748             : 
+     749          12 :   ROS_INFO("[MrsTrajectoryGeneration]: final max trajectory-path deviation: %.2f m, total trajectory time: %.2fs ", max_deviation,
+     750             :            trajectory.size() * sampling_dt);
+     751             : 
+     752             :   // prepare rviz markers
+     753          83 :   for (int i = 0; i < int(waypoints.size()); i++) {
+     754          77 :     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);
+     755             :   }
+     756             : 
+     757          12 :   mrs_msgs::TrajectoryReference mrs_trajectory;
+     758             : 
+     759             :   // convert the optimized trajectory to mrs_msgs::TrajectoryReference
+     760           6 :   mrs_trajectory = getTrajectoryReference(trajectory, initial_condition, sampling_dt);
+     761             : 
+     762             :   // insert part of the MPC prediction in the front of the generated trajectory to compensate for the future
+     763           6 :   if (path_from_future) {
+     764             : 
+     765           0 :     auto current_prediction = sh_tracker_cmd_.getMsg()->full_state_prediction;
+     766             : 
+     767             :     // calculate the starting idx that we will use from the current_prediction
+     768           0 :     double path_time_offset_2   = (ros::Time::now() - current_prediction.header.stamp).toSec();  // = how long did it take to optimize
+     769           0 :     int    path_sample_offset_2 = int(floor((path_time_offset_2 - 0.01) / 0.2)) + 1;
+     770             : 
+     771             :     // if there is anything to insert
+     772           0 :     if (path_sample_offset > path_sample_offset_2) {
+     773             : 
+     774           0 :       ROS_INFO("[MrsTrajectoryGeneration]: inserting pre-trajectory from the prediction, idxs %d to %d", path_sample_offset_2, path_sample_offset);
+     775             : 
+     776           0 :       for (int i = path_sample_offset - 1; i >= 0; i--) {
+     777             : 
+     778           0 :         ROS_DEBUG("[MrsTrajectoryGeneration]: inserting idx %d", i);
+     779             : 
+     780           0 :         mrs_msgs::ReferenceStamped reference;
+     781             : 
+     782           0 :         reference.header = current_prediction.header;
+     783             : 
+     784           0 :         reference.reference.heading  = current_prediction.heading[i];
+     785           0 :         reference.reference.position = current_prediction.position[i];
+     786             : 
+     787           0 :         auto res = transformer_->transformSingle(reference, waypoints_header.frame_id);
+     788             : 
+     789           0 :         if (res) {
+     790           0 :           reference = res.value();
+     791             :         } else {
+     792           0 :           std::stringstream ss;
+     793           0 :           ss << "could not transform reference to the path frame";
+     794           0 :           ROS_ERROR_STREAM("[MrsTrajectoryGeneration]: " << ss.str());
+     795           0 :           return std::tuple(false, ss.str(), mrs_msgs::TrajectoryReference());
+     796             :         }
+     797             : 
+     798           0 :         mrs_trajectory.points.insert(mrs_trajectory.points.begin(), reference.reference);
+     799             :       }
+     800             :     }
+     801             :   }
+     802             : 
+     803           6 :   bw_original_.publish();
+     804           6 :   bw_final_.publish();
+     805             : 
+     806          12 :   std::stringstream ss;
+     807           6 :   ss << "trajectory generated";
+     808             : 
+     809          12 :   ROS_DEBUG("[MrsTrajectoryGeneration]: trajectory generated, took %.3f s", (ros::Time::now() - optimize_time_start).toSec());
+     810             : 
+     811          12 :   return std::tuple(true, ss.str(), mrs_trajectory);
+     812             : }
+     813             : 
+     814             : //}
+     815             : 
+     816             : /* findTrajectory() //{ */
+     817             : 
+     818          30 : std::optional<eth_mav_msgs::EigenTrajectoryPoint::Vector> MrsTrajectoryGeneration::findTrajectory(const std::vector<Waypoint_t>&                 waypoints,
+     819             :                                                                                                   const std::optional<mrs_msgs::TrackerCommand>& initial_state,
+     820             :                                                                                                   const double& sampling_dt, const bool& relax_heading) {
+     821             : 
+     822          90 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MrsTrajectoryGeneration::findTrajectory", scope_timer_logger_, scope_timer_enabled_);
+     823             : 
+     824          30 :   mrs_lib::AtomicScopeFlag unset_running(running_async_planning_);
+     825             : 
+     826          35 :   ROS_DEBUG("[MrsTrajectoryGeneration]: findTrajectory() started");
+     827             : 
+     828          30 :   ros::Time find_trajectory_time_start = ros::Time::now();
+     829             : 
+     830          60 :   auto params      = mrs_lib::get_mutexed(mutex_params_, params_);
+     831          60 :   auto constraints = sh_constraints_.getMsg();
+     832             : 
+     833          60 :   auto control_manager_diag = sh_control_manager_diag_.getMsg();
+     834             : 
+     835          30 :   if (initial_state && (initial_state->header.stamp - ros::Time::now()).toSec() < 0.2 && control_manager_diag->tracker_status.have_goal) {
+     836           8 :     max_deviation_first_segment_ = false;
+     837             :   } else {
+     838          22 :     max_deviation_first_segment_ = true;
+     839             :   }
+     840             : 
+     841             :   // optimizer
+     842             : 
+     843          30 :   eth_trajectory_generation::NonlinearOptimizationParameters parameters;
+     844             : 
+     845          30 :   parameters.f_rel                  = 0.05;
+     846          30 :   parameters.x_rel                  = 0.1;
+     847          30 :   parameters.time_penalty           = params.time_penalty;
+     848          30 :   parameters.use_soft_constraints   = params.soft_constraints_enabled;
+     849          30 :   parameters.soft_constraint_weight = params.soft_constraints_weight;
+     850          30 :   parameters.time_alloc_method      = static_cast<eth_trajectory_generation::NonlinearOptimizationParameters::TimeAllocMethod>(params.time_allocation);
+     851          30 :   if (params.time_allocation == 2) {
+     852          30 :     parameters.algorithm = nlopt::LD_LBFGS;
+     853             :   }
+     854          30 :   parameters.initial_stepsize_rel            = 0.1;
+     855          30 :   parameters.inequality_constraint_tolerance = params.inequality_constraint_tolerance;
+     856          30 :   parameters.equality_constraint_tolerance   = params.equality_constraint_tolerance;
+     857          30 :   parameters.max_iterations                  = params.max_iterations;
+     858          30 :   parameters.max_time                        = NLOPT_EXEC_TIME_FACTOR * timeLeft();
+     859             : 
+     860          60 :   eth_trajectory_generation::Vertex::Vector vertices;
+     861          30 :   const int                                 dimension = 4;
+     862             : 
+     863          30 :   int derivative_to_optimize = eth_trajectory_generation::derivative_order::ACCELERATION;
+     864             : 
+     865          30 :   switch (params.derivative_to_optimize) {
+     866             :     case 0: {
+     867             :       derivative_to_optimize = eth_trajectory_generation::derivative_order::ACCELERATION;
+     868             :       break;
+     869             :     }
+     870           0 :     case 1: {
+     871           0 :       derivative_to_optimize = eth_trajectory_generation::derivative_order::JERK;
+     872           0 :       break;
+     873             :     }
+     874           0 :     case 2: {
+     875           0 :       derivative_to_optimize = eth_trajectory_generation::derivative_order::SNAP;
+     876           0 :       break;
+     877             :     }
+     878             :   }
+     879             : 
+     880             :   // | --------------- add constraints to vertices -------------- |
+     881             : 
+     882          30 :   double last_heading;
+     883             : 
+     884          30 :   if (initial_state) {
+     885          18 :     last_heading = initial_state->heading;
+     886             :   } else {
+     887          12 :     last_heading = waypoints.at(0).coords[3];
+     888             :   }
+     889             : 
+     890         481 :   for (size_t i = 0; i < waypoints.size(); i++) {
+     891         451 :     double x       = waypoints.at(i).coords[0];
+     892         451 :     double y       = waypoints.at(i).coords[1];
+     893         451 :     double z       = waypoints.at(i).coords[2];
+     894         451 :     double heading = sradians::unwrap(waypoints.at(i).coords[3], last_heading);
+     895         451 :     last_heading   = heading;
+     896             : 
+     897         902 :     eth_trajectory_generation::Vertex vertex(dimension);
+     898             : 
+     899         451 :     if (i == 0) {
+     900             : 
+     901          60 :       vertex.makeStartOrEnd(Eigen::Vector4d(x, y, z, heading), derivative_to_optimize);
+     902             : 
+     903          60 :       vertex.addConstraint(eth_trajectory_generation::derivative_order::POSITION, Eigen::Vector4d(x, y, z, heading));
+     904             : 
+     905          30 :       if (initial_state) {
+     906             : 
+     907          36 :         vertex.addConstraint(eth_trajectory_generation::derivative_order::VELOCITY,
+     908          18 :                              Eigen::Vector4d(initial_state->velocity.x, initial_state->velocity.y, initial_state->velocity.z, initial_state->heading_rate));
+     909             : 
+     910          36 :         vertex.addConstraint(
+     911             :             eth_trajectory_generation::derivative_order::ACCELERATION,
+     912          18 :             Eigen::Vector4d(initial_state->acceleration.x, initial_state->acceleration.y, initial_state->acceleration.z, initial_state->heading_acceleration));
+     913             : 
+     914          36 :         vertex.addConstraint(eth_trajectory_generation::derivative_order::JERK,
+     915          36 :                              Eigen::Vector4d(initial_state->jerk.x, initial_state->jerk.y, initial_state->jerk.z, initial_state->heading_jerk));
+     916             :       }
+     917             : 
+     918         421 :     } else if (i == (waypoints.size() - 1)) {  // the last point
+     919             : 
+     920          60 :       vertex.makeStartOrEnd(Eigen::Vector4d(x, y, z, heading), derivative_to_optimize);
+     921             : 
+     922          60 :       vertex.addConstraint(eth_trajectory_generation::derivative_order::POSITION, Eigen::Vector4d(x, y, z, heading));
+     923             : 
+     924             :     } else {  // mid points
+     925             : 
+     926         782 :       vertex.addConstraint(eth_trajectory_generation::derivative_order::POSITION, Eigen::Vector4d(x, y, z, heading));
+     927             : 
+     928         391 :       if (waypoints.at(i).stop_at) {
+     929           0 :         vertex.addConstraint(eth_trajectory_generation::derivative_order::VELOCITY, Eigen::Vector4d(0, 0, 0, 0));
+     930           0 :         vertex.addConstraint(eth_trajectory_generation::derivative_order::ACCELERATION, Eigen::Vector4d(0, 0, 0, 0));
+     931           0 :         vertex.addConstraint(eth_trajectory_generation::derivative_order::JERK, Eigen::Vector4d(0, 0, 0, 0));
+     932             :       }
+     933             :     }
+     934             : 
+     935         451 :     vertices.push_back(vertex);
+     936             :   }
+     937             : 
+     938             :   // | ---------------- compute the segment times --------------- |
+     939             : 
+     940          30 :   double v_max_horizontal, a_max_horizontal, j_max_horizontal;
+     941          30 :   double v_max_vertical, a_max_vertical, j_max_vertical;
+     942             : 
+     943             :   // use the small of the ascending/descending values
+     944          30 :   double vertical_speed_lim        = std::min(constraints->vertical_ascending_speed, constraints->vertical_descending_speed);
+     945          30 :   double vertical_acceleration_lim = std::min(constraints->vertical_ascending_acceleration, constraints->vertical_descending_acceleration);
+     946             : 
+     947          30 :   v_max_horizontal = constraints->horizontal_speed;
+     948          30 :   a_max_horizontal = constraints->horizontal_acceleration;
+     949             : 
+     950          30 :   v_max_vertical = vertical_speed_lim;
+     951          30 :   a_max_vertical = vertical_acceleration_lim;
+     952             : 
+     953          30 :   j_max_horizontal = constraints->horizontal_jerk;
+     954          30 :   j_max_vertical   = std::min(constraints->vertical_ascending_jerk, constraints->vertical_descending_jerk);
+     955             : 
+     956          30 :   if (override_constraints_) {
+     957             : 
+     958           0 :     bool can_change = true;
+     959             : 
+     960             : 
+     961           0 :     if (initial_state) {
+     962           0 :       can_change = (hypot(initial_state->velocity.x, initial_state->velocity.y) < override_max_velocity_horizontal_) &&
+     963           0 :                    (hypot(initial_state->acceleration.x, initial_state->acceleration.y) < override_max_acceleration_horizontal_) &&
+     964           0 :                    (hypot(initial_state->jerk.x, initial_state->jerk.y) < override_max_jerk_horizontal_) &&
+     965           0 :                    (fabs(initial_state->velocity.z) < override_max_velocity_vertical_) &&
+     966           0 :                    (fabs(initial_state->acceleration.z) < override_max_acceleration_vertical_) && (fabs(initial_state->jerk.z) < override_max_jerk_vertical_);
+     967             :     }
+     968             : 
+     969           0 :     if (can_change) {
+     970             : 
+     971           0 :       v_max_horizontal = override_max_velocity_horizontal_;
+     972           0 :       a_max_horizontal = override_max_acceleration_horizontal_;
+     973           0 :       j_max_horizontal = override_max_jerk_horizontal_;
+     974             : 
+     975           0 :       v_max_vertical = override_max_velocity_vertical_;
+     976           0 :       a_max_vertical = override_max_acceleration_vertical_;
+     977           0 :       j_max_vertical = override_max_jerk_vertical_;
+     978             : 
+     979           0 :       ROS_DEBUG("[MrsTrajectoryGeneration]: overriding constraints by a user");
+     980             : 
+     981             :     } else {
+     982             : 
+     983           0 :       ROS_WARN("[MrsTrajectoryGeneration]: overrifing constraints refused due to possible infeasibility");
+     984             :     }
+     985             :   }
+     986             : 
+     987          30 :   double v_max_heading, a_max_heading, j_max_heading;
+     988             : 
+     989          30 :   if (relax_heading) {
+     990             :     v_max_heading = std::numeric_limits<float>::max();
+     991             :     a_max_heading = std::numeric_limits<float>::max();
+     992             :     j_max_heading = std::numeric_limits<float>::max();
+     993             :   } else {
+     994          30 :     v_max_heading = constraints->heading_speed;
+     995          30 :     a_max_heading = constraints->heading_acceleration;
+     996          30 :     j_max_heading = constraints->heading_jerk;
+     997             :   }
+     998             : 
+     999          35 :   ROS_DEBUG("[MrsTrajectoryGeneration]: using constraints:");
+    1000          35 :   ROS_DEBUG("[MrsTrajectoryGeneration]: horizontal: vel = %.2f, acc = %.2f, jerk = %.2f", v_max_horizontal, a_max_horizontal, j_max_horizontal);
+    1001          35 :   ROS_DEBUG("[MrsTrajectoryGeneration]: vertical: vel = %.2f, acc = %.2f, jerk = %.2f", v_max_vertical, a_max_vertical, j_max_vertical);
+    1002          35 :   ROS_DEBUG("[MrsTrajectoryGeneration]: heading: vel = %.2f, acc = %.2f, jerk = %.2f", v_max_heading, a_max_heading, j_max_heading);
+    1003             : 
+    1004          90 :   std::vector<double> segment_times, segment_times_baca;
+    1005          30 :   segment_times      = estimateSegmentTimes(vertices, v_max_horizontal, v_max_vertical, a_max_horizontal, a_max_vertical, j_max_horizontal, j_max_vertical,
+    1006          30 :                                        v_max_heading, a_max_heading);
+    1007          30 :   segment_times_baca = estimateSegmentTimesBaca(vertices, v_max_horizontal, v_max_vertical, a_max_horizontal, a_max_vertical, j_max_horizontal, j_max_vertical,
+    1008          30 :                                                 v_max_heading, a_max_heading);
+    1009             : 
+    1010          30 :   double initial_total_time      = 0;
+    1011          30 :   double initial_total_time_baca = 0;
+    1012         451 :   for (int i = 0; i < int(segment_times_baca.size()); i++) {
+    1013         421 :     initial_total_time += segment_times[i];
+    1014         421 :     initial_total_time_baca += segment_times_baca[i];
+    1015             :   }
+    1016             : 
+    1017          35 :   ROS_DEBUG("[MrsTrajectoryGeneration]: initial total time (Euclidean): %.2f", initial_total_time);
+    1018          35 :   ROS_DEBUG("[MrsTrajectoryGeneration]: initial total time (Baca): %.2f", initial_total_time_baca);
+    1019             : 
+    1020             :   // | --------- create an optimizer object and solve it -------- |
+    1021             : 
+    1022          30 :   const int                                                     N = 10;
+    1023          60 :   eth_trajectory_generation::PolynomialOptimizationNonLinear<N> opt(dimension, parameters);
+    1024          30 :   opt.setupFromVertices(vertices, segment_times, derivative_to_optimize);
+    1025             : 
+    1026          30 :   opt.addMaximumMagnitudeConstraint(0, eth_trajectory_generation::derivative_order::VELOCITY, v_max_horizontal);
+    1027          30 :   opt.addMaximumMagnitudeConstraint(0, eth_trajectory_generation::derivative_order::ACCELERATION, a_max_horizontal);
+    1028          30 :   opt.addMaximumMagnitudeConstraint(0, eth_trajectory_generation::derivative_order::JERK, j_max_horizontal);
+    1029             : 
+    1030          30 :   opt.addMaximumMagnitudeConstraint(1, eth_trajectory_generation::derivative_order::VELOCITY, v_max_horizontal);
+    1031          30 :   opt.addMaximumMagnitudeConstraint(1, eth_trajectory_generation::derivative_order::ACCELERATION, a_max_horizontal);
+    1032          30 :   opt.addMaximumMagnitudeConstraint(1, eth_trajectory_generation::derivative_order::JERK, j_max_horizontal);
+    1033             : 
+    1034          30 :   opt.addMaximumMagnitudeConstraint(2, eth_trajectory_generation::derivative_order::VELOCITY, v_max_vertical);
+    1035          30 :   opt.addMaximumMagnitudeConstraint(2, eth_trajectory_generation::derivative_order::ACCELERATION, a_max_vertical);
+    1036          30 :   opt.addMaximumMagnitudeConstraint(2, eth_trajectory_generation::derivative_order::JERK, j_max_vertical);
+    1037             : 
+    1038          30 :   opt.addMaximumMagnitudeConstraint(3, eth_trajectory_generation::derivative_order::VELOCITY, v_max_heading);
+    1039          30 :   opt.addMaximumMagnitudeConstraint(3, eth_trajectory_generation::derivative_order::ACCELERATION, a_max_heading);
+    1040          30 :   opt.addMaximumMagnitudeConstraint(3, eth_trajectory_generation::derivative_order::JERK, j_max_heading);
+    1041             : 
+    1042          30 :   opt.optimize();
+    1043             : 
+    1044          30 :   if (overtime()) {
+    1045           3 :     return {};
+    1046             :   }
+    1047             : 
+    1048          57 :   std::string result_str;
+    1049             : 
+    1050          54 :   switch (opt.getOptimizationInfo().stopping_reason) {
+    1051           8 :     case nlopt::FAILURE: {
+    1052           8 :       result_str = "generic failure";
+    1053             :       break;
+    1054             :     }
+    1055           0 :     case nlopt::INVALID_ARGS: {
+    1056           0 :       result_str = "invalid args";
+    1057             :       break;
+    1058             :     }
+    1059           0 :     case nlopt::OUT_OF_MEMORY: {
+    1060           0 :       result_str = "out of memory";
+    1061             :       break;
+    1062             :     }
+    1063           0 :     case nlopt::ROUNDOFF_LIMITED: {
+    1064           0 :       result_str = "roundoff limited";
+    1065             :       break;
+    1066             :     }
+    1067           0 :     case nlopt::FORCED_STOP: {
+    1068           0 :       result_str = "forced stop";
+    1069             :       break;
+    1070             :     }
+    1071           0 :     case nlopt::STOPVAL_REACHED: {
+    1072           0 :       result_str = "stopval reached";
+    1073             :       break;
+    1074             :     }
+    1075          12 :     case nlopt::FTOL_REACHED: {
+    1076          12 :       result_str = "ftol reached";
+    1077             :       break;
+    1078             :     }
+    1079           1 :     case nlopt::XTOL_REACHED: {
+    1080           1 :       result_str = "xtol reached";
+    1081             :       break;
+    1082             :     }
+    1083           6 :     case nlopt::MAXEVAL_REACHED: {
+    1084           6 :       result_str = "maxeval reached";
+    1085             :       break;
+    1086             :     }
+    1087           0 :     case nlopt::MAXTIME_REACHED: {
+    1088           0 :       result_str = "maxtime reached";
+    1089             :       break;
+    1090             :     }
+    1091           0 :     default: {
+    1092           0 :       result_str = "UNKNOWN FAILURE CODE";
+    1093             :       break;
+    1094             :     }
+    1095             :   }
+    1096             : 
+    1097          92 :   if (opt.getOptimizationInfo().stopping_reason >= 1 && opt.getOptimizationInfo().stopping_reason != 6) {
+    1098          24 :     ROS_DEBUG("[MrsTrajectoryGeneration]: optimization finished successfully with code %d, '%s'", opt.getOptimizationInfo().stopping_reason,
+    1099             :               result_str.c_str());
+    1100             : 
+    1101          16 :   } else if (opt.getOptimizationInfo().stopping_reason == -1) {
+    1102          13 :     ROS_DEBUG("[MrsTrajectoryGeneration]: optimization finished with a generic error code %d, '%s'", opt.getOptimizationInfo().stopping_reason,
+    1103             :               result_str.c_str());
+    1104             : 
+    1105             :   } else {
+    1106           0 :     ROS_WARN("[MrsTrajectoryGeneration]: optimization failed with code %d, '%s', took %.3f s", opt.getOptimizationInfo().stopping_reason, result_str.c_str(),
+    1107             :              (ros::Time::now() - find_trajectory_time_start).toSec());
+    1108          27 :     return {};
+    1109             :   }
+    1110             : 
+    1111             :   // | ------------- obtain the polynomial segments ------------- |
+    1112             : 
+    1113          27 :   eth_trajectory_generation::Segment::Vector segments;
+    1114          27 :   opt.getPolynomialOptimizationRef().getSegments(&segments);
+    1115             : 
+    1116          27 :   if (overtime()) {
+    1117           0 :     return {};
+    1118             :   }
+    1119             : 
+    1120             :   // | --------------- create the trajectory class -------------- |
+    1121             : 
+    1122          54 :   eth_trajectory_generation::Trajectory trajectory;
+    1123          27 :   opt.getTrajectory(&trajectory);
+    1124             : 
+    1125          54 :   eth_mav_msgs::EigenTrajectoryPoint::Vector states;
+    1126             : 
+    1127          32 :   ROS_DEBUG("[MrsTrajectoryGeneration]: starting eth sampling with dt = %.2f s ", sampling_dt);
+    1128             : 
+    1129          27 :   bool success = eth_trajectory_generation::sampleWholeTrajectory(trajectory, sampling_dt, &states);
+    1130             : 
+    1131          27 :   if (overtime()) {
+    1132           0 :     return {};
+    1133             :   }
+    1134             : 
+    1135             :   // validate the temporal sampling of the trajectory
+    1136             : 
+    1137             :   // only check this if the trajectory is > 1.0 sec, this check does not make much sense for the short ones
+    1138          27 :   if ((states.size() * sampling_dt) > 1.0 && (states.size() * sampling_dt) > (_max_trajectory_len_factor_ * initial_total_time_baca)) {
+    1139           0 :     ROS_ERROR("[MrsTrajectoryGeneration]: the final trajectory sampling is too long = %.2f, initial 'baca' estimate = %.2f, allowed factor %.2f, aborting",
+    1140             :               (states.size() * sampling_dt), initial_total_time_baca, _max_trajectory_len_factor_);
+    1141             : 
+    1142           0 :     std::stringstream ss;
+    1143           0 :     ss << "trajectory sampling failed";
+    1144           0 :     ROS_ERROR_STREAM("[MrsTrajectoryGeneration]: " << ss.str());
+    1145           0 :     return {};
+    1146             : 
+    1147          27 :   } else if ((states.size() * sampling_dt) > 1.0 && (states.size() * sampling_dt) < (_min_trajectory_len_factor_ * initial_total_time_baca)) {
+    1148           0 :     ROS_ERROR("[MrsTrajectoryGeneration]: the final trajectory sampling is too short = %.2f, initial 'baca' estimate = %.2f, allowed factor %.2f, aborting",
+    1149             :               (states.size() * sampling_dt), initial_total_time_baca, _min_trajectory_len_factor_);
+    1150             : 
+    1151           0 :     std::stringstream ss;
+    1152           0 :     ss << "trajectory sampling failed";
+    1153           0 :     ROS_ERROR_STREAM("[MrsTrajectoryGeneration]: " << ss.str());
+    1154           0 :     return {};
+    1155             : 
+    1156             :   } else {
+    1157          32 :     ROS_DEBUG("[MrsTrajectoryGeneration]: estimated/final trajectory length ratio (final/estimated) %.2f",
+    1158             :               (states.size() * sampling_dt) / initial_total_time_baca);
+    1159             :   }
+    1160             : 
+    1161          27 :   if (success) {
+    1162          32 :     ROS_DEBUG("[MrsTrajectoryGeneration]: eth sampling finished, took %.3f s", (ros::Time::now() - find_trajectory_time_start).toSec());
+    1163          27 :     return std::optional(states);
+    1164             : 
+    1165             :   } else {
+    1166           0 :     ROS_ERROR("[MrsTrajectoryGeneration]: eth could not sample the trajectory, took %.3f s", (ros::Time::now() - find_trajectory_time_start).toSec());
+    1167          27 :     return {};
+    1168             :   }
+    1169             : }
+    1170             : 
+    1171             : //}
+    1172             : 
+    1173             : /* findTrajectoryFallback() //{ */
+    1174             : 
+    1175           4 : std::optional<eth_mav_msgs::EigenTrajectoryPoint::Vector> MrsTrajectoryGeneration::findTrajectoryFallback(const std::vector<Waypoint_t>& waypoints,
+    1176             :                                                                                                           const double&                  sampling_dt,
+    1177             :                                                                                                           const bool&                    relax_heading) {
+    1178             : 
+    1179           8 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MrsTrajectoryGeneration::findTrajectoryFallback", scope_timer_logger_, scope_timer_enabled_);
+    1180             : 
+    1181           4 :   ros::Time time_start = ros::Time::now();
+    1182             : 
+    1183           8 :   ROS_WARN("[MrsTrajectoryGeneration]: fallback sampling started");
+    1184             : 
+    1185           8 :   auto params      = mrs_lib::get_mutexed(mutex_params_, params_);
+    1186           8 :   auto constraints = sh_constraints_.getMsg();
+    1187             : 
+    1188           8 :   eth_trajectory_generation::Vertex::Vector vertices;
+    1189           4 :   const int                                 dimension = 4;
+    1190             : 
+    1191             :   // | --------------- add constraints to vertices -------------- |
+    1192             : 
+    1193           4 :   double last_heading = waypoints.at(0).coords[3];
+    1194             : 
+    1195          22 :   for (size_t i = 0; i < waypoints.size(); i++) {
+    1196             : 
+    1197          18 :     double x       = waypoints.at(i).coords[0];
+    1198          18 :     double y       = waypoints.at(i).coords[1];
+    1199          18 :     double z       = waypoints.at(i).coords[2];
+    1200          18 :     double heading = sradians::unwrap(waypoints.at(i).coords[3], last_heading);
+    1201          18 :     last_heading   = heading;
+    1202             : 
+    1203          36 :     eth_trajectory_generation::Vertex vertex(dimension);
+    1204             : 
+    1205          36 :     vertex.addConstraint(eth_trajectory_generation::derivative_order::POSITION, Eigen::Vector4d(x, y, z, heading));
+    1206             : 
+    1207          18 :     vertices.push_back(vertex);
+    1208             :   }
+    1209             : 
+    1210             :   // | ---------------- compute the segment times --------------- |
+    1211             : 
+    1212           4 :   double v_max_horizontal, a_max_horizontal, j_max_horizontal;
+    1213           4 :   double v_max_vertical, a_max_vertical, j_max_vertical;
+    1214             : 
+    1215             :   // use the small of the ascending/descending values
+    1216           4 :   double vertical_speed_lim        = std::min(constraints->vertical_ascending_speed, constraints->vertical_descending_speed);
+    1217           4 :   double vertical_acceleration_lim = std::min(constraints->vertical_ascending_acceleration, constraints->vertical_descending_acceleration);
+    1218             : 
+    1219           4 :   if (override_constraints_) {
+    1220             : 
+    1221           0 :     v_max_horizontal = override_max_velocity_horizontal_;
+    1222           0 :     a_max_horizontal = override_max_acceleration_horizontal_;
+    1223           0 :     j_max_horizontal = override_max_jerk_horizontal_;
+    1224             : 
+    1225           0 :     v_max_vertical = override_max_velocity_vertical_;
+    1226           0 :     a_max_vertical = override_max_acceleration_vertical_;
+    1227           0 :     j_max_vertical = override_max_jerk_vertical_;
+    1228             : 
+    1229           0 :     ROS_DEBUG("[MrsTrajectoryGeneration]: overriding constraints by a user");
+    1230             :   } else {
+    1231             : 
+    1232           4 :     v_max_horizontal = constraints->horizontal_speed;
+    1233           4 :     a_max_horizontal = constraints->horizontal_acceleration;
+    1234             : 
+    1235           4 :     v_max_vertical = vertical_speed_lim;
+    1236           4 :     a_max_vertical = vertical_acceleration_lim;
+    1237             : 
+    1238           4 :     j_max_horizontal = constraints->horizontal_jerk;
+    1239           4 :     j_max_vertical   = std::min(constraints->vertical_ascending_jerk, constraints->vertical_descending_jerk);
+    1240             :   }
+    1241             : 
+    1242             : 
+    1243           4 :   double v_max_heading, a_max_heading, j_max_heading;
+    1244             : 
+    1245           4 :   if (relax_heading) {
+    1246             :     v_max_heading = std::numeric_limits<float>::max();
+    1247             :     a_max_heading = std::numeric_limits<float>::max();
+    1248             :     j_max_heading = std::numeric_limits<float>::max();
+    1249             :   } else {
+    1250           4 :     v_max_heading = constraints->heading_speed;
+    1251           4 :     a_max_heading = constraints->heading_acceleration;
+    1252           4 :     j_max_heading = constraints->heading_jerk;
+    1253             :   }
+    1254             : 
+    1255           4 :   v_max_horizontal *= _fallback_sampling_speed_factor_;
+    1256           4 :   v_max_vertical *= _fallback_sampling_speed_factor_;
+    1257             : 
+    1258           4 :   a_max_horizontal *= _fallback_sampling_accel_factor_;
+    1259           4 :   a_max_vertical *= _fallback_sampling_accel_factor_;
+    1260             : 
+    1261           8 :   ROS_DEBUG("[MrsTrajectoryGeneration]: using constraints:");
+    1262           8 :   ROS_DEBUG("[MrsTrajectoryGeneration]: horizontal: vel = %.2f, acc = %.2f, jerk = %.2f", v_max_horizontal, a_max_horizontal, j_max_horizontal);
+    1263           8 :   ROS_DEBUG("[MrsTrajectoryGeneration]: vertical: vel = %.2f, acc = %.2f, jerk = %.2f", v_max_vertical, a_max_vertical, j_max_vertical);
+    1264           8 :   ROS_DEBUG("[MrsTrajectoryGeneration]: heading: vel = %.2f, acc = %.2f, jerk = %.2f", v_max_heading, a_max_heading, j_max_heading);
+    1265             : 
+    1266          12 :   std::vector<double> segment_times, segment_times_baca;
+    1267           4 :   segment_times      = estimateSegmentTimes(vertices, v_max_horizontal, v_max_vertical, a_max_horizontal, a_max_vertical, j_max_horizontal, j_max_vertical,
+    1268           4 :                                        v_max_heading, a_max_heading);
+    1269           4 :   segment_times_baca = estimateSegmentTimesBaca(vertices, v_max_horizontal, v_max_vertical, a_max_horizontal, a_max_vertical, j_max_horizontal, j_max_vertical,
+    1270           4 :                                                 v_max_heading, a_max_heading);
+    1271             : 
+    1272           4 :   double initial_total_time      = 0;
+    1273           4 :   double initial_total_time_baca = 0;
+    1274          18 :   for (int i = 0; i < int(segment_times_baca.size()); i++) {
+    1275          14 :     initial_total_time += segment_times[i];
+    1276          14 :     initial_total_time_baca += segment_times_baca[i];
+    1277             : 
+    1278          18 :     ROS_DEBUG("[MrsTrajectoryGeneration]: segment time [%d] = %.2f", i, segment_times_baca[i]);
+    1279             :   }
+    1280             : 
+    1281           8 :   ROS_WARN("[MrsTrajectoryGeneration]: fallback: initial total time (Euclidean): %.2f", initial_total_time);
+    1282           8 :   ROS_WARN("[MrsTrajectoryGeneration]: fallback: initial total time (Baca): %.2f", initial_total_time_baca);
+    1283             : 
+    1284           8 :   eth_mav_msgs::EigenTrajectoryPoint::Vector states;
+    1285             : 
+    1286             :   // interpolate each segment
+    1287          18 :   for (size_t i = 0; i < waypoints.size() - 1; i++) {
+    1288             : 
+    1289          28 :     Eigen::VectorXd start, end;
+    1290             : 
+    1291          14 :     const double segment_time = segment_times_baca[i];
+    1292             : 
+    1293          14 :     int    n_samples;
+    1294          14 :     double interp_step;
+    1295             : 
+    1296          14 :     if (segment_time > 1e-1) {
+    1297             : 
+    1298          14 :       n_samples = ceil(segment_time / sampling_dt);
+    1299             : 
+    1300             :       // important
+    1301          14 :       if (n_samples > 0) {
+    1302          14 :         interp_step = 1.0 / double(n_samples);
+    1303             :       } else {
+    1304             :         interp_step = 0.5;
+    1305             :       }
+    1306             : 
+    1307             :     } else {
+    1308             :       n_samples   = 0;
+    1309             :       interp_step = 0;
+    1310             :     }
+    1311             : 
+    1312          18 :     ROS_DEBUG("[MrsTrajectoryGeneration]: segment n_samples [%lu] = %d", i, n_samples);
+    1313             : 
+    1314             :     // for the last segment, hit the last waypoint completely
+    1315             :     // otherwise, it is hit as the first sample of the following segment
+    1316          14 :     if (n_samples > 0 && i == waypoints.size() - 2) {
+    1317           4 :       n_samples++;
+    1318             :     }
+    1319             : 
+    1320         547 :     for (int j = 0; j < n_samples; j++) {
+    1321             : 
+    1322         533 :       Waypoint_t point = interpolatePoint(waypoints[i], waypoints[i + 1], j * interp_step);
+    1323             : 
+    1324         533 :       eth_mav_msgs::EigenTrajectoryPoint eth_point;
+    1325         533 :       eth_point.position_W[0] = point.coords[0];
+    1326         533 :       eth_point.position_W[1] = point.coords[1];
+    1327         533 :       eth_point.position_W[2] = point.coords[2];
+    1328         533 :       eth_point.setFromYaw(point.coords[3]);
+    1329             : 
+    1330         533 :       states.push_back(eth_point);
+    1331             : 
+    1332         533 :       if (j == 0 && i > 0 && waypoints[i].stop_at) {
+    1333             : 
+    1334           0 :         int insert_samples = int(round(_fallback_sampling_stopping_time_ / sampling_dt));
+    1335             : 
+    1336           0 :         for (int k = 0; k < insert_samples; k++) {
+    1337           0 :           states.push_back(eth_point);
+    1338             :         }
+    1339             :       }
+    1340             :     }
+    1341             :   }
+    1342             : 
+    1343           4 :   bool success = true;
+    1344             : 
+    1345           8 :   ROS_WARN("[MrsTrajectoryGeneration]: fallback: sampling finished, took %.3f s", (ros::Time::now() - time_start).toSec());
+    1346             : 
+    1347             :   // | --------------- create the trajectory class -------------- |
+    1348             : 
+    1349           4 :   if (success) {
+    1350           4 :     return std::optional(states);
+    1351             :   } else {
+    1352             :     ROS_ERROR("[MrsTrajectoryGeneration]: fallback: sampling failed");
+    1353           4 :     return {};
+    1354             :   }
+    1355             : }
+    1356             : 
+    1357             : //}
+    1358             : 
+    1359             : /* validateTrajectorySpatial() //{ */
+    1360             : 
+    1361          29 : std::tuple<bool, int, std::vector<bool>, double> MrsTrajectoryGeneration::validateTrajectorySpatial(
+    1362             :     const eth_mav_msgs::EigenTrajectoryPoint::Vector& trajectory, const std::vector<Waypoint_t>& waypoints) {
+    1363             : 
+    1364          58 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MrsTrajectoryGeneration::validateTrajectorySpatial", scope_timer_logger_, scope_timer_enabled_);
+    1365             : 
+    1366             :   // prepare the output
+    1367             : 
+    1368          58 :   std::vector<bool> segments;
+    1369         350 :   for (size_t i = 0; i < waypoints.size() - 1; i++) {
+    1370         321 :     segments.push_back(true);
+    1371             :   }
+    1372             : 
+    1373             :   int waypoint_idx = 0;
+    1374             : 
+    1375             :   bool   is_safe       = true;
+    1376             :   double max_deviation = 0;
+    1377             : 
+    1378        3505 :   for (size_t i = 0; i < trajectory.size() - 1; i++) {
+    1379             : 
+    1380             :     // the trajectory sample
+    1381        3476 :     const vec3_t sample = vec3_t(trajectory[i].position_W[0], trajectory[i].position_W[1], trajectory[i].position_W[2]);
+    1382             : 
+    1383             :     // next sample
+    1384        3476 :     const vec3_t next_sample = vec3_t(trajectory[i + 1].position_W[0], trajectory[i + 1].position_W[1], trajectory[i + 1].position_W[2]);
+    1385             : 
+    1386             :     // segment start
+    1387        3476 :     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]);
+    1388             : 
+    1389             :     // segment end
+    1390        3476 :     const vec3_t segment_end =
+    1391        3476 :         vec3_t(waypoints.at(waypoint_idx + 1).coords[0], waypoints.at(waypoint_idx + 1).coords[1], waypoints.at(waypoint_idx + 1).coords[2]);
+    1392             : 
+    1393        3476 :     const double distance_from_segment = distFromSegment(sample, segment_start, segment_end);
+    1394             : 
+    1395        3476 :     const double segment_end_dist = distFromSegment(segment_end, sample, next_sample);
+    1396             : 
+    1397        3476 :     if (waypoint_idx > 0 || max_deviation_first_segment_ || int(waypoints.size()) <= 2) {
+    1398             : 
+    1399        3044 :       if (distance_from_segment > max_deviation) {
+    1400         536 :         max_deviation = distance_from_segment;
+    1401             :       }
+    1402             : 
+    1403        3044 :       if (distance_from_segment > trajectory_max_segment_deviation_) {
+    1404        1181 :         segments.at(waypoint_idx) = false;
+    1405        1181 :         is_safe                   = false;
+    1406             :       }
+    1407             :     }
+    1408             : 
+    1409        3476 :     if (segment_end_dist < 0.05 && waypoint_idx < (int(waypoints.size()) - 2)) {
+    1410             :       waypoint_idx++;
+    1411             :     }
+    1412             :   }
+    1413             : 
+    1414          58 :   return std::tuple(is_safe, trajectory.size(), segments, max_deviation);
+    1415             : }
+    1416             : 
+    1417             : //}
+    1418             : 
+    1419             : // | --------------------- minor routines --------------------- |
+    1420             : 
+    1421             : /* findTrajectoryAsync() //{ */
+    1422             : 
+    1423          30 : std::optional<eth_mav_msgs::EigenTrajectoryPoint::Vector> MrsTrajectoryGeneration::findTrajectoryAsync(
+    1424             :     const std::vector<Waypoint_t>& waypoints, const std::optional<mrs_msgs::TrackerCommand>& initial_state, const double& sampling_dt,
+    1425             :     const bool& relax_heading) {
+    1426             : 
+    1427          35 :   ROS_DEBUG("[MrsTrajectoryGeneration]: starting the async planning task");
+    1428             : 
+    1429          30 :   future_trajectory_result_ =
+    1430          30 :       std::async(std::launch::async, &MrsTrajectoryGeneration::findTrajectory, this, waypoints, initial_state, sampling_dt, relax_heading);
+    1431             : 
+    1432        3058 :   while (ros::ok() && future_trajectory_result_.wait_for(std::chrono::milliseconds(1)) != std::future_status::ready) {
+    1433             : 
+    1434        3031 :     if (overtime()) {
+    1435           6 :       ROS_WARN("[MrsTrajectoryGeneration]: async task planning timeout, breaking");
+    1436          30 :       return {};
+    1437             :     }
+    1438             :   }
+    1439             : 
+    1440          32 :   ROS_DEBUG("[MrsTrajectoryGeneration]: async planning task finished successfully");
+    1441             : 
+    1442          27 :   return future_trajectory_result_.get();
+    1443             : }
+    1444             : 
+    1445             : //}
+    1446             : 
+    1447             : /* distFromSegment() //{ */
+    1448             : 
+    1449        6952 : double MrsTrajectoryGeneration::distFromSegment(const vec3_t& point, const vec3_t& seg1, const vec3_t& seg2) {
+    1450             : 
+    1451        6952 :   vec3_t segment_vector = seg2 - seg1;
+    1452        6952 :   double segment_len    = segment_vector.norm();
+    1453             : 
+    1454        6952 :   vec3_t segment_vector_norm = segment_vector;
+    1455        6952 :   segment_vector_norm.normalize();
+    1456             : 
+    1457        6952 :   double point_coordinate = segment_vector_norm.dot(point - seg1);
+    1458             : 
+    1459        6952 :   if (point_coordinate < 0) {
+    1460         160 :     return (point - seg1).norm();
+    1461        6872 :   } else if (point_coordinate > segment_len) {
+    1462        6580 :     return (point - seg2).norm();
+    1463             :   } else {
+    1464             : 
+    1465        7164 :     mat3_t segment_projector = segment_vector_norm * segment_vector_norm.transpose();
+    1466        3582 :     vec3_t projection        = seg1 + segment_projector * (point - seg1);
+    1467             : 
+    1468        7164 :     return (point - projection).norm();
+    1469             :   }
+    1470             : }
+    1471             : 
+    1472             : //}
+    1473             : 
+    1474             : /* getTrajectoryReference() //{ */
+    1475             : 
+    1476           6 : mrs_msgs::TrajectoryReference MrsTrajectoryGeneration::getTrajectoryReference(const eth_mav_msgs::EigenTrajectoryPoint::Vector& trajectory,
+    1477             :                                                                               const std::optional<mrs_msgs::TrackerCommand>&    initial_condition,
+    1478             :                                                                               const double&                                     sampling_dt) {
+    1479             : 
+    1480           6 :   mrs_msgs::TrajectoryReference msg;
+    1481             : 
+    1482           6 :   if (initial_condition) {
+    1483           4 :     msg.header.stamp = initial_condition->header.stamp;
+    1484             :   } else {
+    1485           2 :     msg.header.stamp = ros::Time::now();
+    1486             :   }
+    1487             : 
+    1488           6 :   msg.header.frame_id = frame_id_;
+    1489           6 :   msg.fly_now         = fly_now_;
+    1490           6 :   msg.loop            = loop_;
+    1491           6 :   msg.use_heading     = use_heading_;
+    1492           6 :   msg.dt              = sampling_dt;
+    1493             : 
+    1494         815 :   for (size_t it = 0; it < trajectory.size(); it++) {
+    1495             : 
+    1496         809 :     mrs_msgs::Reference point;
+    1497         809 :     point.heading    = 0;
+    1498         809 :     point.position.x = trajectory[it].position_W[0];
+    1499         809 :     point.position.y = trajectory[it].position_W[1];
+    1500         809 :     point.position.z = trajectory[it].position_W[2];
+    1501         809 :     point.heading    = trajectory[it].getYaw();
+    1502             : 
+    1503         809 :     msg.points.push_back(point);
+    1504             :   }
+    1505             : 
+    1506           6 :   return msg;
+    1507             : }
+    1508             : 
+    1509             : //}
+    1510             : 
+    1511             : /* interpolatePoint() //{ */
+    1512             : 
+    1513         629 : Waypoint_t MrsTrajectoryGeneration::interpolatePoint(const Waypoint_t& a, const Waypoint_t& b, const double& coeff) {
+    1514             : 
+    1515         629 :   Waypoint_t      out;
+    1516         629 :   Eigen::Vector4d diff = b.coords - a.coords;
+    1517             : 
+    1518         629 :   out.coords[0] = a.coords[0] + coeff * diff[0];
+    1519         629 :   out.coords[1] = a.coords[1] + coeff * diff[1];
+    1520         629 :   out.coords[2] = a.coords[2] + coeff * diff[2];
+    1521         629 :   out.coords[3] = radians::interp(a.coords[3], b.coords[3], coeff);
+    1522             : 
+    1523         629 :   out.stop_at = false;
+    1524             : 
+    1525         629 :   return out;
+    1526             : }
+    1527             : 
+    1528             : //}
+    1529             : 
+    1530             : /* checkNaN() //{ */
+    1531             : 
+    1532          24 : bool MrsTrajectoryGeneration::checkNaN(const Waypoint_t& a) {
+    1533             : 
+    1534          24 :   if (!std::isfinite(a.coords[0])) {
+    1535           0 :     ROS_ERROR("NaN detected in variable \"a.coords[0]\"!!!");
+    1536           0 :     return false;
+    1537             :   }
+    1538             : 
+    1539          24 :   if (!std::isfinite(a.coords[1])) {
+    1540           0 :     ROS_ERROR("NaN detected in variable \"a.coords[1]\"!!!");
+    1541           0 :     return false;
+    1542             :   }
+    1543             : 
+    1544          24 :   if (!std::isfinite(a.coords[2])) {
+    1545           0 :     ROS_ERROR("NaN detected in variable \"a.coords[2]\"!!!");
+    1546           0 :     return false;
+    1547             :   }
+    1548             : 
+    1549          24 :   if (!std::isfinite(a.coords[3])) {
+    1550           0 :     ROS_ERROR("NaN detected in variable \"a.coords[3]\"!!!");
+    1551           0 :     return false;
+    1552             :   }
+    1553             : 
+    1554             :   return true;
+    1555             : }
+    1556             : 
+    1557             : //}
+    1558             : 
+    1559             : /* trajectorySrv() //{ */
+    1560             : 
+    1561           4 : bool MrsTrajectoryGeneration::trajectorySrv(const mrs_msgs::TrajectoryReference& msg) {
+    1562             : 
+    1563           8 :   mrs_msgs::TrajectoryReferenceSrv srv;
+    1564           4 :   srv.request.trajectory = msg;
+    1565             : 
+    1566           4 :   bool res = service_client_trajectory_reference_.call(srv);
+    1567             : 
+    1568           4 :   if (res) {
+    1569             : 
+    1570           4 :     if (!srv.response.success) {
+    1571           0 :       ROS_WARN("[MrsTrajectoryGeneration]: service call for trajectory_reference returned: '%s'", srv.response.message.c_str());
+    1572             :     }
+    1573             : 
+    1574           4 :     return srv.response.success;
+    1575             : 
+    1576             :   } else {
+    1577             : 
+    1578           0 :     ROS_ERROR("[MrsTrajectoryGeneration]: service call for trajectory_reference failed!");
+    1579             : 
+    1580           0 :     return false;
+    1581             :   }
+    1582             : }
+    1583             : 
+    1584             : //}
+    1585             : 
+    1586             : /* transformTrackerCmd() //{ */
+    1587             : 
+    1588           6 : std::optional<mrs_msgs::Path> MrsTrajectoryGeneration::transformPath(const mrs_msgs::Path& path_in, const std::string& target_frame) {
+    1589             : 
+    1590             :   // if we transform to the current control frame, which is in fact the same frame as the tracker_cmd is in
+    1591           6 :   if (target_frame == path_in.header.frame_id) {
+    1592           6 :     return path_in;
+    1593             :   }
+    1594             : 
+    1595             :   // find the transformation
+    1596           6 :   auto tf = transformer_->getTransform(path_in.header.frame_id, target_frame, path_in.header.stamp);
+    1597             : 
+    1598           0 :   if (!tf) {
+    1599           0 :     ROS_ERROR("[MrsTrajectoryGeneration]: could not find transform from '%s' to '%s' in time %f", path_in.header.frame_id.c_str(), target_frame.c_str(),
+    1600             :               path_in.header.stamp.toSec());
+    1601           0 :     return {};
+    1602             :   }
+    1603             : 
+    1604           0 :   mrs_msgs::Path path_out = path_in;
+    1605             : 
+    1606           0 :   path_out.header.stamp    = tf.value().header.stamp;
+    1607           0 :   path_out.header.frame_id = transformer_->frame_to(tf.value());
+    1608             : 
+    1609           0 :   for (size_t i = 0; i < path_in.points.size(); i++) {
+    1610             : 
+    1611           0 :     mrs_msgs::ReferenceStamped waypoint;
+    1612             : 
+    1613           0 :     waypoint.header    = path_in.header;
+    1614           0 :     waypoint.reference = path_in.points[i];
+    1615             : 
+    1616           0 :     if (auto ret = transformer_->transform(waypoint, tf.value())) {
+    1617             : 
+    1618           0 :       path_out.points[i] = ret.value().reference;
+    1619             : 
+    1620             :     } else {
+    1621           0 :       return {};
+    1622             :     }
+    1623             :   }
+    1624             : 
+    1625           0 :   return path_out;
+    1626             : }
+    1627             : 
+    1628             : //}
+    1629             : 
+    1630             : /* overtime() //{ */
+    1631             : 
+    1632        3146 : bool MrsTrajectoryGeneration::overtime(void) {
+    1633             : 
+    1634        3146 :   auto start_time_total   = mrs_lib::get_mutexed(mutex_start_time_total_, start_time_total_);
+    1635        3146 :   auto max_execution_time = mrs_lib::get_mutexed(mutex_max_execution_time_, max_execution_time_);
+    1636             : 
+    1637        3146 :   double overtime = (ros::Time::now() - start_time_total).toSec();
+    1638             : 
+    1639        3146 :   if (overtime > (OVERTIME_SAFETY_FACTOR * max_execution_time - OVERTIME_SAFETY_OFFSET)) {
+    1640           7 :     return true;
+    1641             :   }
+    1642             : 
+    1643             :   return false;
+    1644             : }
+    1645             : 
+    1646             : //}
+    1647             : 
+    1648             : /* timeLeft() //{ */
+    1649             : 
+    1650          30 : double MrsTrajectoryGeneration::timeLeft(void) {
+    1651             : 
+    1652          30 :   auto start_time_total   = mrs_lib::get_mutexed(mutex_start_time_total_, start_time_total_);
+    1653          30 :   auto max_execution_time = mrs_lib::get_mutexed(mutex_max_execution_time_, max_execution_time_);
+    1654             : 
+    1655          30 :   double current_execution_time = (ros::Time::now() - start_time_total).toSec();
+    1656             : 
+    1657          30 :   if (current_execution_time >= max_execution_time) {
+    1658             :     return 0;
+    1659             :   } else {
+    1660          30 :     return max_execution_time - current_execution_time;
+    1661             :   }
+    1662             : }
+    1663             : 
+    1664             : //}
+    1665             : 
+    1666             : // | ------------------------ callbacks ----------------------- |
+    1667             : 
+    1668             : /* callbackPath() //{ */
+    1669             : 
+    1670           1 : void MrsTrajectoryGeneration::callbackPath(const mrs_msgs::Path::ConstPtr msg) {
+    1671             : 
+    1672           1 :   if (!is_initialized_) {
+    1673           0 :     return;
+    1674             :   }
+    1675             : 
+    1676             :   /* preconditions //{ */
+    1677             : 
+    1678           1 :   if (!sh_constraints_.hasMsg()) {
+    1679           0 :     std::stringstream ss;
+    1680           0 :     ss << "missing constraints";
+    1681           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MrsTrajectoryGeneration]: " << ss.str());
+    1682           0 :     return;
+    1683             :   }
+    1684             : 
+    1685           1 :   if (!sh_control_manager_diag_.hasMsg()) {
+    1686           0 :     std::stringstream ss;
+    1687           0 :     ss << "missing control manager diagnostics";
+    1688           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MrsTrajectoryGeneration]: " << ss.str());
+    1689           0 :     return;
+    1690             :   }
+    1691             : 
+    1692           1 :   if (!sh_uav_state_.hasMsg()) {
+    1693           0 :     std::stringstream ss;
+    1694           0 :     ss << "missing UAV state";
+    1695           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MrsTrajectoryGeneration]: " << ss.str());
+    1696           0 :     return;
+    1697             :   }
+    1698             : 
+    1699             :   //}
+    1700             : 
+    1701           1 :   {
+    1702           1 :     std::scoped_lock lock(mutex_start_time_total_);
+    1703             : 
+    1704           1 :     start_time_total_ = ros::Time::now();
+    1705             :   }
+    1706             : 
+    1707           1 :   double path_time_offset = 0;
+    1708             : 
+    1709           1 :   if (msg->header.stamp != ros::Time(0)) {
+    1710           0 :     path_time_offset = (msg->header.stamp - ros::Time::now()).toSec();
+    1711             :   }
+    1712             : 
+    1713           1 :   if (path_time_offset > 1e-3) {
+    1714             : 
+    1715           0 :     std::scoped_lock lock(mutex_max_execution_time_);
+    1716             : 
+    1717           0 :     max_execution_time_ = std::min(FUTURIZATION_EXEC_TIME_FACTOR * path_time_offset, params_.max_execution_time);
+    1718             : 
+    1719           0 :     ROS_INFO("[MrsTrajectoryGeneration]: setting the max execution time to %.3f s = %.1f * %.3f", max_execution_time_, FUTURIZATION_EXEC_TIME_FACTOR,
+    1720             :              path_time_offset);
+    1721             :   } else {
+    1722             : 
+    1723           2 :     std::scoped_lock lock(mutex_max_execution_time_, mutex_params_);
+    1724             : 
+    1725           1 :     max_execution_time_ = params_.max_execution_time;
+    1726             :   }
+    1727             : 
+    1728           2 :   ROS_INFO("[MrsTrajectoryGeneration]: got path from message");
+    1729             : 
+    1730           1 :   ph_original_path_.publish(msg);
+    1731             : 
+    1732           1 :   if (msg->points.empty()) {
+    1733           0 :     std::stringstream ss;
+    1734           0 :     ss << "received an empty message";
+    1735           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MrsTrajectoryGeneration]: " << ss.str());
+    1736           0 :     return;
+    1737             :   }
+    1738             : 
+    1739           2 :   auto transformed_path = transformPath(*msg, "");
+    1740             : 
+    1741           1 :   if (!transformed_path) {
+    1742           0 :     std::stringstream ss;
+    1743           0 :     ss << "could not transform the path to the current control frame";
+    1744           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MrsTrajectoryGeneration]: " << ss.str());
+    1745           0 :     return;
+    1746             :   }
+    1747             : 
+    1748           1 :   fly_now_                              = transformed_path->fly_now;
+    1749           1 :   use_heading_                          = transformed_path->use_heading;
+    1750           1 :   frame_id_                             = transformed_path->header.frame_id;
+    1751           1 :   override_constraints_                 = transformed_path->override_constraints;
+    1752           1 :   loop_                                 = transformed_path->loop;
+    1753           1 :   override_max_velocity_horizontal_     = transformed_path->override_max_velocity_horizontal;
+    1754           1 :   override_max_velocity_vertical_       = transformed_path->override_max_velocity_vertical;
+    1755           1 :   override_max_acceleration_horizontal_ = transformed_path->override_max_acceleration_horizontal;
+    1756           1 :   override_max_acceleration_vertical_   = transformed_path->override_max_acceleration_vertical;
+    1757           1 :   override_max_jerk_horizontal_         = transformed_path->override_max_jerk_horizontal;
+    1758           1 :   override_max_jerk_vertical_           = transformed_path->override_max_jerk_horizontal;
+    1759           1 :   stop_at_waypoints_                    = transformed_path->stop_at_waypoints;
+    1760             : 
+    1761           2 :   auto params = mrs_lib::get_mutexed(mutex_params_, params_);
+    1762             : 
+    1763           1 :   if (transformed_path->max_execution_time > 0) {
+    1764           0 :     max_execution_time_ = transformed_path->max_execution_time;
+    1765             :   } else {
+    1766           1 :     max_execution_time_ = params.max_execution_time;
+    1767             :   }
+    1768             : 
+    1769           1 :   if (transformed_path->max_deviation_from_path > 0) {
+    1770           0 :     trajectory_max_segment_deviation_ = transformed_path->max_deviation_from_path;
+    1771             :   } else {
+    1772           1 :     trajectory_max_segment_deviation_ = params.max_deviation;
+    1773             :   }
+    1774             : 
+    1775           1 :   dont_prepend_initial_condition_ = transformed_path->dont_prepend_current_state;
+    1776             : 
+    1777           2 :   std::vector<Waypoint_t> waypoints;
+    1778             : 
+    1779           5 :   for (size_t i = 0; i < transformed_path->points.size(); i++) {
+    1780             : 
+    1781           4 :     double x       = transformed_path->points[i].position.x;
+    1782           4 :     double y       = transformed_path->points[i].position.y;
+    1783           4 :     double z       = transformed_path->points[i].position.z;
+    1784           4 :     double heading = transformed_path->points[i].heading;
+    1785             : 
+    1786           4 :     Waypoint_t wp;
+    1787           4 :     wp.coords  = Eigen::Vector4d(x, y, z, heading);
+    1788           4 :     wp.stop_at = stop_at_waypoints_;
+    1789             : 
+    1790           4 :     if (!checkNaN(wp)) {
+    1791           0 :       ROS_ERROR("[MrsTrajectoryGeneration]: NaN detected in waypoint #%d", int(i));
+    1792           0 :       return;
+    1793             :     }
+    1794             : 
+    1795           4 :     waypoints.push_back(wp);
+    1796             :   }
+    1797             : 
+    1798           1 :   if (loop_) {
+    1799           0 :     waypoints.push_back(waypoints[0]);
+    1800             :   }
+    1801             : 
+    1802           1 :   bool                          success = false;
+    1803           2 :   std::string                   message;
+    1804           2 :   mrs_msgs::TrajectoryReference trajectory;
+    1805             : 
+    1806           1 :   for (int i = 0; i < _n_attempts_; i++) {
+    1807             : 
+    1808             :     // the last iteration and the fallback sampling is enabled
+    1809           1 :     bool fallback_sampling = (_n_attempts_ > 1) && (i == (_n_attempts_ - 1)) && _fallback_sampling_enabled_;
+    1810             : 
+    1811           1 :     std::tie(success, message, trajectory) = optimize(waypoints, transformed_path->header, fallback_sampling, transformed_path->relax_heading);
+    1812             : 
+    1813           1 :     if (success) {
+    1814             :       break;
+    1815             :     } else {
+    1816           0 :       if (i < _n_attempts_) {
+    1817           0 :         ROS_WARN("[MrsTrajectoryGeneration]: failed to calculate a feasible trajectory, trying again with different initial conditions!");
+    1818             :       } else {
+    1819           0 :         ROS_WARN("[MrsTrajectoryGeneration]: failed to calculate a feasible trajectory");
+    1820             :       }
+    1821             :     }
+    1822             :   }
+    1823             : 
+    1824           1 :   double total_time = (ros::Time::now() - start_time_total_).toSec();
+    1825             : 
+    1826           1 :   auto max_execution_time = mrs_lib::get_mutexed(mutex_max_execution_time_, max_execution_time_);
+    1827             : 
+    1828           1 :   if (total_time > max_execution_time) {
+    1829           0 :     ROS_ERROR("[MrsTrajectoryGeneration]: trajectory ready, took %.3f s in total (exceeding maxtime %.3f s by %.3f s)", total_time, max_execution_time,
+    1830             :               total_time - max_execution_time);
+    1831             :   } else {
+    1832           2 :     ROS_INFO("[MrsTrajectoryGeneration]: trajectory ready, took %.3f s in total (out of %.3f)", total_time, max_execution_time);
+    1833             :   }
+    1834             : 
+    1835           1 :   trajectory.input_id = transformed_path->input_id;
+    1836             : 
+    1837           1 :   if (success) {
+    1838             : 
+    1839           1 :     bool published = trajectorySrv(trajectory);
+    1840             : 
+    1841           1 :     if (published) {
+    1842             : 
+    1843           2 :       ROS_INFO("[MrsTrajectoryGeneration]: trajectory successfully published");
+    1844             : 
+    1845             :     } else {
+    1846             : 
+    1847           0 :       ROS_ERROR("[MrsTrajectoryGeneration]: could not publish the trajectory");
+    1848             :     }
+    1849             : 
+    1850             :   } else {
+    1851             : 
+    1852           0 :     ROS_ERROR("[MrsTrajectoryGeneration]: failed to calculate a feasible trajectory, no publishing a result");
+    1853             :   }
+    1854             : }
+    1855             : 
+    1856             : //}
+    1857             : 
+    1858             : /* callbackPathSrv() //{ */
+    1859             : 
+    1860           3 : bool MrsTrajectoryGeneration::callbackPathSrv(mrs_msgs::PathSrv::Request& req, mrs_msgs::PathSrv::Response& res) {
+    1861             : 
+    1862           3 :   if (!is_initialized_) {
+    1863             :     return false;
+    1864             :   }
+    1865             : 
+    1866             :   /* preconditions //{ */
+    1867             : 
+    1868           3 :   if (!sh_constraints_.hasMsg()) {
+    1869           0 :     std::stringstream ss;
+    1870           0 :     ss << "missing constraints";
+    1871           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MrsTrajectoryGeneration]: " << ss.str());
+    1872             : 
+    1873           0 :     res.message = ss.str();
+    1874           0 :     res.success = false;
+    1875           0 :     return true;
+    1876             :   }
+    1877             : 
+    1878           3 :   if (!sh_control_manager_diag_.hasMsg()) {
+    1879           0 :     std::stringstream ss;
+    1880           0 :     ss << "missing control manager diagnostics";
+    1881           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MrsTrajectoryGeneration]: " << ss.str());
+    1882             : 
+    1883           0 :     res.message = ss.str();
+    1884           0 :     res.success = false;
+    1885           0 :     return true;
+    1886             :   }
+    1887             : 
+    1888           3 :   if (!sh_uav_state_.hasMsg()) {
+    1889           0 :     std::stringstream ss;
+    1890           0 :     ss << "missing UAV state";
+    1891           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MrsTrajectoryGeneration]: " << ss.str());
+    1892             : 
+    1893           0 :     res.message = ss.str();
+    1894           0 :     res.success = false;
+    1895           0 :     return true;
+    1896             :   }
+    1897             : 
+    1898             :   //}
+    1899             : 
+    1900           3 :   {
+    1901           3 :     std::scoped_lock lock(mutex_start_time_total_);
+    1902             : 
+    1903           3 :     start_time_total_ = ros::Time::now();
+    1904             :   }
+    1905             : 
+    1906           3 :   double path_time_offset = 0;
+    1907             : 
+    1908           3 :   if (req.path.header.stamp != ros::Time(0)) {
+    1909           0 :     path_time_offset = (req.path.header.stamp - ros::Time::now()).toSec();
+    1910             :   }
+    1911             : 
+    1912           3 :   if (path_time_offset > 1e-3) {
+    1913             : 
+    1914           0 :     std::scoped_lock lock(mutex_max_execution_time_);
+    1915             : 
+    1916           0 :     max_execution_time_ = std::min(FUTURIZATION_EXEC_TIME_FACTOR * path_time_offset, params_.max_execution_time);
+    1917             : 
+    1918           0 :     ROS_INFO("[MrsTrajectoryGeneration]: setting the max execution time to %.3f s = %.1f * %.3f", max_execution_time_, FUTURIZATION_EXEC_TIME_FACTOR,
+    1919             :              path_time_offset);
+    1920             :   } else {
+    1921             : 
+    1922           6 :     std::scoped_lock lock(mutex_max_execution_time_, mutex_params_);
+    1923             : 
+    1924           3 :     max_execution_time_ = params_.max_execution_time;
+    1925             :   }
+    1926             : 
+    1927           6 :   ROS_INFO("[MrsTrajectoryGeneration]: got path from service");
+    1928             : 
+    1929           3 :   ph_original_path_.publish(req.path);
+    1930             : 
+    1931           3 :   if (req.path.points.empty()) {
+    1932           0 :     std::stringstream ss;
+    1933           0 :     ss << "received an empty message";
+    1934           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MrsTrajectoryGeneration]: " << ss.str());
+    1935             : 
+    1936           0 :     res.message = ss.str();
+    1937           0 :     res.success = false;
+    1938           0 :     return true;
+    1939             :   }
+    1940             : 
+    1941           6 :   auto transformed_path = transformPath(req.path, "");
+    1942             : 
+    1943           3 :   if (!transformed_path) {
+    1944           0 :     std::stringstream ss;
+    1945           0 :     ss << "could not transform the path to the current control frame";
+    1946           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MrsTrajectoryGeneration]: " << ss.str());
+    1947             : 
+    1948           0 :     res.message = ss.str();
+    1949           0 :     res.success = false;
+    1950           0 :     return true;
+    1951             :   }
+    1952             : 
+    1953           3 :   fly_now_                              = transformed_path->fly_now;
+    1954           3 :   use_heading_                          = transformed_path->use_heading;
+    1955           3 :   frame_id_                             = transformed_path->header.frame_id;
+    1956           3 :   override_constraints_                 = transformed_path->override_constraints;
+    1957           3 :   loop_                                 = transformed_path->loop;
+    1958           3 :   override_max_velocity_horizontal_     = transformed_path->override_max_velocity_horizontal;
+    1959           3 :   override_max_velocity_vertical_       = transformed_path->override_max_velocity_vertical;
+    1960           3 :   override_max_acceleration_horizontal_ = transformed_path->override_max_acceleration_horizontal;
+    1961           3 :   override_max_acceleration_vertical_   = transformed_path->override_max_acceleration_vertical;
+    1962           3 :   override_max_jerk_horizontal_         = transformed_path->override_max_jerk_horizontal;
+    1963           3 :   override_max_jerk_vertical_           = transformed_path->override_max_jerk_horizontal;
+    1964           3 :   stop_at_waypoints_                    = transformed_path->stop_at_waypoints;
+    1965             : 
+    1966           6 :   auto params = mrs_lib::get_mutexed(mutex_params_, params_);
+    1967             : 
+    1968           3 :   if (transformed_path->max_execution_time > 0) {
+    1969           0 :     max_execution_time_ = transformed_path->max_execution_time;
+    1970             :   } else {
+    1971           3 :     max_execution_time_ = params.max_execution_time;
+    1972             :   }
+    1973             : 
+    1974           3 :   if (transformed_path->max_deviation_from_path > 0) {
+    1975           0 :     trajectory_max_segment_deviation_ = transformed_path->max_deviation_from_path;
+    1976             :   } else {
+    1977           3 :     trajectory_max_segment_deviation_ = params.max_deviation;
+    1978             :   }
+    1979             : 
+    1980           3 :   dont_prepend_initial_condition_ = transformed_path->dont_prepend_current_state;
+    1981             : 
+    1982           6 :   std::vector<Waypoint_t> waypoints;
+    1983             : 
+    1984          15 :   for (size_t i = 0; i < req.path.points.size(); i++) {
+    1985             : 
+    1986          12 :     double x       = transformed_path->points[i].position.x;
+    1987          12 :     double y       = transformed_path->points[i].position.y;
+    1988          12 :     double z       = transformed_path->points[i].position.z;
+    1989          12 :     double heading = transformed_path->points[i].heading;
+    1990             : 
+    1991          12 :     Waypoint_t wp;
+    1992          12 :     wp.coords  = Eigen::Vector4d(x, y, z, heading);
+    1993          12 :     wp.stop_at = stop_at_waypoints_;
+    1994             : 
+    1995          12 :     if (!checkNaN(wp)) {
+    1996           0 :       ROS_ERROR("[MrsTrajectoryGeneration]: NaN detected in waypoint #%d", int(i));
+    1997           0 :       res.success = false;
+    1998           0 :       res.message = "invalid path";
+    1999           0 :       return true;
+    2000             :     }
+    2001             : 
+    2002          12 :     waypoints.push_back(wp);
+    2003             :   }
+    2004             : 
+    2005           3 :   if (loop_) {
+    2006           0 :     waypoints.push_back(waypoints[0]);
+    2007             :   }
+    2008             : 
+    2009           3 :   bool                          success = false;
+    2010           6 :   std::string                   message;
+    2011           6 :   mrs_msgs::TrajectoryReference trajectory;
+    2012             : 
+    2013           4 :   for (int i = 0; i < _n_attempts_; i++) {
+    2014             : 
+    2015             :     // the last iteration and the fallback sampling is enabled
+    2016           4 :     bool fallback_sampling = (_n_attempts_ > 1) && (i == (_n_attempts_ - 1)) && _fallback_sampling_enabled_;
+    2017             : 
+    2018           4 :     std::tie(success, message, trajectory) = optimize(waypoints, transformed_path->header, fallback_sampling, transformed_path->relax_heading);
+    2019             : 
+    2020           4 :     if (success) {
+    2021             :       break;
+    2022             :     } else {
+    2023           1 :       if (i < _n_attempts_) {
+    2024           2 :         ROS_WARN("[MrsTrajectoryGeneration]: failed to calculate a feasible trajectory, trying again with different initial conditions!");
+    2025             :       } else {
+    2026           0 :         ROS_WARN("[MrsTrajectoryGeneration]: failed to calculate a feasible trajectory");
+    2027             :       }
+    2028             :     }
+    2029             :   }
+    2030             : 
+    2031           3 :   double total_time = (ros::Time::now() - start_time_total_).toSec();
+    2032             : 
+    2033           3 :   auto max_execution_time = mrs_lib::get_mutexed(mutex_max_execution_time_, max_execution_time_);
+    2034             : 
+    2035           3 :   if (total_time > max_execution_time) {
+    2036           0 :     ROS_ERROR("[MrsTrajectoryGeneration]: trajectory ready, took %.3f s in total (exceeding maxtime %.3f s by %.3f s)", total_time, max_execution_time,
+    2037             :               total_time - max_execution_time);
+    2038             :   } else {
+    2039           6 :     ROS_INFO("[MrsTrajectoryGeneration]: trajectory ready, took %.3f s in total (out of %.3f)", total_time, max_execution_time);
+    2040             :   }
+    2041             : 
+    2042           3 :   trajectory.input_id = transformed_path->input_id;
+    2043             : 
+    2044           3 :   if (success) {
+    2045             : 
+    2046           3 :     bool published = trajectorySrv(trajectory);
+    2047             : 
+    2048           3 :     if (published) {
+    2049             : 
+    2050           3 :       res.success = success;
+    2051           3 :       res.message = message;
+    2052             : 
+    2053             :     } else {
+    2054             : 
+    2055           0 :       std::stringstream ss;
+    2056           0 :       ss << "could not publish the trajectory";
+    2057             : 
+    2058           0 :       res.success = false;
+    2059           0 :       res.message = ss.str();
+    2060             : 
+    2061           0 :       ROS_ERROR_STREAM("[MrsTrajectoryGeneration]: " << ss.str());
+    2062             :     }
+    2063             : 
+    2064             :   } else {
+    2065             : 
+    2066           0 :     ROS_ERROR("[MrsTrajectoryGeneration]: failed to calculate a feasible trajectory, not publishing a result");
+    2067             : 
+    2068           0 :     res.success = success;
+    2069           0 :     res.message = message;
+    2070             :   }
+    2071             : 
+    2072           3 :   return true;
+    2073             : }
+    2074             : 
+    2075             : //}
+    2076             : 
+    2077             : /* callbackGetPathSrv() //{ */
+    2078             : 
+    2079           2 : bool MrsTrajectoryGeneration::callbackGetPathSrv(mrs_msgs::GetPathSrv::Request& req, mrs_msgs::GetPathSrv::Response& res) {
+    2080             : 
+    2081           2 :   if (!is_initialized_) {
+    2082             :     return false;
+    2083             :   }
+    2084             : 
+    2085             :   /* preconditions //{ */
+    2086             : 
+    2087           2 :   if (!sh_constraints_.hasMsg()) {
+    2088           0 :     std::stringstream ss;
+    2089           0 :     ss << "missing constraints";
+    2090           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MrsTrajectoryGeneration]: " << ss.str());
+    2091             : 
+    2092           0 :     res.message = ss.str();
+    2093           0 :     res.success = false;
+    2094           0 :     return true;
+    2095             :   }
+    2096             : 
+    2097           2 :   if (!sh_control_manager_diag_.hasMsg()) {
+    2098           0 :     std::stringstream ss;
+    2099           0 :     ss << "missing control manager diagnostics";
+    2100           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MrsTrajectoryGeneration]: " << ss.str());
+    2101             : 
+    2102           0 :     res.message = ss.str();
+    2103           0 :     res.success = false;
+    2104           0 :     return true;
+    2105             :   }
+    2106             : 
+    2107           2 :   if (!sh_uav_state_.hasMsg()) {
+    2108           0 :     std::stringstream ss;
+    2109           0 :     ss << "missing UAV state";
+    2110           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MrsTrajectoryGeneration]: " << ss.str());
+    2111             : 
+    2112           0 :     res.message = ss.str();
+    2113           0 :     res.success = false;
+    2114           0 :     return true;
+    2115             :   }
+    2116             : 
+    2117             :   //}
+    2118             : 
+    2119           2 :   {
+    2120           2 :     std::scoped_lock lock(mutex_start_time_total_);
+    2121             : 
+    2122           2 :     start_time_total_ = ros::Time::now();
+    2123             :   }
+    2124             : 
+    2125           2 :   double path_time_offset = 0;
+    2126             : 
+    2127           2 :   if (req.path.header.stamp != ros::Time(0)) {
+    2128           0 :     path_time_offset = (req.path.header.stamp - ros::Time::now()).toSec();
+    2129             :   }
+    2130             : 
+    2131           2 :   if (path_time_offset > 1e-3) {
+    2132             : 
+    2133           0 :     std::scoped_lock lock(mutex_max_execution_time_);
+    2134             : 
+    2135           0 :     max_execution_time_ = FUTURIZATION_EXEC_TIME_FACTOR * path_time_offset;
+    2136             : 
+    2137           0 :     ROS_INFO("[MrsTrajectoryGeneration]: setting the max execution time to %.3f s = %.1f * %.3f", max_execution_time_, FUTURIZATION_EXEC_TIME_FACTOR,
+    2138             :              path_time_offset);
+    2139             :   } else {
+    2140             : 
+    2141           4 :     std::scoped_lock lock(mutex_max_execution_time_, mutex_params_);
+    2142             : 
+    2143           2 :     max_execution_time_ = params_.max_execution_time;
+    2144             :   }
+    2145             : 
+    2146           4 :   ROS_INFO("[MrsTrajectoryGeneration]: got path from service");
+    2147             : 
+    2148           2 :   ph_original_path_.publish(req.path);
+    2149             : 
+    2150           2 :   if (req.path.points.empty()) {
+    2151           0 :     std::stringstream ss;
+    2152           0 :     ss << "received an empty message";
+    2153           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MrsTrajectoryGeneration]: " << ss.str());
+    2154             : 
+    2155           0 :     res.message = ss.str();
+    2156           0 :     res.success = false;
+    2157           0 :     return true;
+    2158             :   }
+    2159             : 
+    2160           4 :   auto transformed_path = transformPath(req.path, "");
+    2161             : 
+    2162           2 :   if (!transformed_path) {
+    2163           0 :     std::stringstream ss;
+    2164           0 :     ss << "could not transform the path to the current control frame";
+    2165           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MrsTrajectoryGeneration]: " << ss.str());
+    2166             : 
+    2167           0 :     res.message = ss.str();
+    2168           0 :     res.success = false;
+    2169           0 :     return true;
+    2170             :   }
+    2171             : 
+    2172           2 :   fly_now_                              = transformed_path->fly_now;
+    2173           2 :   use_heading_                          = transformed_path->use_heading;
+    2174           2 :   frame_id_                             = transformed_path->header.frame_id;
+    2175           2 :   override_constraints_                 = transformed_path->override_constraints;
+    2176           2 :   loop_                                 = transformed_path->loop;
+    2177           2 :   override_max_velocity_horizontal_     = transformed_path->override_max_velocity_horizontal;
+    2178           2 :   override_max_velocity_vertical_       = transformed_path->override_max_velocity_vertical;
+    2179           2 :   override_max_acceleration_horizontal_ = transformed_path->override_max_acceleration_horizontal;
+    2180           2 :   override_max_acceleration_vertical_   = transformed_path->override_max_acceleration_vertical;
+    2181           2 :   override_max_jerk_horizontal_         = transformed_path->override_max_jerk_horizontal;
+    2182           2 :   override_max_jerk_vertical_           = transformed_path->override_max_jerk_horizontal;
+    2183           2 :   stop_at_waypoints_                    = transformed_path->stop_at_waypoints;
+    2184             : 
+    2185           4 :   auto params = mrs_lib::get_mutexed(mutex_params_, params_);
+    2186             : 
+    2187           2 :   if (transformed_path->max_execution_time > 0) {
+    2188           0 :     max_execution_time_ = transformed_path->max_execution_time;
+    2189             :   } else {
+    2190           2 :     max_execution_time_ = params.max_execution_time;
+    2191             :   }
+    2192             : 
+    2193           2 :   if (transformed_path->max_deviation_from_path > 0) {
+    2194           0 :     trajectory_max_segment_deviation_ = transformed_path->max_deviation_from_path;
+    2195             :   } else {
+    2196           2 :     trajectory_max_segment_deviation_ = params.max_deviation;
+    2197             :   }
+    2198             : 
+    2199           2 :   dont_prepend_initial_condition_ = transformed_path->dont_prepend_current_state;
+    2200             : 
+    2201           4 :   std::vector<Waypoint_t> waypoints;
+    2202             : 
+    2203          10 :   for (size_t i = 0; i < transformed_path->points.size(); i++) {
+    2204             : 
+    2205           8 :     double x       = transformed_path->points[i].position.x;
+    2206           8 :     double y       = transformed_path->points[i].position.y;
+    2207           8 :     double z       = transformed_path->points[i].position.z;
+    2208           8 :     double heading = transformed_path->points[i].heading;
+    2209             : 
+    2210           8 :     Waypoint_t wp;
+    2211           8 :     wp.coords  = Eigen::Vector4d(x, y, z, heading);
+    2212           8 :     wp.stop_at = stop_at_waypoints_;
+    2213             : 
+    2214           8 :     if (!checkNaN(wp)) {
+    2215           0 :       ROS_ERROR("[MrsTrajectoryGeneration]: NaN detected in waypoint #%d", int(i));
+    2216           0 :       res.success = false;
+    2217           0 :       res.message = "invalid path";
+    2218           0 :       return true;
+    2219             :     }
+    2220             : 
+    2221           8 :     waypoints.push_back(wp);
+    2222             :   }
+    2223             : 
+    2224           2 :   if (loop_) {
+    2225           0 :     waypoints.push_back(waypoints[0]);
+    2226             :   }
+    2227             : 
+    2228           2 :   bool                          success = false;
+    2229           4 :   std::string                   message;
+    2230           4 :   mrs_msgs::TrajectoryReference trajectory;
+    2231             : 
+    2232           4 :   for (int i = 0; i < _n_attempts_; i++) {
+    2233             : 
+    2234             :     // the last iteration and the fallback sampling is enabled
+    2235           4 :     bool fallback_sampling = (_n_attempts_ > 1) && (i == (_n_attempts_ - 1)) && _fallback_sampling_enabled_;
+    2236             : 
+    2237           4 :     std::tie(success, message, trajectory) = optimize(waypoints, transformed_path->header, fallback_sampling, transformed_path->relax_heading);
+    2238             : 
+    2239           4 :     if (success) {
+    2240             :       break;
+    2241             :     } else {
+    2242           2 :       if (i < _n_attempts_) {
+    2243           4 :         ROS_WARN("[MrsTrajectoryGeneration]: failed to calculate a feasible trajectory, trying again with different initial conditions!");
+    2244             :       } else {
+    2245           0 :         ROS_WARN("[MrsTrajectoryGeneration]: failed to calculate a feasible trajectory");
+    2246             :       }
+    2247             :     }
+    2248             :   }
+    2249             : 
+    2250           2 :   double total_time = (ros::Time::now() - start_time_total_).toSec();
+    2251             : 
+    2252           2 :   auto max_execution_time = mrs_lib::get_mutexed(mutex_max_execution_time_, max_execution_time_);
+    2253             : 
+    2254           2 :   if (total_time > max_execution_time) {
+    2255           0 :     ROS_ERROR("[MrsTrajectoryGeneration]: trajectory ready, took %.3f s in total (exceeding maxtime %.3f s by %.3f s)", total_time, max_execution_time,
+    2256             :               total_time - max_execution_time);
+    2257             :   } else {
+    2258           4 :     ROS_INFO("[MrsTrajectoryGeneration]: trajectory ready, took %.3f s in total (out of %.3f)", total_time, max_execution_time);
+    2259             :   }
+    2260             : 
+    2261           2 :   if (success) {
+    2262             : 
+    2263           4 :     std::optional<geometry_msgs::TransformStamped> tf_traj_state = transformer_->getTransform("", req.path.header.frame_id, ros::Time::now());
+    2264             : 
+    2265           4 :     std::stringstream ss;
+    2266             : 
+    2267           2 :     if (!tf_traj_state) {
+    2268           0 :       ss << "could not create TF transformer for the trajectory to the requested frame";
+    2269           0 :       ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    2270           0 :       res.success = false;
+    2271           0 :       res.message = ss.str();
+    2272             :     }
+    2273             : 
+    2274           2 :     trajectory.header.frame_id = transformer_->frame_to(*tf_traj_state);
+    2275             : 
+    2276         271 :     for (unsigned long i = 0; i < trajectory.points.size(); i++) {
+    2277             : 
+    2278         538 :       mrs_msgs::ReferenceStamped trajectory_point;
+    2279         269 :       trajectory_point.header    = trajectory.header;
+    2280         269 :       trajectory_point.reference = trajectory.points[i];
+    2281             : 
+    2282         538 :       auto ret = transformer_->transform(trajectory_point, *tf_traj_state);
+    2283             : 
+    2284         269 :       if (!ret) {
+    2285             : 
+    2286           0 :         ss << "trajectory cannnot be transformed to the requested frame";
+    2287           0 :         ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    2288           0 :         res.success = false;
+    2289           0 :         res.message = ss.str();
+    2290             : 
+    2291             :       } else {
+    2292             : 
+    2293             :         // transform the points in the trajectory to the current frame
+    2294         269 :         trajectory.points[i] = ret.value().reference;
+    2295             :       }
+    2296             :     }
+    2297             : 
+    2298           2 :     res.trajectory = trajectory;
+    2299           2 :     res.success    = success;
+    2300           2 :     res.message    = message;
+    2301             : 
+    2302             :   } else {
+    2303             : 
+    2304           0 :     ROS_ERROR("[MrsTrajectoryGeneration]: failed to calculate a feasible trajectory");
+    2305             : 
+    2306           0 :     res.success = success;
+    2307           0 :     res.message = message;
+    2308             :   }
+    2309             : 
+    2310           2 :   return true;
+    2311             : }
+    2312             : 
+    2313             : //}
+    2314             : 
+    2315             : /* callbackUavState() //{ */
+    2316             : 
+    2317      109065 : void MrsTrajectoryGeneration::callbackUavState(const mrs_msgs::UavState::ConstPtr msg) {
+    2318             : 
+    2319      109065 :   if (!is_initialized_) {
+    2320             :     return;
+    2321             :   }
+    2322             : 
+    2323      109130 :   ROS_INFO_ONCE("[MrsTrajectoryGeneration]: getting uav state");
+    2324             : 
+    2325      109065 :   transformer_->setDefaultFrame(msg->header.frame_id);
+    2326             : }
+    2327             : 
+    2328             : //}
+    2329             : 
+    2330             : /* //{ callbackDrs() */
+    2331             : 
+    2332          65 : void MrsTrajectoryGeneration::callbackDrs(mrs_uav_trajectory_generation::drsConfig& params, [[maybe_unused]] uint32_t level) {
+    2333             : 
+    2334         130 :   mrs_lib::set_mutexed(mutex_params_, params, params_);
+    2335             : 
+    2336          65 :   {
+    2337          65 :     std::scoped_lock lock(mutex_max_execution_time_);
+    2338             : 
+    2339          65 :     max_execution_time_ = params.max_execution_time;
+    2340             :   }
+    2341             : 
+    2342         130 :   ROS_INFO("[MrsTrajectoryGeneration]: DRS updated");
+    2343          65 : }
+    2344             : 
+    2345             : //}
+    2346             : 
+    2347             : }  // namespace mrs_uav_trajectory_generation
+    2348             : 
+    2349             : #include <pluginlib/class_list_macros.h>
+    2350             : 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..8d388197f0 --- /dev/null +++ b/mrs_uav_trajectory_generation/src/mrs_trajectory_generation.cpp.gcov.overview.html @@ -0,0 +1,608 @@ + + + + + + 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..ac345d3114e7fa89ebe67ebea3ecc320843df3fb GIT binary patch literal 7265 zcmV-n9G>HeP)L_|Qm-KYEgKEMCF z^=fZ?2I;+qG6GgWAz&4&l1A8sfOE&L&*AzEjRlMdP>!)cUD~yRM#W$xbIlV;V^a0L2(flnUAz8c$N- zG4@cQ4r4!59^-V-ICaE(Y}Rj_b=hqO>_y`|RoAu!ln^QIddL*^ox{5uHW;xXdrHl) z9MF(5*8nHa1r=b4MjoSf)OA2PqXYM9GUL0giTCQsvX{i& zg|?X-P~P?2cPJT+9T308tC2mNB%cCg4u&_{+GA1IM}7CA+G%oF8i}rjqn`Oux9YtU zbIl#uMQ2w9jnm|(#_JQKf!%J=rc(S|*8n|u@(-!05djm>5+M4g3Si_Q2bi%T2fQPU z0dKmYkbv_|2za+UvIKAzVVrNWuIC#CC~jfrLXsA?uQoBef#o%^HvT>In9X)$>wON7 ztWHl1v&`zIFalFy_No_r)VQuObtl;gX`KB3kp)dO5+A}*dv@l7K|<0nBzM%b%r5)plO&{H@!PF~VWhBh){E&>7ybyV;s z8^X(V?H5hgQRDGwFk&(D>YjG7qfS6;8A|ZkS&T(M)N`tL!)7Jx^bN0}k!#-eYGSx$ zvZCv$)J+C>{&0plEu#@_2Z&1=dcZz|1k!)ju+K<;W%4_k@pCysoXd8Gj*dy%b--8? zkN{Z4sOj3$42?O07O}rIidaN7-7|e4rLW5>MB@@-oVo+{r%~5RU4w}NrYn!Dri&F_ z4<2<3jew*n{kRR|J=>6E2^5nQkm?!+&)wI6Z<@t>p~pC3ROh!3L}4&6oL&vzwa|Fa z^o??V2^hmZ6LlCk(VRPTq0guEqg-U*z-AF(7DOWZ&NLV&YMBmCNr8aq<9xgbW7FXb zS|78sOoOr2M$~K`Mm2Ypu@-o`VozIFnCDvDSW`+T(YGbni|lO zBEe`{5l}T49+UZpRfQ2t_;gQ?aHk|ZqZIzEpF)n0%Q=jN`S~Zb8DJZx(GNy9>bR&X zs}QU{c3tbb#*NZIBp`%*20(e&k!#Ca_3)!6`_2b{d(`ukETCep!ORwjWNFMTfB`hJ zE$NztOE)B8J20+55c2JPZNQkcg_-LU7~PzDYS(TUG2VU{JxT@O`K~>ey3^=z_XS*~ zfR@H?GvlaKbp3f6H8Z2&O+#q`6`z0crL$jk-&CzdSQh zqo>NAn#PnpkR=pg<6QSOhSPz-(F+#Wl8u@MjJrYs5VBUX3Rfv$eO==tKm}tD%idv3 zR8^b(7=E3wu5Pc_PuBM1|M!>e{h$5d^#XveV!OTeGC%;7H=J4oL#lnX8L+wS@@$^M z9)PN@Q}Z(XxSVi5SWI02rCs+AX*>cW;x`njEmOF%PP^3ZDV}UjDEk>EaP(33Kzf>J z3_dB|w`Ku_r@i03KLh#gSbfTnk_RBBX$BqJzg#ja?sc-s!6ts=)gwul2fW8nk53h` zKlGkM)mja_9@{!xOCS zY(+rPS+oCGjM~d~86pItQKVou%o=nx(SX_cPuDdO^u$ic)v9K~U0_7ldJK#cL;3FEtYi%Wt5!{7XuoR8bu2Jgc z6pz=L; zkfjj!@RD{`F&yR{&q2~=pFipH&cP~t%Q%~DqUf446gFog7+te#4rgBHPJSr@FHDin``;3bOk@r4S0Z&B_z(fJ<4B+um07S!S9*n~Ry60(3 z0NpRsQCSn38|(0F>DZ3hmfk;Zix8i?g_`i`Y2URbGW)g|3`6Y5~U??67yj zavxwn60VfUPYjrH+@CHoj57WVDB+hlnuv55mmc~(C-$DVsxUiJF@rgA-Pt2Kn9&40Dy)-#0 z-()RWD8o-G%W!1D4dWwB4@|!a{M5R`fb&lx;hf=N`6y=i15;lE^z&Qp`bjrr4<&}? z!X)FBZVd&oP%~U=HB&|$nLXdN=+aD|~w; zrQ&vYpi0RM0np9J%4E2K!F=)#q?M?ai--%UN0MmwnNTG?lZ7e#LGE9t0GP}ouU?Le z4abH3Wv%pE>N@rxJVoq4~*d^$q+Ch8_RPumQ_Gouk7kP_ogaRbnzqPv_{4qJDxnPC~*Cd=$67E-q``-g< zF@}W#qr%8x_fMSg7u$R^5oUB?Jb9Vs}d2pE=Lp`Dy9h-JAt6Pa4srS{U zURN>3N1U(-@kT8^5 z(wB@v-L4?BDvD{1KftO8Im5NB-3&%zRTR3$R>g^~^`nkmhu~*J*Tr+8r0Y%5_3I_G z#JxOLjfH{oSTh#lnyDBIp5b*G14c8{nj2@ap}xg)rG_zCVJOKnFdXqW+slS10I|b| z981^>qor#Bk695goSn7=@SkuD#mQO1P!6BuotFAb>1nB<3cz-SSrCeY3R=C)E(*BhOb3dCK1 zFRo^t#p`Z+$xGpHu?fsQc!93yC2@e8y#W!Iz~*EOC8mkIBmuDIB~e|;lQo`1JdGnR zRgDc_75AA4SKepD8hJ3E=nSat$iLz;NES zKbXtq8|7dOfK3<^_GRZnIYvC#Xzn6F1x6c|<;wD6z-MY-6Bu<}d&YFkOvQy4a_nn% zLgGTx@&E*dkp}F3=DL+LW=<_Gs>OhJ!%_$z(FKucz#_({M?{q)Ce!gUQKJEKnWS?I zA5@+5qa~4CK0gFWPgq|hd!*7sCm}9Nij_-h$g}|sNLFji`+Z>jlJSwN|F~+yE)bEN$X)(qf+2S?Zl0O9V$|dBD81BK`Jed!kj+P zIfAp>9iYHq7hgH~1{(VxDo~Zd_~KN2M5-y{oOO(1!4)rsrLX{!rI4*Z5>UIbCq-H* zjKaYv_(&A+BCaIgm?~P7*L4gaukpM=7Wil}_PEi_gxIqw*JT!z(&k$*l3UWUCb6H> z7_+9sC|O?0gaJK`qy*^`FF@B-F)NZM00bm=XHS~8L$D_lY#$Jywc+a+JU1nsY&y)+ zbU6EhrQo8Z)uJ34K8{?jmV*r7>s4`m0xP8};QkL(s0vcc^KryM9NgWDr5euFYtHZ2 zavMFM6_89m=oC4 zb-fg-|C~FGg6%`vHF9Va0Hqj1pxcCsizg&mlP@k|4aRuf<5I7n+Ov%~5yFpHz_frX zkCCmmlXs0k2NYlke5@Ruo2yAA!;u0qN-b48Z^KtKq3yfqHn0Kla-M< z_X`PmrKo*Eu+l(+7AbePGP6hvfZRnJ>_&vA4{&m(FygDoS#Tr*en`SmX;pKPrVh9~ z{Y^V5jqZdLsuqT4TU^dx%L%ENk+QD-^`d+*>A;@ksPmO$=jc>aiZsYa0A4g+G;%a{ zbaQ*XQNPY%$QNK7r1mOVX%FqXW}+S`#;3^M3*N#dT(e*cf(Y+a=mNCykWfqyjfa%N zOAPYhXCsaLsU6a2Uz%WsGoD74lZjWseEA(3dFKbFapN5{AK)WLWiF2ll>=ym>$;@; z(7J|Mbst#Q-$x^_BmW)!_;1Ri?OAa1Goz8w;{#|M;hkXu#|yssOWuo%#SP-O-U5hF zy!1$E%-Utit16{%;XLbKBIi)JBuej>iy*z5U; zIL+A{RgR<(P}t;lxVw%c&=ezIFvc7|m2XBanOd&v`O2L9TzACioq+b+;~~Mf5>V&a z^C_vWlRqbBAqF4rle+u5jm^Cg0z%@`?A{!9pPTQXbKmnRy7;^Y@%>MvB6V+vd7XM3 zU&0$=i5^AA4D(e!7IncSPymE`A|oG+rIs$3BoGQ=!@DbBaQMv4!^QAU3|EJSGIbXI zUQiSuTQ~6cj7k}1KUTAWnZY>iY`z%3_!5(1A>}kip~gLBo9&^VqrcGmmhk>2*MQ9Q zu}{@?xiCrXrKzMF-6Nmt?rqRz$rY~ECtn*!juE$TC~Lkf`HNQ@8EF`P4{79ej&e9& zdsj+yu|bOQx&aYoESsD&7|GUNQS!>i{nPolBho{$4Gzp2+88b-0+s;V3)FBua|PSW ziGVy{dJbry5n{7l*snGbP*KENzGj43+66$oY8rG;B}l&cCvOfJcSJr1fl)+h_;!*QSnu}E*i<`nv z2-K zcfYIr){u?R2^_P2EY+@M{fb*b;|BlgqS9vJY(IOi-4w%?SQmu~$g_`UPDwdpPotAE zlm)Y-r7hz1^cs!w+T030;_a1i0D2l_UHic-#8ES@CEdHt`D9aCFaeAUwt}%gAP3gM z#{#kjjEfP)bwy^+k^{;x9zKXrf|selv~B9rytZKT9q6!I1A*1(|w+Z?_CYvYRK+FkQ(7f}dTB#`Mr zHkj9W^R57QY!f75BP2^jA;XMY_^s0ip~ zw^QeIICaSsjoKo0%BIwHJZW-IU}^=|rP&FNQt*%q3_ciA)^}|tN7XeKH&g9gzH8;E zd5p)Glp;?kq_@?pkdGV$x*IX3BILDio3ns;Pp)ayD5@DqOj!>Y&O2N@;MmvQh?Tgc zGy+Iw)CXXsvj8X^%z%S9(00L{ieE>v>3FgmuL>GRmKcHGt>KHK{!5-Dn4o0_uT!*{ z;mF$SVCvmed3%Yqw>Xewl^s;V?2-;ua*B5W{4r^5K64e)_X)28xyk9SAviw|Z{IqG zOEC)XA&ODWu8pLnWn4RR6FB~KO_Cp~fBp?mu338N_rnHj4Wr8b7! 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