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Test:MRS UAV System - Test coverage reportLines:137792340158.9 %
Date:2023-12-14 21:42:20Functions:2442414658.9 %
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 +
18.7%18.7%
+ 		18.7 %87 / 46622.2 %12 / 54
mrs_uav_trajectory_generation/src/eth_trajectory_generation +
42.0%42.0%
+ 		42.0 %417 / 99429.5 %31 / 105
mrs_uav_trackers/src/speed_tracker +
14.1%14.1%
+ 		14.1 %58 / 41136.8 %7 / 19
mrs_uav_trackers/src/joy_tracker +
44.4%44.4%
+ 		44.4 %63 / 14238.9 %7 / 18
mrs_lib/include/mrs_lib/geometry +
71.0%71.0%
+ 		71.0 %66 / 9340.0 %48 / 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 +
70.1%70.1%
+ 		70.1 %122 / 17450.0 %17 / 34
mrs_lib/include/mrs_lib/impl +
80.0%80.0%
+ 		80.0 %341 / 42655.6 %724 / 1302
mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading +
58.3%58.3%
+ 		58.3 %7 / 1257.1 %4 / 7
mrs_uav_trackers/src/mpc_tracker +
64.1%64.1%
+ 		64.1 %1073 / 167357.1 %28 / 49
mrs_uav_managers/include/transform_manager +
47.1%47.1%
+ 		47.1 %186 / 39557.9 %11 / 19
mrs_lib/include/mrs_lib +
76.5%76.5%
+ 		76.5 %738 / 96559.2 %750 / 1267
mrs_uav_trajectory_generation/include/eth_trajectory_generation/impl +
46.6%46.6%
+ 		46.6 %291 / 62559.4 %19 / 32
mrs_uav_state_estimators/src/estimators/agl +
72.1%72.1%
+ 		72.1 %75 / 10460.0 %6 / 10
mrs_uav_managers/include/mrs_uav_managers +
100.0%
+ 		100.0 %12 / 1260.0 %6 / 10
mrs_uav_managers/src/control_manager +
51.4%51.4%
+ 		51.4 %1908 / 370960.2 %74 / 123
mrs_uav_managers/src/control_manager/common +
37.3%37.3%
+ 		37.3 %210 / 56361.3 %19 / 31
mrs_uav_trackers/src/line_tracker +
68.1%68.1%
+ 		68.1 %323 / 47463.3 %19 / 30
mrs_lib/src/transform_broadcaster +
53.3%53.3%
+ 		53.3 %16 / 3066.7 %2 / 3
mrs_uav_trackers/src/landoff_tracker +
71.6%71.6%
+ 		71.6 %424 / 59267.7 %21 / 31
mrs_uav_managers/include/mrs_uav_managers/control_manager +
55.2%55.2%
+ 		55.2 %53 / 9670.4 %19 / 27
mrs_uav_state_estimators/src/estimators/state +
70.3%70.3%
+ 		70.3 %306 / 43572.7 %24 / 33
mrs_uav_state_estimators/src/estimators/altitude +
56.3%56.3%
+ 		56.3 %209 / 37173.3 %22 / 30
mrs_uav_managers/src +
55.4%55.4%
+ 		55.4 %936 / 169074.0 %54 / 73
mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators +
58.5%58.5%
+ 		58.5 %404 / 69174.7 %68 / 91
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_trajectory_generation/src +
43.4%43.4%
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63.9%63.9%
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mrs_lib/src/timeout_manager +
79.0%79.0%
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100.0%
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89.1%89.1%
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100.0%
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80.0%80.0%
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100.0%
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60.7%60.7%
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94.8%94.8%
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92.1%92.1%
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88.1%88.1%
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Directory Sort by nameLine Coverage Sort by line coverageFunctions Sort by function coverage
mrs_lib/include/mrs_lib/safety_zone +
0.0%
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mrs_lib/src/scope_timer +
14.1%14.1%
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14.1%14.1%
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14.6%14.6%
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mrs_uav_state_estimators/src/estimators/heading +
18.7%18.7%
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mrs_uav_managers/src/control_manager/common +
37.3%37.3%
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mrs_lib/src/profiler +
37.6%37.6%
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mrs_lib/src/safety_zone/polygon +
40.8%40.8%
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mrs_uav_trajectory_generation/src/eth_trajectory_generation +
42.0%42.0%
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mrs_uav_trajectory_generation/src +
43.4%43.4%
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mrs_uav_trackers/src/joy_tracker +
44.4%44.4%
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mrs_uav_trajectory_generation/include/eth_trajectory_generation/impl +
46.6%46.6%
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mrs_uav_managers/include/transform_manager +
47.1%47.1%
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47.1%47.1%
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mrs_uav_managers/src/control_manager +
51.4%51.4%
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mrs_lib/src/transform_broadcaster +
53.3%53.3%
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mrs_uav_managers/include/mrs_uav_managers/control_manager +
55.2%55.2%
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mrs_uav_managers/src +
55.4%55.4%
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mrs_uav_state_estimators/src/estimators/altitude +
56.3%56.3%
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58.3%58.3%
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mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading +
58.3%58.3%
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mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators +
58.5%58.5%
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mrs_uav_managers/src/estimation_manager/estimators +
60.7%60.7%
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mrs_lib/src/safety_zone +
63.3%63.3%
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mrs_uav_managers/src/estimation_manager +
63.9%63.9%
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mrs_uav_trackers/src/mpc_tracker +
64.1%64.1%
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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_trackers/src/line_tracker +
68.1%68.1%
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mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors +
70.1%70.1%
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mrs_uav_state_estimators/src/estimators/state +
70.3%70.3%
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mrs_lib/include/mrs_lib/geometry +
71.0%71.0%
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mrs_uav_trackers/src/landoff_tracker +
71.6%71.6%
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mrs_uav_state_estimators/src/estimators/agl +
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mrs_uav_trackers/src/midair_activation_tracker +
72.8%72.8%
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mrs_uav_managers/src/transform_manager +
76.1%76.1%
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76.5%76.5%
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79.0%79.0%
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79.7%79.7%
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mrs_lib/src/param_loader +
80.0%80.0%
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80.0%80.0%
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mrs_uav_managers/include/mrs_uav_managers/estimation_manager +
81.7%81.7%
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mrs_uav_testing/src +
85.9%85.9%
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mrs_uav_autostart/src +
88.1%88.1%
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mrs_lib/src/median_filter +
89.1%89.1%
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mrs_uav_trajectory_generation/src/eth_trajectory_generation/rpoly +
89.5%89.5%
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92.1%92.1%
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94.6%94.6%
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94.8%94.8%
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mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl +
100.0%
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mrs_uav_managers/include/control_manager +
100.0%
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mrs_lib/src/utils +
100.0%
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mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral +
100.0%
+ 		100.0 %9 / 983.3 %5 / 6
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/state +
100.0%
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mrs_uav_managers/include/mrs_uav_managers +
100.0%
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mrs_lib/src/math +
100.0%
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mrs_uav_trajectory_generation/include/eth_mav_msgs +
100.0%
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+
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Generated by: LCOV version 1.14
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Date:2023-12-14 21:42:20Functions:2442414658.9 %
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Directory Sort by nameLine Coverage Sort by line coverageFunctions Sort by function coverage
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76.5%76.5%
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mrs_lib/include/mrs_lib/geometry +
71.0%71.0%
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mrs_lib/include/mrs_lib/impl +
80.0%80.0%
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mrs_lib/include/mrs_lib/safety_zone +
0.0%
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mrs_lib/src/attitude_converter +
94.6%94.6%
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mrs_lib/src/batch_visualizer +
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 +
80.0%80.0%
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mrs_lib/src/profiler +
37.6%37.6%
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mrs_lib/src/safety_zone +
63.3%63.3%
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mrs_lib/src/safety_zone/polygon +
40.8%40.8%
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mrs_lib/src/scope_timer +
14.1%14.1%
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mrs_lib/src/timeout_manager +
79.0%79.0%
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mrs_lib/src/timer +
92.1%92.1%
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mrs_lib/src/transform_broadcaster +
53.3%53.3%
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mrs_lib/src/transformer +
66.1%66.1%
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mrs_lib/src/utils +
100.0%
+ 		100.0 %7 / 7100.0 %2 / 2
mrs_uav_autostart/src +
88.1%88.1%
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mrs_uav_controllers/include +
94.8%94.8%
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mrs_uav_controllers/src +
79.7%79.7%
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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%
+ 		100.0 %12 / 1260.0 %6 / 10
mrs_uav_managers/include/mrs_uav_managers/control_manager +
55.2%55.2%
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mrs_uav_managers/include/mrs_uav_managers/estimation_manager +
81.7%81.7%
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mrs_uav_managers/include/transform_manager +
47.1%47.1%
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mrs_uav_managers/src +
55.4%55.4%
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mrs_uav_managers/src/control_manager +
51.4%51.4%
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mrs_uav_managers/src/control_manager/common +
37.3%37.3%
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mrs_uav_managers/src/estimation_manager +
63.9%63.9%
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mrs_uav_managers/src/estimation_manager/estimators +
60.7%60.7%
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mrs_uav_managers/src/transform_manager +
76.1%76.1%
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mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators +
58.5%58.5%
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mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl +
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 +
58.3%58.3%
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mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral +
100.0%
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mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state +
100.0%
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mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors +
70.1%70.1%
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mrs_uav_state_estimators/src/estimators/agl +
72.1%72.1%
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mrs_uav_state_estimators/src/estimators/altitude +
56.3%56.3%
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mrs_uav_state_estimators/src/estimators/heading +
18.7%18.7%
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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 +
70.3%70.3%
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mrs_uav_testing/src +
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mrs_uav_trackers/src/joy_tracker +
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mrs_uav_trackers/src/landoff_tracker +
71.6%71.6%
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mrs_uav_trackers/src/line_tracker +
68.1%68.1%
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mrs_uav_trackers/src/midair_activation_tracker +
72.8%72.8%
+ 		72.8 %67 / 9250.0 %9 / 18
mrs_uav_trackers/src/mpc_tracker +
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mrs_uav_trackers/src/speed_tracker +
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mrs_uav_trajectory_generation/include/eth_mav_msgs +
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mrs_uav_trajectory_generation/include/eth_trajectory_generation/impl +
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mrs_uav_trajectory_generation/src +
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/include/mrs_lib/attitude_converter.h.func-sort-c.html b/mrs_lib/include/mrs_lib/attitude_converter.h.func-sort-c.html new file mode 100644 index 0000000000..b1caa7deda --- /dev/null +++ b/mrs_lib/include/mrs_lib/attitude_converter.h.func-sort-c.html @@ -0,0 +1,128 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/attitude_converter.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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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:2023-12-14 21:42:20Functions:91275.0 %
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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_Li0EEEIdEEv33383
mrs_lib::Vector3Converter::Vector3Converter(tf2::Vector3 const&)95325
mrs_lib::AttitudeConverter::AttitudeConverter<double>(Eigen::AngleAxis<double>)257060
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/include/mrs_lib/attitude_converter.h.func.html b/mrs_lib/include/mrs_lib/attitude_converter.h.func.html new file mode 100644 index 0000000000..171854e1ce --- /dev/null +++ b/mrs_lib/include/mrs_lib/attitude_converter.h.func.html @@ -0,0 +1,128 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/attitude_converter.h - functions + + + + + + + + + + + + + + +
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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:2023-12-14 21:42:20Functions:91275.0 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::Vector3Converter::Vector3Converter(tf2::Vector3 const&)95325
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>)257060
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_Li0EEEIdEEv33383
_ZNK7mrs_lib17AttitudeConvertercvN5Eigen9AngleAxisIT_EEIdEEv1
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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:2023-12-14 21:42:20Functions:91275.0 %
Legend: Lines: + hit + not hit +
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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       95325 :   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     5265125 :   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      257060 :   AttitudeConverter(const Eigen::AngleAxis<T> angle_axis) {
+     254      256313 :     double       angle = angle_axis.angle();
+     255      256282 :     tf2::Vector3 axis(angle_axis.axis()[0], angle_axis.axis()[1], angle_axis.axis()[2]);
+     256             : 
+     257      256705 :     tf2_quaternion_.setRotation(axis, angle);
+     258      256542 :   }
+     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       33383 :   operator Eigen::Quaternion<T>() const {
+     334             : 
+     335       33383 :     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
+
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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
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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:2023-12-14 21:42:20Functions: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&)45
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::print_changed_params(mrs_uav_state_estimators::LateralEstimatorConfig const&)45
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::dynamic_reconfigure_callback(mrs_uav_state_estimators::LateralEstimatorConfig&, unsigned int)45
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&)45
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::load_defaults(mrs_uav_state_estimators::AltitudeEstimatorConfig&)86
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::print_changed_params(mrs_uav_state_estimators::AltitudeEstimatorConfig const&)86
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::dynamic_reconfigure_callback(mrs_uav_state_estimators::AltitudeEstimatorConfig&, unsigned int)86
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&)86
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::update_config(mrs_uav_state_estimators::LateralEstimatorConfig const&)90
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&)135
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&)135
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::try_cast<double>(boost::any&, double*&)135
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::try_cast<int>(boost::any&, int*&)135
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::update_config(mrs_uav_state_estimators::AltitudeEstimatorConfig const&)172
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&)178
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&)178
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::load_defaults(mrs_uav_state_estimators::CorrectionConfig&)178
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::print_changed_params(mrs_uav_state_estimators::CorrectionConfig const&)178
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::dynamic_reconfigure_callback(mrs_uav_state_estimators::CorrectionConfig&, unsigned int)178
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::try_cast<double>(boost::any&, double*&)178
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::try_cast<int>(boost::any&, int*&)178
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::DynamicReconfigureMgr(ros::NodeHandle const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)178
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&)178
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&)258
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&)258
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::try_cast<double>(boost::any&, double*&)258
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::try_cast<int>(boost::any&, int*&)258
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::update_config(mrs_uav_state_estimators::CorrectionConfig const&)356
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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..94bac84616 --- /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:2023-12-14 21:42:20Functions:288532.9 %
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Function Name Sort by function nameHit count Sort by hit count
void mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::load_param<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, boost::shared_ptr<mrs_uav_state_estimators::CorrectionConfig::AbstractParamDescription const>&, mrs_uav_state_estimators::CorrectionConfig&)0
void mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::load_param<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, boost::shared_ptr<mrs_uav_state_estimators::CorrectionConfig::AbstractParamDescription const>&, mrs_uav_state_estimators::CorrectionConfig&)0
void mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::load_param<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, boost::shared_ptr<mrs_uav_state_estimators::CorrectionConfig::AbstractParamDescription const>&, mrs_uav_state_estimators::CorrectionConfig&)178
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&)178
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&)178
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::update_config(mrs_uav_state_estimators::CorrectionConfig const&)356
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::print_changed_params(mrs_uav_state_estimators::CorrectionConfig const&)178
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::dynamic_reconfigure_callback(mrs_uav_state_estimators::CorrectionConfig&, unsigned int)178
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*&)178
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::try_cast<int>(boost::any&, int*&)178
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::DynamicReconfigureMgr(ros::NodeHandle const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)178
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&)178
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&)135
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&)135
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&)45
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::update_config(mrs_uav_state_estimators::LateralEstimatorConfig const&)90
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::print_changed_params(mrs_uav_state_estimators::LateralEstimatorConfig const&)45
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::dynamic_reconfigure_callback(mrs_uav_state_estimators::LateralEstimatorConfig&, unsigned int)45
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*&)135
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::try_cast<int>(boost::any&, int*&)135
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&)45
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&)258
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&)258
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&)86
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::update_config(mrs_uav_state_estimators::AltitudeEstimatorConfig const&)172
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::print_changed_params(mrs_uav_state_estimators::AltitudeEstimatorConfig const&)86
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::dynamic_reconfigure_callback(mrs_uav_state_estimators::AltitudeEstimatorConfig&, unsigned int)86
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*&)258
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::try_cast<int>(boost::any&, int*&)258
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&)86
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LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib - dynamic_reconfigure_mgr.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:578765.5 %
Date:2023-12-14 21:42:20Functions:288532.9 %
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+
          Line data    Source code
+
+       1             : // clang: MatousFormat
+       2             : /**  \file
+       3             :      \brief Defines DynamicReconfigureMgr - a convenience class for managing dynamic ROS parameters through dynamic reconfigure.
+       4             :      \author Matouš Vrba - vrbamato@fel.cvut.cz
+       5             :  */
+       6             : #ifndef DYNAMIC_RECONFIGURE_MGR_H
+       7             : #define DYNAMIC_RECONFIGURE_MGR_H
+       8             : 
+       9             : #include <ros/ros.h>
+      10             : #include <dynamic_reconfigure/server.h>
+      11             : #include <string>
+      12             : #include <map>
+      13             : #include <unordered_set>
+      14             : #include <mutex>
+      15             : #include <iostream>
+      16             : #include <boost/any.hpp>
+      17             : #include <Eigen/Dense>
+      18             : #include <mrs_lib/param_loader.h>
+      19             : 
+      20             : 
+      21             : namespace mrs_lib
+      22             : {
+      23             : 
+      24             : /** DynamicReconfigureMgr CLASS //{ **/
+      25             : // This class handles dynamic reconfiguration of parameters using dynamic_reconfigure server.
+      26             : // Initialize this manager simply by instantiating an object of this templated class
+      27             : // with the template parameter corresponding to the type of your config message, e.g. as
+      28             : // DynamicReconfigureMgr<MyConfig> drmgr;
+      29             : // This will automatically initialize the dynamic_reconfigure server and a callback method
+      30             : // to asynchronously update the values in the config.
+      31             : // Optionally, you can specify the ros NodeHandle to initialize the dynamic_reconfigure server
+      32             : // and a flag 'print_values' to indicate whether to print new received values (only changed ones,
+      33             : // default is true).
+      34             : // The latest configuration is available through the public member 'config'. This should be
+      35             : // changed externally with care since any change risks being overwritten in the next call to
+      36             : // the 'dynamic_reconfigure_callback' method.
+      37             : // Note that in case of a multithreaded ROS node, external mutexes _might_ be necessary
+      38             : // to make access to the 'config' member thread-safe.
+      39             : template <typename ConfigType>
+      40             : class DynamicReconfigureMgr
+      41             : {
+      42             :   private:
+      43             :     using callback_t = typename dynamic_reconfigure::Server<ConfigType>::CallbackType;
+      44             : public:
+      45             :   // this variable holds the latest received configuration
+      46             :   ConfigType config;
+      47             :   // initialize some stuff in the constructor
+      48         309 :   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         309 :         m_server(m_server_mtx, nh),
+      54             :         m_usr_cbf(user_callback),
+      55         309 :         m_pl(nh, print_values, node_name)
+      56             :   {
+      57             :     // initialize the dynamic reconfigure callback
+      58         309 :     m_server.setCallback(boost::bind(&DynamicReconfigureMgr<ConfigType>::dynamic_reconfigure_callback, this, _1, _2));
+      59         309 :   };
+      60             : 
+      61             :   /* Constructor overloads //{ */
+      62             :   // Convenience constructor to enable writing DynamicReconfigureMgr<MyConfig> drmgr(nh, node_name)
+      63         178 :   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         618 :   void update_config(const ConfigType& cfg)
+      72             :   {
+      73         618 :     m_server.updateConfig(cfg);
+      74         618 :   }
+      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         309 :   void dynamic_reconfigure_callback(ConfigType& new_config, uint32_t level)
+     107             :   {
+     108         309 :     if (m_print_values)
+     109             :     {
+     110         309 :       if (m_node_name.empty())
+     111           0 :         ROS_INFO("Dynamic reconfigure request received");
+     112             :       else
+     113         309 :         ROS_INFO("[%s]: Dynamic reconfigure request received", m_node_name.c_str());
+     114             :     }
+     115             : 
+     116         309 :     if (m_not_initialized)
+     117             :     {
+     118         309 :       load_defaults(new_config);
+     119         309 :       update_config(new_config);
+     120             :     }
+     121         309 :     if (m_print_values)
+     122             :     {
+     123         309 :       print_changed_params(new_config);
+     124             :     }
+     125         309 :     m_not_initialized = false;
+     126         309 :     config = new_config;
+     127         309 :     if (m_usr_cbf)
+     128         131 :       m_usr_cbf(new_config, level);
+     129         309 :   }
+     130             : 
+     131             :   template <typename T>
+     132         571 :   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        1142 :     boost::shared_ptr<const param_descr_t> cast_descr = boost::dynamic_pointer_cast<const param_descr_t>(descr);
+     136         571 :     m_pl.loadParam(name, config.*(cast_descr->field));
+     137         571 :   }
+     138             :   
+     139         309 :   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         618 :     std::vector<typename ConfigType::AbstractParamDescriptionConstPtr> descrs = new_config.__getParamDescriptions__();
+     143         880 :     for (auto& descr : descrs)
+     144             :     {
+     145        1142 :       std::string name = descr->name;
+     146         571 :       size_t pos = name.find("__");
+     147         571 :       while (pos != name.npos)
+     148             :       {
+     149           0 :         name.replace(pos, 2, "/");
+     150           0 :         pos = name.find("__");
+     151             :       }
+     152             : 
+     153         571 :       if (descr->type == "bool")
+     154           0 :         load_param<bool>(name, descr, new_config);
+     155         571 :       else if (descr->type == "int")
+     156           0 :         load_param<int>(name, descr, new_config);
+     157         571 :       else if (descr->type == "double")
+     158         571 :         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         309 :   }
+     168             : 
+     169             :   // method for printing names and values of new received parameters (prints only the changed ones) //{
+     170         309 :   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         618 :     std::vector<typename ConfigType::AbstractParamDescriptionConstPtr> descrs = new_config.__getParamDescriptions__();
+     174         880 :     for (auto& descr : descrs)
+     175             :     {
+     176           0 :       boost::any val, old_val;
+     177         571 :       descr->getValue(new_config, val);
+     178         571 :       descr->getValue(config, old_val);
+     179         571 :       std::string name = descr->name;
+     180         571 :       const size_t pos = name.find("__");
+     181         571 :       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         571 :       if (try_cast(val, intval))
+     199             :       {
+     200           0 :         if (m_not_initialized || !try_compare(old_val, intval))
+     201           0 :           print_value(name, *intval);
+     202         571 :       } else if (try_cast(val, doubleval))
+     203             :       {
+     204         571 :         if (m_not_initialized || !try_compare(old_val, doubleval))
+     205         571 :           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         309 :   }
+     220             :   //}
+     221             :   
+     222             :   // helper method for parameter printing
+     223             :   template <typename T>
+     224         571 :   inline void print_value(const std::string& name, const T& val)
+     225             :   {
+     226         571 :     if (m_node_name.empty())
+     227           0 :       std::cout << "\t" << name << ":\t" << val << std::endl;
+     228             :     else
+     229         571 :       ROS_INFO_STREAM("[" << m_node_name << "]: parameter '" << name << "':\t" << val);
+     230         571 :   }
+     231             :   // helper methods for automatic parameter value parsing
+     232             :   template <typename T>
+     233        1142 :   inline bool try_cast(boost::any& val, T*& out)
+     234             :   {
+     235        1142 :     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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Test:MRS UAV System - Test coverage reportLines:608769.0 %
Date:2023-12-14 21:42:20Functions:4511738.5 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::interpUnwrapped(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::interpUnwrapped(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::pinterpUnwrapped(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::pinterpUnwrapped(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::dist(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::dist(double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::pdist(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::pdist(double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::interp(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::interp(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::inRange(double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::pinterp(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::pinterp(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::cyclic(mrs_lib::geometry::degrees const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::cyclic(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::cyclic()0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::operator=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>&&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::operator=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::operator=(double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::operator-=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::operator+=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::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)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::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>::dist(double, double)10002
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::value() const10002
mrs_lib::geometry::operator+(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&)10004
mrs_lib::geometry::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::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::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)37280
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::interpUnwrapped(double, double, double)37280
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::interp(double, double, double)37280
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::sradians>::cyclic(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&)94584
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>)186058
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::diff(double, double)214777
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::cyclic(mrs_lib::geometry::radians const&)352095
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::cyclic(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&)392137
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>)410841
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::cyclic(double)851680
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::wrap(double)873756
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::unwrap(double, double)1191680
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::diff(double, double)1203236
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>)1250521
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::cyclic(double)2601039
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::wrap(double)2711922
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/include/mrs_lib/geometry/cyclic.h.func.html b/mrs_lib/include/mrs_lib/geometry/cyclic.h.func.html new file mode 100644 index 0000000000..dc94c90109 --- /dev/null +++ b/mrs_lib/include/mrs_lib/geometry/cyclic.h.func.html @@ -0,0 +1,548 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/geometry/cyclic.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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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:2023-12-14 21:42:20Functions:4511738.5 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::interpUnwrapped(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::interpUnwrapped(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::pinterpUnwrapped(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::pinterpUnwrapped(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::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)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>::diff(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>)410841
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::diff(double, double)214777
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>)186058
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::dist(double, double)10002
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::wrap(double)873756
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&)352095
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::cyclic(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&)392137
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::cyclic(double)851680
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)37280
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::interpUnwrapped(double, double, double)37280
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>)1250521
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::diff(double, double)1203236
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)2711922
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)37280
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::unwrap(double, double)1191680
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&)94584
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::cyclic(double)2601039
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::cyclic()0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::operator=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>&&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::operator=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::operator=(double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::operator-=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::operator+=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&)0
bool mrs_lib::geometry::operator><double, mrs_lib::geometry::radians>(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&)2
bool mrs_lib::geometry::operator><double, mrs_lib::geometry::sradians>(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&)2
bool mrs_lib::geometry::operator< <double, mrs_lib::geometry::radians>(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&)2
bool mrs_lib::geometry::operator< <double, mrs_lib::geometry::sradians>(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&)2
mrs_lib::geometry::operator-(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&)10009
mrs_lib::geometry::operator+(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&)10004
mrs_lib::geometry::operator+(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&)40000
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::value() const4
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::value() const10002
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::value() const0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::value() const40002
mrs_lib::geometry::radians mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::convert<mrs_lib::geometry::radians>() const1
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Generated by: LCOV version 1.14
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LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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:2023-12-14 21:42:20Functions:4511738.5 %
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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     3492732 :       cyclic(const flt val) : val(wrap(val)){};
+      62             :       /*!
+      63             :        * \brief Copy constructor.
+      64             :        *
+      65             :        * \param val initialization value.
+      66             :        */
+      67      486723 :       cyclic(const cyclic& other) : val(other.val){};
+      68             :       /*!
+      69             :        * \brief Copy constructor.
+      70             :        *
+      71             :        * \param val initialization value.
+      72             :        */
+      73      352095 :       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     3645683 :       static flt wrap(const flt val)
+     115             :       {
+     116             :         // these few ifs should cover most cases, improving speed and precision
+     117     3645683 :         if (val >= minimum)
+     118             :         {
+     119     3288459 :           if (val < supremum)  // value is actually in range and doesn't need to be wrapped
+     120     3113802 :             return val;
+     121      174650 :           else if (val < supremum + range)
+     122       11179 :             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      357226 :           if (val >= minimum - range)
+     126      194330 :             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      326374 :         const flt rem = std::fmod(val - minimum, range);
+     131      326374 :         const flt wrapped = rem + minimum + std::signbit(rem) * range;
+     132      326373 :         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     1221683 :       static flt unwrap(const flt what, const flt from)
+     158             :       {
+     159     1221683 :         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     1438013 :       static flt diff(const flt minuend, const flt subtrahend)
+     194             :       {
+     195     1438013 :         return diff(cyclic(minuend), cyclic(subtrahend));
+     196             :       }
+     197             : 
+     198     1681366 :       static flt diff(const cyclic minuend, const cyclic subtrahend)
+     199             :       {
+     200     1681366 :         const flt d = minuend.val - subtrahend.val;
+     201     1681366 :         if (d < -half_range)
+     202       19692 :           return d + range;
+     203     1661674 :         if (d >= half_range)
+     204       19680 :           return d - range;
+     205     1641990 :         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       20002 :       static flt dist(const flt from, const flt to)
+     220             :       {
+     221       20002 :         return dist(cyclic(from), cyclic(to));
+     222             :       }
+     223             : 
+     224      196068 :       static flt dist(const cyclic from, const cyclic to)
+     225             :       {
+     226      196068 :         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       37280 :       static flt interpUnwrapped(const flt from, const flt to, const flt coeff)
+     243             :       {
+     244       37280 :         return interpUnwrapped(cyclic(from), cyclic(to), coeff);
+     245             :       }
+     246             : 
+     247       37280 :       static flt interpUnwrapped(const cyclic from, const cyclic to, const flt coeff)
+     248             :       {
+     249       37280 :         const flt dang = diff(to, from);
+     250       37280 :         const flt intp = from.val + coeff * dang;
+     251       37280 :         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       37280 :       static flt interp(const flt from, const flt to, const flt coeff)
+     265             :       {
+     266       37280 :         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&)42173
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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&)42173
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       42179 :     double headingFromRot(const T& rot)
+      58             :     {
+      59       42179 :       const vec3_t rot_vec = rot*vec3_t::UnitX();
+      60       84358 :       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&)669
mrs_lib::UTM(double, double, double*, double*)2287
mrs_lib::UTMLetterDesignator(double)77798
mrs_lib::LLtoUTM(double, double, double&, double&, char*)77885
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mrs_lib::UTMLetterDesignator(double)77798
mrs_lib::UTM(double, double, double*, double*)2287
mrs_lib::LLtoUTM(double, double, double&, double&, char*)77885
mrs_lib::UTMtoLL(double, double, char const*, double&, double&)669
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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        2287 :   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        2287 :     int cm = ((lon >= 0.0) ? ((int)lon - ((int)lon) % 6 + 3) : ((int)lon - ((int)lon) % 6 - 3));
+      63             : 
+      64             :     // convert degrees into radians
+      65        2287 :     double rlat  = lat * RADIANS_PER_DEGREE;
+      66        2287 :     double rlon  = lon * RADIANS_PER_DEGREE;
+      67        2287 :     double rlon0 = cm * RADIANS_PER_DEGREE;
+      68             : 
+      69             :     // compute trigonometric functions
+      70        2287 :     double slat = sin(rlat);
+      71        2287 :     double clat = cos(rlat);
+      72        2287 :     double tlat = tan(rlat);
+      73             : 
+      74             :     // decide the false northing at origin
+      75        2287 :     double fn = (lat > 0) ? UTM_FN_N : UTM_FN_S;
+      76             : 
+      77        2287 :     double T = tlat * tlat;
+      78        2287 :     double C = UTM_EP2 * clat * clat;
+      79        2287 :     double A = (rlon - rlon0) * clat;
+      80        2287 :     double M = WGS84_A * (m0 * rlat + m1 * sin(2 * rlat) + m2 * sin(4 * rlat) + m3 * sin(6 * rlat));
+      81        2287 :     double V = WGS84_A / sqrt(1 - UTM_E2 * slat * slat);
+      82             : 
+      83             :     // compute the easting-northing coordinates
+      84        2287 :     *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        2287 :     *y = fn +
+      86        2287 :          UTM_K0 *
+      87        2287 :              (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        2287 :     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       77798 :   static inline char UTMLetterDesignator(double Lat) {
+     102             :     char LetterDesignator;
+     103             : 
+     104       77798 :     if ((84 >= Lat) && (Lat >= 72))
+     105           0 :       LetterDesignator = 'X';
+     106       77798 :     else if ((72 > Lat) && (Lat >= 64))
+     107           0 :       LetterDesignator = 'W';
+     108       77798 :     else if ((64 > Lat) && (Lat >= 56))
+     109           0 :       LetterDesignator = 'V';
+     110       77798 :     else if ((56 > Lat) && (Lat >= 48))
+     111           0 :       LetterDesignator = 'U';
+     112       77798 :     else if ((48 > Lat) && (Lat >= 40))
+     113       77450 :       LetterDesignator = 'T';
+     114         348 :     else if ((40 > Lat) && (Lat >= 32))
+     115           0 :       LetterDesignator = 'S';
+     116         348 :     else if ((32 > Lat) && (Lat >= 24))
+     117           0 :       LetterDesignator = 'R';
+     118         348 :     else if ((24 > Lat) && (Lat >= 16))
+     119           0 :       LetterDesignator = 'Q';
+     120         348 :     else if ((16 > Lat) && (Lat >= 8))
+     121           0 :       LetterDesignator = 'P';
+     122         348 :     else if ((8 > Lat) && (Lat >= 0))
+     123           2 :       LetterDesignator = 'N';
+     124         346 :     else if ((0 > Lat) && (Lat >= -8))
+     125           0 :       LetterDesignator = 'M';
+     126         346 :     else if ((-8 > Lat) && (Lat >= -16))
+     127           0 :       LetterDesignator = 'L';
+     128         346 :     else if ((-16 > Lat) && (Lat >= -24))
+     129           0 :       LetterDesignator = 'K';
+     130         346 :     else if ((-24 > Lat) && (Lat >= -32))
+     131           0 :       LetterDesignator = 'J';
+     132         346 :     else if ((-32 > Lat) && (Lat >= -40))
+     133           0 :       LetterDesignator = 'H';
+     134         346 :     else if ((-40 > Lat) && (Lat >= -48))
+     135           0 :       LetterDesignator = 'G';
+     136         346 :     else if ((-48 > Lat) && (Lat >= -56))
+     137           0 :       LetterDesignator = 'F';
+     138         346 :     else if ((-56 > Lat) && (Lat >= -64))
+     139           0 :       LetterDesignator = 'E';
+     140         346 :     else if ((-64 > Lat) && (Lat >= -72))
+     141           0 :       LetterDesignator = 'D';
+     142         346 :     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         346 :       LetterDesignator = 'Z';
+     147       77798 :     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       77885 :   static inline void LLtoUTM(const double Lat, const double Long, double& UTMNorthing, double& UTMEasting, char* UTMZone) {
+     160       77885 :     double a          = WGS84_A;
+     161       77885 :     double eccSquared = UTM_E2;
+     162       77885 :     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       77885 :     double LongTemp = (Long + 180) - int((Long + 180) / 360) * 360 - 180;
+     170             : 
+     171       77885 :     double LatRad  = Lat * RADIANS_PER_DEGREE;
+     172       77885 :     double LongRad = LongTemp * RADIANS_PER_DEGREE;
+     173             :     double LongOriginRad;
+     174             :     int    ZoneNumber;
+     175             : 
+     176       77885 :     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       77885 :     if (ZoneNumber > 99)
+     180           0 :       ZoneNumber = 99;
+     181       77885 :     if (ZoneNumber < -9)
+     182           0 :       ZoneNumber = -9;
+     183             : 
+     184       77885 :     if (Lat >= 56.0 && Lat < 64.0 && LongTemp >= 3.0 && LongTemp < 12.0)
+     185           0 :       ZoneNumber = 32;
+     186             : 
+     187             :     // Special zones for Svalbard
+     188       77885 :     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       77885 :     LongOrigin    = (ZoneNumber - 1) * 6 - 180 + 3;
+     200       77885 :     LongOriginRad = LongOrigin * RADIANS_PER_DEGREE;
+     201             : 
+     202             :     // compute the UTM Zone from the latitude and longitude
+     203       77885 :     snprintf(UTMZone, 4, "%d%c", ZoneNumber, UTMLetterDesignator(Lat));
+     204             : 
+     205       77635 :     eccPrimeSquared = (eccSquared) / (1 - eccSquared);
+     206             : 
+     207       77635 :     N = a / sqrt(1 - eccSquared * sin(LatRad) * sin(LatRad));
+     208       77635 :     T = tan(LatRad) * tan(LatRad);
+     209       77635 :     C = eccPrimeSquared * cos(LatRad) * cos(LatRad);
+     210       77635 :     A = cos(LatRad) * (LongRad - LongOriginRad);
+     211             : 
+     212       77635 :     M = a * ((1 - eccSquared / 4 - 3 * eccSquared * eccSquared / 64 - 5 * eccSquared * eccSquared * eccSquared / 256) * LatRad -
+     213       77635 :              (3 * eccSquared / 8 + 3 * eccSquared * eccSquared / 32 + 45 * eccSquared * eccSquared * eccSquared / 1024) * sin(2 * LatRad) +
+     214       77635 :              (15 * eccSquared * eccSquared / 256 + 45 * eccSquared * eccSquared * eccSquared / 1024) * sin(4 * LatRad) -
+     215       77635 :              (35 * eccSquared * eccSquared * eccSquared / 3072) * sin(6 * LatRad));
+     216             : 
+     217       77635 :     UTMEasting =
+     218       77635 :         (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       77635 :     UTMNorthing = (double)(k0 * (M + N * tan(LatRad) *
+     221       77635 :                                          (A * A / 2 + (5 - T + 9 * C + 4 * C * C) * A * A * A * A / 24 +
+     222       77635 :                                           (61 - 58 * T + T * T + 600 * C - 330 * eccPrimeSquared) * A * A * A * A * A * A / 720)));
+     223       77635 :     if (Lat < 0)
+     224           0 :       UTMNorthing += 10000000.0;  // 10000000 meter offset for southern hemisphere
+     225       77635 :   }
+     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         669 :   static inline void UTMtoLL(const double UTMNorthing, const double UTMEasting, const char* UTMZone, double& Lat, double& Long) {
+     246         669 :     double                  k0         = UTM_K0;
+     247         669 :     double                  a          = WGS84_A;
+     248         669 :     double                  eccSquared = UTM_E2;
+     249             :     double                  eccPrimeSquared;
+     250         669 :     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         669 :     x = UTMEasting - 500000.0;  // remove 500,000 meter offset for longitude
+     261         669 :     y = UTMNorthing;
+     262             : 
+     263         669 :     ZoneNumber = strtoul(UTMZone, &ZoneLetter, 10);
+     264         669 :     if ((*ZoneLetter - 'N') >= 0)
+     265         669 :       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         669 :     LongOrigin = (ZoneNumber - 1) * 6 - 180 + 3;  //+3 puts origin in middle of zone
+     272             : 
+     273         669 :     eccPrimeSquared = (eccSquared) / (1 - eccSquared);
+     274             : 
+     275         669 :     M  = y / k0;
+     276         669 :     mu = M / (a * (1 - eccSquared / 4 - 3 * eccSquared * eccSquared / 64 - 5 * eccSquared * eccSquared * eccSquared / 256));
+     277             : 
+     278         669 :     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         669 :               (151 * e1 * e1 * e1 / 96) * sin(6 * mu);
+     280         669 :     phi1 = phi1Rad * DEGREES_PER_RADIAN;
+     281             : 
+     282         669 :     N1 = a / sqrt(1 - eccSquared * sin(phi1Rad) * sin(phi1Rad));
+     283         669 :     T1 = tan(phi1Rad) * tan(phi1Rad);
+     284         669 :     C1 = eccPrimeSquared * cos(phi1Rad) * cos(phi1Rad);
+     285         669 :     R1 = a * (1 - eccSquared) / pow(1 - eccSquared * sin(phi1Rad) * sin(phi1Rad), 1.5);
+     286         669 :     D  = x / (N1 * k0);
+     287             : 
+     288         669 :     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         669 :                                                 (61 + 90 * T1 + 298 * C1 + 45 * T1 * T1 - 252 * eccPrimeSquared - 3 * C1 * C1) * D * D * D * D * D * D / 720);
+     290         669 :     Lat = Lat * DEGREES_PER_RADIAN;
+     291             : 
+     292         669 :     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         669 :            cos(phi1Rad);
+     294         669 :     Long = LongOrigin + Long * DEGREES_PER_RADIAN;
+     295         669 :   }
+     296             : 
+     297             :   static inline void UTMtoLL(const double UTMNorthing, const double UTMEasting, std::string UTMZone, double& Lat, double& Long) {
+     298             :     UTMtoLL(UTMNorthing, UTMEasting, UTMZone.c_str(), Lat, Long);
+     299             :   }
+     300             : 
+     301             : }  // namespace mrs_lib
+     302             : 
+     303             : #endif  // _UTM_H
+
+
+
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Date:2023-12-14 21:42:20Functions:724130255.6 %
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81.7%81.7%
+ 		81.7 %98 / 12043.9 %433 / 986
<unnamed>81.7 %98 / 12043.9 %433 / 986
ukf.hpp +
74.0%74.0%
+ 		74.0 %77 / 10466.7 %8 / 12
<unnamed>74.0 %77 / 10466.7 %8 / 12
transformer.hpp +
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+ 		85.9 %55 / 6481.2 %39 / 48
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param_provider.hpp +
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+ 		64.3 %9 / 1487.5 %14 / 16
<unnamed>64.3 %9 / 1487.5 %14 / 16
service_client_handler.hpp +
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publisher_handler.hpp +
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timer.hpp +
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<unnamed>87.5 %14 / 16100.0 %3 / 3
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Date:2023-12-14 21:42:20Functions:724130255.6 %
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publisher_handler.hpp +
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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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subscribe_handler.hpp +
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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 / 6481.2 %39 / 48
param_provider.hpp +
64.3%64.3%
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service_client_handler.hpp +
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publisher_handler.hpp +
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timer.hpp +
87.5%87.5%
+ 		87.5 %14 / 16100.0 %3 / 3
+
+
+ + + + +
Generated by: LCOV version 1.14
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Test:MRS UAV System - Test coverage reportLines:34142680.0 %
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param_provider.hpp +
64.3%64.3%
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publisher_handler.hpp +
69.2%69.2%
+ 		69.2 %36 / 5295.9 %186 / 194
ukf.hpp +
74.0%74.0%
+ 		74.0 %77 / 10466.7 %8 / 12
subscribe_handler.hpp +
81.7%81.7%
+ 		81.7 %98 / 12043.9 %433 / 986
transformer.hpp +
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+ 		85.9 %55 / 6481.2 %39 / 48
timer.hpp +
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service_client_handler.hpp +
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+ 		92.9 %52 / 5695.3 %41 / 43
+
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+ + + + +
Generated by: LCOV version 1.14
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Current view:top level - mrs_lib/include/mrs_lib/implHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:34142680.0 %
Date:2023-12-14 21:42:20Functions:724130255.6 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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param_provider.hpp +
64.3%64.3%
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publisher_handler.hpp +
69.2%69.2%
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service_client_handler.hpp +
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subscribe_handler.hpp +
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timer.hpp +
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transformer.hpp +
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+ 		85.9 %55 / 6481.2 %39 / 48
ukf.hpp +
74.0%74.0%
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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:2023-12-14 21:42:20Functions:141687.5 %
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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> >&) const863
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> >&) const863
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> > > >&) const1666
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> > > >&) const1666
bool mrs_lib::ParamProvider::getParamImpl<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int&) const2646
bool mrs_lib::ParamProvider::getParam<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int&) const2646
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> >&) const7910
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> >&) const7910
bool mrs_lib::ParamProvider::getParamImpl<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool&) const9490
bool mrs_lib::ParamProvider::getParam<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool&) const9490
bool mrs_lib::ParamProvider::getParamImpl<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double&) const19379
bool mrs_lib::ParamProvider::getParam<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double&) const19379
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_lib/include/mrs_lib/impl/param_provider.hpp.func.html b/mrs_lib/include/mrs_lib/impl/param_provider.hpp.func.html new file mode 100644 index 0000000000..1f740ea74b --- /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:2023-12-14 21:42:20Functions:141687.5 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
bool mrs_lib::ParamProvider::getParamImpl<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&) const7910
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> > > >&) const1666
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> >&) const863
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&) const9490
bool mrs_lib::ParamProvider::getParamImpl<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double&) const19379
bool mrs_lib::ParamProvider::getParamImpl<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int&) const2646
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> >&) const7910
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> > > >&) const1666
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> >&) const863
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&) const9490
bool mrs_lib::ParamProvider::getParam<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double&) const19379
bool mrs_lib::ParamProvider::getParam<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int&) const2646
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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..2c6589f4e1 --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/param_provider.hpp.gcov.html @@ -0,0 +1,132 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/param_provider.hpp + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/include/mrs_lib/impl - param_provider.hpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:91464.3 %
Date:2023-12-14 21:42:20Functions:141687.5 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #ifndef PARAM_PROVIDER_HPP
+       2             : #define PARAM_PROVIDER_HPP
+       3             : 
+       4             : #include <mrs_lib/param_provider.h>
+       5             : 
+       6             : namespace mrs_lib
+       7             : {
+       8             :   template <typename T>
+       9       41955 :   bool ParamProvider::getParam(const std::string& param_name, T& value_out) const
+      10             :   {
+      11             :     try
+      12             :     {
+      13       41955 :       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       41955 :   bool ParamProvider::getParamImpl(const std::string& param_name, T& value_out) const
+      24             :   {
+      25             :     {
+      26       41955 :       const auto found_node = findYamlNode(param_name);
+      27       41955 :       if (found_node.has_value())
+      28             :       {
+      29             :         try
+      30             :         {
+      31             :           // try catch is the only type-generic option...
+      32       36047 :           value_out = found_node.value().as<T>();
+      33       36747 :           return true;
+      34             :         }
+      35           0 :         catch (const YAML::BadConversion& e)
+      36             :         {}
+      37             :       }
+      38             : 
+      39             :     }
+      40             : 
+      41        5908 :     if (m_use_rosparam)
+      42        5908 :       return m_nh.getParam(param_name, value_out);
+      43             : 
+      44           0 :     return false;
+      45             :   }
+      46             : }
+      47             : 
+      48             : #endif // PARAM_PROVIDER_HPP
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_lib/include/mrs_lib/impl/param_provider.hpp.gcov.overview.html b/mrs_lib/include/mrs_lib/impl/param_provider.hpp.gcov.overview.html new file mode 100644 index 0000000000..69615a5af4 --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/param_provider.hpp.gcov.overview.html @@ -0,0 +1,32 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/param_provider.hpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
+ Top

+ Overview +
+ + diff --git a/mrs_lib/include/mrs_lib/impl/param_provider.hpp.gcov.png b/mrs_lib/include/mrs_lib/impl/param_provider.hpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..ade5b52da3b6b1fdc1937ea78b6f4e330848bd5b GIT binary patch literal 347 zcmeAS@N?(olHy`uVBq!ia0vp^0YGfP!VDx!PCqyTq$C1-LR|m<|Gx?dmcNgUef6J# zVHHpuOr7)IycEdhEbxddW?exI8~cZ8YuYE)5S5wqIYZPZNU}=o)*3ZtZx{i z8u&c^ua)V4vEbQ`uWa8BH!8ks+tGO{D*FweDWeR>Vxdgy18WjYI0V;~sH}Yceuu!e z0;l^`b$NRN&slSXO8W};Xs>xVM=ia4YFWZ0Ew@EJE}d3Ju7autr`5k7@L&&0yLLsS zDBjGHPiM9KksV){!x#LxZ@Z~}-j3&;nl`5^?b8Y_Wi{U3e%V`LO6vLxN&VqovDxc< zWm#+Y&A45X$$2MVXKT~#-D!1_>~XuLzF#sey8p%D#18$4a?^(i^D?KlC?1vmcshZ# noy}F#!c60lb+eQ5{_FfwLML{x?EUc*=xGK|S3j3^P6 + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/publisher_handler.hpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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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:365269.2 %
Date:2023-12-14 21:42:20Functions:18619495.9 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

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&)0
mrs_lib::PublisherHandler_impl<mrs_msgs::Path_<std::allocator<void> > >::publish(mrs_msgs::Path_<std::allocator<void> > const&)1
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<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<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&)11
mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > > const&)11
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&)11
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&)45
mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > > const&)45
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&)45
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&)48
mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > > const&)48
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&)48
mrs_lib::PublisherHandler<mrs_msgs::BumperStatus_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::BumperStatus_<std::allocator<void> > > const&)48
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&)48
mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > > const&)48
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&)48
mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > > const&)48
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&)48
mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)48
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&)48
mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > > const&)48
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&)48
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&)48
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&)48
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&)48
mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > > const&)48
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&)48
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&)48
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&)48
mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > > const&)48
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&)48
mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > > const&)48
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&)48
mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > > const&)48
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&)48
mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > > const&)48
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&)48
mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > > const&)48
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&)48
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&)48
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&)48
mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > > const&)48
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&)48
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&)48
mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > > const&)48
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&)48
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&)48
mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > > const&)48
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&)48
mrs_lib::PublisherHandler<std_msgs::String_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<std_msgs::String_<std::allocator<void> > > const&)48
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&)48
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&)48
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&)48
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&)48
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&)48
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&)48
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&)48
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&)48
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&)48
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&)48
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&)48
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&)48
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&)48
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&)48
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&)48
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&)48
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&)48
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&)48
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&)48
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&)48
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&)48
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&)48
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&)48
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&)48
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&)48
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&)49
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&)49
mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::publish(geometry_msgs::PoseStamped_<std::allocator<void> > const&)80
mrs_lib::PublisherHandler_impl<geometry_msgs::PoseStamped_<std::allocator<void> > >::publish(geometry_msgs::PoseStamped_<std::allocator<void> > const&)80
mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > > const&)96
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > > const&)96
mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > > const&)96
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > > const&)96
mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > > const&)96
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > > const&)96
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > > const&)96
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > > const&)96
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&)96
mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > > const&)96
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&)96
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > > const&)97
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::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&)131
mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > > const&)131
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&)131
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&)144
mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > > const&)144
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&)144
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&)176
mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > > const&)176
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&)176
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&)192
mrs_lib::PublisherHandler<geometry_msgs::PoseArray_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<geometry_msgs::PoseArray_<std::allocator<void> > > const&)192
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&)192
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > > const&)194
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&)212
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&)212
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&)281
mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > > const&)281
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&)281
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&)288
mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > > const&)288
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&)288
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&)356
mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > > const&)356
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&)356
mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)464
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)464
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)505
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)505
mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > const&)620
mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > const&)620
mrs_lib::PublisherHandler_impl<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > const&)620
mrs_lib::PublisherHandler_impl<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > const&)620
mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::publish(mrs_msgs::FutureTrajectory_<std::allocator<void> > const&)796
mrs_lib::PublisherHandler_impl<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::publish(mrs_msgs::FutureTrajectory_<std::allocator<void> > const&)796
mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > const&)819
mrs_lib::PublisherHandler_impl<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > const&)819
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)963
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)963
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)993
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)993
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)1308
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)1308
mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > >::publish(std_msgs::Bool_<std::allocator<void> > const&)1995
mrs_lib::PublisherHandler_impl<std_msgs::Bool_<std::allocator<void> > >::publish(std_msgs::Bool_<std::allocator<void> > const&)1995
mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)3798
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)3798
mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)3817
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)3817
mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > >::publish(mrs_msgs::ControlError_<std::allocator<void> > const&)4049
mrs_lib::PublisherHandler_impl<mrs_msgs::ControlError_<std::allocator<void> > >::publish(mrs_msgs::ControlError_<std::allocator<void> > const&)4049
mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > >::publish(std_msgs::Empty_<std::allocator<void> > const&)4467
mrs_lib::PublisherHandler_impl<std_msgs::Empty_<std::allocator<void> > >::publish(std_msgs::Empty_<std::allocator<void> > const&)4467
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)5050
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)5050
mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::publish(mrs_msgs::DynamicsConstraints_<std::allocator<void> > const&)5066
mrs_lib::PublisherHandler_impl<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::publish(mrs_msgs::DynamicsConstraints_<std::allocator<void> > const&)5066
mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::EstimationDiagnostics_<std::allocator<void> > const&)6385
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::EstimationDiagnostics_<std::allocator<void> > const&)6385
mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > const&)6386
mrs_lib::PublisherHandler_impl<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > const&)6386
mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const&)8816
mrs_lib::PublisherHandler<std_msgs::String_<std::allocator<void> > >::publish(std_msgs::String_<std::allocator<void> > const&)8816
mrs_lib::PublisherHandler_impl<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const&)8816
mrs_lib::PublisherHandler_impl<std_msgs::String_<std::allocator<void> > >::publish(std_msgs::String_<std::allocator<void> > const&)8816
mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > >::publish(visualization_msgs::MarkerArray_<std::allocator<void> > const&)12635
mrs_lib::PublisherHandler_impl<visualization_msgs::MarkerArray_<std::allocator<void> > >::publish(visualization_msgs::MarkerArray_<std::allocator<void> > const&)12635
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)29128
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)29128
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::PublisherHandler(mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > > const&)30336
mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::publish(mrs_msgs::EstimatorInput_<std::allocator<void> > const&)32074
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorInput_<std::allocator<void> > >::publish(mrs_msgs::EstimatorInput_<std::allocator<void> > const&)32074
mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::publish(mrs_msgs::TrackerCommand_<std::allocator<void> > const&)40677
mrs_lib::PublisherHandler_impl<mrs_msgs::TrackerCommand_<std::allocator<void> > >::publish(mrs_msgs::TrackerCommand_<std::allocator<void> > const&)40677
mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ControllerDiagnostics_<std::allocator<void> > const&)50322
mrs_lib::PublisherHandler_impl<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ControllerDiagnostics_<std::allocator<void> > const&)50322
mrs_lib::PublisherHandler<geometry_msgs::PoseArray_<std::allocator<void> > >::publish(geometry_msgs::PoseArray_<std::allocator<void> > const&)59086
mrs_lib::PublisherHandler_impl<geometry_msgs::PoseArray_<std::allocator<void> > >::publish(geometry_msgs::PoseArray_<std::allocator<void> > const&)59086
mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::publish(geometry_msgs::QuaternionStamped_<std::allocator<void> > const&)69813
mrs_lib::PublisherHandler_impl<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::publish(geometry_msgs::QuaternionStamped_<std::allocator<void> > const&)69813
mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > >::publish(std_msgs::Float64_<std::allocator<void> > const&)86908
mrs_lib::PublisherHandler_impl<std_msgs::Float64_<std::allocator<void> > >::publish(std_msgs::Float64_<std::allocator<void> > const&)86908
mrs_lib::PublisherHandler_impl<mrs_msgs::UavState_<std::allocator<void> > >::publish(mrs_msgs::UavState_<std::allocator<void> > const&)139228
mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > >::publish(mrs_msgs::UavState_<std::allocator<void> > const&)139230
mrs_lib::PublisherHandler_impl<mrs_msgs::Float64Stamped_<std::allocator<void> > >::publish(mrs_msgs::Float64Stamped_<std::allocator<void> > const&)146216
mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::publish(mrs_msgs::Float64Stamped_<std::allocator<void> > const&)146222
mrs_lib::PublisherHandler_impl<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::publish(mrs_msgs::Float64ArrayStamped_<std::allocator<void> > const&)158610
mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::publish(mrs_msgs::Float64ArrayStamped_<std::allocator<void> > const&)158827
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::publish(mrs_msgs::EstimatorOutput_<std::allocator<void> > const&)228559
mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::publish(mrs_msgs::EstimatorOutput_<std::allocator<void> > const&)228671
mrs_lib::PublisherHandler_impl<nav_msgs::Odometry_<std::allocator<void> > >::publish(nav_msgs::Odometry_<std::allocator<void> > const&)279820
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::publish(nav_msgs::Odometry_<std::allocator<void> > const&)279839
mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::publish(mrs_msgs::EstimatorCorrection_<std::allocator<void> > const&)670389
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::publish(mrs_msgs::EstimatorCorrection_<std::allocator<void> > const&)670433
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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..c259ef01b7 --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/publisher_handler.hpp.func.html @@ -0,0 +1,856 @@ + + + + + + + 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:365269.2 %
Date:2023-12-14 21:42:20Functions:18619495.9 %
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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&)59086
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&)192
mrs_lib::PublisherHandler<geometry_msgs::PoseArray_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<geometry_msgs::PoseArray_<std::allocator<void> > > const&)192
mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::publish(geometry_msgs::PoseStamped_<std::allocator<void> > const&)80
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&)48
mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > > const&)48
mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::publish(geometry_msgs::QuaternionStamped_<std::allocator<void> > const&)69813
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&)45
mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > > const&)45
mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > >::publish(visualization_msgs::MarkerArray_<std::allocator<void> > const&)12635
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&)288
mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > > const&)288
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&)48
mrs_lib::PublisherHandler<mrs_msgs::BumperStatus_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::BumperStatus_<std::allocator<void> > > const&)48
mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > >::publish(mrs_msgs::ControlError_<std::allocator<void> > const&)4049
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&)48
mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > > const&)48
mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::publish(mrs_msgs::EstimatorInput_<std::allocator<void> > const&)32074
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&)48
mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > > const&)48
mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::publish(mrs_msgs::Float64Stamped_<std::allocator<void> > const&)146222
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&)281
mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > > const&)281
mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::publish(mrs_msgs::TrackerCommand_<std::allocator<void> > const&)40677
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&)48
mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)48
mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::publish(mrs_msgs::EstimatorOutput_<std::allocator<void> > const&)228671
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&)176
mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > > const&)176
mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::publish(mrs_msgs::FutureTrajectory_<std::allocator<void> > const&)796
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&)48
mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > > const&)48
mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)3817
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&)48
mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > > const&)96
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)5050
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&)48
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > > const&)96
mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)464
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&)48
mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > > const&)96
mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::publish(mrs_msgs::DynamicsConstraints_<std::allocator<void> > const&)5066
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&)48
mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > > const&)48
mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::publish(mrs_msgs::EstimatorCorrection_<std::allocator<void> > const&)670389
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&)356
mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > > const&)356
mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::publish(mrs_msgs::Float64ArrayStamped_<std::allocator<void> > const&)158827
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&)131
mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > > const&)131
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)1308
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&)49
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > > const&)97
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&)29128
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&)48
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > > const&)96
mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)3798
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&)48
mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > > const&)96
mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ControllerDiagnostics_<std::allocator<void> > const&)50322
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&)48
mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > > const&)48
mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::EstimationDiagnostics_<std::allocator<void> > const&)6385
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&)48
mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > > const&)48
mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const&)8816
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&)48
mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > > const&)48
mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > const&)819
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&)48
mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > > const&)48
mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > const&)620
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&)48
mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > > const&)48
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)963
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&)48
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > > const&)96
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)505
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&)48
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > > const&)96
mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > const&)6386
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&)48
mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > > const&)48
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)993
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&)48
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > > const&)96
mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > const&)620
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&)48
mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > > const&)48
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&)48
mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > >::publish(mrs_msgs::UavState_<std::allocator<void> > const&)139230
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&)96
mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > > const&)96
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::publish(nav_msgs::Odometry_<std::allocator<void> > const&)279839
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::PublisherHandler(mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > > const&)30336
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&)212
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > > const&)194
mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > >::publish(std_msgs::Bool_<std::allocator<void> > const&)1995
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&)11
mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > > const&)11
mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > >::publish(std_msgs::Empty_<std::allocator<void> > const&)4467
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&)48
mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > > const&)48
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&)8816
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&)48
mrs_lib::PublisherHandler<std_msgs::String_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<std_msgs::String_<std::allocator<void> > > const&)48
mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > >::publish(std_msgs::Float64_<std::allocator<void> > const&)86908
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&)144
mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > > const&)144
mrs_lib::PublisherHandler_impl<geometry_msgs::PoseArray_<std::allocator<void> > >::publish(geometry_msgs::PoseArray_<std::allocator<void> > const&)59086
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&)192
mrs_lib::PublisherHandler_impl<geometry_msgs::PoseStamped_<std::allocator<void> > >::publish(geometry_msgs::PoseStamped_<std::allocator<void> > const&)80
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&)48
mrs_lib::PublisherHandler_impl<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::publish(geometry_msgs::QuaternionStamped_<std::allocator<void> > const&)69813
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&)45
mrs_lib::PublisherHandler_impl<visualization_msgs::MarkerArray_<std::allocator<void> > >::publish(visualization_msgs::MarkerArray_<std::allocator<void> > const&)12635
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&)288
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&)48
mrs_lib::PublisherHandler_impl<mrs_msgs::ControlError_<std::allocator<void> > >::publish(mrs_msgs::ControlError_<std::allocator<void> > const&)4049
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&)48
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorInput_<std::allocator<void> > >::publish(mrs_msgs::EstimatorInput_<std::allocator<void> > const&)32074
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&)48
mrs_lib::PublisherHandler_impl<mrs_msgs::Float64Stamped_<std::allocator<void> > >::publish(mrs_msgs::Float64Stamped_<std::allocator<void> > const&)146216
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&)281
mrs_lib::PublisherHandler_impl<mrs_msgs::TrackerCommand_<std::allocator<void> > >::publish(mrs_msgs::TrackerCommand_<std::allocator<void> > const&)40677
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&)48
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::publish(mrs_msgs::EstimatorOutput_<std::allocator<void> > const&)228559
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&)176
mrs_lib::PublisherHandler_impl<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::publish(mrs_msgs::FutureTrajectory_<std::allocator<void> > const&)796
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&)48
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)3817
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&)48
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)5050
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&)48
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)464
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&)48
mrs_lib::PublisherHandler_impl<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::publish(mrs_msgs::DynamicsConstraints_<std::allocator<void> > const&)5066
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&)48
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::publish(mrs_msgs::EstimatorCorrection_<std::allocator<void> > const&)670433
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&)356
mrs_lib::PublisherHandler_impl<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::publish(mrs_msgs::Float64ArrayStamped_<std::allocator<void> > const&)158610
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&)131
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)1308
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&)49
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&)29128
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&)48
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)3798
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&)48
mrs_lib::PublisherHandler_impl<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ControllerDiagnostics_<std::allocator<void> > const&)50322
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&)48
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::EstimationDiagnostics_<std::allocator<void> > const&)6385
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&)48
mrs_lib::PublisherHandler_impl<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const&)8816
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&)48
mrs_lib::PublisherHandler_impl<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > const&)819
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&)48
mrs_lib::PublisherHandler_impl<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > const&)620
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&)48
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)963
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&)48
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)505
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&)48
mrs_lib::PublisherHandler_impl<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > const&)6386
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&)48
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)993
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&)48
mrs_lib::PublisherHandler_impl<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > const&)620
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&)48
mrs_lib::PublisherHandler_impl<mrs_msgs::Path_<std::allocator<void> > >::publish(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const> const&)0
mrs_lib::PublisherHandler_impl<mrs_msgs::Path_<std::allocator<void> > >::publish(mrs_msgs::Path_<std::allocator<void> > const&)1
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&)48
mrs_lib::PublisherHandler_impl<mrs_msgs::UavState_<std::allocator<void> > >::publish(mrs_msgs::UavState_<std::allocator<void> > const&)139228
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&)96
mrs_lib::PublisherHandler_impl<nav_msgs::Odometry_<std::allocator<void> > >::publish(nav_msgs::Odometry_<std::allocator<void> > const&)279820
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&)212
mrs_lib::PublisherHandler_impl<std_msgs::Bool_<std::allocator<void> > >::publish(std_msgs::Bool_<std::allocator<void> > const&)1995
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&)11
mrs_lib::PublisherHandler_impl<std_msgs::Empty_<std::allocator<void> > >::publish(std_msgs::Empty_<std::allocator<void> > const&)4467
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&)48
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&)8816
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&)48
mrs_lib::PublisherHandler_impl<std_msgs::Float64_<std::allocator<void> > >::publish(std_msgs::Float64_<std::allocator<void> > const&)86908
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&)144
+
+
+ + + +
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..be69f27a2b --- /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:365269.2 %
Date:2023-12-14 21:42:20Functions:18619495.9 %
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        3183 : PublisherHandler_impl<TopicType>::PublisherHandler_impl(ros::NodeHandle& nh, const std::string& address, const unsigned int& buffer_size, const bool& latch,
+      23        3183 :                                                         const double& rate) {
+      24             : 
+      25             :   {
+      26        3183 :     std::scoped_lock lock(mutex_publisher_);
+      27             : 
+      28        3183 :     publisher_ = nh.advertise<TopicType>(address, buffer_size, latch);
+      29             : 
+      30        3183 :     if (rate > 0.0) {
+      31             : 
+      32         337 :       throttle_ = true;
+      33             : 
+      34         337 :       throttle_min_dt_ = 1.0 / rate;
+      35             : 
+      36             :     } else {
+      37             : 
+      38        2846 :       throttle_ = false;
+      39             : 
+      40        2846 :       throttle_min_dt_ = 0;
+      41             :     }
+      42             : 
+      43        3183 :     last_time_published_ = ros::Time(0);
+      44             :   }
+      45             : 
+      46        3183 :   publisher_initialized_ = true;
+      47        3183 : }
+      48             : 
+      49             : //}
+      50             : 
+      51             : /* publish(TopicType& msg) //{ */
+      52             : 
+      53             : template <class TopicType>
+      54     2069433 : void PublisherHandler_impl<TopicType>::publish(const TopicType& msg) {
+      55             : 
+      56     2069433 :   if (!publisher_initialized_) {
+      57           0 :     return;
+      58             :   }
+      59             : 
+      60             :   {
+      61     2069074 :     std::scoped_lock lock(mutex_publisher_);
+      62             : 
+      63     2069108 :     if (throttle_) {
+      64             : 
+      65      104743 :       if ((ros::Time::now() - last_time_published_).toSec() < throttle_min_dt_) {
+      66       55113 :         return;
+      67             :       }
+      68             : 
+      69       49631 :       last_time_published_ = ros::Time::now();
+      70             :     }
+      71             : 
+      72             :     try {
+      73     2013996 :       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           0 : void PublisherHandler_impl<TopicType>::publish(const boost::shared_ptr<TopicType const>& msg) {
+     119             : 
+     120           0 :   if (!publisher_initialized_) {
+     121             :     return;
+     122             :   }
+     123             : 
+     124             :   {
+     125           0 :     std::scoped_lock lock(mutex_publisher_);
+     126             : 
+     127           0 :     if (throttle_) {
+     128             : 
+     129           0 :       if ((ros::Time::now() - last_time_published_).toSec() < throttle_min_dt_) {
+     130           0 :         return;
+     131             :       }
+     132             : 
+     133           0 :       last_time_published_ = ros::Time::now();
+     134             :     }
+     135             : 
+     136             :     try {
+     137           0 :       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        3595 : PublisherHandler<TopicType>& PublisherHandler<TopicType>::operator=(const PublisherHandler<TopicType>& other) {
+     169             : 
+     170        3547 :   if (this == &other) {
+     171           0 :     return *this;
+     172             :   }
+     173             : 
+     174        3595 :   if (other.impl_) {
+     175        3643 :     this->impl_ = other.impl_;
+     176             :   }
+     177             : 
+     178        3547 :   return *this;
+     179             : }
+     180             : 
+     181             : //}
+     182             : 
+     183             : /* copy constructor //{ */
+     184             : 
+     185             : template <class TopicType>
+     186       30336 : PublisherHandler<TopicType>::PublisherHandler(const PublisherHandler<TopicType>& other) {
+     187             : 
+     188       30336 :   if (other.impl_) {
+     189       30336 :     this->impl_ = other.impl_;
+     190             :   }
+     191       30336 : }
+     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        3183 : PublisherHandler<TopicType>::PublisherHandler(ros::NodeHandle& nh, const std::string& address, const unsigned int& buffer_size, const bool& latch,
+     199        3183 :                                               const double& rate) {
+     200             : 
+     201        3183 :   impl_ = std::make_shared<PublisherHandler_impl<TopicType>>(nh, address, buffer_size, latch, rate);
+     202        3183 : }
+     203             : 
+     204             : //}
+     205             : 
+     206             : /* publish(const TopicType& msg) //{ */
+     207             : 
+     208             : template <class TopicType>
+     209     2069745 : void PublisherHandler<TopicType>::publish(const TopicType& msg) {
+     210             : 
+     211     2069745 :   impl_->publish(msg);
+     212     2070283 : }
+     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           0 : void PublisherHandler<TopicType>::publish(const boost::shared_ptr<TopicType const>& msg) {
+     230             : 
+     231           0 :   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..f0839d3892eb8a0eba65adaf8ce7905cc3eba886 GIT binary patch literal 842 zcmV-Q1GW5#P)=>m zU>D|b0z~ScVXVkBsmcB+HC7d4!8eUD;62%-fC!s*h*D-NRht<)qO^dTf`%fDXq{As z)~<+dwCWx2POZAaq*knlE?PA?akpG6o5n0tOi!ulT}03_f$%Hq zBkyv`km_SzBa&LA(^L}a8B;{Lt2oc^_j{R}GR%OIRmA1i(k$!5&=DibmC7o9c&{wt z)Tp)|5!yC5-(#s%6o|Z_NSTHP3U}gTr8?t2nham`Z!3SbqS*^hUiM4o-}-I;T8mc1 z_5z;aPwF4DHj>#U@)#oChwt4g($5d9#=+FRgt+V$s%P639k9_2I(@$` z`98{{lnCB_$ud?ShxArj(}R6n?|q1Rvhlc2I3B%Ted=BJo?9Q8I9?(np6ij`&Zb<_ z&j+l9GiPD?%~$2n1pCJu>*IE=$BQa12BpXIvr7yeF`|4~(kO247mJ8cZWN(51?PKC z8l>QD$u!y^;R4pj#K%&Q$v*z~kDU-%QWn2?zjhWyMW~I=t-aZ2KYYr^$7N4Jiccy6 z_t8g}KdI=F+8zkiy8NJ;q7qFcrm1W~36C z_rNn!ST5OxYc3wX^M4>7%kV6%BRMc5{eJd5YaYIxV9cL9+{KMi&a(5d_T^2kHExfd z_)#H|$MJJ|o7r}S^hqJ~xAgNz6Cs4fLr6Ii! + + + + + + 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:2023-12-14 21:42:20Functions:414395.3 %
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&)0
mrs_lib::ServiceClientHandler_impl<mrs_msgs::ReferenceStampedSrv>::call(mrs_msgs::ReferenceStampedSrv&)0
mrs_lib::ServiceClientHandler_impl<mrs_msgs::PathSrv>::call(mrs_msgs::PathSrv&)1
mrs_lib::ServiceClientHandler<mrs_msgs::PathSrv>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::callAsync(std_srvs::Trigger&, int const&)2
mrs_lib::ServiceClientHandler_impl<mrs_msgs::PathSrv>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2
mrs_lib::ServiceClientHandler_impl<std_srvs::Trigger>::call(std_srvs::Trigger&, int const&, double const&)2
mrs_lib::ServiceClientHandler_impl<std_srvs::Trigger>::asyncRun()2
mrs_lib::ServiceClientHandler_impl<std_srvs::Trigger>::callAsync(std_srvs::Trigger&, int const&)2
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::call(mrs_msgs::Vec1&)8
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Vec1>::call(mrs_msgs::Vec1&)8
mrs_lib::ServiceClientHandler<mrs_msgs::Vec4>::call(mrs_msgs::Vec4&)30
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Vec4>::call(mrs_msgs::Vec4&)30
mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)48
mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv> const&)48
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::call(mrs_msgs::DynamicsConstraintsSrv&)48
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)48
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv> const&)48
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)48
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::Vec1> const&)48
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::initialize(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)48
mrs_lib::ServiceClientHandler_impl<mrs_msgs::ReferenceStampedSrv>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)48
mrs_lib::ServiceClientHandler_impl<mrs_msgs::DynamicsConstraintsSrv>::call(mrs_msgs::DynamicsConstraintsSrv&)48
mrs_lib::ServiceClientHandler_impl<mrs_msgs::DynamicsConstraintsSrv>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)48
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Vec1>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)48
mrs_lib::ServiceClientHandler<mrs_msgs::Vec4>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)84
mrs_lib::ServiceClientHandler<mrs_msgs::Vec4>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::Vec4> const&)84
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Vec4>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)84
mrs_lib::ServiceClientHandler<mrs_msgs::String>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)130
mrs_lib::ServiceClientHandler<mrs_msgs::String>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::String> const&)130
mrs_lib::ServiceClientHandler_impl<mrs_msgs::String>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)130
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::call(std_srvs::SetBool&)161
mrs_lib::ServiceClientHandler_impl<std_srvs::SetBool>::call(std_srvs::SetBool&)162
mrs_lib::ServiceClientHandler<mrs_msgs::String>::call(mrs_msgs::String&)189
mrs_lib::ServiceClientHandler_impl<mrs_msgs::String>::call(mrs_msgs::String&)189
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::operator=(mrs_lib::ServiceClientHandler<std_srvs::SetBool> const&)350
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)352
mrs_lib::ServiceClientHandler_impl<std_srvs::SetBool>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)352
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::call(std_srvs::Trigger&)406
mrs_lib::ServiceClientHandler_impl<std_srvs::Trigger>::call(std_srvs::Trigger&)407
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::operator=(mrs_lib::ServiceClientHandler<std_srvs::Trigger> const&)587
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)589
mrs_lib::ServiceClientHandler_impl<std_srvs::Trigger>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)637
+
+
+ + + +
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..ef983dda07 --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/service_client_handler.hpp.func.html @@ -0,0 +1,252 @@ + + + + + + + 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:2023-12-14 21:42:20Functions:414395.3 %
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&)0
mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)48
mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv> const&)48
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::call(mrs_msgs::DynamicsConstraintsSrv&)48
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)48
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv> const&)48
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::call(mrs_msgs::Vec1&)8
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)48
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::Vec1> const&)48
mrs_lib::ServiceClientHandler<mrs_msgs::Vec4>::call(mrs_msgs::Vec4&)30
mrs_lib::ServiceClientHandler<mrs_msgs::Vec4>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)84
mrs_lib::ServiceClientHandler<mrs_msgs::Vec4>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::Vec4> const&)84
mrs_lib::ServiceClientHandler<mrs_msgs::String>::call(mrs_msgs::String&)189
mrs_lib::ServiceClientHandler<mrs_msgs::String>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)130
mrs_lib::ServiceClientHandler<mrs_msgs::String>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::String> const&)130
mrs_lib::ServiceClientHandler<mrs_msgs::PathSrv>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::call(std_srvs::SetBool&)161
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)352
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::operator=(mrs_lib::ServiceClientHandler<std_srvs::SetBool> const&)350
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::initialize(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)48
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::call(std_srvs::Trigger&)406
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&)589
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::operator=(mrs_lib::ServiceClientHandler<std_srvs::Trigger> const&)587
mrs_lib::ServiceClientHandler_impl<mrs_msgs::ReferenceStampedSrv>::call(mrs_msgs::ReferenceStampedSrv&)0
mrs_lib::ServiceClientHandler_impl<mrs_msgs::ReferenceStampedSrv>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)48
mrs_lib::ServiceClientHandler_impl<mrs_msgs::DynamicsConstraintsSrv>::call(mrs_msgs::DynamicsConstraintsSrv&)48
mrs_lib::ServiceClientHandler_impl<mrs_msgs::DynamicsConstraintsSrv>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)48
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Vec1>::call(mrs_msgs::Vec1&)8
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Vec1>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)48
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Vec4>::call(mrs_msgs::Vec4&)30
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Vec4>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)84
mrs_lib::ServiceClientHandler_impl<mrs_msgs::String>::call(mrs_msgs::String&)189
mrs_lib::ServiceClientHandler_impl<mrs_msgs::String>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)130
mrs_lib::ServiceClientHandler_impl<mrs_msgs::PathSrv>::call(mrs_msgs::PathSrv&)1
mrs_lib::ServiceClientHandler_impl<mrs_msgs::PathSrv>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2
mrs_lib::ServiceClientHandler_impl<std_srvs::SetBool>::call(std_srvs::SetBool&)162
mrs_lib::ServiceClientHandler_impl<std_srvs::SetBool>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)352
mrs_lib::ServiceClientHandler_impl<std_srvs::Trigger>::call(std_srvs::Trigger&)407
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&)637
+
+
+ + + +
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..c9ed35393d --- /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:2023-12-14 21:42:20Functions:414395.3 %
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        1349 : ServiceClientHandler_impl<ServiceType>::ServiceClientHandler_impl(ros::NodeHandle& nh, const std::string& address) {
+      23             : 
+      24             :   {
+      25        1349 :     std::scoped_lock lock(mutex_service_client_);
+      26             : 
+      27        1349 :     service_client_ = nh.serviceClient<ServiceType>(address);
+      28             :   }
+      29             : 
+      30        1349 :   _address_       = address;
+      31        1349 :   async_attempts_ = 1;
+      32             : 
+      33             :   /* thread_oneshot_ = std::make_shared<std::thread>(std::thread(&ServiceClientHandler_impl::threadOneshot, this, true, false)); */
+      34             : 
+      35        1349 :   service_initialized_ = true;
+      36        1349 : }
+      37             : 
+      38             : //}
+      39             : 
+      40             : /* call(ServiceType& srv) //{ */
+      41             : 
+      42             : template <class ServiceType>
+      43         845 : bool ServiceClientHandler_impl<ServiceType>::call(ServiceType& srv) {
+      44             : 
+      45         845 :   if (!service_initialized_) {
+      46           0 :     return false;
+      47             :   }
+      48             : 
+      49         845 :   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        1301 : ServiceClientHandler<ServiceType>& ServiceClientHandler<ServiceType>::operator=(const ServiceClientHandler<ServiceType>& other) {
+     205             : 
+     206        1301 :   if (this == &other) {
+     207           0 :     return *this;
+     208             :   }
+     209             : 
+     210        1301 :   if (other.impl_) {
+     211        1307 :     this->impl_ = other.impl_;
+     212             :   }
+     213             : 
+     214        1295 :   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        1301 : ServiceClientHandler<ServiceType>::ServiceClientHandler(ros::NodeHandle& nh, const std::string& address) {
+     235             : 
+     236        1301 :   impl_ = std::make_shared<ServiceClientHandler_impl<ServiceType>>(nh, address);
+     237        1301 : }
+     238             : 
+     239             : //}
+     240             : 
+     241             : /* initialize(ros::NodeHandle& nh, const std::string& address) //{ */
+     242             : 
+     243             : template <class ServiceType>
+     244          48 : void ServiceClientHandler<ServiceType>::initialize(ros::NodeHandle& nh, const std::string& address) {
+     245             : 
+     246          48 :   impl_ = std::make_shared<ServiceClientHandler_impl<ServiceType>>(nh, address);
+     247          48 : }
+     248             : 
+     249             : //}
+     250             : 
+     251             : /* call(ServiceType& srv) //{ */
+     252             : 
+     253             : template <class ServiceType>
+     254         845 : bool ServiceClientHandler<ServiceType>::call(ServiceType& srv) {
+     255             : 
+     256         845 :   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..2f613842e2 --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/subscribe_handler.hpp.func-sort-c.html @@ -0,0 +1,4024 @@ + + + + + + + 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:9812081.7 %
Date:2023-12-14 21:42:20Functions:43398643.9 %
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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::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::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> > >::ImplThreadsafe::getMsg()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::getMsg()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::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::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> > >::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::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::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::peekMsg() 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::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::peekMsg() 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::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::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::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::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::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::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()2
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::getMsg()2
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const2
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::hasMsg() const2
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const2
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const2
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()3
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::getMsg()3
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const3
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const3
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const3
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::RtkGps_<std::allocator<void> > >::ImplThreadsafe::start()6
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&)6
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()6
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().26
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::start()6
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&)6
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::~Impl().26
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::start()6
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&)6
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()6
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().26
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::start()6
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&)6
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::~Impl().26
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const6
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const6
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)10
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const29
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const29
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()43
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&)43
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()43
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().243
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::start()43
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&)43
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl().243
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const43
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::start()45
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&)45
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()45
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().245
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::start()45
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&)45
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::~Impl().245
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()45
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&)45
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()45
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().245
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::start()45
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&)45
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::~Impl().245
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const45
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const45
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::lastMsgTime() const45
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const45
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const45
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::lastMsgTime() const45
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const47
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const47
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::start()48
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&)48
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()48
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().248
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::start()48
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&)48
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::~Impl().248
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::start()48
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&)48
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()48
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().248
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::start()48
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&)48
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::~Impl().248
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::start()48
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&)48
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()48
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().248
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::start()48
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&)48
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::~Impl().248
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::start()48
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&)48
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()48
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().248
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::start()48
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&)48
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::~Impl().248
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::start()48
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&)48
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()48
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().248
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::start()48
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&)48
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::~Impl().248
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::start()48
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&)48
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()48
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().248
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::start()48
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&)48
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::~Impl().248
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()48
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&)48
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()48
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().248
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::start()48
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&)48
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::~Impl().248
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::start()48
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&)48
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()48
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().248
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::start()48
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&)48
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::~Impl().248
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const48
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const48
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const48
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const48
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const48
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const48
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const48
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const48
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const51
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const55
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::start()56
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&)56
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()56
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().256
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::start()56
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&)56
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::~Impl().256
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const56
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&)72
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()72
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().272
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&)72
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::~Impl().272
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const73
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const74
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::start()76
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::start()76
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()80
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&)80
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()80
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().280
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::start()80
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&)80
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl().280
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()80
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&)80
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()80
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().280
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::start()80
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&)80
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl().280
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const80
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const80
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const90
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::lastMsgTime() const90
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::start()93
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&)93
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()93
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().293
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::start()93
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&)93
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::~Impl().293
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const93
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::start()96
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&)96
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()96
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().296
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::start()96
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&)96
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::~Impl().296
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::start()96
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&)96
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()96
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().296
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::start()96
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&)96
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::~Impl().296
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const96
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const96
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::getMsg()100
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::getMsg()100
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const100
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::hasMsg() const100
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const100
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const100
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::hasMsg() const100
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::peekMsg() const100
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()104
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::getMsg()104
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const104
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::peekMsg() const105
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::start()128
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&)128
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()128
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2128
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::start()128
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&)128
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::~Impl().2128
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const128
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::start()137
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&)137
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()137
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2137
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::start()137
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&)137
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::~Impl().2137
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const137
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::start()139
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&)139
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()139
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2139
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::start()139
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&)139
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::~Impl().2139
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const139
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::start()144
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::getMsg()144
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&)144
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()144
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2144
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::start()144
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::getMsg()144
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&)144
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::~Impl().2144
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const144
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::peekMsg() const144
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::start()149
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&)149
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()149
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2149
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::start()149
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&)149
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::~Impl().2149
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const152
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::getMsg()174
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::getMsg()174
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const174
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::peekMsg() const174
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::getMsg()177
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::getMsg()177
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const177
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::peekMsg() const177
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::start()179
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&)179
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()179
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2179
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::start()179
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&)179
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::~Impl().2179
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const179
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::start()185
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&)185
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()185
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2185
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::start()185
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&)185
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::~Impl().2185
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const185
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::start()192
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&)192
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()192
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2192
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::start()192
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&)192
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::~Impl().2192
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const192
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const195
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&)217
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2217
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()219
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()219
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::start()219
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&)219
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl().2219
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const229
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::hasMsg() const229
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::start()246
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&)246
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()246
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2246
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::start()246
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&)246
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::~Impl().2246
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&)265
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2265
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()267
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()267
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::start()267
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&)267
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::~Impl().2267
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const267
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const274
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const337
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > const> const&)713
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > const> const&)713
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > const> const&)1032
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > const> const&)1032
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > const> const&)1034
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > const> const&)1034
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<std_msgs::Bool_<std::allocator<void> > const> const&)1107
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<std_msgs::Bool_<std::allocator<void> > const> const&)1121
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::getMsg()1364
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::getMsg()1364
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const1364
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::peekMsg() const1364
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const> const&)1638
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const> const&)1638
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const> const&)1849
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const> const&)1860
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const2160
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const2160
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const2160
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const2160
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const> const&)3261
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const> const&)3265
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::getMsg()3286
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::getMsg()3286
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const3286
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::peekMsg() const3287
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::hasMsg() const4143
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const4146
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::HwApiRcChannels_<std::allocator<void> > const> const&)7228
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::HwApiRcChannels_<std::allocator<void> > const> const&)7228
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const7296
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const7296
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<std_msgs::Float64_<std::allocator<void> > const> const&)7603
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<std_msgs::Float64_<std::allocator<void> > const> const&)7603
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const13083
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::hasMsg() const13085
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::getMsg()13524
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::getMsg()13524
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const13524
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const13524
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::lastMsgTime() const13524
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::peekMsg() const13524
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const19641
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::hasMsg() const19641
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()20843
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const20849
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::peekMsg() const20850
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::getMsg()20851
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const25886
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::hasMsg() const25895
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()26105
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const26121
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::getMsg()26123
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const26123
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > const> const&)29155
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > const> const&)29178
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const33468
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const33680
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > const> const&)34624
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > const> const&)34801
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::TrackerCommand_<std::allocator<void> > const> const&)40661
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::TrackerCommand_<std::allocator<void> > const> const&)40661
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > const> const&)50304
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > const> const&)50304
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::getMsg()68875
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::getMsg()68875
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const68875
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const68875
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::hasMsg() const68875
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::peekMsg() const68875
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()68957
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::getMsg()68957
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const68957
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::peekMsg() const68957
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::EstimatorOutput_<std::allocator<void> > const> const&)69800
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::EstimatorOutput_<std::allocator<void> > const> const&)69800
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const83758
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::lastMsgTime() const83758
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const90367
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const90798
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const96439
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::hasMsg() const96440
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const> const&)97376
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const> const&)97389
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const117738
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::lastMsgTime() const117826
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::EstimatorInput_<std::allocator<void> > const> const&)118004
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::EstimatorInput_<std::allocator<void> > const> const&)118179
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const119761
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::hasMsg() const119765
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const124046
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::getMsg()124165
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::getMsg()124191
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::peekMsg() const124199
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::Float64Stamped_<std::allocator<void> > const> const&)139969
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::Float64Stamped_<std::allocator<void> > const> const&)139980
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::HwApiAltitude_<std::allocator<void> > const> const&)140736
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::HwApiAltitude_<std::allocator<void> > const> const&)140758
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::hasMsg() const141870
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const141878
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const> const&)145880
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const> const&)145995
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const> const&)150442
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const> const&)150824
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const> const&)176988
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const> const&)177033
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::getMsg()178666
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::getMsg()178667
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const178667
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::peekMsg() const178668
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::newMsg() const204343
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::newMsg() const204519
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)222241
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)222337
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()247365
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const247370
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::getMsg()247373
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::peekMsg() const247374
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const> const&)264877
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const> const&)264912
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::hasMsg() const323787
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const323794
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const> const&)496936
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const> const&)497263
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const> const&)552241
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const> const&)552312
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::getMsg()624125884
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const624125884
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()800007880
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const800007883
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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:9812081.7 %
Date:2023-12-14 21:42:20Functions:43398643.9 %
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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&)150824
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::start()185
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&)185
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()185
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2185
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&)150442
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()185
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&)185
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::~Impl().2185
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()96
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&)96
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()96
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().296
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()96
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&)96
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::~Impl().296
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const> const&)97389
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::start()56
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::getMsg()3286
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&)56
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()56
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().256
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&)97376
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()56
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::getMsg()3286
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&)56
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::~Impl().256
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&)145995
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::stop()5
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::start()76
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()104
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&)72
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()72
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().272
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&)145880
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()76
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::getMsg()104
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&)72
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::~Impl().272
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const> const&)264877
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::start()137
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()68957
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&)137
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()137
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2137
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&)264912
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()137
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::getMsg()68957
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&)137
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::~Impl().2137
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const> const&)497263
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::start()246
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()247365
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&)246
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()246
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2246
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&)496936
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&)10
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::start()246
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::getMsg()247373
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&)246
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::~Impl().2246
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const> const&)552312
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::start()139
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::getMsg()174
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&)139
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()139
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2139
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&)552241
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()139
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::getMsg()174
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&)139
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::~Impl().2139
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::HwApiAltitude_<std::allocator<void> > const> const&)140758
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::start()93
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::getMsg()68875
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&)93
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()93
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().293
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&)140736
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()93
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::getMsg()68875
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&)93
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::~Impl().293
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::EstimatorInput_<std::allocator<void> > const> const&)118179
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::start()179
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::getMsg()124191
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&)179
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()179
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2179
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&)118004
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()179
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::getMsg()124165
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&)179
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::~Impl().2179
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::Float64Stamped_<std::allocator<void> > const> const&)139969
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::start()192
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()20843
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&)192
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()192
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2192
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&)139980
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()192
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::getMsg()20851
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&)192
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::~Impl().2192
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::TrackerCommand_<std::allocator<void> > const> const&)40661
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::start()48
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::getMsg()177
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&)48
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()48
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().248
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&)40661
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()48
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::getMsg()177
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&)48
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::~Impl().248
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::EstimatorOutput_<std::allocator<void> > const> const&)69800
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::start()45
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&)45
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()45
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().245
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&)69800
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()45
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&)45
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::~Impl().245
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::HwApiRcChannels_<std::allocator<void> > const> const&)7228
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::start()48
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
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&)48
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()48
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().248
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&)7228
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()48
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::getMsg()0
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&)48
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::~Impl().248
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()48
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&)48
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()48
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().248
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()48
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&)48
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::~Impl().248
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()48
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&)48
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()48
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().248
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()48
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&)48
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::~Impl().248
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const> const&)1849
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::start()144
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::getMsg()144
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&)144
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()144
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2144
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&)1860
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()144
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::getMsg()144
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&)144
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::~Impl().2144
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()48
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&)48
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()48
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().248
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()48
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&)48
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::~Impl().248
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()48
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&)48
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()48
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().248
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()48
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&)48
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::~Impl().248
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > const> const&)50304
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()48
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()2
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&)48
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()48
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().248
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&)50304
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()48
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::getMsg()2
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&)48
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::~Impl().248
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > const> const&)34801
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()267
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()26105
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&)265
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()267
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2265
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&)34624
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()267
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::getMsg()26123
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&)267
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::~Impl().2267
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&)713
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()43
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&)43
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()43
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().243
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&)713
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()43
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&)43
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl().243
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > const> const&)1032
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()80
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&)80
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()80
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().280
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&)1032
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()80
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&)80
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl().280
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const> const&)1638
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()45
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()3
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&)45
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()45
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().245
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&)1638
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()45
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::getMsg()3
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&)45
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::~Impl().245
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()48
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&)48
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()48
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().248
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()48
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&)48
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::~Impl().248
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > const> const&)29178
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()219
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()800007880
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&)217
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()219
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2217
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&)29155
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()219
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::getMsg()624125884
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&)219
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl().2219
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > const> const&)1034
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()80
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&)80
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()80
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().280
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&)1034
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()80
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&)80
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl().280
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const> const&)3261
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::start()6
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::getMsg()100
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&)6
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()6
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().26
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&)3265
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()6
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::getMsg()100
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&)6
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::~Impl().26
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const> const&)177033
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::start()128
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::getMsg()1364
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&)128
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()128
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2128
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&)176988
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()128
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::getMsg()1364
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&)128
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::~Impl().2128
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)222337
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::start()149
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::getMsg()178666
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&)149
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()149
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2149
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&)222241
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()149
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::getMsg()178667
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&)149
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::~Impl().2149
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<std_msgs::Bool_<std::allocator<void> > const> const&)1121
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::start()6
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&)6
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()6
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().26
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&)1107
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()6
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&)6
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::~Impl().26
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<std_msgs::Float64_<std::allocator<void> > const> const&)7603
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::start()96
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::getMsg()13524
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&)96
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()96
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().296
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&)7603
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()96
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::getMsg()13524
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&)96
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::~Impl().296
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]() const185
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]() const96
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const4146
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const3286
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() const4143
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::peekMsg() const3287
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]() const56
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() const13083
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const104
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() const13085
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::peekMsg() const105
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]() const73
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const141878
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const68957
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() const141870
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::peekMsg() const68957
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]() const137
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const323794
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const247370
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]() const74
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::hasMsg() const323787
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::peekMsg() const247374
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]() const337
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const90
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const100
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const174
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() const90
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::hasMsg() const100
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::peekMsg() const174
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]() const139
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const68875
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const68875
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() const68875
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::peekMsg() const68875
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]() const93
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const117738
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::newMsg() const204519
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const124046
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() const117826
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::newMsg() const204343
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::peekMsg() const124199
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]() const179
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const25886
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const20849
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() const25895
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::peekMsg() const20850
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]() const192
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const2
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const177
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() const2
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::peekMsg() const177
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]() const48
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]() const45
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::peekMsg() 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::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::peekMsg() const0
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]() const48
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]() const48
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]() const48
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const229
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const144
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]() const51
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::hasMsg() const229
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::peekMsg() const144
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]() const195
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]() const48
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]() const48
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const47
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const2
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() const47
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const2
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]() const48
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const33680
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const26121
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() const33468
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const26123
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]() const267
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() const7296
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() const7296
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]() const43
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const45
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const2160
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() const45
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const2160
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]() const80
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const29
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const3
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() const29
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const3
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]() const45
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]() const48
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const90798
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const800007883
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]() const55
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const90367
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const624125884
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]() const274
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const45
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const2160
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() const45
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const2160
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]() const80
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const100
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const100
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() const100
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::peekMsg() const100
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]() const6
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const83758
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const96439
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const1364
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() const83758
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::hasMsg() const96440
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::peekMsg() const1364
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]() const128
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const119761
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const178667
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]() const3
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::hasMsg() const119765
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::peekMsg() const178668
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]() const152
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]() const6
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const13524
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const19641
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const13524
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() const13524
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::hasMsg() const19641
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::peekMsg() const13524
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]() const96
+
+
+ + + +
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..b1a1f247f8 --- /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:9812081.7 %
Date:2023-12-14 21:42:20Functions:43398643.9 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : // clang: MatousFormat
+       2             : 
+       3             : #ifndef SUBSCRIBE_HANDLER_HPP
+       4             : #define SUBSCRIBE_HANDLER_HPP
+       5             : 
+       6             : #include <mrs_lib/subscribe_handler.h>
+       7             : #include <mrs_lib/timer.h>
+       8             : #include <mutex>
+       9             : #include <condition_variable>
+      10             : 
+      11             : namespace mrs_lib
+      12             : {
+      13             :   /* SubscribeHandler::Impl class //{ */
+      14             :   // implements the constructor, getMsg() method and data_callback method (non-thread-safe)
+      15             :   template <typename MessageType>
+      16             :   class SubscribeHandler<MessageType>::Impl
+      17             :   {
+      18             :   public:
+      19             :     using timeout_callback_t = typename SubscribeHandler<MessageType>::timeout_callback_t;
+      20             :     using message_callback_t = typename SubscribeHandler<MessageType>::message_callback_t;
+      21             :     using data_callback_t = std::function<void(const typename MessageType::ConstPtr&)>;
+      22             : 
+      23             :   private:
+      24             :     friend class SubscribeHandler<MessageType>;
+      25             : 
+      26             :   public:
+      27             :     /* constructor //{ */
+      28        3087 :     Impl(const SubscribeHandlerOptions& options, const message_callback_t& message_callback = message_callback_t())
+      29        3087 :         : m_nh(options.nh),
+      30        3087 :           m_topic_name(options.topic_name),
+      31        3087 :           m_node_name(options.node_name),
+      32             :           m_got_data(false),
+      33             :           m_new_data(false),
+      34             :           m_used_data(false),
+      35        3087 :           m_timeout_manager(options.timeout_manager),
+      36             :           m_latest_message_time(0),
+      37             :           m_latest_message(nullptr),
+      38             :           m_message_callback(message_callback),
+      39        3087 :           m_queue_size(options.queue_size),
+      40        3095 :           m_transport_hints(options.transport_hints)
+      41             :     {
+      42        3087 :       if (options.no_message_timeout != mrs_lib::no_timeout)
+      43             :       {
+      44             :         // initialize a new TimeoutManager if not provided by the user
+      45          16 :         if (!m_timeout_manager)
+      46          16 :           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          32 :         std::function<void(const ros::Time&)> timeout_mgr_callback;
+      50          16 :         if (options.timeout_callback)
+      51           1 :           timeout_mgr_callback = std::bind(options.timeout_callback, topicName(), std::placeholders::_1);
+      52             :         else
+      53          15 :           timeout_mgr_callback = std::bind(&Impl::default_timeout_callback, this, topicName(), std::placeholders::_1);
+      54             : 
+      55             :         // register the timeout callback with the TimeoutManager
+      56          16 :         m_timeout_id = m_timeout_manager->registerNew(options.no_message_timeout, timeout_mgr_callback);
+      57             :       }
+      58             : 
+      59        9257 :       const std::string msg = "Subscribed to topic '" + m_topic_name + "' -> '" + topicName() + "'";
+      60        3087 :       if (m_node_name.empty())
+      61           1 :         ROS_INFO_STREAM(msg);
+      62             :       else
+      63        3092 :         ROS_INFO_STREAM("[" << m_node_name << "]: " << msg);
+      64        3087 :     }
+      65             :     //}
+      66             : 
+      67        3099 :     virtual ~Impl() = default;
+      68             : 
+      69             :   public:
+      70             :     /* getMsg() method //{ */
+      71   800761773 :     virtual typename MessageType::ConstPtr getMsg()
+      72             :     {
+      73   800761773 :       m_new_data = false;
+      74   800761773 :       m_used_data = true;
+      75   800761773 :       return peekMsg();
+      76             :     }
+      77             :     //}
+      78             : 
+      79             :     /* peekMsg() method //{ */
+      80   800761810 :     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   976643810 :       return m_latest_message;
+      87             :     }
+      88             :     //}
+      89             : 
+      90             :     /* hasMsg() method //{ */
+      91      950109 :     virtual bool hasMsg() const
+      92             :     {
+      93      950109 :       return m_got_data;
+      94             :     }
+      95             :     //}
+      96             : 
+      97             :     /* newMsg() method //{ */
+      98      204343 :     virtual bool newMsg() const
+      99             :     {
+     100      204343 :       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      215293 :     virtual ros::Time lastMsgTime() const
+     130             :     {
+     131      215293 :       return m_latest_message_time;
+     132             :     };
+     133             :     //}
+     134             : 
+     135             :     /* topicName() method //{ */
+     136        3288 :     virtual std::string topicName() const
+     137             :     {
+     138        3288 :       std::string ret = m_sub.getTopic();
+     139        3288 :       if (ret.empty())
+     140        3103 :         ret = m_nh.resolveName(m_topic_name);
+     141        3288 :       return ret;
+     142             :     }
+     143             :     //}
+     144             : 
+     145             :     /* start() method //{ */
+     146        3091 :     virtual void start()
+     147             :     {
+     148        3091 :       if (m_timeout_manager)
+     149          20 :         m_timeout_manager->start(m_timeout_id);
+     150        3091 :       m_sub = m_nh.subscribe(m_topic_name, m_queue_size, &Impl::data_callback, this, m_transport_hints);
+     151        3091 :     }
+     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          10 :     void default_timeout_callback(const std::string& topic_name, const ros::Time& last_msg)
+     196             :     {
+     197          10 :       const ros::Duration since_msg = (ros::Time::now() - last_msg);
+     198          10 :       const auto n_pubs = m_sub.getNumPublishers();
+     199          30 :       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          10 :       if (m_node_name.empty())
+     202           0 :         ROS_WARN_STREAM(txt);
+     203             :       else
+     204          10 :         ROS_WARN_STREAM("[" << m_node_name << "]: " << txt);
+     205          10 :     }
+     206             :     //}
+     207             : 
+     208             :     /* process_new_message() method //{ */
+     209     2755760 :     void process_new_message(const typename MessageType::ConstPtr& msg)
+     210             :     {
+     211     2755760 :       m_latest_message_time = ros::Time::now();
+     212     2757713 :       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     2756753 :       m_new_data = !m_message_callback;
+     216     2754924 :       m_got_data = true;
+     217     2754924 :       m_new_data_cv.notify_one();
+     218     2757411 :     }
+     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        3087 :     ImplThreadsafe(const SubscribeHandlerOptions& options, const message_callback_t& message_callback = message_callback_t())
+     254        3087 :         : impl_class_t::Impl(options, message_callback)
+     255             :     {
+     256        3083 :     }
+     257             : 
+     258             :   public:
+     259      950104 :     virtual bool hasMsg() const override
+     260             :     {
+     261     1899526 :       std::lock_guard lck(m_mtx);
+     262     1899613 :       return impl_class_t::hasMsg();
+     263             :     }
+     264      204519 :     virtual bool newMsg() const override
+     265             :     {
+     266      408486 :       std::lock_guard lck(m_mtx);
+     267      408253 :       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   800761760 :     virtual typename MessageType::ConstPtr getMsg() override
+     275             :     {
+     276  1425641891 :       std::lock_guard lck(m_mtx);
+     277  1601523738 :       return impl_class_t::getMsg();
+     278             :     }
+     279   800761646 :     virtual typename MessageType::ConstPtr peekMsg() const override
+     280             :     {
+     281  1425641630 :       std::lock_guard lck(m_mtx);
+     282  1601523600 :       return impl_class_t::peekMsg();
+     283             :     }
+     284      215205 :     virtual ros::Time lastMsgTime() const override
+     285             :     {
+     286      430441 :       std::lock_guard lck(m_mtx);
+     287      430352 :       return impl_class_t::lastMsgTime();
+     288             :     };
+     289         183 :     virtual std::string topicName() const override
+     290             :     {
+     291         368 :       std::lock_guard lck(m_mtx);
+     292         370 :       return impl_class_t::topicName();
+     293             :     };
+     294        3091 :     virtual void start() override
+     295             :     {
+     296        6178 :       std::lock_guard lck(m_mtx);
+     297        6182 :       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        6170 :     virtual ~ImplThreadsafe() override = default;
+     306             : 
+     307             :   protected:
+     308     2757159 :     virtual void data_callback(const typename MessageType::ConstPtr& msg) override
+     309             :     {
+     310             :       {
+     311     5510896 :         std::scoped_lock lck(m_mtx, this->m_new_data_mtx);
+     312     2749032 :         if (this->m_timeout_manager)
+     313       22973 :           this->m_timeout_manager->reset(this->m_timeout_id);
+     314     2738225 :         impl_class_t::process_new_message(msg);
+     315             :       }
+     316             : 
+     317             :       // execute the callback after unlocking the mutex to enable multi-threaded callback execution
+     318     2750203 :       if (this->m_message_callback)
+     319     1504859 :         impl_class_t::m_message_callback(msg);
+     320     2748219 :     }
+     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
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+ + + diff --git a/mrs_lib/include/mrs_lib/impl/subscribe_handler.hpp.gcov.overview.html b/mrs_lib/include/mrs_lib/impl/subscribe_handler.hpp.gcov.overview.html new file mode 100644 index 0000000000..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..039a0b123a5be30b6b86ab27f511bc7c3edec5e5 GIT binary patch literal 1372 zcmV-i1*7_jP)PbXF zRA_$hj4@iQ$tY%%8HH^zS zW6cEpSWW-;D~SoWLPH?$vi4?$WWPqq&<)@QNwyBXCKhLurC>WWYYu4IJlu$ zh0YNwZba1sMI@ur1}1BoodzD`chMU0CaKq2J9ixq7b9FNBgj=2+oknPWgKADO5G|$ z>eIT=*2XV9fVDuGImIaQ6XuE50Sgsx4$L#=nuacVL?du^pqon%e$h)2Vvk6+u8nZs zjx+Zqpu{l^MF&#YAg*mDmw38zD>niv>=>g1Y{)AkW3Alcmgy#!WyFrOy_0myUJ6_8 zl??RO5dbY8Iw~0t^PG{`_6CpnB$bS^2Cw5*r3_Ao`HaTz5^*V>WB}_WkzB(11Pgh{ zwF5T;n+?!GY1~KxbH>ImZg*A98Oz(|zj=OvdFBhi?Y8gxW8d$`m;bmC z;{ZOWe`|ra9q8@cD{_kOGtV@Bl6jIsJAQnWUo^@@-Ue2%Sn>~9-!O~45hB|+0PhF# zktMx@bVJXyga{Yj1HtF|Ka}ySkF8iDdwn{0W;U4X8z7{D=D(l^)j;B_@EHb zdvD;*W_H=wUCK(Siv5XYk4v0A>u)c6({-u&<7$5~OX^|8?%vajS5_rekW=7_^&h}#8KHO$DWFb9 z$XyNU*`aiHp)yKF7hT|1BiGss3zUS?X)AYbSqF9y1t0^&LcR*`syj6#D~ zhi2rCwpMspEJoTa1-O{QlrW!JDi?GDnS1Zsr*&W)k!5&&My;fM5F zeG#ZYx^-W(*vofU8BnJ+I>@2Ysb?|(H`@!F)+e#Ysy5BPqfC2-M0L=$XGmpp<+ixJ zJ{B26<*ex|2(_txg=g5~eRQwlBg&BXq}0lwBaMNTKB5fS+!vmG3=bf_rVLe7D3!6- zDyl}nw<|-RO6iwo_M+4$lzEx8c%XPp4|e2A-Nr6TAaV4>F{tgYn#RyYn&o;lW?FG= zwXUZO!Ft0ayWtv&90CDPudjtwT&FZWxrWM&fbYm3<;_%-^cyno{9aucTl%v9o+2CG eIJickaQ^@zmyh{xOPAyT0000 + + + + + + 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 %
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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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Current view:top level - mrs_lib/include/mrs_lib/impl - timer.hpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:141687.5 %
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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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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:2023-12-14 21:42:20Functions:33100.0 %
Legend: Lines: + hit + not hit +
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+
          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
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_lib/include/mrs_lib/impl/timer.hpp.gcov.overview.html b/mrs_lib/include/mrs_lib/impl/timer.hpp.gcov.overview.html new file mode 100644 index 0000000000..b7e96440c1 --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/timer.hpp.gcov.overview.html @@ -0,0 +1,44 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/timer.hpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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+ + diff --git a/mrs_lib/include/mrs_lib/impl/timer.hpp.gcov.png b/mrs_lib/include/mrs_lib/impl/timer.hpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..3a8f0b8378ef00e8147fa63b03c2ae9387250e7f GIT binary patch literal 527 zcmV+q0`UEbP)JN zR7i={R@)VWAPglNzzVVfuHXoD|5d7xK!QgI7C)M{>Va!+9wd!%&RG}5nx?3MYH2mKoS>NR(V4pexZ8zpDW;uZNe9!VlV2nV^fG~`kRhm|F zi$qoux6G_F!QC;67GAA$~bb?j*aS0!Or+(;H2D4Zlb5g7yb)bo^6@Po)e+E zv2lhZ4>NI^h(pUNMg=cMosb3(d@@TYYJ^UXJO?E8l=8wj^Ky6s2aEfFGZ-&6?s*Z@ zkb!CL3)RL&8l}blAEWEhYu&%6 literal 0 HcmV?d00001 diff --git a/mrs_lib/include/mrs_lib/impl/transformer.hpp.func-sort-c.html b/mrs_lib/include/mrs_lib/impl/transformer.hpp.func-sort-c.html new file mode 100644 index 0000000000..86ce7506bb --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/transformer.hpp.func-sort-c.html @@ -0,0 +1,272 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/transformer.hpp - functions + + + + + + + + + + + + + + +
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:2023-12-14 21:42:20Functions:394881.2 %
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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<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&)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<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&)4615
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&)4615
std_msgs::Header_<std::allocator<void> > mrs_lib::Transformer::getHeader<mrs_msgs::ReferenceStamped_<std::allocator<void> > >(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)4615
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&)9503
void mrs_lib::Transformer::setHeader<geometry_msgs::PointStamped_<std::allocator<void> > >(geometry_msgs::PointStamped_<std::allocator<void> >&, std_msgs::Header_<std::allocator<void> > const&)9503
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&)31840
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&)37558
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&)66430
void mrs_lib::Transformer::setHeader<geometry_msgs::PoseStamped_<std::allocator<void> > >(geometry_msgs::PoseStamped_<std::allocator<void> >&, std_msgs::Header_<std::allocator<void> > const&)66430
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&)123219
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&)132722
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&)132726
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&)132727
std_msgs::Header_<std::allocator<void> > mrs_lib::Transformer::getHeader<geometry_msgs::PointStamped_<std::allocator<void> > >(geometry_msgs::PointStamped_<std::allocator<void> > const&)142230
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&)265654
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&)265654
std_msgs::Header_<std::allocator<void> > mrs_lib::Transformer::getHeader<geometry_msgs::Vector3Stamped_<std::allocator<void> > >(geometry_msgs::Vector3Stamped_<std::allocator<void> > const&)265688
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&)265698
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&)265698
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&)265824
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&)265932
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&)266758
std_msgs::Header_<std::allocator<void> > mrs_lib::Transformer::getHeader<geometry_msgs::PoseStamped_<std::allocator<void> > >(geometry_msgs::PoseStamped_<std::allocator<void> > const&)332301
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&)333190
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+
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/include/mrs_lib/impl/transformer.hpp.func.html b/mrs_lib/include/mrs_lib/impl/transformer.hpp.func.html new file mode 100644 index 0000000000..db5f584f3e --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/transformer.hpp.func.html @@ -0,0 +1,272 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/transformer.hpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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:2023-12-14 21:42:20Functions:394881.2 %
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&)266758
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&)123219
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&)265698
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&)333190
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&)132722
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&)265698
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&)66430
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&)9503
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&)265932
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&)265824
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&)132727
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&)132726
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&)265654
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&)265654
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&)4615
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&)4615
std_msgs::Header_<std::allocator<void> > mrs_lib::Transformer::getHeader<geometry_msgs::PoseStamped_<std::allocator<void> > >(geometry_msgs::PoseStamped_<std::allocator<void> > const&)332301
std_msgs::Header_<std::allocator<void> > mrs_lib::Transformer::getHeader<geometry_msgs::PointStamped_<std::allocator<void> > >(geometry_msgs::PointStamped_<std::allocator<void> > const&)142230
std_msgs::Header_<std::allocator<void> > mrs_lib::Transformer::getHeader<geometry_msgs::Vector3Stamped_<std::allocator<void> > >(geometry_msgs::Vector3Stamped_<std::allocator<void> > const&)265688
std_msgs::Header_<std::allocator<void> > mrs_lib::Transformer::getHeader<mrs_msgs::ReferenceStamped_<std::allocator<void> > >(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)4615
void mrs_lib::Transformer::setHeader<geometry_msgs::PoseStamped_<std::allocator<void> > >(geometry_msgs::PoseStamped_<std::allocator<void> >&, std_msgs::Header_<std::allocator<void> > const&)66430
void mrs_lib::Transformer::setHeader<geometry_msgs::PointStamped_<std::allocator<void> > >(geometry_msgs::PointStamped_<std::allocator<void> >&, std_msgs::Header_<std::allocator<void> > const&)9503
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&)31840
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&)0
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&)37558
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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:2023-12-14 21:42:20Functions:394881.2 %
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      744834 :   std_msgs::Header Transformer::getHeader(const msg_t& msg)
+      15             :   {
+      16      744834 :     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       75933 :   void Transformer::setHeader(msg_t& msg, const std_msgs::Header& header)
+      33             :   {
+      34       75933 :     msg.header = header;
+      35       75933 :   }
+      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       75933 :   T Transformer::copyChangeFrame(const T& what, const std::string& frame_id)
+      49             :   {
+      50       75933 :     T ret = what;
+      51             :     if constexpr (has_header_member_v<T>)
+      52             :     {
+      53      151866 :       std_msgs::Header new_header = getHeader(what);
+      54       75933 :       new_header.frame_id = frame_id;
+      55       75933 :       setHeader(ret, new_header);
+      56             :     }
+      57       75933 :     return ret;
+      58             :   }
+      59             : 
+      60             :   //}
+      61             : 
+      62             :   /* transformImpl() //{ */
+      63             : 
+      64             :   template <class T>
+      65      731653 :   std::optional<T> Transformer::transformImpl(const geometry_msgs::TransformStamped& tf, const T& what)
+      66             :   {
+      67     1463290 :     const std::string from_frame = frame_from(tf);
+      68     1463290 :     const std::string to_frame = frame_to(tf);
+      69             : 
+      70      731649 :     if (from_frame == to_frame)
+      71       75933 :       return copyChangeFrame(what, from_frame);
+      72             : 
+      73     1311432 :     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      389993 :       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      389993 :       else if (to_frame == latlon_frame_name)
+      89             :       {
+      90        1336 :         const std::optional<T> tmp = doTransform(what, tf);
+      91         669 :         if (!tmp.has_value())
+      92           0 :           return std::nullopt;
+      93         669 :         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      265725 :       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      655048 :     return doTransform(what, tf);
+     108             :   }
+     109             : 
+     110             :   //}
+     111             : 
+     112             :   /* doTransform() //{ */
+     113             : 
+     114             :   template <class T>
+     115      655716 :   std::optional<T> Transformer::doTransform(const T& what, const geometry_msgs::TransformStamped& tf)
+     116             :   {
+     117             :     try
+     118             :     {
+     119     1311350 :       T result;
+     120      655706 :       tf2::doTransform(what, result, tf);
+     121      655706 :       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      668819 :   std::optional<T> Transformer::transformSingle(const T& what, const std::string& to_frame_raw)
+     139             :   {
+     140     1337923 :     const std_msgs::Header orig_header = getHeader(what);
+     141     1337843 :     return transformSingle(orig_header.frame_id, what, to_frame_raw, orig_header.stamp);
+     142             :   }
+     143             : 
+     144             :   template <class T>
+     145      668929 :   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     1338029 :     std::scoped_lock lck(mutex_);
+     148             : 
+     149      669108 :     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     1338197 :     const std::string from_frame = resolveFrameImpl(from_frame_raw);
+     156     1338189 :     const std::string to_frame = resolveFrameImpl(to_frame_raw);
+     157     1338177 :     const std::string latlon_frame = resolveFrameImpl(LATLON_ORIGIN);
+     158             : 
+     159             :     // get the transform
+     160     1338205 :     const auto tf_opt = getTransformImpl(from_frame, to_frame, time_stamp, latlon_frame);
+     161      669104 :     if (!tf_opt.has_value())
+     162        6896 :       return std::nullopt;
+     163      662201 :     const geometry_msgs::TransformStamped& tf = tf_opt.value();
+     164             : 
+     165             :     // do the transformation
+     166     1324408 :     const geometry_msgs::TransformStamped tf_resolved = create_transform(from_frame, to_frame, tf.header.stamp, tf.transform);
+     167      662212 :     return transformImpl(tf_resolved, what);
+     168             :   }
+     169             : 
+     170             :   //}
+     171             : 
+     172             :   /* transform() //{ */
+     173             : 
+     174             :   template <class T>
+     175       69416 :   std::optional<T> Transformer::transform(const T& what, const geometry_msgs::TransformStamped& tf)
+     176             :   {
+     177      138832 :     std::scoped_lock lck(mutex_);
+     178             : 
+     179       69416 :     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      138832 :     const std::string from_frame = resolveFrameImpl(frame_from(tf));
+     186      138832 :     const std::string to_frame = resolveFrameImpl(frame_to(tf));
+     187      138832 :     const geometry_msgs::TransformStamped tf_resolved = create_transform(from_frame, to_frame, tf.header.stamp, tf.transform);
+     188             : 
+     189       69416 :     return transformImpl(tf_resolved, what);
+     190             :   }
+     191             : 
+     192             :   /* //} */
+     193             : 
+     194             : }
+     195             : 
+     196             : #endif // TRANSFORMER_HPP
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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Current view:top level - mrs_lib/include/mrs_lib/impl - ukf.hpp (source / functions)HitTotalCoverage
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::UKF<4, 1, 2>::setConstants(double, double, double)0
mrs_lib::UKF<4, 1, 2>::setTransitionModel(std::function<Eigen::Matrix<double, 4, 1, 0, 4, 1> (Eigen::Matrix<double, 4, 1, 0, 4, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, double)> const&)0
mrs_lib::UKF<4, 1, 2>::setObservationModel(std::function<Eigen::Matrix<double, 2, 1, 0, 2, 1> (Eigen::Matrix<double, 4, 1, 0, 4, 1> const&)> const&)0
mrs_lib::UKF<4, 1, 2>::UKF()0
mrs_lib::UKF<4, 1, 2>::computeWeights()1
mrs_lib::UKF<4, 1, 2>::UKF(std::function<Eigen::Matrix<double, 4, 1, 0, 4, 1> (Eigen::Matrix<double, 4, 1, 0, 4, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, double)> const&, std::function<Eigen::Matrix<double, 2, 1, 0, 2, 1> (Eigen::Matrix<double, 4, 1, 0, 4, 1> const&)> const&, double, double, double)1
mrs_lib::UKF<4, 1, 2>::computeInverse(Eigen::Matrix<double, 2, 2, 0, 2, 2> const&) const100
mrs_lib::UKF<4, 1, 2>::computeKalmanGain(Eigen::Matrix<double, 4, 1, 0, 4, 1> const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 4, 2, 0, 4, 2> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&) const100
mrs_lib::UKF<4, 1, 2>::correct(mrs_lib::KalmanFilter<4, 1, 2>::statecov_t const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&) const100
mrs_lib::UKF<4, 1, 2>::predict(mrs_lib::KalmanFilter<4, 1, 2>::statecov_t const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 4, 4, 0, 4, 4> const&, double) const100
mrs_lib::UKF<4, 1, 2>::computePaSqrt(Eigen::Matrix<double, 4, 4, 0, 4, 4> const&) const200
mrs_lib::UKF<4, 1, 2>::computeSigmas(Eigen::Matrix<double, 4, 1, 0, 4, 1> const&, Eigen::Matrix<double, 4, 4, 0, 4, 4> const&) const200
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Current view:top level - mrs_lib/include/mrs_lib/impl - ukf.hpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:7710474.0 %
Date:2023-12-14 21:42:20Functions: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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Date:2023-12-14 21:42:20Functions:81266.7 %
Legend: Lines: + hit + not hit +
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+
          Line data    Source code
+
+       1             : // clang: MatousFormat
+       2             : 
+       3             : #ifndef UKF_HPP
+       4             : #define UKF_HPP
+       5             : 
+       6             : /**  \file
+       7             :      \brief Implements UKF - a class implementing the Unscented Kalman Filter.
+       8             :      \author Tomáš Báča - bacatoma@fel.cvut.cz (original implementation)
+       9             :      \author Matouš Vrba - vrbamato@fel.cvut.cz (rewrite, documentation)
+      10             :  */
+      11             : 
+      12             : #include <ros/ros.h>
+      13             : #include <mrs_lib/ukf.h>
+      14             : 
+      15             : namespace mrs_lib
+      16             : {
+      17             :   /* constructor //{ */
+      18             : 
+      19             :   template <int n_states, int n_inputs, int n_measurements>
+      20           0 :   UKF<n_states, n_inputs, n_measurements>::UKF()
+      21             :   {
+      22           0 :   }
+      23             : 
+      24             :   template <int n_states, int n_inputs, int n_measurements>
+      25           1 :   UKF<n_states, n_inputs, n_measurements>::UKF(const transition_model_t& transition_model, const observation_model_t& observation_model, const double alpha, const double kappa, const double beta)
+      26           1 :     : m_alpha(alpha), m_kappa(kappa), m_beta(beta), m_Wm(W_t::Zero()), m_Wc(W_t::Zero()), m_transition_model(transition_model), m_observation_model(observation_model)
+      27             :   {
+      28           1 :     assert(alpha > 0.0);
+      29           1 :     computeWeights();
+      30           1 :   }
+      31             : 
+      32             :   //}
+      33             : 
+      34             :   /* computeWeights() //{ */
+      35             : 
+      36             :   template <int n_states, int n_inputs, int n_measurements>
+      37           1 :   void UKF<n_states, n_inputs, n_measurements>::computeWeights()
+      38             :   {
+      39             :     // initialize lambda
+      40             :     /* m_lambda = double(n) * (m_alpha * m_alpha - 1.0); */
+      41           1 :     m_lambda = m_alpha*m_alpha*(double(n) + m_kappa) - double(n);
+      42             : 
+      43             :     // initialize first terms of the weights
+      44           1 :     m_Wm(0) = m_lambda / (double(n) + m_lambda);
+      45           1 :     m_Wc(0) = m_Wm(0) + (1.0 - m_alpha*m_alpha + m_beta);
+      46             : 
+      47             :     // initialize the rest of the weights
+      48           9 :     for (int i = 1; i < w; i++)
+      49             :     {
+      50           8 :       m_Wm(i) = (1.0 - m_Wm(0))/(w - 1.0);
+      51           8 :       m_Wc(i) = m_Wm(i);
+      52             :     }
+      53           1 :   }
+      54             : 
+      55             :   //}
+      56             : 
+      57             :   /* setConstants() //{ */
+      58             : 
+      59             :   template <int n_states, int n_inputs, int n_measurements>
+      60             :   // update the UKF constants
+      61           0 :   void UKF<n_states, n_inputs, n_measurements>::setConstants(const double alpha, const double kappa, const double beta)
+      62             :   {
+      63           0 :     m_alpha = alpha;
+      64           0 :     m_kappa = kappa;
+      65           0 :     m_beta  = beta;
+      66             : 
+      67           0 :     computeWeights();
+      68           0 :   }
+      69             : 
+      70             :   //}
+      71             : 
+      72             :     /* setTransitionModel() method //{ */
+      73             : 
+      74             :     template <int n_states, int n_inputs, int n_measurements>
+      75           0 :     void UKF<n_states, n_inputs, n_measurements>::setTransitionModel(const transition_model_t& transition_model)
+      76             :     {
+      77           0 :       m_transition_model = transition_model;
+      78           0 :     }
+      79             : 
+      80             :     //}
+      81             : 
+      82             :     /* setObservationModel() method //{ */
+      83             : 
+      84             :     template <int n_states, int n_inputs, int n_measurements>
+      85           0 :     void UKF<n_states, n_inputs, n_measurements>::setObservationModel(const observation_model_t& observation_model)
+      86             :     {
+      87           0 :       m_observation_model = observation_model;
+      88           0 :     }
+      89             : 
+      90             :     //}
+      91             : 
+      92             :   /* computePaSqrt() method //{ */
+      93             :   template <int n_states, int n_inputs, int n_measurements>
+      94         200 :   typename UKF<n_states, n_inputs, n_measurements>::P_t UKF<n_states, n_inputs, n_measurements>::computePaSqrt(const P_t& P) const
+      95             :   {
+      96             :     // calculate the square root of the covariance matrix
+      97         200 :     const P_t Pa = (double(n) + m_lambda)*P;
+      98             : 
+      99             :     /* Eigen::SelfAdjointEigenSolver<P_t> es(Pa); */
+     100         200 :     Eigen::LLT<P_t> llt(Pa);
+     101         200 :     if (llt.info() != Eigen::Success)
+     102             :     {
+     103           0 :       P_t tmp = Pa + (double(n) + m_lambda)*1e-9*P_t::Identity();
+     104           0 :       llt.compute(tmp);
+     105           0 :       if (llt.info() != Eigen::Success)
+     106             :       {
+     107           0 :         ROS_WARN("UKF: taking the square root of covariance during sigma point generation failed.");
+     108           0 :         throw square_root_exception();
+     109             :       }
+     110             :     }
+     111             : 
+     112         200 :     const P_t Pa_sqrt = llt.matrixL();
+     113         400 :     return Pa_sqrt;
+     114             :   }
+     115             :   //}
+     116             : 
+     117             :   /* computeInverse() method //{ */
+     118             :   template <int n_states, int n_inputs, int n_measurements>
+     119         100 :   typename UKF<n_states, n_inputs, n_measurements>::Pzz_t UKF<n_states, n_inputs, n_measurements>::computeInverse(const Pzz_t& Pzz) const
+     120             :   {
+     121         100 :     Eigen::ColPivHouseholderQR<Pzz_t> qr(Pzz);
+     122         100 :     if (!qr.isInvertible())
+     123             :     {
+     124             :       // add some stuff to the tmp matrix diagonal to make it invertible
+     125           0 :       Pzz_t tmp = Pzz + 1e-9*Pzz_t::Identity(Pzz.rows(), Pzz.cols());
+     126           0 :       qr.compute(tmp);
+     127           0 :       if (!qr.isInvertible())
+     128             :       {
+     129             :         // never managed to make this happen except for explicitly putting NaNs in the input
+     130           0 :         ROS_ERROR("UKF: could not compute matrix inversion!!! Fix your covariances (the measurement's is probably too low...)");
+     131           0 :         throw inverse_exception();
+     132             :       }
+     133           0 :       ROS_WARN("UKF: artificially inflating matrix for inverse computation! Check your covariances (the measurement's might be too low...)");
+     134             :     }
+     135         100 :     Pzz_t ret = qr.inverse();
+     136         200 :     return ret;
+     137             :   }
+     138             :   //}
+     139             : 
+     140             :   /* computeKalmanGain() method //{ */
+     141             :   template <int n_states, int n_inputs, int n_measurements>
+     142         100 :   typename UKF<n_states, n_inputs, n_measurements>::K_t UKF<n_states, n_inputs, n_measurements>::computeKalmanGain([[maybe_unused]] const x_t& x, [[maybe_unused]] const z_t& inn, const K_t& Pxz, const Pzz_t& Pzz) const
+     143             :   {
+     144         100 :     const Pzz_t Pzz_inv = computeInverse(Pzz);
+     145         100 :     const K_t K = Pxz * Pzz_inv;
+     146         200 :     return K;
+     147             :   }
+     148             :   //}
+     149             : 
+     150             :   /* computeSigmas() method //{ */
+     151             :   template <int n_states, int n_inputs, int n_measurements>
+     152         200 :   typename UKF<n_states, n_inputs, n_measurements>::X_t UKF<n_states, n_inputs, n_measurements>::computeSigmas(const x_t& x, const P_t& P) const
+     153             :   {
+     154             :     // calculate sigma points
+     155             :     // fill in the middle of the elipsoid
+     156         200 :     X_t S;
+     157         200 :     S.col(0) = x;
+     158             : 
+     159         200 :     const P_t P_sqrt = computePaSqrt(P);
+     160         200 :     const auto xrep = x.replicate(1, n);
+     161             : 
+     162             :     // positive sigma points
+     163         200 :     S.template block<n, n>(0, 1) = xrep + P_sqrt;
+     164             : 
+     165             :     // negative sigma points
+     166         200 :     S.template block<n, n>(0, n+1) = xrep - P_sqrt;
+     167             : 
+     168             :     /* std::cout << "x: " << std::endl << x << std::endl; */
+     169             :     /* std::cout << "S rowmean: " << std::endl << S.rowwise().mean() << std::endl; */
+     170             : 
+     171         400 :     return S;
+     172             :   }
+     173             :   //}
+     174             : 
+     175             :   /* predict() method //{ */
+     176             : 
+     177             :   template <int n_states, int n_inputs, int n_measurements>
+     178         100 :   typename UKF<n_states, n_inputs, n_measurements>::statecov_t UKF<n_states, n_inputs, n_measurements>::predict(const statecov_t& sc, const u_t& u, const Q_t& Q, double dt) const
+     179             :   {
+     180         100 :     const auto& x = sc.x;
+     181         100 :     const auto& P = sc.P;
+     182         100 :     statecov_t ret;
+     183             : 
+     184         100 :     const X_t S = computeSigmas(x, P);
+     185             : 
+     186             :     // propagate sigmas through the transition model
+     187         100 :     X_t X;
+     188        1000 :     for (int i = 0; i < w; i++)
+     189             :     {
+     190         900 :       X.col(i) = m_transition_model(S.col(i), u, dt);
+     191             :     }
+     192             : 
+     193             :     /* std::cout << "x: " << std::endl << x << std::endl; */
+     194             :     /* std::cout << "X rowmean: " << std::endl << X.rowwise().mean() << std::endl; */
+     195             :     /* std::cout << "m_Wm sum: " << m_Wm.sum() << std::endl; */
+     196             : 
+     197             :     // recompute the state vector
+     198         100 :     ret.x = x_t::Zero();
+     199        1000 :     for (int i = 0; i < w; i++)
+     200             :     {
+     201             :       //TODO: WHY DOES THIS SHIT WORK IF I SUBSTITUTE m_Wm(i) FOR 1.0/w ??
+     202         900 :       x_t tmp = 1.0/w * X.col(i);
+     203             :       /* x_t tmp = m_Wm(i) * X.col(i); */
+     204         900 :       ret.x += tmp;
+     205             :     }
+     206             : 
+     207             :     // recompute the covariance
+     208         100 :     ret.P = P_t::Zero();
+     209        1000 :     for (int i = 0; i < w; i++)
+     210             :     {
+     211         900 :       ret.P += m_Wc(i) * (X.col(i) - ret.x) * (X.col(i) - ret.x).transpose();
+     212             :     }
+     213         100 :     ret.P += Q;
+     214             : 
+     215         200 :     return ret;
+     216             :   }
+     217             : 
+     218             :   //}
+     219             : 
+     220             :   /* correct() method //{ */
+     221             : 
+     222             :   template <int n_states, int n_inputs, int n_measurements>
+     223         100 :   typename UKF<n_states, n_inputs, n_measurements>::statecov_t UKF<n_states, n_inputs, n_measurements>::correct(const statecov_t& sc, const z_t& z, const R_t& R) const
+     224             :   {
+     225         100 :     const auto& x = sc.x;
+     226         100 :     const auto& P = sc.P;
+     227         100 :     const X_t S = computeSigmas(x, P);
+     228             : 
+     229             :     // propagate sigmas through the observation model
+     230         100 :     Z_t Z_exp(z.rows(), w);
+     231        1000 :     for (int i = 0; i < w; i++)
+     232             :     {
+     233         900 :       Z_exp.col(i) = m_observation_model(S.col(i));
+     234             :     }
+     235             : 
+     236             :     // compute expected measurement
+     237         100 :     z_t z_exp = z_t::Zero(z.rows());
+     238        1000 :     for (int i = 0; i < w; i++)
+     239             :     {
+     240         900 :       z_exp += m_Wm(i) * Z_exp.col(i);
+     241             :     }
+     242             : 
+     243             :     // compute the covariance of measurement
+     244         100 :     Pzz_t Pzz = Pzz_t::Zero(z.rows(), z.rows());
+     245        1000 :     for (int i = 0; i < w; i++)
+     246             :     {
+     247         900 :       Pzz += m_Wc(i) * (Z_exp.col(i) - z_exp) * (Z_exp.col(i) - z_exp).transpose();
+     248             :     }
+     249         100 :     Pzz += R;
+     250             : 
+     251             :     // compute cross covariance
+     252         100 :     K_t Pxz = K_t::Zero(n, z.rows());
+     253        1000 :     for (int i = 0; i < w; i++)
+     254             :     {
+     255         900 :       Pxz += m_Wc(i) * (S.col(i) - x) * (Z_exp.col(i) - z_exp).transpose();
+     256             :     }
+     257             : 
+     258             :     // compute Kalman gain
+     259         100 :     const z_t inn = (z - z_exp); // innovation
+     260         100 :     const K_t K = computeKalmanGain(sc.x, inn, Pxz, Pzz);
+     261             : 
+     262             :     // check whether the inverse produced valid numbers
+     263         100 :     if (!K.array().isFinite().all())
+     264             :     {
+     265           0 :       ROS_ERROR("UKF: inverting of Pzz in correction update produced non-finite numbers!!! Fix your covariances (the measurement's is probably too low...)");
+     266           0 :       throw inverse_exception();
+     267             :     }
+     268             : 
+     269             :     // correct
+     270         100 :     statecov_t ret;
+     271         100 :     ret.x = x + K * inn;
+     272         100 :     ret.P = P - K * Pzz * K.transpose();
+     273         200 :     return ret;
+     274             :   }
+     275             : 
+     276             :   //}
+     277             : 
+     278             : }  // namespace mrs_lib
+     279             : 
+     280             : #endif
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_lib/include/mrs_lib/impl/ukf.hpp.gcov.overview.html b/mrs_lib/include/mrs_lib/impl/ukf.hpp.gcov.overview.html new file mode 100644 index 0000000000..68c88bdc08 --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/ukf.hpp.gcov.overview.html @@ -0,0 +1,90 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/ukf.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 + + +
+ Top

+ Overview +
+ + diff --git a/mrs_lib/include/mrs_lib/impl/ukf.hpp.gcov.png b/mrs_lib/include/mrs_lib/impl/ukf.hpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..1d33d5b3039a981579bb4f50a9c00a2c8709ad9b GIT binary patch literal 1198 zcmV;f1X25mP)Y@{;Pb0B(89X1lp$WlRn3FWZf6Cw_WVJ+}+ydtQ`=_ zd4PPgbS9hXQz+oPx)ki&7 z-lQE#rEk)z9uGELd87|74GK~T#|W?+u3XZe6t2^vl^w1d^jri}M|c;c3rf)C56QZq zP>s|XTiZ;bsJ#Vv-hdqz_$BTdbHN)i=DQZ)l5v>`+*`m1a!FMX_`s(SmpO- zp$vyfR|C*SHhH6}0WwL`B(6KO!^))|7!eAY$hGhdq-(Utn_=63OFES_bj!U50C8YR z|N7J=_cr$>VLl@P%-P){#tAJ~{L6R_w;t2FXAF>2UxyPws4?ZRe#OISm*?A}%rGNq zZ^^7Vo9;iJkq`B_Y=@kl0KzY}Aw>xP^-|D;VL_|NIq#{C2ogQcHsOZP_(abshj)TrRs^3 zRDJ%qOg&hws;@$&LlQi$D@$mg=^NrpvL6ojS`Pb^=MJ& zI<$0_Mxku)5@`mY@u80@ds!ioK4>QJ-s>hI8lqjf%z4bxSXJQzPkg@O>F7ldYVaim ze6B)6>E3j9;8EqM3Hx9J`$AVSoejBw%?C7ptCNz#zfL;|HFrYu4`1RPbHQ`N;s5{u M07*qoM6N<$f)tiG*8l(j literal 0 HcmV?d00001 diff --git a/mrs_lib/include/mrs_lib/index-detail-sort-f.html b/mrs_lib/include/mrs_lib/index-detail-sort-f.html new file mode 100644 index 0000000000..9a2c6f0683 --- /dev/null +++ b/mrs_lib/include/mrs_lib/index-detail-sort-f.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:73896576.5 %
Date:2023-12-14 21:42:20Functions:750126759.2 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

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
msg_extractor.h +
23.2%23.2%
+ 		23.2 %23 / 9922.7 %10 / 44
<unnamed>23.2 %23 / 9922.7 %10 / 44
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
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 / 4950.8 %355 / 699
<unnamed>79.6 %39 / 4950.8 %355 / 699
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 / 1181.5 %66 / 81
<unnamed>100.0 %11 / 1181.5 %66 / 81
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 %112 / 113
<unnamed>100.0 %4 / 499.1 %112 / 113
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%
+ 		100.0 %15 / 15100.0 %5 / 5
<unnamed>100.0 %15 / 15100.0 %5 / 5
service_client_handler.h +
100.0%
+ 		100.0 %3 / 3100.0 %22 / 22
<unnamed>100.0 %3 / 3100.0 %22 / 22
+
+
+ + + + +
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..ea8f0f6fa5 --- /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:73896576.5 %
Date:2023-12-14 21:42:20Functions:750126759.2 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

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
msg_extractor.h +
23.2%23.2%
+ 		23.2 %23 / 9922.7 %10 / 44
<unnamed>23.2 %23 / 9922.7 %10 / 44
scope_timer.h +
33.3%33.3%
+ 		33.3 %2 / 633.3 %1 / 3
<unnamed>33.3 %2 / 633.3 %1 / 3
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 / 4950.8 %355 / 699
<unnamed>79.6 %39 / 4950.8 %355 / 699
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 %22 / 22
<unnamed>100.0 %3 / 3100.0 %22 / 22
timer.h +
100.0%
+ 		100.0 %4 / 485.7 %6 / 7
<unnamed>100.0 %4 / 485.7 %6 / 7
quadratic_throttle_model.h +
100.0%
+ 		100.0 %4 / 4100.0 %2 / 2
<unnamed>100.0 %4 / 4100.0 %2 / 2
publisher_handler.h +
100.0%
+ 		100.0 %4 / 499.1 %112 / 113
<unnamed>100.0 %4 / 499.1 %112 / 113
mutex.h +
100.0%
+ 		100.0 %11 / 1181.5 %66 / 81
<unnamed>100.0 %11 / 1181.5 %66 / 81
utils.h +
100.0%
+ 		100.0 %15 / 15100.0 %5 / 5
<unnamed>100.0 %15 / 15100.0 %5 / 5
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + 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..cf191fd68d --- /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:73896576.5 %
Date:2023-12-14 21:42:20Functions:750126759.2 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

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 +
23.2%23.2%
+ 		23.2 %23 / 9922.7 %10 / 44
<unnamed>23.2 %23 / 9922.7 %10 / 44
mutex.h +
100.0%
+ 		100.0 %11 / 1181.5 %66 / 81
<unnamed>100.0 %11 / 1181.5 %66 / 81
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 %112 / 113
<unnamed>100.0 %4 / 499.1 %112 / 113
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 %22 / 22
<unnamed>100.0 %3 / 3100.0 %22 / 22
subscribe_handler.h +
79.6%79.6%
+ 		79.6 %39 / 4950.8 %355 / 699
<unnamed>79.6 %39 / 4950.8 %355 / 699
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..92ebe58c39 --- /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:73896576.5 %
Date:2023-12-14 21:42:20Functions:750126759.2 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

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
msg_extractor.h +
23.2%23.2%
+ 		23.2 %23 / 9922.7 %10 / 44
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
repredictor.h +
90.1%90.1%
+ 		90.1 %100 / 11135.7 %20 / 56
subscribe_handler.h +
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Test:MRS UAV System - Test coverage reportLines:73896576.5 %
Date:2023-12-14 21:42:20Functions:750126759.2 %
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Current view:top level - mrs_lib/include/mrs_libHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:73896576.5 %
Date:2023-12-14 21:42:20Functions:750126759.2 %
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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:2023-12-14 21:42:20Functions: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&)45
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&)86
mrs_lib::LKF<2, 1, 1>::invert_W(Eigen::Matrix<double, 1, 1, 0, 1, 1>)5810
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&) const5810
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&) const5810
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&) const5810
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&)16850
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)16850
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) const16850
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&)55509
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)55509
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) const55509
mrs_lib::LKF<6, 2, 2>::invert_W(Eigen::Matrix<double, 2, 2, 0, 2, 2>)89792
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&) const89792
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&) const89792
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&) const89792
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&)103089
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) const103259
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)103303
mrs_lib::LKF<3, 1, 1>::invert_W(Eigen::Matrix<double, 1, 1, 0, 1, 1>)242926
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&) const243349
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&) const243423
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&) const243459
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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:2023-12-14 21:42:20Functions: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&)16850
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)16850
mrs_lib::LKF<2, 1, 1>::invert_W(Eigen::Matrix<double, 1, 1, 0, 1, 1>)5810
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&)103089
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)103303
mrs_lib::LKF<3, 1, 1>::invert_W(Eigen::Matrix<double, 1, 1, 0, 1, 1>)242926
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&)86
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&)55509
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)55509
mrs_lib::LKF<6, 2, 2>::invert_W(Eigen::Matrix<double, 2, 2, 0, 2, 2>)89792
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&)45
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) const16850
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&) const5810
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&) const5810
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&) const5810
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&) const243459
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&) const243423
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&) const243349
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) const103259
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&) const89792
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&) const89792
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&) const89792
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) const55509
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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:2023-12-14 21:42:20Functions:254161.0 %
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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         131 :     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      338951 :     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      338951 :       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      158768 :     virtual statecov_t predict(const statecov_t& sc, const u_t& u, const Q_t& Q, [[maybe_unused]] double dt) const override
+     139             :     {
+     140      158768 :       statecov_t ret;
+     141      158591 :       ret.x = state_predict(A, sc.x, B, u);
+     142      158540 :       ret.P = covariance_predict(A, sc.P, Q, dt);
+     143      158511 :       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      175662 :     static P_t covariance_predict(const A_t& A, const P_t& P, const Q_t& Q, const double dt)
+     155             :     {
+     156      175662 :       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      175448 :     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      175448 :       return A * x + B * u;
+     172             :     }
+     173             :     //}
+     174             : 
+     175             :   protected:
+     176             :     /* invert_W() method //{ */
+     177      338528 :     static R_t invert_W(R_t W)
+     178             :     {
+     179      338528 :       Eigen::ColPivHouseholderQR<R_t> qr(W);
+     180      338836 :       if (!qr.isInvertible())
+     181             :       {
+     182             :         // add some stuff to the tmp matrix diagonal to make it invertible
+     183       37973 :         R_t ident = R_t::Identity(W.rows(), W.cols());
+     184       37973 :         W += 1e-9 * ident;
+     185       37973 :         qr.compute(W);
+     186       37973 :         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      337577 :       const R_t W_inv = qr.inverse();
+     193      677788 :       return W_inv;
+     194             :     }
+     195             :     //}
+     196             : 
+     197             :     /* computeKalmanGain() method //{ */
+     198      339025 :     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      339025 :       const R_t W = H * sc.P * H.transpose() + R;
+     202      338658 :       const R_t W_inv = invert_W(W);
+     203      338922 :       const K_t K = sc.P * H.transpose() * W_inv;
+     204      677780 :       return K;
+     205             :     }
+     206             :     //}
+     207             : 
+     208             :     /* correction_impl() method //{ */
+     209             :     template<int check=n>
+     210      339061 :     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      339061 :       statecov_t ret;
+     214      338869 :       const K_t K = computeKalmanGain(sc, z, R, H);
+     215      338611 :       ret.x = sc.x + K * (z - (H * sc.x));
+     216      338665 :       ret.P = (P_t::Identity() - (K * H)) * sc.P;
+     217      677246 :       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       16850 :     virtual statecov_t predict(const statecov_t& sc, const u_t& u, const Q_t& Q, double dt) const override
+     317             :     {
+     318       16850 :       statecov_t ret;
+     319       16850 :       A_t A = m_generateA(dt);
+     320       16850 :       B_t B = m_generateB(dt);
+     321       16850 :       ret.x = Base_class::state_predict(A, sc.x, B, u);
+     322       16850 :       ret.P = Base_class::covariance_predict(A, sc.P, Q, dt);
+     323       33700 :       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
+
+ + + 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 + + +
+ Top

+ 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..f8424e8042 --- /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:239923.2 %
Date:2023-12-14 21:42:20Functions:104422.7 %
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::Reference_<std::allocator<void> > const&)0
mrs_lib::getHeading(mrs_msgs::TrackerCommand_<std::allocator<void> > const&)0
mrs_lib::getHeading(mrs_msgs::ReferenceStamped_<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::getPosition(mrs_msgs::Reference_<std::allocator<void> > const&)0
mrs_lib::getPosition(mrs_msgs::TrackerCommand_<std::allocator<void> > const&)0
mrs_lib::getPosition(mrs_msgs::ReferenceStamped_<std::allocator<void> > 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::getPose(nav_msgs::Odometry_<std::allocator<void> > const&)595
mrs_lib::getHeading(geometry_msgs::PoseWithCovariance_<std::allocator<void> > const&)90091
mrs_lib::getHeading(geometry_msgs::Pose_<std::allocator<void> > const&)90091
mrs_lib::getHeading(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)90091
mrs_lib::getHeading(nav_msgs::Odometry_<std::allocator<void> > const&)90091
mrs_lib::getPosition(geometry_msgs::PoseWithCovariance_<std::allocator<void> > const&)90092
mrs_lib::getPosition(geometry_msgs::Pose_<std::allocator<void> > const&)90092
mrs_lib::getPosition(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)90092
mrs_lib::getPosition(nav_msgs::Odometry_<std::allocator<void> > const&)90092
mrs_lib::getXYZ(geometry_msgs::Point_<std::allocator<void> > const&)90092
+
+
+ + + +
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..d714cf348b --- /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:239923.2 %
Date:2023-12-14 21:42:20Functions:104422.7 %
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&)90091
mrs_lib::getHeading(geometry_msgs::Pose_<std::allocator<void> > const&)90091
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&)90091
mrs_lib::getHeading(mrs_msgs::Reference_<std::allocator<void> > const&)0
mrs_lib::getHeading(mrs_msgs::TrackerCommand_<std::allocator<void> > const&)0
mrs_lib::getHeading(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)0
mrs_lib::getHeading(nav_msgs::Odometry_<std::allocator<void> > const&)90091
mrs_lib::getPosition(geometry_msgs::PoseWithCovariance_<std::allocator<void> > const&)90092
mrs_lib::getPosition(geometry_msgs::Pose_<std::allocator<void> > const&)90092
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&)90092
mrs_lib::getPosition(mrs_msgs::Reference_<std::allocator<void> > const&)0
mrs_lib::getPosition(mrs_msgs::TrackerCommand_<std::allocator<void> > const&)0
mrs_lib::getPosition(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)0
mrs_lib::getPosition(nav_msgs::Odometry_<std::allocator<void> > const&)90092
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&)90092
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&)595
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LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib - msg_extractor.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:239923.2 %
Date:2023-12-14 21:42:20Functions:104422.7 %
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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       90092 : std::tuple<double, double, double> getXYZ(const geometry_msgs::Point& data) {
+      30             : 
+      31       90092 :   double x = data.x;
+      32       90092 :   double y = data.y;
+      33       90092 :   double z = data.z;
+      34             : 
+      35      180179 :   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       90092 : std::tuple<double, double, double> getPosition(const geometry_msgs::Pose& data) {
+      96             : 
+      97       90092 :   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       90091 : double getHeading(const geometry_msgs::Pose& data) {
+     124             : 
+     125       90091 :   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       90092 : std::tuple<double, double, double> getPosition(const geometry_msgs::PoseWithCovariance& data) {
+     184             : 
+     185       90092 :   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       90091 : double getHeading(const geometry_msgs::PoseWithCovariance& data) {
+     212             : 
+     213       90091 :   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       90092 : std::tuple<double, double, double> getPosition(const nav_msgs::Odometry& data) {
+     336             : 
+     337       90092 :   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       90092 : std::tuple<double, double, double> getPosition(const nav_msgs::OdometryConstPtr& data) {
+     348             : 
+     349       90092 :   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       90091 : double getHeading(const nav_msgs::Odometry& data) {
+     392             : 
+     393       90091 :   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       90091 : double getHeading(const nav_msgs::OdometryConstPtr& data) {
+     404             : 
+     405       90091 :   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         595 : geometry_msgs::Pose getPose(const nav_msgs::Odometry& data) {
+     448             : 
+     449         595 :   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           0 : std::tuple<double, double, double> getPosition(const mrs_msgs::TrackerCommand& data) {
+     480             : 
+     481           0 :   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           0 : std::tuple<double, double, double> getPosition(const mrs_msgs::Reference& data) {
+     579             : 
+     580           0 :   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           0 : double getHeading(const mrs_msgs::Reference& data) {
+     607             : 
+     608           0 :   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           0 : std::tuple<double, double, double> getPosition(const mrs_msgs::ReferenceStamped& data) {
+     639             : 
+     640           0 :   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           0 : double getHeading(const mrs_msgs::ReferenceStamped& data) {
+     667             : 
+     668           0 :   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..c967260975487de8223ac6d2a1cdfdd7ac5c9c17 GIT binary patch literal 1284 zcmV+f1^fDmP)o6G8|QDw%obIDPSgz2TC8I!)j9eb=wn zHK6s~;t9L#);4d*4YoTDm%r`ur_&tQ_LoohF6?F^db;-Q<8dv$=ZesdXzTY&fiA=9 z2=-A!M1B4EK1QNB`WX3L_HSyuFbtgOO@FUsjam*wY$w}xZ?jXsPTR>Xw&@+Q_m9~i z#J=r%?+NJP`aJBR{5+q-=kxV&82*|+q&0sl$YX`M-Z7|;@9Q3(gWJ*lE6ovYaq(!2 zNkTlfuu5c%$N8{P`I+ZwKG`%kFQhfE56C=$j^J-qN3?NFY8s+CZLtVsWIS5VCd8xX zI%LP=ay(6e@i?w9*E^waTrf3jv!QzXax={l+jI%qQ*$#IQQDp+)00iC z+5<%P$1!S8bAQ-Vo8oA5VQG7s3{MTQYEN>mEqoKX2KX!|?~${oX+1Z;_8=T1_PMsF zD9tI3G#3`Or)iv@UwaUak$aj3-*?^9Y#No5i2EhMjvU+k)e;q?Ivdk64#uM4c7G9VRuNc zEsofxQ)y57`PzKJ5h)&FM-ke?{%SR5?YSm5tFKl|gQ)H0#fzG}+>CL|xE(_f%bKs< z14o8Frg$Xp5VrXL#-l8*0mmZrQCx0jh7k3!!J?Kv^|j9!?U5Ic@av5f6f)P2yj~{P u8s9ZHW3sO8j$pVtlfok|0d^V!4!?hU9APhw2@? + + + + + + 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:2023-12-14 21:42:20Functions:668181.5 %
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::VelocityReference_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::VelocityReference_<std::allocator<void> > >(std::mutex&, mrs_msgs::VelocityReference_<std::allocator<void> >&)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_msgs::TrackerCommand_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::TrackerCommand_<std::allocator<void> > >(std::mutex&, mrs_msgs::TrackerCommand_<std::allocator<void> >&)1
mrs_uav_trajectory_generation::drsConfig mrs_lib::get_mutexed<mrs_uav_trajectory_generation::drsConfig>(std::mutex&, mrs_uav_trajectory_generation::drsConfig&)2
mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >(std::mutex&, mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> >&)2
auto mrs_lib::set_mutexed<mrs_uav_trajectory_generation::drsConfig>(std::mutex&, mrs_uav_trajectory_generation::drsConfig, mrs_uav_trajectory_generation::drsConfig&)48
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> >&)51
auto mrs_lib::set_mutexed<mrs_uav_controllers::mpc_controllerConfig>(std::mutex&, mrs_uav_controllers::mpc_controllerConfig, mrs_uav_controllers::mpc_controllerConfig&)96
auto mrs_lib::set_mutexed<mrs_uav_controllers::se3_controllerConfig>(std::mutex&, mrs_uav_controllers::se3_controllerConfig, mrs_uav_controllers::se3_controllerConfig&)96
mrs_msgs::ReferenceStamped_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::ReferenceStamped_<std::allocator<void> > >(std::mutex&, mrs_msgs::ReferenceStamped_<std::allocator<void> >&)249
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> >&)1046
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&)1497
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&)3036
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&)5720
int mrs_lib::get_mutexed<int>(std::mutex&, int&)6052
std::optional<double> mrs_lib::get_mutexed<std::optional<double> >(std::mutex&, std::optional<double>&)6341
auto mrs_lib::set_mutexed<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >(std::mutex&, mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> >, mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> >&)6379
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&)6734
std::tuple<double, double> mrs_lib::get_mutexed<double, double>(std::mutex&, double&, double&)7937
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&)8190
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&)10947
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> >&)12807
std::tuple<double, double, double> mrs_lib::get_mutexed<double, double, double>(std::mutex&, double&, double&, double&)14144
mrs_uav_controllers::se3_controllerConfig mrs_lib::get_mutexed<mrs_uav_controllers::se3_controllerConfig>(std::mutex&, mrs_uav_controllers::se3_controllerConfig&)20101
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&)23579
mrs_msgs::MpcPredictionFullState_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::MpcPredictionFullState_<std::allocator<void> > >(std::mutex&, mrs_msgs::MpcPredictionFullState_<std::allocator<void> >&)23579
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&)28874
std::tuple<bool, double, double> mrs_lib::get_mutexed<bool, double, double>(std::mutex&, bool&, double&, double&)29542
mrs_uav_trackers::mpc_trackerConfig mrs_lib::get_mutexed<mrs_uav_trackers::mpc_trackerConfig>(std::mutex&, mrs_uav_trackers::mpc_trackerConfig&)29542
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> >&)31709
auto mrs_lib::set_mutexed<mrs_msgs::TrackerCommand_<std::allocator<void> > >(std::mutex&, mrs_msgs::TrackerCommand_<std::allocator<void> >, mrs_msgs::TrackerCommand_<std::allocator<void> >&)40662
auto mrs_lib::set_mutexed<mrs_uav_managers::Controller::ControlOutput>(std::mutex&, mrs_uav_managers::Controller::ControlOutput, mrs_uav_managers::Controller::ControlOutput&)40780
mrs_uav_controllers::mpc_controllerConfig mrs_lib::get_mutexed<mrs_uav_controllers::mpc_controllerConfig>(std::mutex&, mrs_uav_controllers::mpc_controllerConfig&)52724
mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > >(std::mutex&, mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> >&)55058
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>&)55509
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> >&)59618
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&)68902
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&)69826
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&)73022
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>&)80460
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>&)83668
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> >&)90009
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>&)95810
mrs_msgs::DynamicsConstraints_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >(std::mutex&, mrs_msgs::DynamicsConstraints_<std::allocator<void> >&)99022
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>&)102965
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&)119598
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&)123290
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&)132418
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&)139231
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&)145301
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&)145301
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> >&)146044
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> >&)205653
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&)207629
double const mrs_lib::get_mutexed<double const>(std::mutex&, double const&)240384
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> > >&)252799
mrs_uav_managers::Controller::ControlOutput mrs_lib::get_mutexed<mrs_uav_managers::Controller::ControlOutput>(std::mutex&, mrs_uav_managers::Controller::ControlOutput&)278492
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&)346268
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&)346702
ros::Time mrs_lib::get_mutexed<ros::Time>(std::mutex&, ros::Time&)355722
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> >&)361014
mrs_msgs::UavState_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::UavState_<std::allocator<void> > >(std::mutex&, mrs_msgs::UavState_<std::allocator<void> >&)363241
double mrs_lib::get_mutexed<double>(std::mutex&, double&)392040
unsigned int mrs_lib::get_mutexed<unsigned int>(std::mutex&, unsigned int&)446447
auto mrs_lib::set_mutexed<double>(std::mutex&, double, double&)465450
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&)909943
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&)972911
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&)1021383
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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:2023-12-14 21:42:20Functions:668181.5 %
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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&)23579
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>&)80460
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&)119598
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>&)83668
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&)3036
std::tuple<bool, double, double> mrs_lib::get_mutexed<bool, double, double>(std::mutex&, bool&, double&, double&)29542
std::tuple<double, double> mrs_lib::get_mutexed<double, double>(std::mutex&, double&, double&)7937
std::tuple<double, double, double> mrs_lib::get_mutexed<double, double, double>(std::mutex&, double&, double&, double&)14144
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&)8190
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&)1021383
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&)68902
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&)207629
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&)69826
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&)123290
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&)73022
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&)139231
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&)909943
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&)972911
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&)6734
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&)132418
double const mrs_lib::get_mutexed<double const>(std::mutex&, double const&)240384
mrs_uav_managers::Controller::ControlOutput mrs_lib::get_mutexed<mrs_uav_managers::Controller::ControlOutput>(std::mutex&, mrs_uav_managers::Controller::ControlOutput&)278492
mrs_uav_trackers::mpc_trackerConfig mrs_lib::get_mutexed<mrs_uav_trackers::mpc_trackerConfig>(std::mutex&, mrs_uav_trackers::mpc_trackerConfig&)29542
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&)28874
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&)10947
mrs_uav_controllers::mpc_controllerConfig mrs_lib::get_mutexed<mrs_uav_controllers::mpc_controllerConfig>(std::mutex&, mrs_uav_controllers::mpc_controllerConfig&)52724
mrs_uav_controllers::se3_controllerConfig mrs_lib::get_mutexed<mrs_uav_controllers::se3_controllerConfig>(std::mutex&, mrs_uav_controllers::se3_controllerConfig&)20101
mrs_uav_trajectory_generation::drsConfig mrs_lib::get_mutexed<mrs_uav_trajectory_generation::drsConfig>(std::mutex&, mrs_uav_trajectory_generation::drsConfig&)2
ros::Time mrs_lib::get_mutexed<ros::Time>(std::mutex&, ros::Time&)355722
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>&)102965
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>&)55509
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>&)95810
mrs_msgs::TrackerCommand_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::TrackerCommand_<std::allocator<void> > >(std::mutex&, mrs_msgs::TrackerCommand_<std::allocator<void> >&)1
mrs_msgs::ReferenceStamped_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::ReferenceStamped_<std::allocator<void> > >(std::mutex&, mrs_msgs::ReferenceStamped_<std::allocator<void> >&)249
mrs_msgs::VelocityReference_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::VelocityReference_<std::allocator<void> > >(std::mutex&, mrs_msgs::VelocityReference_<std::allocator<void> >&)0
mrs_msgs::DynamicsConstraints_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >(std::mutex&, mrs_msgs::DynamicsConstraints_<std::allocator<void> >&)99022
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> >&)23579
mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >(std::mutex&, mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> >&)2
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> >&)55058
mrs_msgs::UavState_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::UavState_<std::allocator<void> > >(std::mutex&, mrs_msgs::UavState_<std::allocator<void> >&)363241
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&)346702
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&)145301
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> >&)31709
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> >&)90009
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> > >&)252799
std::optional<double> mrs_lib::get_mutexed<std::optional<double> >(std::mutex&, std::optional<double>&)6341
double mrs_lib::get_mutexed<double>(std::mutex&, double&)392040
int mrs_lib::get_mutexed<int>(std::mutex&, int&)6052
unsigned int mrs_lib::get_mutexed<unsigned int>(std::mutex&, unsigned int&)446447
auto mrs_lib::set_mutexed<mrs_uav_managers::Controller::ControlOutput>(std::mutex&, mrs_uav_managers::Controller::ControlOutput, mrs_uav_managers::Controller::ControlOutput&)40780
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&)5720
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&)1497
auto mrs_lib::set_mutexed<mrs_uav_controllers::mpc_controllerConfig>(std::mutex&, mrs_uav_controllers::mpc_controllerConfig, mrs_uav_controllers::mpc_controllerConfig&)96
auto mrs_lib::set_mutexed<mrs_uav_controllers::se3_controllerConfig>(std::mutex&, mrs_uav_controllers::se3_controllerConfig, mrs_uav_controllers::se3_controllerConfig&)96
auto mrs_lib::set_mutexed<mrs_uav_trajectory_generation::drsConfig>(std::mutex&, mrs_uav_trajectory_generation::drsConfig, mrs_uav_trajectory_generation::drsConfig&)48
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> >&)59618
auto mrs_lib::set_mutexed<mrs_msgs::TrackerCommand_<std::allocator<void> > >(std::mutex&, mrs_msgs::TrackerCommand_<std::allocator<void> >, mrs_msgs::TrackerCommand_<std::allocator<void> >&)40662
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> >&)1046
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> >&)205653
auto mrs_lib::set_mutexed<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >(std::mutex&, mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> >, mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> >&)6379
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> >&)51
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> >&)361014
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> >&)146044
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&)346268
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&)145301
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> >&)12807
auto mrs_lib::set_mutexed<double>(std::mutex&, double, double&)465450
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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:2023-12-14 21:42:20Functions:668181.5 %
Legend: Lines: + hit + not hit +
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          Line data    Source code
+
+       1             : /**  \file
+       2             :      \brief Defines helper routines for getting and setting variables under mutex locks
+       3             :      \author Tomas Baca - tomas.baca@fel.cvut.cz
+       4             :  */
+       5             : #ifndef MUTEX_H
+       6             : #define MUTEX_H
+       7             : 
+       8             : #include <iostream>
+       9             : #include <mutex>
+      10             : #include <tuple>
+      11             : 
+      12             : namespace mrs_lib
+      13             : {
+      14             : 
+      15             : /**
+      16             :  * @brief thread-safe getter and setter for values of variables (args)
+      17             :  *
+      18             :  * @tparam GetArgs types of the variables to get
+      19             :  * @tparam SetArgs types of the variables to set
+      20             :  * @param mut mutex which protects the variables
+      21             :  * @param get tuple of variable references to obtain the values from
+      22             :  * @param to_set tuple of variable references to set the new values from \p from_set
+      23             :  * @param from_set tuple of the new values to be set to \p to_set
+      24             :  *
+      25             :  * @return tuple of the values from \p get
+      26             :  */
+      27             : template <class... GetArgs, class... SetArgs>
+      28             : std::tuple<GetArgs...> get_set_mutexed(std::mutex& mut, std::tuple<GetArgs&...> get, std::tuple<SetArgs...> from_set, std::tuple<SetArgs&...> to_set) {
+      29             : 
+      30             :   std::scoped_lock lock(mut);
+      31             : 
+      32             :   std::tuple<GetArgs...> result = get;
+      33             :   to_set = from_set;
+      34             : 
+      35             :   return result;
+      36             : }
+      37             : 
+      38             : /**
+      39             :  * @brief thread-safe getter for values of variables (args)
+      40             :  *
+      41             :  * @tparam Args types of the variables
+      42             :  * @param mut mutex which protects the variables
+      43             :  * @param args variables to obtain the values from
+      44             :  *
+      45             :  * @return std::tuple of the values
+      46             :  */
+      47             : template <class... Args>
+      48      370154 : std::tuple<Args...> get_mutexed(std::mutex& mut, Args&... args) {
+      49             : 
+      50      740308 :   std::scoped_lock lock(mut);
+      51             : 
+      52      370154 :   std::tuple result = std::tuple(args...);
+      53             : 
+      54      740308 :   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     7254925 : T get_mutexed(std::mutex& mut, T& arg) {
+      69             : 
+      70    11846671 :   std::scoped_lock lock(mut);
+      71             : 
+      72    14509094 :   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     1843590 : auto set_mutexed(std::mutex& mut, const T what, T& where) {
+     117             : 
+     118     3206805 :   std::scoped_lock lock(mut);
+     119             : 
+     120     1840472 :   where = what;
+     121             : 
+     122     3680149 :   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:2023-12-14 21:42:20Functions: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
mrs_lib::ParamLoader::resolved(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)58
mrs_lib::ParamLoader::printError(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)68
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&)100
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)143
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)145
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)192
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)192
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)192
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&)240
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&)288
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)339
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&)528
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)528
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> >&)528
mrs_lib::ParamLoader::ParamLoader(ros::NodeHandle const&, std::basic_string_view<char, std::char_traits<char> >)810
mrs_lib::ParamLoader::setPrefix(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)851
mrs_lib::ParamLoader::addYamlFileFromParam(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1224
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&)1665
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)1666
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> > > >&)1666
mrs_lib::ParamLoader::ParamLoader(ros::NodeHandle const&, bool, std::basic_string_view<char, std::char_traits<char> >)1886
mrs_lib::ParamLoader::loadedSuccessfully()2033
bool mrs_lib::ParamLoader::loadParam<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int&)2401
void mrs_lib::ParamLoader::printValue<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int const&)2641
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)2641
bool mrs_lib::ParamLoader::loadParam<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool&, bool const&)2832
bool mrs_lib::ParamLoader::loadParam<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool&)5185
mrs_lib::ParamLoader::addYamlFile(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)5208
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> >&)7569
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&)7910
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)7910
void mrs_lib::ParamLoader::printValue<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool const&)8353
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)8353
bool mrs_lib::ParamLoader::loadParam<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double&)18659
void mrs_lib::ParamLoader::printValue<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double const&)19379
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)19379
mrs_lib::ParamLoader::check_duplicit_loading(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)40829
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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:2023-12-14 21:42:20Functions:707297.2 %
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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&)240
mrs_lib::ParamLoader::printError(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)68
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&)1665
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&)7910
void mrs_lib::ParamLoader::printValue<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool const&)8353
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&)288
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&)528
void mrs_lib::ParamLoader::printValue<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double const&)19379
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&)2641
mrs_lib::ParamLoader::addYamlFile(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)5208
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)339
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)192
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)192
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)143
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()2033
mrs_lib::ParamLoader::addYamlFileFromParam(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1224
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&)40829
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)192
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)145
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)7910
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)1666
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)528
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)8353
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)19379
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)2641
mrs_lib::ParamLoader::resolved(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)58
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> >&)7569
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&)100
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> > > >&)1666
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> >&)528
bool mrs_lib::ParamLoader::loadParam<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool&)5185
bool mrs_lib::ParamLoader::loadParam<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool&, bool const&)2832
bool mrs_lib::ParamLoader::loadParam<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double&)18659
bool mrs_lib::ParamLoader::loadParam<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int&)2401
mrs_lib::ParamLoader::setPrefix(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)851
mrs_lib::ParamLoader::ParamLoader(ros::NodeHandle const&, std::basic_string_view<char, std::char_traits<char> >)810
mrs_lib::ParamLoader::ParamLoader(ros::NodeHandle const&, bool, std::basic_string_view<char, std::char_traits<char> >)1886
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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:2023-12-14 21:42:20Functions: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          68 :   void printError(const std::string& str)
+      77             :   {
+      78          68 :     if (m_node_name.empty())
+      79          20 :       ROS_ERROR_STREAM(str);
+      80             :     else
+      81          49 :       ROS_ERROR_STREAM("[" << m_node_name << "]: " << str);
+      82          68 :   }
+      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       38283 :   void printValue(const std::string& name, const T& value)
+      96             :   {
+      97       38283 :     if (m_node_name.empty())
+      98       21537 :       std::cout << "\t" << name << ":\t" << value << std::endl;
+      99             :     else
+     100       17103 :       ROS_INFO_STREAM("[" << m_node_name << "]: parameter '" << name << "':\t" << value);
+     101       38283 :   }
+     102             : 
+     103             :   template <typename T>
+     104        2193 :   void printValue(const std::string& name, const std::vector<T>& value)
+     105             :   {
+     106        4386 :     std::stringstream strstr;
+     107        2193 :     if (m_node_name.empty())
+     108        1068 :       strstr << "\t";
+     109        2193 :     strstr << name << ":\t";
+     110        2193 :     size_t it = 0;
+     111        7597 :     for (const auto& elem : value)
+     112             :     {
+     113        5404 :       strstr << elem;
+     114        5404 :       if (it < value.size() - 1)
+     115        3500 :         strstr << ", ";
+     116        5404 :       it++;
+     117             :     }
+     118        2193 :     if (m_node_name.empty())
+     119        1068 :       std::cout << strstr.str() << std::endl;
+     120             :     else
+     121        1125 :       ROS_INFO_STREAM("[" << m_node_name << "]: parameter '" << strstr.str());
+     122        2193 :   }
+     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         288 :   void printValue(const std::string& name, const MatrixX<T>& value)
+     147             :   {
+     148         576 :     std::stringstream strstr;
+     149             :     /* const Eigen::IOFormat fmt(4, 0, ", ", "\n", "\t\t[", "]"); */
+     150             :     /* strstr << value.format(fmt); */
+     151         864 :     const Eigen::IOFormat fmt;
+     152         288 :     strstr << value.format(fmt);
+     153         288 :     if (m_node_name.empty())
+     154          48 :       std::cout << "\t" << name << ":\t" << std::endl << strstr.str() << std::endl;
+     155             :     else
+     156         240 :       ROS_INFO_STREAM("[" << m_node_name << "]: parameter '" << name << "':" << std::endl << strstr.str());
+     157         288 :   }
+     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          58 :   std::string resolved(const std::string& param_name)
+     209             :   {
+     210          58 :     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       40829 :   bool check_duplicit_loading(const std::string& name)
+     216             :   {
+     217       40829 :     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       39966 :       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         347 :   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         694 :     const std::string name_prefixed = m_prefix + name;
+     247         347 :     MatrixX<T> loaded = default_value;
+     248             :     // first, check if the user already tried to load this parameter
+     249         347 :     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         335 :     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         335 :     bool expect_zero_matrix = rows == 0;
+     261         335 :     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         335 :     bool cur_load_successful = true;
+     273         335 :     bool check_size_exact = true;
+     274         335 :     if (cols <= 0)  // this means that the cols dimension is dynamic or a zero matrix is expected
+     275          94 :       check_size_exact = false;
+     276             : 
+     277         670 :     std::vector<T> tmp_vec;
+     278             :     // try to load the parameter
+     279         335 :     bool success = m_pp.getParam(name_prefixed, tmp_vec);
+     280             :     // check if the loaded vector has correct length
+     281         335 :     bool correct_size = (int)tmp_vec.size() == rows * cols;
+     282         335 :     if (!check_size_exact && !expect_zero_matrix)
+     283          93 :       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         335 :     if (success && correct_size)
+     286             :     {
+     287             :       // if successfully loaded, everything is in order
+     288             :       // transform the vector to the matrix
+     289         287 :       if (cols <= 0 && rows > 0)
+     290          93 :         cols = tmp_vec.size() / rows;
+     291         287 :       if (swap)
+     292             :       {
+     293          45 :         int tmp = cols;
+     294          45 :         cols = rows;
+     295          45 :         rows = tmp;
+     296             :       }
+     297         287 :       loaded = Eigen::Map<Eigen::Matrix<T, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>, Eigen::Unaligned>(tmp_vec.data(), rows, cols);
+     298             :     } else
+     299             :     {
+     300          48 :       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          48 :       loaded = default_value;
+     315          48 :       if (!optional)
+     316             :       {
+     317             :         // if the parameter was compulsory, alert the user and set the flag
+     318          48 :         printError(std::string("Could not load non-optional parameter ") + resolved(name_prefixed));
+     319          48 :         cur_load_successful = false;
+     320             :       }
+     321             :     }
+     322             : 
+     323             :     // check if load was a success
+     324         335 :     if (cur_load_successful)
+     325             :     {
+     326         287 :       if (m_print_values && printValues)
+     327         286 :         printValue(name_prefixed, loaded);
+     328         287 :       m_loaded_params.insert(name_prefixed);
+     329             :     } else
+     330             :     {
+     331          48 :       m_load_successful = false;
+     332             :     }
+     333             :     // finally, return the resulting value
+     334         335 :     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         196 :   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         392 :     MatrixX<T> loaded = default_value;
+     409             :     // first, check that at least one dimension is set
+     410         196 :     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         196 :     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         145 :   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         290 :     MatrixX<T> loaded = default_value;
+     426             : 
+     427             :     // next, check that at least one dimension is set
+     428         145 :     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         145 :     swap_t swap = NO_SWAP;
+     436         145 :     if (rows <= 0)
+     437             :     {
+     438          45 :       int tmp = rows;
+     439          45 :       rows = cols;
+     440          45 :       cols = tmp;
+     441          45 :       swap = SWAP;
+     442             :     }
+     443         145 :     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       40483 :   std::pair<T, bool> load(const std::string& name, const T& default_value, optional_t optional = OPTIONAL, unique_t unique = UNIQUE)
+     462             :   {
+     463       80966 :     const std::string name_prefixed = m_prefix + name;
+     464       50430 :     T loaded = default_value;
+     465       40483 :     if (unique && check_duplicit_loading(name_prefixed))
+     466           2 :       return {loaded, false};
+     467             : 
+     468       40481 :     bool cur_load_successful = true;
+     469             :     // try to load the parameter
+     470       40481 :     const bool success = m_pp.getParam(name_prefixed, loaded);
+     471       40481 :     if (!success)
+     472             :     {
+     473             :       // if it was not loaded, set the default value
+     474         775 :       loaded = default_value;
+     475         775 :       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       39685 :     if (cur_load_successful)
+     484             :     {
+     485             :       // everything is fine and just print the name_prefixed and value if required
+     486       40479 :       if (m_print_values)
+     487       40479 :         printValue(name_prefixed, loaded);
+     488             :       // mark the param name_prefixed as successfully loaded
+     489       41275 :       m_loaded_params.insert(name_prefixed);
+     490             :     } else
+     491             :     {
+     492           2 :       m_load_successful = false;
+     493             :     }
+     494             :     // finally, return the resulting value
+     495       40481 :     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        1886 :   ParamLoader(const ros::NodeHandle& nh, bool printValues = true, std::string_view node_name = std::string())
+     508        1886 :       : m_load_successful(true),
+     509             :         m_print_values(printValues),
+     510             :         m_node_name(node_name),
+     511             :         m_nh(nh),
+     512        1982 :         m_pp(nh, m_node_name)
+     513             :   {
+     514             :     /* std::cout << "Initialized1 ParamLoader for node " << node_name << std::endl; */
+     515        1886 :   }
+     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         810 :   ParamLoader(const ros::NodeHandle& nh, std::string_view node_name)
+     525         810 :       : ParamLoader(nh, true, node_name)
+     526             :   {
+     527             :     /* std::cout << "Initialized2 ParamLoader for node " << node_name << std::endl; */
+     528         810 :   }
+     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         851 :   void setPrefix(const std::string& prefix)
+     551             :   {
+     552         851 :     m_prefix = prefix;
+     553         851 :   }
+     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        5304 :   bool addYamlFile(const std::string& filepath)
+     580             :   {
+     581        5304 :     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        1224 :   bool addYamlFileFromParam(const std::string& param_name)
+     594             :   {
+     595        2448 :     std::string filepath;
+     596        1224 :     if (!loadParam(param_name, filepath))
+     597           0 :       return false;
+     598        1224 :     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        2081 :   bool loadedSuccessfully()
+     609             :   {
+     610        2081 :     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        2934 :   bool loadParam(const std::string& name, T& out_value, const T& default_value)
+     629             :   {
+     630        2934 :     const auto [ret, success] = load<T>(name, default_value, OPTIONAL, UNIQUE);
+     631        2934 :     out_value = ret;
+     632        3036 :     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         241 :   T loadParam2(const std::string& name, const T& default_value)
+     647             :   {
+     648         434 :     const auto loaded = load<T>(name, default_value, OPTIONAL, UNIQUE);
+     649         434 :     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       36011 :   bool loadParam(const std::string& name, T& out_value)
+     703             :   {
+     704       47073 :     const auto [ret, success] = load<T>(name, T(), COMPULSORY, UNIQUE);
+     705       37149 :     out_value = ret;
+     706       45696 :     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         193 :   void loadMatrixStatic(const std::string& name, MatrixX<T>& mat, int rows, int cols)
+    1047             :   {
+    1048         193 :     mat = loadMatrixStatic2<T>(name, rows, cols);
+    1049         193 :   }
+    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         194 :   MatrixX<T> loadMatrixStatic2(const std::string& name, int rows, int cols)
+    1086             :   {
+    1087         194 :     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         143 :   MatrixX<T> loadMatrixDynamic2(const std::string& name, int rows, int cols)
+    1167             :   {
+    1168         143 :     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..ca3a2b4e1b --- /dev/null +++ b/mrs_lib/include/mrs_lib/publisher_handler.h.func-sort-c.html @@ -0,0 +1,532 @@ + + + + + + + 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:2023-12-14 21:42:20Functions:11211399.1 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()0
mrs_lib::PublisherHandler<std_msgs::Int64_<std::allocator<void> > >::~PublisherHandler()2
mrs_lib::PublisherHandler_impl<std_msgs::Int64_<std::allocator<void> > >::~PublisherHandler_impl()2
mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > >::PublisherHandler()11
mrs_lib::PublisherHandler_impl<std_msgs::Bool_<std::allocator<void> > >::~PublisherHandler_impl()11
mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > >::~PublisherHandler()22
mrs_lib::PublisherHandler_impl<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::~PublisherHandler_impl()45
mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::PublisherHandler()48
mrs_lib::PublisherHandler<mrs_msgs::BumperStatus_<std::allocator<void> > >::PublisherHandler()48
mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > >::PublisherHandler()48
mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::PublisherHandler()48
mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::PublisherHandler()48
mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::PublisherHandler()48
mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::PublisherHandler()48
mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::PublisherHandler()48
mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::PublisherHandler()48
mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::PublisherHandler()48
mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::PublisherHandler()48
mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::PublisherHandler()48
mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::PublisherHandler()48
mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::PublisherHandler()48
mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > >::PublisherHandler()48
mrs_lib::PublisherHandler<std_msgs::String_<std::allocator<void> > >::PublisherHandler()48
mrs_lib::PublisherHandler_impl<geometry_msgs::PoseStamped_<std::allocator<void> > >::~PublisherHandler_impl()48
mrs_lib::PublisherHandler_impl<mrs_msgs::BumperStatus_<std::allocator<void> > >::~PublisherHandler_impl()48
mrs_lib::PublisherHandler_impl<mrs_msgs::ControlError_<std::allocator<void> > >::~PublisherHandler_impl()48
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorInput_<std::allocator<void> > >::~PublisherHandler_impl()48
mrs_lib::PublisherHandler_impl<mrs_msgs::TrackerCommand_<std::allocator<void> > >::~PublisherHandler_impl()48
mrs_lib::PublisherHandler_impl<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::~PublisherHandler_impl()48
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::~PublisherHandler_impl()48
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::~PublisherHandler_impl()48
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::~PublisherHandler_impl()48
mrs_lib::PublisherHandler_impl<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::~PublisherHandler_impl()48
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::~PublisherHandler_impl()48
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::~PublisherHandler_impl()48
mrs_lib::PublisherHandler_impl<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()48
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()48
mrs_lib::PublisherHandler_impl<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()48
mrs_lib::PublisherHandler_impl<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()48
mrs_lib::PublisherHandler_impl<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()48
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::~PublisherHandler_impl()48
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::~PublisherHandler_impl()48
mrs_lib::PublisherHandler_impl<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()48
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::~PublisherHandler_impl()48
mrs_lib::PublisherHandler_impl<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()48
mrs_lib::PublisherHandler_impl<std_msgs::Empty_<std::allocator<void> > >::~PublisherHandler_impl()48
mrs_lib::PublisherHandler_impl<std_msgs::String_<std::allocator<void> > >::~PublisherHandler_impl()48
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::~PublisherHandler_impl()49
mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::~PublisherHandler()96
mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::PublisherHandler()96
mrs_lib::PublisherHandler<mrs_msgs::BumperStatus_<std::allocator<void> > >::~PublisherHandler()96
mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > >::~PublisherHandler()96
mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::~PublisherHandler()96
mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::~PublisherHandler()96
mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::~PublisherHandler()96
mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::PublisherHandler()96
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::PublisherHandler()96
mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::PublisherHandler()96
mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::~PublisherHandler()96
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::PublisherHandler()96
mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::PublisherHandler()96
mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::~PublisherHandler()96
mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::~PublisherHandler()96
mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::~PublisherHandler()96
mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler()96
mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler()96
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::PublisherHandler()96
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::PublisherHandler()96
mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler()96
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::PublisherHandler()96
mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler()96
mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > >::PublisherHandler()96
mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > >::~PublisherHandler()96
mrs_lib::PublisherHandler<std_msgs::String_<std::allocator<void> > >::~PublisherHandler()96
mrs_lib::PublisherHandler_impl<mrs_msgs::UavState_<std::allocator<void> > >::~PublisherHandler_impl()96
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::PublisherHandler()97
mrs_lib::PublisherHandler_impl<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::~PublisherHandler_impl()131
mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::~PublisherHandler()141
mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::~PublisherHandler()144
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::~PublisherHandler()144
mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::~PublisherHandler()144
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::~PublisherHandler()144
mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::~PublisherHandler()144
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::~PublisherHandler()144
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::~PublisherHandler()144
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::~PublisherHandler()144
mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > >::PublisherHandler()144
mrs_lib::PublisherHandler_impl<std_msgs::Float64_<std::allocator<void> > >::~PublisherHandler_impl()144
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::~PublisherHandler()146
mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::PublisherHandler()176
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::~PublisherHandler_impl()176
mrs_lib::PublisherHandler<geometry_msgs::PoseArray_<std::allocator<void> > >::PublisherHandler()192
mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > >::~PublisherHandler()192
mrs_lib::PublisherHandler_impl<geometry_msgs::PoseArray_<std::allocator<void> > >::~PublisherHandler_impl()192
mrs_lib::PublisherHandler_impl<nav_msgs::Odometry_<std::allocator<void> > >::~PublisherHandler_impl()212
mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics_<std::allocator<void> > >::PublisherHandler()265
mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics_<std::allocator<void> > >::~PublisherHandler()265
mrs_lib::PublisherHandler_impl<mrs_msgs::Float64Stamped_<std::allocator<void> > >::~PublisherHandler_impl()281
mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > >::PublisherHandler()288
mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > >::~PublisherHandler()288
mrs_lib::PublisherHandler_impl<visualization_msgs::MarkerArray_<std::allocator<void> > >::~PublisherHandler_impl()288
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::PublisherHandler()290
mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::PublisherHandler()313
mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::~PublisherHandler()352
mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::PublisherHandler()356
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::~PublisherHandler_impl()356
mrs_lib::PublisherHandler<geometry_msgs::PoseArray_<std::allocator<void> > >::~PublisherHandler()384
mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::~PublisherHandler()444
mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::PublisherHandler()507
mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > >::~PublisherHandler()576
mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::~PublisherHandler()712
mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::~PublisherHandler()788
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::~PublisherHandler()30838
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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..3331287ba8 --- /dev/null +++ b/mrs_lib/include/mrs_lib/publisher_handler.h.func.html @@ -0,0 +1,532 @@ + + + + + + + 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:2023-12-14 21:42:20Functions:11211399.1 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::PublisherHandler<geometry_msgs::PoseArray_<std::allocator<void> > >::PublisherHandler()192
mrs_lib::PublisherHandler<geometry_msgs::PoseArray_<std::allocator<void> > >::~PublisherHandler()384
mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::PublisherHandler()48
mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::~PublisherHandler()96
mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::PublisherHandler()96
mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::~PublisherHandler()141
mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > >::PublisherHandler()288
mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > >::~PublisherHandler()576
mrs_lib::PublisherHandler<mrs_msgs::BumperStatus_<std::allocator<void> > >::PublisherHandler()48
mrs_lib::PublisherHandler<mrs_msgs::BumperStatus_<std::allocator<void> > >::~PublisherHandler()96
mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > >::PublisherHandler()48
mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > >::~PublisherHandler()96
mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::PublisherHandler()48
mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::~PublisherHandler()96
mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::PublisherHandler()507
mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::~PublisherHandler()788
mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::PublisherHandler()48
mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::~PublisherHandler()96
mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::PublisherHandler()176
mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::~PublisherHandler()352
mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::PublisherHandler()48
mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::~PublisherHandler()96
mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::PublisherHandler()96
mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::~PublisherHandler()144
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::PublisherHandler()96
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::~PublisherHandler()144
mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::PublisherHandler()96
mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::~PublisherHandler()144
mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::PublisherHandler()48
mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::~PublisherHandler()96
mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::PublisherHandler()356
mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::~PublisherHandler()712
mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::PublisherHandler()313
mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::~PublisherHandler()444
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::PublisherHandler()97
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::~PublisherHandler()146
mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics_<std::allocator<void> > >::PublisherHandler()265
mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics_<std::allocator<void> > >::~PublisherHandler()265
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::PublisherHandler()96
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::~PublisherHandler()144
mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::PublisherHandler()96
mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::~PublisherHandler()144
mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::PublisherHandler()48
mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::~PublisherHandler()96
mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::PublisherHandler()48
mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::~PublisherHandler()96
mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::PublisherHandler()48
mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::~PublisherHandler()96
mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::PublisherHandler()48
mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler()96
mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::PublisherHandler()48
mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler()96
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::PublisherHandler()96
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::~PublisherHandler()144
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::PublisherHandler()96
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::~PublisherHandler()144
mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::PublisherHandler()48
mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler()96
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::PublisherHandler()96
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::~PublisherHandler()144
mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::PublisherHandler()48
mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler()96
mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > >::PublisherHandler()96
mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > >::~PublisherHandler()192
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::PublisherHandler()290
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::~PublisherHandler()30838
mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > >::PublisherHandler()11
mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > >::~PublisherHandler()22
mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > >::PublisherHandler()48
mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > >::~PublisherHandler()96
mrs_lib::PublisherHandler<std_msgs::Int64_<std::allocator<void> > >::~PublisherHandler()2
mrs_lib::PublisherHandler<std_msgs::String_<std::allocator<void> > >::PublisherHandler()48
mrs_lib::PublisherHandler<std_msgs::String_<std::allocator<void> > >::~PublisherHandler()96
mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > >::PublisherHandler()144
mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > >::~PublisherHandler()288
mrs_lib::PublisherHandler_impl<geometry_msgs::PoseArray_<std::allocator<void> > >::~PublisherHandler_impl()192
mrs_lib::PublisherHandler_impl<geometry_msgs::PoseStamped_<std::allocator<void> > >::~PublisherHandler_impl()48
mrs_lib::PublisherHandler_impl<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::~PublisherHandler_impl()45
mrs_lib::PublisherHandler_impl<visualization_msgs::MarkerArray_<std::allocator<void> > >::~PublisherHandler_impl()288
mrs_lib::PublisherHandler_impl<mrs_msgs::BumperStatus_<std::allocator<void> > >::~PublisherHandler_impl()48
mrs_lib::PublisherHandler_impl<mrs_msgs::ControlError_<std::allocator<void> > >::~PublisherHandler_impl()48
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorInput_<std::allocator<void> > >::~PublisherHandler_impl()48
mrs_lib::PublisherHandler_impl<mrs_msgs::Float64Stamped_<std::allocator<void> > >::~PublisherHandler_impl()281
mrs_lib::PublisherHandler_impl<mrs_msgs::TrackerCommand_<std::allocator<void> > >::~PublisherHandler_impl()48
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::~PublisherHandler_impl()176
mrs_lib::PublisherHandler_impl<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::~PublisherHandler_impl()48
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::~PublisherHandler_impl()48
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::~PublisherHandler_impl()48
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::~PublisherHandler_impl()48
mrs_lib::PublisherHandler_impl<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::~PublisherHandler_impl()48
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::~PublisherHandler_impl()356
mrs_lib::PublisherHandler_impl<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::~PublisherHandler_impl()131
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::~PublisherHandler_impl()49
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()48
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::~PublisherHandler_impl()48
mrs_lib::PublisherHandler_impl<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()48
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()48
mrs_lib::PublisherHandler_impl<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()48
mrs_lib::PublisherHandler_impl<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()48
mrs_lib::PublisherHandler_impl<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()48
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::~PublisherHandler_impl()48
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::~PublisherHandler_impl()48
mrs_lib::PublisherHandler_impl<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()48
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::~PublisherHandler_impl()48
mrs_lib::PublisherHandler_impl<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()48
mrs_lib::PublisherHandler_impl<mrs_msgs::UavState_<std::allocator<void> > >::~PublisherHandler_impl()96
mrs_lib::PublisherHandler_impl<nav_msgs::Odometry_<std::allocator<void> > >::~PublisherHandler_impl()212
mrs_lib::PublisherHandler_impl<std_msgs::Bool_<std::allocator<void> > >::~PublisherHandler_impl()11
mrs_lib::PublisherHandler_impl<std_msgs::Empty_<std::allocator<void> > >::~PublisherHandler_impl()48
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()48
mrs_lib::PublisherHandler_impl<std_msgs::Float64_<std::allocator<void> > >::~PublisherHandler_impl()144
+
+
+ + + +
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..69758ae71e --- /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:2023-12-14 21:42:20Functions:11211399.1 %
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        3183 :   ~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        4367 :   PublisherHandler(void){};
+     102             : 
+     103             :   /**
+     104             :    * @brief generic destructor
+     105             :    */
+     106       37934 :   ~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          66 :   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)29898
mrs_lib::quadratic_throttle_model::throttleToForce(mrs_lib::quadratic_throttle_model::MotorParams_t, double)49233
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mrs_lib::quadratic_throttle_model::forceToThrottle(mrs_lib::quadratic_throttle_model::MotorParams_t, double)29898
mrs_lib::quadratic_throttle_model::throttleToForce(mrs_lib::quadratic_throttle_model::MotorParams_t, double)49233
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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       49233 : double inline throttleToForce(const MotorParams_t motor_params, const double throttle) {
+      20             : 
+      21       49233 :   return motor_params.n_motors * pow((throttle - motor_params.B) / motor_params.A, 2);
+      22             : }
+      23             : 
+      24       29898 : double inline forceToThrottle(const MotorParams_t motor_params, const double force) {
+      25             : 
+      26       29898 :   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<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&)93
std::enable_if<!(false), void>::type mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::addMeasurement<false>(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, ros::Time const&, std::shared_ptr<mrs_lib::varstepLKF<2, 1, 1> > const&, double const&)100
mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::info_t::info_t(ros::Time const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, std::shared_ptr<mrs_lib::varstepLKF<2, 1, 1> > const&, mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::info_t const&, int const&)100
std::enable_if<!(false), mrs_lib::KalmanFilter<2, 1, 1>::statecov_t>::type mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::predictTo<false>(ros::Time const&)102
std::enable_if<!(false), void>::type mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::addInputChangeWithNoise<false>(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, ros::Time const&, std::shared_ptr<mrs_lib::varstepLKF<2, 1, 1> > const&)200
mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::info_t::info_t(ros::Time const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, std::shared_ptr<mrs_lib::varstepLKF<2, 1, 1> > const&)200
std::enable_if<true, void>::type mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, true>::addInputChangeWithNoise<true>(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, ros::Time const&, std::shared_ptr<mrs_lib::varstepLKF<2, 1, 1> > const&)226
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&)280
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&)280
mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::addInfo(mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::info_t const&, boost::cb_details::iterator<boost::circular_buffer<mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::info_t, std::allocator<mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::info_t> >, boost::cb_details::nonconst_traits<boost::cb_details::allocator_traits<std::allocator<mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::info_t> > > > const&)300
mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, true>::predictFrom(mrs_lib::KalmanFilter<2, 1, 1>::statecov_t const&, mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, true>::info_t const&, ros::Time const&, ros::Time const&)560
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&)560
mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::info_t::info_t(ros::Time const&)624
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&)2047
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&)6487
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&)15787
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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:2023-12-14 21:42:20Functions: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&)15787
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&)6487
mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::info_t::info_t(ros::Time const&)624
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&)2047
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&)280
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&)560
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&)93
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&)280
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&)226
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&)560
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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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:2023-12-14 21:42:20Functions: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       15685 :       do
+      81             :       {
+      82       15787 :         cur_sc.stamp = hist_it->stamp;
+      83             :         // do the correction if current history point is a measurement
+      84       15787 :         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       15787 :         ros::Time next_stamp = to_stamp;
+      90       15787 :         if ((hist_it + 1) != std::end(m_history) && (hist_it + 1)->stamp <= to_stamp)
+      91       15685 :           next_stamp = (hist_it + 1)->stamp;
+      92             : 
+      93             :         // do the prediction
+      94       15787 :         cur_sc = predictFrom(cur_sc, *hist_it, cur_stamp, next_stamp);
+      95       15787 :         cur_stamp = next_stamp;
+      96             : 
+      97             :         // increment the history pointer
+      98       15787 :         hist_it++;
+      99       15787 :       } 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         560 :     std::enable_if_t<check, statecov_t> predictTo(const ros::Time& to_stamp)
+     118             :     {
+     119         560 :       assert(!m_history.empty());
+     120         560 :       const auto& info = m_history.front();
+     121         560 :       auto sc = predictFrom(m_sc, info, info.stamp, to_stamp);
+     122         560 :       sc.stamp = to_stamp;
+     123         560 :       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        6587 :         for (auto it = added + 1; it != std::end(m_history) && it->is_measurement; it++)
+     151        6387 :           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         226 :     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         226 :       if (m_history.empty())
+     170           2 :         m_history.push_back({stamp});
+     171         226 :       m_history.front().u = u;
+     172         226 :       m_history.front().Q = Q;
+     173         226 :       m_history.front().stamp = stamp;
+     174         226 :       m_history.front().predict_model = model;
+     175         226 :     }
+     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          93 :     std::enable_if_t<check> addInputChange(const u_t& u, [[maybe_unused]] const ros::Time& stamp, const ModelPtr& model = nullptr)
+     221             :     {
+     222          93 :       if (m_history.empty())
+     223           0 :         m_history.push_back({stamp});
+     224          93 :       m_history.front().u = u;
+     225          93 :       m_history.front().stamp = stamp;
+     226          93 :       m_history.front().predict_model = model;
+     227          93 :     }
+     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         280 :     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         280 :       if (m_history.empty())
+     325           0 :         m_history.push_back({stamp});
+     326         280 :       auto& info = m_history.front();
+     327         280 :       const ros::Time to_stamp = stamp > info.stamp ? stamp : info.stamp;
+     328         280 :       const auto sc = predictTo(to_stamp);
+     329         280 :       info.z = z;
+     330         280 :       info.R = R;
+     331         280 :       info.stamp = to_stamp;
+     332         280 :       info.is_measurement = true;
+     333         280 :       info.meas_id = meas_id;
+     334         280 :       info.correct_model = model;
+     335         280 :       m_sc = correctFrom(sc, info);
+     336         280 :     }
+     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         626 :       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        6487 :       void updateUsing(const info_t& info)
+     431             :       {
+     432        6487 :         u = info.u;
+     433        6487 :         Q = info.Q;
+     434        6487 :         predict_model = info.predict_model;
+     435        6487 :       };
+     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        2047 :     static bool earlier(const info_t& ob1, const info_t& ob2)
+     526             :     {
+     527        2047 :       return ob1.stamp < ob2.stamp;
+     528             :     }
+     529             :     //}
+     530             : 
+     531             :     /* predictFrom() method //{ */
+     532       16347 :     statecov_t predictFrom(const statecov_t& sc, const info_t& inpt, const ros::Time& from_stamp, const ros::Time& to_stamp)
+     533             :     {
+     534       32694 :       const auto model = inpt.predict_model == nullptr ? m_default_model : inpt.predict_model;
+     535       16347 :       const auto dt = (to_stamp - from_stamp).toSec();
+     536       32694 :       return model->predict(sc, inpt.u, inpt.Q, dt);
+     537             :     }
+     538             :     //}
+     539             : 
+     540             :     /* correctFrom() method //{ */
+     541        5430 :     statecov_t correctFrom(const statecov_t& sc, const info_t& meas)
+     542             :     {
+     543        5430 :       assert(meas.is_measurement);
+     544       10860 :       const auto model = meas.correct_model == nullptr ? m_default_model : meas.correct_model;
+     545        5430 :       auto sc_tmp = sc;
+     546       10860 :       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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Test:MRS UAV System - Test coverage reportLines:080.0 %
Date:2023-12-14 21:42:20Functions:040.0 %
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.h +
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+ 		0.0 %0 / 60.0 %0 / 3
safety_zone.h +
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+ 		0.0 %0 / 20.0 %0 / 1
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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.func-sort-c.html b/mrs_lib/include/mrs_lib/safety_zone/polygon.h.func-sort-c.html new file mode 100644 index 0000000000..0e1562704a --- /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:2023-12-14 21:42:20Functions: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
+
+
+ + + +
Generated by: LCOV version 1.14
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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..0b700e4da9 --- /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 + + + + + + + + + + + + + + +
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:2023-12-14 21:42:20Functions: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
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + 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..bb5e6809ae --- /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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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:2023-12-14 21:42:20Functions:030.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          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..ce4cee66ca --- /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 + + + + + + + + + + + + + + +
LCOV - code coverage report
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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:2023-12-14 21:42:20Functions: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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+ + + +
Generated by: LCOV version 1.14
+
+ + + 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..352f1631dc --- /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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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:2023-12-14 21:42:20Functions: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
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + 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..2d36bf5210 --- /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 + + + + + + + + + + + + + + +
LCOV - code coverage report
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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:2023-12-14 21:42:20Functions: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
+
+ + + 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 + + +
+ Top

+ Overview +
+ + 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..7b8d4ff9b4 --- /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:2023-12-14 21:42:20Functions:1333.3 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
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&)2154140
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + 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..b5bcddbe8a --- /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:2023-12-14 21:42:20Functions:1333.3 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::ScopeTimer::time_point::time_point(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2154140
mrs_lib::ScopeTimerLogger::loggingEnabled()0
mrs_lib::ScopeTimerLogger::shouldLog()0
+
+
+ + + +
Generated by: LCOV version 1.14
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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..13c892170d --- /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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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:2023-12-14 21:42:20Functions:1333.3 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          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     2154140 :     time_point(const std::string& label) : ros_time(ros::Time::now()), chrono_time(std::chrono::steady_clock::now()), label(label) {
+      93     2153920 :     }
+      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:2023-12-14 21:42:20Functions:2222100.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::ServiceClientHandler_impl<mrs_msgs::PathSrv>::~ServiceClientHandler_impl()2
mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>::ServiceClientHandler()48
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::ServiceClientHandler()48
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::ServiceClientHandler()48
mrs_lib::ServiceClientHandler_impl<mrs_msgs::ReferenceStampedSrv>::~ServiceClientHandler_impl()48
mrs_lib::ServiceClientHandler_impl<mrs_msgs::DynamicsConstraintsSrv>::~ServiceClientHandler_impl()48
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Vec1>::~ServiceClientHandler_impl()48
mrs_lib::ServiceClientHandler<mrs_msgs::Vec4>::ServiceClientHandler()84
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Vec4>::~ServiceClientHandler_impl()84
mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>::~ServiceClientHandler()96
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::~ServiceClientHandler()96
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::~ServiceClientHandler()96
mrs_lib::ServiceClientHandler<mrs_msgs::String>::ServiceClientHandler()130
mrs_lib::ServiceClientHandler_impl<mrs_msgs::String>::~ServiceClientHandler_impl()130
mrs_lib::ServiceClientHandler<mrs_msgs::Vec4>::~ServiceClientHandler()168
mrs_lib::ServiceClientHandler<mrs_msgs::String>::~ServiceClientHandler()260
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::ServiceClientHandler()350
mrs_lib::ServiceClientHandler_impl<std_srvs::SetBool>::~ServiceClientHandler_impl()352
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::ServiceClientHandler()637
mrs_lib::ServiceClientHandler_impl<std_srvs::Trigger>::~ServiceClientHandler_impl()637
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::~ServiceClientHandler()700
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::~ServiceClientHandler()1224
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/include/mrs_lib/service_client_handler.h.func.html b/mrs_lib/include/mrs_lib/service_client_handler.h.func.html new file mode 100644 index 0000000000..dd797dbe9c --- /dev/null +++ b/mrs_lib/include/mrs_lib/service_client_handler.h.func.html @@ -0,0 +1,168 @@ + + + + + + + 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:2023-12-14 21:42:20Functions:2222100.0 %
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::ReferenceStampedSrv>::ServiceClientHandler()48
mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>::~ServiceClientHandler()96
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::ServiceClientHandler()48
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::~ServiceClientHandler()96
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::ServiceClientHandler()48
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::~ServiceClientHandler()96
mrs_lib::ServiceClientHandler<mrs_msgs::Vec4>::ServiceClientHandler()84
mrs_lib::ServiceClientHandler<mrs_msgs::Vec4>::~ServiceClientHandler()168
mrs_lib::ServiceClientHandler<mrs_msgs::String>::ServiceClientHandler()130
mrs_lib::ServiceClientHandler<mrs_msgs::String>::~ServiceClientHandler()260
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::ServiceClientHandler()350
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::~ServiceClientHandler()700
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::ServiceClientHandler()637
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::~ServiceClientHandler()1224
mrs_lib::ServiceClientHandler_impl<mrs_msgs::ReferenceStampedSrv>::~ServiceClientHandler_impl()48
mrs_lib::ServiceClientHandler_impl<mrs_msgs::DynamicsConstraintsSrv>::~ServiceClientHandler_impl()48
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Vec1>::~ServiceClientHandler_impl()48
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Vec4>::~ServiceClientHandler_impl()84
mrs_lib::ServiceClientHandler_impl<mrs_msgs::String>::~ServiceClientHandler_impl()130
mrs_lib::ServiceClientHandler_impl<mrs_msgs::PathSrv>::~ServiceClientHandler_impl()2
mrs_lib::ServiceClientHandler_impl<std_srvs::SetBool>::~ServiceClientHandler_impl()352
mrs_lib::ServiceClientHandler_impl<std_srvs::Trigger>::~ServiceClientHandler_impl()637
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + 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..42841f779d --- /dev/null +++ b/mrs_lib/include/mrs_lib/service_client_handler.h.gcov.html @@ -0,0 +1,327 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/service_client_handler.h + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib - service_client_handler.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:33100.0 %
Date:2023-12-14 21:42:20Functions:2222100.0 %
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        1355 :   ~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        1347 :   ServiceClientHandler(void){};
+     135             : 
+     136             :   /**
+     137             :    * @brief generic destructor
+     138             :    */
+     139        2652 :   ~ServiceClientHandler(void){};
+     140             : 
+     141             :   /**
+     142             :    * @brief operator=
+     143             :    *
+     144             :    * @param other
+     145             :    *
+     146             :    * @return
+     147             :    */
+     148             :   ServiceClientHandler& operator=(const ServiceClientHandler& other);
+     149             : 
+     150             :   /**
+     151             :    * @brief copy constructor
+     152             :    *
+     153             :    * @param other
+     154             :    */
+     155             :   ServiceClientHandler(const ServiceClientHandler& other);
+     156             : 
+     157             :   /**
+     158             :    * @brief constructor
+     159             :    *
+     160             :    * @param nh ROS node handler
+     161             :    * @param address service address
+     162             :    */
+     163             :   ServiceClientHandler(ros::NodeHandle& nh, const std::string& address);
+     164             : 
+     165             :   /**
+     166             :    * @brief initializer
+     167             :    *
+     168             :    * @param nh ROS node handler
+     169             :    * @param address service address
+     170             :    */
+     171             :   void initialize(ros::NodeHandle& nh, const std::string& address);
+     172             : 
+     173             :   /**
+     174             :    * @brief "standard" synchronous call
+     175             :    *
+     176             :    * @param srv data
+     177             :    *
+     178             :    * @return true when success
+     179             :    */
+     180             :   bool call(ServiceType& srv);
+     181             : 
+     182             :   /**
+     183             :    * @brief "standard" synchronous call with repeats after failure
+     184             :    *
+     185             :    * @param srv data
+     186             :    * @param attempts how many attempts for the call
+     187             :    *
+     188             :    * @return true when success
+     189             :    */
+     190             :   bool call(ServiceType& srv, const int& attempts);
+     191             : 
+     192             :   /**
+     193             :    * @brief "standard" synchronous call with repeats after failure
+     194             :    *
+     195             :    * @param srv data
+     196             :    * @param attempts how many attempts for the call
+     197             :    * @param repeat_delay how long to wait before repeating the call
+     198             :    *
+     199             :    * @return true when success
+     200             :    */
+     201             :   bool call(ServiceType& srv, const int& attempts, const double& repeat_delay);
+     202             : 
+     203             :   /**
+     204             :    * @brief asynchronous call
+     205             :    *
+     206             :    * @param srv data
+     207             :    *
+     208             :    * @return future result
+     209             :    */
+     210             :   std::future<ServiceType> callAsync(ServiceType& srv);
+     211             : 
+     212             :   /**
+     213             :    * @brief asynchronous call with repeats after failure
+     214             :    *
+     215             :    * @param srv data
+     216             :    * @param attempts how many attemps for the call
+     217             :    *
+     218             :    * @return future result
+     219             :    */
+     220             :   std::future<ServiceType> callAsync(ServiceType& srv, const int& attempts);
+     221             : 
+     222             :   /**
+     223             :    * @brief asynchronous call with repeats after failure
+     224             :    *
+     225             :    * @param srv data
+     226             :    * @param attempts how many attemps for the call
+     227             :    * @param repeat_delay how long to wait before repeating the call
+     228             :    *
+     229             :    * @return future result
+     230             :    */
+     231             :   std::future<ServiceType> callAsync(ServiceType& srv, const int& attempts, const double& repeat_delay);
+     232             : 
+     233             : private:
+     234             :   std::shared_ptr<ServiceClientHandler_impl<ServiceType>> impl_;
+     235             : };
+     236             : 
+     237             : //}
+     238             : 
+     239             : }  // namespace mrs_lib
+     240             : 
+     241             : #include <mrs_lib/impl/service_client_handler.hpp>
+     242             : 
+     243             : #endif  // SERVICE_CLIENT_HANDLER_H
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + 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..3b5c2806c1 --- /dev/null +++ b/mrs_lib/include/mrs_lib/subscribe_handler.h.func-sort-c.html @@ -0,0 +1,2876 @@ + + + + + + + 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:2023-12-14 21:42:20Functions:35569950.8 %
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> > >::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::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::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::HwApiRcChannels_<std::allocator<void> > >::getMsg()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::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::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::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> > >::hasMsg() 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::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::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::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<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<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>*)2
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>*)2
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::getMsg()2
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*)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<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>*)2
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*)2
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::Correction<1>>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)2
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler<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>*)2
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*)2
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*)2
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::hasMsg() const2
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()() 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*)::{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<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()() const2
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()() const2
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::getMsg()3
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::topicName[abi:cxx11]() const3
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::RtkGps_<std::allocator<void> > >::start()6
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&)6
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >&&)6
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::start()6
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&)6
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::SubscribeHandler()6
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&)6
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >&&)6
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()() const6
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*)11
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*)11
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*)11
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*)11
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()() const11
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()() const11
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::~SubscribeHandler()12
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>*)28
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>*)28
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()() const28
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::hasMsg() const29
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)32
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)::{lambda()#1}::operator()() const32
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)34
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()() const34
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>*)43
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>*)43
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>*)43
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>*)43
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::start()43
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&)43
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler()43
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&)43
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >&&)43
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()() const43
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()() const43
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()() const43
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&)45
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>*)45
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*)45
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>*)45
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*)45
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*)45
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*)45
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*)45
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*)45
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&)45
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::start()45
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&)45
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::SubscribeHandler()45
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&)45
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >&&)45
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::start()45
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&)45
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::SubscribeHandler()45
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >&&)45
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::lastMsgTime() const45
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::lastMsgTime() const45
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()() const45
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()() const45
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()() const45
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()() const45
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()() const45
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()() const45
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()() const45
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*)46
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*)46
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()() const46
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::hasMsg() const47
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*)48
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*)48
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*)48
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*)48
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&)48
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*)48
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*)48
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*)48
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*)48
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*)48
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*)48
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*)48
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*)48
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*)48
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*)48
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::start()48
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&)48
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::SubscribeHandler()48
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&)48
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >&&)48
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::start()48
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&)48
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::SubscribeHandler()48
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*)48
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*)48
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >&&)48
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::start()48
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&)48
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::SubscribeHandler()48
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&)48
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >&&)48
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::start()48
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&)48
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::SubscribeHandler()48
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*)48
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*)48
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >&&)48
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::start()48
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&)48
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::SubscribeHandler()48
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*)48
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*)48
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >&&)48
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::start()48
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&)48
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::SubscribeHandler()48
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*)48
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*)48
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >&&)48
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::start()48
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&)48
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::SubscribeHandler()48
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&)48
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >&&)48
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::start()48
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&)48
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::SubscribeHandler()48
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*)48
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*)48
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >&&)48
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*)48
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*)48
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*)48
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*)48
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*)48
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*)48
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*)48
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*)48
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()() const48
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()() const48
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()() const48
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()() const48
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()() const48
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()() const48
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()() const48
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()() const48
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()() const48
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()() const48
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()() const48
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()() const48
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()() const48
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()() const48
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()() const48
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()() const48
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()() const48
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()() const48
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()() const48
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()() const48
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&)51
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::topicName[abi:cxx11]() const51
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()() const51
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::topicName[abi:cxx11]() const55
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::start()56
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&)56
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>*)56
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>*)56
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >&&)56
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()() const56
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&)72
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >&&)72
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::topicName[abi:cxx11]() const75
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::start()76
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&)80
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::start()80
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&)80
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler()80
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&)80
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >&&)80
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::start()80
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&)80
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler()80
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&)80
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >&&)80
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()() const80
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()() const80
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()() const80
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()86
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::~SubscribeHandler()90
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()90
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::lastMsgTime() const90
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::start()93
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&)93
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >&&)93
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::start()96
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&)96
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::SubscribeHandler()96
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >&&)96
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::SubscribeHandler()96
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::~SubscribeHandler()96
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::~SubscribeHandler()96
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::~SubscribeHandler()96
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::~SubscribeHandler()96
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::SubscribeHandler()96
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >&&)96
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::~SubscribeHandler()96
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::~SubscribeHandler()96
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()96
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::~SubscribeHandler()96
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::start()96
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&)96
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::SubscribeHandler()96
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&)96
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >&&)96
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()() const96
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::getMsg()100
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::hasMsg() const100
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::hasMsg() const100
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::getMsg()105
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&)108
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()() const108
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::start()128
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&)128
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::SubscribeHandler()128
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >&&)128
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::start()137
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&)137
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >&&)137
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::start()139
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&)139
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::SubscribeHandler()139
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >&&)139
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&)144
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::start()144
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::getMsg()144
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&)144
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&)144
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()() const144
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()() const144
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::start()149
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&)149
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >&&)149
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()160
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()160
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::getMsg()174
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::getMsg()177
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::SubscribeHandler()178
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::SubscribeHandler()178
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::~SubscribeHandler()178
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::SubscribeHandler()178
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::~SubscribeHandler()178
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::SubscribeHandler()179
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::start()179
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&)179
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::SubscribeHandler()179
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&)179
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >&&)179
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()() const179
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::start()185
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&)185
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >&&)185
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler()187
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::~SubscribeHandler()189
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::~SubscribeHandler()192
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::start()192
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&)192
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::SubscribeHandler()192
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >&&)192
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::~SubscribeHandler()192
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler()217
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::start()219
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&)219
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&)219
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >&&)219
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()() const219
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler()226
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::hasMsg() const229
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::~SubscribeHandler()232
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::~SubscribeHandler()234
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::~SubscribeHandler()240
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::start()246
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&)246
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >&&)246
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::~SubscribeHandler()251
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::~SubscribeHandler()256
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::SubscribeHandler()265
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::start()267
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&)267
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&)267
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >&&)267
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()() const267
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::SubscribeHandler()268
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::~SubscribeHandler()278
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::~SubscribeHandler()358
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::~SubscribeHandler()372
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler()375
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::~SubscribeHandler()384
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::~SubscribeHandler()405
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()434
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::~SubscribeHandler()524
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::~SubscribeHandler()530
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::SubscribeHandler()605
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::~SubscribeHandler()851
mrs_lib::SubscribeHandlerOptions::SubscribeHandlerOptions()1201
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::getMsg()1364
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::hasMsg() const2160
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::hasMsg() const2160
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::getMsg()3285
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::hasMsg() const4145
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::hasMsg() const7296
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::hasMsg() const13086
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::getMsg()13524
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::lastMsgTime() const13524
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::hasMsg() const19641
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::getMsg()20848
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::hasMsg() const25912
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::getMsg()26117
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::hasMsg() const33689
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::getMsg()68875
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::hasMsg() const68875
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::getMsg()68957
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::lastMsgTime() const83758
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::hasMsg() const90798
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::hasMsg() const96440
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::lastMsgTime() const117661
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::hasMsg() const119767
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::getMsg()124173
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::hasMsg() const141884
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::getMsg()178666
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::newMsg() const204586
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::getMsg()247372
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::hasMsg() const323811
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::getMsg()800007882
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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..25ddf96141 --- /dev/null +++ b/mrs_lib/include/mrs_lib/subscribe_handler.h.func.html @@ -0,0 +1,2876 @@ + + + + + + + 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:2023-12-14 21:42:20Functions:35569950.8 %
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> > >::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()185
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&)185
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler()187
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*)48
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*)48
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*)46
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>*)43
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*)48
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*)48
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*)46
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>*)43
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::~SubscribeHandler()372
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >&&)185
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()96
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&)96
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::SubscribeHandler()96
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&)48
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*)48
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*)48
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::~SubscribeHandler()192
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >&&)96
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()56
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::getMsg()3285
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&)56
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::SubscribeHandler()178
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)56
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>*)56
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()234
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >&&)56
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()178
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()178
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()76
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::getMsg()105
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&)72
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::SubscribeHandler()179
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>*)28
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>*)43
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>*)28
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>*)43
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::~SubscribeHandler()251
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >&&)72
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()137
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::getMsg()68957
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&)137
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::SubscribeHandler()268
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&)45
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>*)45
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>*)2
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*)45
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>*)45
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>*)2
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*)45
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::~SubscribeHandler()405
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >&&)137
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()246
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::getMsg()247372
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&)246
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::SubscribeHandler()605
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&)108
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*)48
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*)45
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*)45
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*)48
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*)45
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*)45
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::~SubscribeHandler()851
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >&&)246
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()178
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::~SubscribeHandler()178
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()139
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::getMsg()174
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&)139
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::SubscribeHandler()139
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&)80
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*)48
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*)11
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*)48
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*)11
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::~SubscribeHandler()278
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >&&)139
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()93
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::getMsg()68875
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&)93
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::SubscribeHandler()96
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&)45
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*)48
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*)48
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::~SubscribeHandler()189
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >&&)93
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()179
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::getMsg()124173
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&)179
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::SubscribeHandler()179
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&)179
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::~SubscribeHandler()358
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >&&)179
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()192
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::getMsg()20848
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&)192
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::SubscribeHandler()192
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&)144
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*)48
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*)48
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::~SubscribeHandler()384
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >&&)192
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()48
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::getMsg()177
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&)48
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::SubscribeHandler()48
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&)48
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::~SubscribeHandler()96
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >&&)48
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()45
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&)45
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::SubscribeHandler()45
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&)45
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::~SubscribeHandler()90
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >&&)45
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()48
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::getMsg()0
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&)48
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::SubscribeHandler()48
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*)48
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*)48
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::~SubscribeHandler()96
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >&&)48
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()48
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&)48
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::SubscribeHandler()48
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&)48
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::~SubscribeHandler()96
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >&&)48
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()48
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&)48
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::SubscribeHandler()48
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*)48
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*)48
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::~SubscribeHandler()96
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >&&)48
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()144
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::getMsg()144
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&)144
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::SubscribeHandler()96
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&)144
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::~SubscribeHandler()240
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >&&)96
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()48
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&)48
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::SubscribeHandler()48
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*)48
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*)48
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::~SubscribeHandler()96
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >&&)48
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()48
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&)48
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::SubscribeHandler()48
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*)48
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*)48
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::~SubscribeHandler()96
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >&&)48
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()48
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::getMsg()2
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&)48
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::SubscribeHandler()48
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&)48
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()96
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >&&)48
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()267
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::getMsg()26117
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&)267
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::SubscribeHandler()265
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&)267
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::~SubscribeHandler()530
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >&&)267
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()43
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&)43
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler()43
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&)43
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()86
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >&&)43
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()80
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&)80
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler()80
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&)80
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()160
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >&&)80
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()45
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::getMsg()3
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&)45
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::SubscribeHandler()45
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&)34
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*)11
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*)11
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()90
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >&&)45
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()48
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&)48
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::SubscribeHandler()48
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*)48
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*)48
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::~SubscribeHandler()96
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >&&)48
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()219
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::getMsg()800007882
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&)219
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler()217
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&)219
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()434
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >&&)219
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()80
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&)80
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler()80
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&)80
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()160
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >&&)80
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()6
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::getMsg()100
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&)6
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler()226
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*)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<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>*)2
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*)2
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::Correction<1>>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)2
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler<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>*)2
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::~SubscribeHandler()232
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >&&)6
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()128
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::getMsg()1364
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&)128
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::SubscribeHandler()128
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)32
mrs_lib::SubscribeHandler<mrs_msgs::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*)48
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*)48
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*)48
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*)48
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::~SubscribeHandler()256
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >&&)128
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()149
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::getMsg()178666
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&)149
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler()375
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*)2
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&)51
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*)2
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*)48
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*)48
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*)48
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*)48
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()524
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >&&)149
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()6
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&)6
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::SubscribeHandler()6
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&)6
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::~SubscribeHandler()12
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >&&)6
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()96
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::getMsg()13524
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&)96
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::SubscribeHandler()96
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&)96
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::~SubscribeHandler()192
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >&&)96
mrs_lib::SubscribeHandlerOptions::SubscribeHandlerOptions()1201
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::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() const4145
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() const13086
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() const141884
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() const323811
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]() const75
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() const90
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::hasMsg() const100
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() const68875
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() const117661
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() const204586
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() const25912
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() const2
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() 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> > >::hasMsg() const229
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]() const51
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() const47
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() const33689
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() const7296
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() const45
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::hasMsg() const2160
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() const29
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() const90798
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]() const55
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::lastMsgTime() const45
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::hasMsg() const2160
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::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() const100
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() const83758
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::hasMsg() const96440
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() const119767
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]() const3
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() const13524
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::hasMsg() const19641
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()() const48
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()() const48
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()() const46
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()() const43
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()() const48
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()() const48
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()() const56
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()() const28
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()() const43
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()() const45
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()() const45
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()() const2
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()() const45
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()() const108
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()() const48
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()() const45
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()() const45
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()() const80
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()() const48
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()() const11
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()() const45
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()() const48
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()() const179
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()() const144
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()() const48
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()() const48
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()() const45
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()() const48
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()() const48
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()() const48
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()() const144
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()() const48
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()() const48
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()() const48
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()() const267
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()() const43
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()() const80
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()() const34
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()() const11
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()() const48
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()() const219
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()() const80
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()() 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<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()() const2
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)::{lambda()#1}::operator()() const32
mrs_lib::SubscribeHandler<mrs_msgs::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()() const48
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()() const48
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()() const51
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()() const2
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()() const48
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()() const48
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()() const6
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()() const96
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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..dc22aaa61d --- /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:2023-12-14 21:42:20Functions:35569950.8 %
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        1203 :     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   800761768 :       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      950171 :       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      204586 :       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      215128 :       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         184 :       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        3091 :       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        4563 :       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        3087 :       SubscribeHandler(
+     199             :             const SubscribeHandlerOptions& options,
+     200             :             const std::string& topic_name,
+     201             :             Types ... args
+     202             :           )
+     203             :       :
+     204             :         SubscribeHandler(
+     205        3087 :             [options, topic_name]()
+     206             :             {
+     207        6174 :               SubscribeHandlerOptions opts = options;
+     208        3087 :               opts.topic_name = topic_name;
+     209        6174 :               return opts;
+     210             :             }(),
+     211             :             args...
+     212        3091 :             )
+     213             :       {
+     214        3087 :       }
+     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        3087 :       SubscribeHandler(
+     224             :             const SubscribeHandlerOptions& options,
+     225             :             const message_callback_t& message_callback = {}
+     226             :           )
+     227        3087 :       {
+     228        3087 :         if (options.threadsafe)
+     229             :         {
+     230        3087 :           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        3087 :         if (options.autostart)
+     245        3086 :           start();
+     246        3087 :       };
+     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        1196 :       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        2392 :             message_callback == nullptr ? message_callback_t() : std::bind(message_callback, obj2, std::placeholders::_1),
+     324             :             args...
+     325        1196 :             )
+     326             :       {
+     327        1196 :       }
+     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        7648 :       ~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        3039 :       SubscribeHandler& operator=(SubscribeHandler&& other)
+     424             :       {
+     425        3039 :         this->m_pimpl = std::move(other.m_pimpl);
+     426        3039 :         other.m_pimpl = nullptr;
+     427        3039 :         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..c4873b795d --- /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          16 :       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       22973 :       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          20 :       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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Date:2023-12-14 21:42:20Functions:6785.7 %
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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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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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Date:2023-12-14 21:42:20Functions:6785.7 %
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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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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::resolveFrame(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)6
mrs_lib::Transformer::setDefaultPrefix(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)188
mrs_lib::Transformer::retryLookupNewest(bool)225
mrs_lib::Transformer::setDefaultFrame(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)157117
mrs_lib::Transformer::frame_from[abi:cxx11](geometry_msgs::TransformStamped_<std::allocator<void> > const&)800284
mrs_lib::Transformer::frame_to[abi:cxx11](geometry_msgs::TransformStamped_<std::allocator<void> > const&)800289
mrs_lib::Transformer::frame_from[abi:cxx11](geometry_msgs::TransformStamped_<std::allocator<void> >&)806691
mrs_lib::Transformer::frame_to[abi:cxx11](geometry_msgs::TransformStamped_<std::allocator<void> >&)807365
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&)807529
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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 - transformer.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:516085.0 %
Date:2023-12-14 21:42:20Functions: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&)800284
mrs_lib::Transformer::frame_from[abi:cxx11](geometry_msgs::TransformStamped_<std::allocator<void> >&)806691
mrs_lib::Transformer::resolveFrame(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)6
mrs_lib::Transformer::setDefaultFrame(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)157117
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&)807529
mrs_lib::Transformer::setDefaultPrefix(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)188
mrs_lib::Transformer::setLookupTimeout(ros::Duration)2
mrs_lib::Transformer::retryLookupNewest(bool)225
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&)800289
mrs_lib::Transformer::frame_to[abi:cxx11](geometry_msgs::TransformStamped_<std::allocator<void> >&)807365
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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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/include/mrs_lib/transformer.h.gcov.frameset.html b/mrs_lib/include/mrs_lib/transformer.h.gcov.frameset.html new file mode 100644 index 0000000000..b78146f575 --- /dev/null +++ b/mrs_lib/include/mrs_lib/transformer.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/transformer.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_lib/include/mrs_lib/transformer.h.gcov.html b/mrs_lib/include/mrs_lib/transformer.h.gcov.html new file mode 100644 index 0000000000..dee22e4c29 --- /dev/null +++ b/mrs_lib/include/mrs_lib/transformer.h.gcov.html @@ -0,0 +1,764 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/transformer.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:2023-12-14 21:42:20Functions: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      157117 :     void setDefaultFrame(const std::string& frame_id)
+     131             :     {
+     132      273549 :       std::scoped_lock lck(mutex_);
+     133      157113 :       default_frame_id_ = frame_id;
+     134      157107 :     }
+     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         188 :     void setDefaultPrefix(const std::string& prefix)
+     154             :     {
+     155         328 :       std::scoped_lock lck(mutex_);
+     156         188 :       if (prefix.empty())
+     157          49 :         prefix_ = "";
+     158             :       else
+     159         187 :         prefix_ = prefix + "/";
+     160         188 :     }
+     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         273 :     void retryLookupNewest(const bool retry = true)
+     212             :     {
+     213         321 :       std::scoped_lock lck(mutex_);
+     214         273 :       retry_lookup_newest_ = retry;
+     215         225 :     }
+     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           6 :     std::string resolveFrame(const std::string& frame_id)
+     249             :     {
+     250          10 :       std::scoped_lock lck(mutex_);
+     251          12 :       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      801100 :     static constexpr const std::string& frame_from(const geometry_msgs::TransformStamped& msg)
+     551             :     {
+     552      801100 :       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      807508 :     static constexpr std::string& frame_from(geometry_msgs::TransformStamped& msg)
+     564             :     {
+     565      807508 :       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      801105 :     static constexpr const std::string& frame_to(const geometry_msgs::TransformStamped& msg)
+     575             :     {
+     576      801105 :       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      808182 :     static constexpr std::string& frame_to(geometry_msgs::TransformStamped& msg)
+     588             :     {
+     589      807365 :       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      807529 :     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      807529 :       geometry_msgs::TransformStamped ret;
+     621      807419 :       frame_from(ret) = from_frame;
+     622      807520 :       frame_to(ret) = to_frame;
+     623      807502 :       ret.header.stamp = time_stamp;
+     624      807502 :       ret.transform = tf;
+     625      807502 :       return ret;
+     626             :     }
+     627             :     //}
+     628             : 
+     629             :     /* copyChangeFrame() and related methods //{ */
+     630             : 
+     631             :     // helper type and member for detecting whether a message has a header using SFINAE
+     632             :     template<typename T>
+     633             :     using has_header_member_chk = decltype( std::declval<T&>().header );
+     634             :     template<typename T>
+     635             :     static constexpr bool has_header_member_v = std::experimental::is_detected<has_header_member_chk, T>::value;
+     636             :     
+     637             :     template <typename msg_t>
+     638             :     std_msgs::Header getHeader(const msg_t& msg);
+     639             :     template <typename pt_t>
+     640             :     std_msgs::Header getHeader(const pcl::PointCloud<pt_t>& cloud);
+     641             :     
+     642             :     template <typename msg_t>
+     643             :     void setHeader(msg_t& msg, const std_msgs::Header& header);
+     644             :     template <typename pt_t>
+     645             :     void setHeader(pcl::PointCloud<pt_t>& cloud, const std_msgs::Header& header);
+     646             :     
+     647             :     template <typename T>
+     648             :     T copyChangeFrame(const T& what, const std::string& frame_id);
+     649             :     
+     650             :     //}
+     651             : 
+     652             :     /* methods for converting between lattitude/longitude and UTM coordinates //{ */
+     653             :     geometry_msgs::Point LLtoUTM(const geometry_msgs::Point& what, const std::string& prefix);
+     654             :     geometry_msgs::PointStamped LLtoUTM(const geometry_msgs::PointStamped& what, const std::string& prefix);
+     655             :     geometry_msgs::Pose LLtoUTM(const geometry_msgs::Pose& what, const std::string& prefix);
+     656             :     geometry_msgs::PoseStamped LLtoUTM(const geometry_msgs::PoseStamped& what, const std::string& prefix);
+     657             :     
+     658             :     std::optional<geometry_msgs::Point> UTMtoLL(const geometry_msgs::Point& what, const std::string& prefix);
+     659             :     std::optional<geometry_msgs::PointStamped> UTMtoLL(const geometry_msgs::PointStamped& what, const std::string& prefix);
+     660             :     std::optional<geometry_msgs::Pose> UTMtoLL(const geometry_msgs::Pose& what, const std::string& prefix);
+     661             :     std::optional<geometry_msgs::PoseStamped> UTMtoLL(const geometry_msgs::PoseStamped& what, const std::string& prefix);
+     662             :     
+     663             :     // helper types and member for detecting whether the UTMtoLL and LLtoUTM methods are defined for a certain message
+     664             :     template<class Class, typename Message>
+     665             :     using UTMLL_method_chk = decltype(std::declval<Class>().UTMtoLL(std::declval<const Message&>(), ""));
+     666             :     template<class Class, typename Message>
+     667             :     using LLUTM_method_chk = decltype(std::declval<Class>().LLtoUTM(std::declval<const Message&>(), ""));
+     668             :     template<class Class, typename Message>
+     669             :     static constexpr bool UTMLL_exists_v = std::experimental::is_detected<UTMLL_method_chk, Class, Message>::value && std::experimental::is_detected<LLUTM_method_chk, Class, Message>::value;
+     670             :     //}
+     671             : 
+     672             :   };
+     673             : 
+     674             :   //}
+     675             : 
+     676             : }  // namespace mrs_lib
+     677             : 
+     678             : #include <mrs_lib/impl/transformer.hpp>
+     679             : 
+     680             : #endif  // TRANSFORMER_H
+
+
+
+ + + + +
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          Line data    Source code
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+       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
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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
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Test:MRS UAV System - Test coverage reportLines:1515100.0 %
Date:2023-12-14 21:42:20Functions:55100.0 %
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Function Name Sort by function nameHit count Sort by hit count
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)14663
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Test:MRS UAV System - Test coverage reportLines:1515100.0 %
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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       14663 :   int signum(T val)
+     139             :   {
+     140       14663 :     return (T(0) < val) - (val < T(0));
+     141             :   }
+     142             : 
+     143             : }  // namespace mrs_lib
+     144             : 
+     145             : #endif
+
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mrs_lib::VisualObject::operator<(mrs_lib::VisualObject const&) const6
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mrs_lib::VisualObject::operator<(mrs_lib::VisualObject const&) const6
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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           6 :   bool operator<(const VisualObject& other) const {
+      69           6 :     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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+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

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&)6766
mrs_lib::AttitudeConverter::getYawRateIntrinsic(double const&)34799
mrs_lib::AttitudeConverter::operator std::tuple<double&, double&, double&>()50277
mrs_lib::AttitudeConverter::getYaw()67009
mrs_lib::AttitudeConverter::calculateRPY()67014
mrs_lib::AttitudeConverter::setHeading(double const&)93316
mrs_lib::AttitudeConverter::getVectorZ()95316
mrs_lib::Vector3Converter::Vector3Converter(geometry_msgs::Vector3_<std::allocator<void> > const&)114757
mrs_lib::AttitudeConverter::getHeadingRate(mrs_lib::Vector3Converter const&)121522
mrs_lib::AttitudeConverter::operator tf2::Matrix3x3() const138418
mrs_lib::AttitudeConverter::operator tf2::Transform() const150675
mrs_lib::AttitudeConverter::AttitudeConverter(Eigen::Quaternion<double, 0>)164142
mrs_lib::Vector3Converter::operator Eigen::Matrix<double, 3, 1, 0, 3, 1>() const216848
mrs_lib::AttitudeConverter::operator tf2::Quaternion() const351242
mrs_lib::AttitudeConverter::AttitudeConverter(tf2::Quaternion)400952
mrs_lib::AttitudeConverter::AttitudeConverter(Eigen::Matrix<double, 3, 3, 0, 3, 3>)577936
mrs_lib::AttitudeConverter::operator Eigen::Matrix<double, 3, 3, 0, 3, 3>() const633770
mrs_lib::AttitudeConverter::getHeading()693568
mrs_lib::AttitudeConverter::AttitudeConverter(geometry_msgs::Quaternion_<std::allocator<void> >)1452686
mrs_lib::AttitudeConverter::AttitudeConverter(double const&, double const&, double const&, mrs_lib::RPY_convention_t const&)2758486
mrs_lib::AttitudeConverter::operator geometry_msgs::Quaternion_<std::allocator<void> >() const3371030
mrs_lib::AttitudeConverter::validateOrientation()5353598
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_lib/src/attitude_converter/attitude_converter.cpp.func.html b/mrs_lib/src/attitude_converter/attitude_converter.cpp.func.html new file mode 100644 index 0000000000..a2f6fb67ae --- /dev/null +++ b/mrs_lib/src/attitude_converter/attitude_converter.cpp.func.html @@ -0,0 +1,244 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/attitude_converter/attitude_converter.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/src/attitude_converter - attitude_converter.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:21222494.6 %
Date:2023-12-14 21:42:20Functions:394195.1 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_lib::EulerAttitude::EulerAttitude(double const&, double const&, double const&)1
mrs_lib::Vector3Converter::Vector3Converter(geometry_msgs::Vector3_<std::allocator<void> > const&)114757
mrs_lib::Vector3Converter::Vector3Converter(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)6766
mrs_lib::Vector3Converter::Vector3Converter(double const&, double const&, double const&)1
mrs_lib::AttitudeConverter::getHeading()693568
mrs_lib::AttitudeConverter::getVectorX()3
mrs_lib::AttitudeConverter::getVectorY()3
mrs_lib::AttitudeConverter::getVectorZ()95316
mrs_lib::AttitudeConverter::setHeading(double const&)93316
mrs_lib::AttitudeConverter::calculateRPY()67014
mrs_lib::AttitudeConverter::getHeadingRate(mrs_lib::Vector3Converter const&)121522
mrs_lib::AttitudeConverter::getExtrinsicRPY()1
mrs_lib::AttitudeConverter::getIntrinsicRPY()1
mrs_lib::AttitudeConverter::getYawRateIntrinsic(double const&)34799
mrs_lib::AttitudeConverter::validateOrientation()5353598
mrs_lib::AttitudeConverter::getYaw()67009
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> >)1452686
mrs_lib::AttitudeConverter::AttitudeConverter(tf::Quaternion)1
mrs_lib::AttitudeConverter::AttitudeConverter(tf2::Quaternion)400952
mrs_lib::AttitudeConverter::AttitudeConverter(tf2::Matrix3x3)1
mrs_lib::AttitudeConverter::AttitudeConverter(Eigen::Quaternion<double, 0>)164142
mrs_lib::AttitudeConverter::AttitudeConverter(Eigen::Matrix<double, 3, 3, 0, 3, 3>)577936
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&)2758486
mrs_lib::AttitudeConverter::operator std::tuple<double&, double&, double&>()50277
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>() const216848
mrs_lib::AttitudeConverter::operator geometry_msgs::Quaternion_<std::allocator<void> >() const3371030
mrs_lib::AttitudeConverter::operator tf::Quaternion() const1
mrs_lib::AttitudeConverter::operator tf2::Quaternion() const351242
mrs_lib::AttitudeConverter::operator tf2::Matrix3x3() const138418
mrs_lib::AttitudeConverter::operator tf2::Transform() const150675
mrs_lib::AttitudeConverter::operator Eigen::Matrix<double, 3, 3, 0, 3, 3>() const633770
mrs_lib::AttitudeConverter::operator mrs_lib::EulerAttitude() const1
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_lib/src/attitude_converter/attitude_converter.cpp.gcov.frameset.html b/mrs_lib/src/attitude_converter/attitude_converter.cpp.gcov.frameset.html new file mode 100644 index 0000000000..4736f83ffd --- /dev/null +++ b/mrs_lib/src/attitude_converter/attitude_converter.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/attitude_converter/attitude_converter.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_lib/src/attitude_converter/attitude_converter.cpp.gcov.html b/mrs_lib/src/attitude_converter/attitude_converter.cpp.gcov.html new file mode 100644 index 0000000000..75a6520af4 --- /dev/null +++ b/mrs_lib/src/attitude_converter/attitude_converter.cpp.gcov.html @@ -0,0 +1,561 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/attitude_converter/attitude_converter.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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:2023-12-14 21:42:20Functions:394195.1 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : // clang: TomasFormat
+       2             : 
+       3             : #include <mrs_lib/attitude_converter.h>
+       4             : #include <mrs_lib/utils.h>
+       5             : 
+       6             : using quat_t = Eigen::Quaterniond;
+       7             : 
+       8             : namespace mrs_lib
+       9             : {
+      10             : 
+      11             : /* class EulerAttitude //{ */
+      12             : 
+      13           1 : EulerAttitude::EulerAttitude(const double& roll, const double& pitch, const double& yaw) : roll_(roll), pitch_(pitch), yaw_(yaw) {
+      14           1 : }
+      15             : 
+      16           1 : double EulerAttitude::roll(void) const {
+      17           1 :   return roll_;
+      18             : }
+      19             : 
+      20           1 : double EulerAttitude::pitch(void) const {
+      21           1 :   return pitch_;
+      22             : }
+      23             : 
+      24           1 : double EulerAttitude::yaw(void) const {
+      25           1 :   return yaw_;
+      26             : }
+      27             : 
+      28             : //}
+      29             : 
+      30             : /* class Vector3Converter //{ */
+      31             : 
+      32        6766 : Vector3Converter::Vector3Converter(const Eigen::Vector3d& vector3) {
+      33             : 
+      34        6766 :   vector3_[0] = vector3[0];
+      35        6766 :   vector3_[1] = vector3[1];
+      36        6766 :   vector3_[2] = vector3[2];
+      37        6766 : }
+      38             : 
+      39      114757 : Vector3Converter::Vector3Converter(const geometry_msgs::Vector3& vector3) {
+      40             : 
+      41      114757 :   vector3_[0] = vector3.x;
+      42      114757 :   vector3_[1] = vector3.y;
+      43      114757 :   vector3_[2] = vector3.z;
+      44      114757 : }
+      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      216848 : Vector3Converter::operator Eigen::Vector3d() const {
+      59             : 
+      60      216848 :   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     2758486 : AttitudeConverter::AttitudeConverter(const double& roll, const double& pitch, const double& yaw, const RPY_convention_t& format) {
+      79             : 
+      80     2757857 :   switch (format) {
+      81             : 
+      82     2757935 :     case RPY_EXTRINSIC: {
+      83     2757935 :       tf2_quaternion_.setRPY(roll, pitch, yaw);
+      84     2758156 :       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     2758078 :   validateOrientation();
+     104     2758252 : }
+     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     1452686 : AttitudeConverter::AttitudeConverter(const geometry_msgs::Quaternion quaternion) {
+     117     1452578 :   tf2_quaternion_.setX(quaternion.x);
+     118     1452425 :   tf2_quaternion_.setY(quaternion.y);
+     119     1452581 :   tf2_quaternion_.setZ(quaternion.z);
+     120     1452645 :   tf2_quaternion_.setW(quaternion.w);
+     121             : 
+     122     1452693 :   validateOrientation();
+     123     1452388 : }
+     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      164142 : AttitudeConverter::AttitudeConverter(const Eigen::Quaterniond quaternion) {
+     132      164143 :   tf2_quaternion_.setX(quaternion.x());
+     133      164144 :   tf2_quaternion_.setY(quaternion.y());
+     134      164144 :   tf2_quaternion_.setZ(quaternion.z());
+     135      164144 :   tf2_quaternion_.setW(quaternion.w());
+     136             : 
+     137      164144 :   validateOrientation();
+     138      164144 : }
+     139             : 
+     140      577936 : AttitudeConverter::AttitudeConverter(const Eigen::Matrix3d matrix) {
+     141      577537 :   Eigen::Quaterniond quaternion = Eigen::Quaterniond(matrix);
+     142             : 
+     143      577560 :   tf2_quaternion_.setX(quaternion.x());
+     144      577224 :   tf2_quaternion_.setY(quaternion.y());
+     145      577459 :   tf2_quaternion_.setZ(quaternion.z());
+     146      577343 :   tf2_quaternion_.setW(quaternion.w());
+     147             : 
+     148      577480 :   validateOrientation();
+     149      576652 : }
+     150             : 
+     151      400952 : AttitudeConverter::AttitudeConverter(const tf2::Quaternion quaternion) {
+     152             : 
+     153      400296 :   tf2_quaternion_ = quaternion;
+     154             : 
+     155      400296 :   validateOrientation();
+     156      400207 : }
+     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      351242 : AttitudeConverter::operator tf2::Quaternion() const {
+     170      351242 :   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     3371030 : AttitudeConverter::operator geometry_msgs::Quaternion() const {
+     186             : 
+     187     3371030 :   geometry_msgs::Quaternion geom_quaternion;
+     188             : 
+     189     3370410 :   geom_quaternion.x = tf2_quaternion_.x();
+     190     3369159 :   geom_quaternion.y = tf2_quaternion_.y();
+     191     3369097 :   geom_quaternion.z = tf2_quaternion_.z();
+     192     3369519 :   geom_quaternion.w = tf2_quaternion_.w();
+     193             : 
+     194     3369407 :   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      633770 : AttitudeConverter::operator Eigen::Matrix3d() const {
+     206             : 
+     207      633770 :   Eigen::Quaterniond quaternion(tf2_quaternion_.w(), tf2_quaternion_.x(), tf2_quaternion_.y(), tf2_quaternion_.z());
+     208             : 
+     209     1267345 :   return quaternion.toRotationMatrix();
+     210             : }
+     211             : 
+     212       50277 : AttitudeConverter::operator std::tuple<double&, double&, double&>() {
+     213             : 
+     214       50277 :   tf2::Matrix3x3(tf2_quaternion_).getRPY(roll_, pitch_, yaw_);
+     215             : 
+     216       50277 :   return std::tuple<double&, double&, double&>{roll_, pitch_, yaw_};
+     217             : }
+     218             : 
+     219      138418 : AttitudeConverter::operator tf2::Matrix3x3() const {
+     220             : 
+     221      138418 :   return tf2::Matrix3x3(tf2_quaternion_);
+     222             : }
+     223             : 
+     224      150675 : AttitudeConverter::operator tf2::Transform() const {
+     225             : 
+     226      150675 :   return tf2::Transform(tf2_quaternion_);
+     227             : }
+     228             : 
+     229             : //}
+     230             : 
+     231             : /* getters //{ */
+     232             : 
+     233       67009 : double AttitudeConverter::getYaw(void) {
+     234             : 
+     235       67009 :   calculateRPY();
+     236             : 
+     237       67009 :   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      693568 : double AttitudeConverter::getHeading(void) {
+     255             : 
+     256      693568 :   tf2::Vector3 b1 = tf2::Vector3(1, 0, 0);
+     257             : 
+     258      693460 :   tf2::Vector3 x_new = tf2::Transform(tf2_quaternion_) * b1;
+     259             : 
+     260      693212 :   if (fabs(x_new[0]) <= 1e-3 && fabs(x_new[1]) <= 1e-3) {
+     261           2 :     throw GetHeadingException();
+     262             :   }
+     263             : 
+     264     1385432 :   return atan2(x_new[1], x_new[0]);
+     265             : }
+     266             : 
+     267       34799 : 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       34799 :   if (fabs(heading_rate) < 1e-3) {
+     272       26275 :     return 0;
+     273             :   }
+     274             : 
+     275             :   // prep
+     276        8524 :   Eigen::Matrix3d R = *this;
+     277             : 
+     278             :   // construct the heading orbital velocity vector
+     279        8524 :   Eigen::Vector3d heading_vector   = Eigen::Vector3d(R(0, 0), R(1, 0), 0);
+     280        8524 :   Eigen::Vector3d orbital_velocity = Eigen::Vector3d(0, 0, heading_rate).cross(heading_vector);
+     281             : 
+     282             :   // projector to the heading orbital velocity vector subspace
+     283        8524 :   Eigen::Vector3d b_orb = Eigen::Vector3d(0, 0, 1).cross(heading_vector);
+     284        8524 :   b_orb.normalize();
+     285        8524 :   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        8524 :   Eigen::Vector3d projected = P * R.col(1);
+     289             : 
+     290             : 
+     291        8524 :   double orbital_velocity_norm = orbital_velocity.norm();
+     292        8524 :   double projected_norm        = projected.norm();
+     293             : 
+     294        8524 :   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        8524 :   double direction = mrs_lib::signum(orbital_velocity.dot(projected));
+     300             : 
+     301        8524 :   double output_yaw_rate = direction * (orbital_velocity_norm / projected_norm);
+     302             : 
+     303        8524 :   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        8524 :   return output_yaw_rate;
+     310             : }
+     311             : 
+     312      121522 : double AttitudeConverter::getHeadingRate(const Vector3Converter& attitude_rate) {
+     313             : 
+     314             :   // prep
+     315      121522 :   Eigen::Matrix3d R = *this;
+     316      121522 :   Eigen::Vector3d w = attitude_rate;
+     317             : 
+     318             :   // create the angular velocity tensor
+     319      121521 :   Eigen::Matrix3d W;
+     320      121521 :   W << 0, -w[2], w[1], w[2], 0, -w[0], -w[1], w[0], 0;
+     321             : 
+     322             :   // R derivative
+     323      121521 :   Eigen::Matrix3d R_d = R * W;
+     324             : 
+     325             :   // atan2 derivative
+     326      121522 :   double rx = R(0, 0);  // x-component of body X
+     327      121522 :   double ry = R(1, 0);  // y-component of body Y
+     328             : 
+     329      121522 :   double denom = rx * rx + ry * ry;
+     330             : 
+     331      121522 :   if (fabs(denom) <= 1e-5) {
+     332           0 :     ROS_ERROR("[AttitudeConverter]: getHeadingRate(): denominator near zero!!!");
+     333           0 :     throw MathErrorException();
+     334             :   }
+     335             : 
+     336      121522 :   double atan2_d_x = -ry / denom;
+     337      121522 :   double atan2_d_y = rx / denom;
+     338             : 
+     339             :   // atan2 total differential
+     340      121522 :   double heading_rate = atan2_d_x * R_d(0, 0) + atan2_d_y * R_d(1, 0);
+     341             : 
+     342      121522 :   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       95316 : Vector3Converter AttitudeConverter::getVectorZ(void) {
+     364             : 
+     365       95316 :   tf2::Vector3 b3 = tf2::Vector3(0, 0, 1);
+     366             : 
+     367       95319 :   tf2::Vector3 new_b3 = tf2::Transform(tf2_quaternion_) * b3;
+     368             : 
+     369      190637 :   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       93316 : AttitudeConverter AttitudeConverter::setHeading(const double& heading) {
+     404             : 
+     405             :   // get the Z unit vector after the original rotation
+     406       93316 :   Eigen::Vector3d b3 = getVectorZ();
+     407             : 
+     408             :   // check for singularity: z component of the thrust vector is 0
+     409       93316 :   if (fabs(b3[2]) < 1e-3) {
+     410           2 :     throw SetHeadingException();
+     411             :   }
+     412             : 
+     413             :   // get the desired heading as a vector in 3D
+     414       93315 :   Eigen::Vector3d h(cos(heading), sin(heading), 0);
+     415             : 
+     416       93316 :   Eigen::Matrix3d new_R;
+     417             : 
+     418       93313 :   new_R.col(2) = b3;
+     419             : 
+     420             :   // construct the oblique projection
+     421       93313 :   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      186328 :   Eigen::MatrixXd A = Eigen::MatrixXd(3, 2);
+     425       93239 :   A.col(0)          = projector_body_z_compl.col(0);
+     426       93230 :   A.col(1)          = projector_body_z_compl.col(1);
+     427             : 
+     428             :   // create the basis of the projection null-space complement
+     429      186149 :   Eigen::MatrixXd B = Eigen::MatrixXd(3, 2);
+     430       93246 :   B.col(0)          = Eigen::Vector3d(1, 0, 0);
+     431       93204 :   B.col(1)          = Eigen::Vector3d(0, 1, 0);
+     432             : 
+     433             :   // oblique projector to <range_basis>
+     434      186008 :   Eigen::MatrixXd Bt_A               = B.transpose() * A;
+     435      186151 :   Eigen::MatrixXd Bt_A_pseudoinverse = ((Bt_A.transpose() * Bt_A).inverse()) * Bt_A.transpose();
+     436       92997 :   Eigen::MatrixXd oblique_projector  = A * Bt_A_pseudoinverse * B.transpose();
+     437             : 
+     438       93024 :   new_R.col(0) = oblique_projector * h;
+     439       92842 :   new_R.col(0).normalize();
+     440             : 
+     441             :   // | ------------------------- body y ------------------------- |
+     442             : 
+     443       92996 :   new_R.col(1) = new_R.col(2).cross(new_R.col(0));
+     444       92431 :   new_R.col(1).normalize();
+     445             : 
+     446      185762 :   return AttitudeConverter(new_R);
+     447             : }
+     448             : 
+     449             : //}
+     450             : 
+     451             : // | ------------------------ internal ------------------------ |
+     452             : 
+     453             : /* calculateRPY() //{ */
+     454             : 
+     455       67014 : void AttitudeConverter::calculateRPY(void) {
+     456             : 
+     457       67014 :   if (!got_rpy_) {
+     458             : 
+     459       67014 :     tf2::Matrix3x3(tf2_quaternion_).getRPY(roll_, pitch_, yaw_);
+     460             :   }
+     461       67014 : }
+     462             : 
+     463             : //}
+     464             : 
+     465             : /* validateOrientation() //{ */
+     466             : 
+     467     5353598 : void AttitudeConverter::validateOrientation(void) {
+     468             : 
+     469    10704557 :   if (!std::isfinite(tf2_quaternion_.x()) || !std::isfinite(tf2_quaternion_.y()) || !std::isfinite(tf2_quaternion_.z()) ||
+     470     5349986 :       !std::isfinite(tf2_quaternion_.w())) {
+     471           2 :     throw InvalidAttitudeException();
+     472             :   }
+     473     5350573 : }
+     474             : 
+     475             : //}
+     476             : 
+     477             : }  // namespace mrs_lib
+
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mrs_lib::BatchVisualizer::addPoint(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double, double, double, double, ros::Duration const&)4
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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> >)96
mrs_lib::BatchVisualizer::BatchVisualizer()96
mrs_lib::BatchVisualizer::clearBuffers()98
mrs_lib::BatchVisualizer::clearVisuals()98
mrs_lib::BatchVisualizer::~BatchVisualizer()192
mrs_lib::BatchVisualizer::addNullPoint()194
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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:2023-12-14 21:42:20Functions: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()96
mrs_lib::BatchVisualizer::addCylinder(mrs_lib::geometry::Cylinder const&, double, double, double, double, bool, bool, int, ros::Duration const&)0
mrs_lib::BatchVisualizer::addNullLine()196
mrs_lib::BatchVisualizer::addTriangle(mrs_lib::geometry::Triangle const&, double, double, double, double, bool, ros::Duration const&)0
mrs_lib::BatchVisualizer::addNullPoint()194
mrs_lib::BatchVisualizer::addRectangle(mrs_lib::geometry::Rectangle const&, double, double, double, double, bool, ros::Duration const&)0
mrs_lib::BatchVisualizer::clearBuffers()98
mrs_lib::BatchVisualizer::clearVisuals()98
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> >)2
mrs_lib::BatchVisualizer::setPointsScale(double)2
mrs_lib::BatchVisualizer::addNullTriangle()196
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()196
mrs_lib::BatchVisualizer::addPoint(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double, double, double, double, ros::Duration const&)4
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> >)96
mrs_lib::BatchVisualizer::BatchVisualizer()96
mrs_lib::BatchVisualizer::~BatchVisualizer()192
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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:2023-12-14 21:42:20Functions: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          96 : BatchVisualizer::BatchVisualizer() {
+      10          96 : }
+      11             : 
+      12         192 : BatchVisualizer::~BatchVisualizer() {
+      13         192 : }
+      14             : 
+      15          96 : BatchVisualizer::BatchVisualizer(ros::NodeHandle &nh, const std::string marker_topic_name, const std::string parent_frame) {
+      16          96 :   this->parent_frame      = parent_frame;
+      17          96 :   this->marker_topic_name = marker_topic_name;
+      18          96 :   initialize();
+      19             : 
+      20          96 :   this->visual_pub = nh.advertise<visualization_msgs::MarkerArray>(marker_topic_name.c_str(), 1);
+      21          96 :   publish();
+      22          96 : }
+      23             : //}
+      24             : 
+      25             : /* setParentFrame //{ */
+      26             : 
+      27           2 : void BatchVisualizer::setParentFrame(const std::string parent_frame) {
+      28           2 :   this->parent_frame               = parent_frame;
+      29           2 :   points_marker.header.frame_id    = parent_frame;
+      30           2 :   triangles_marker.header.frame_id = parent_frame;
+      31           2 :   lines_marker.header.frame_id     = parent_frame;
+      32           2 : }
+      33             : 
+      34             : //}
+      35             : 
+      36             : /* initialize //{ */
+      37          96 : void BatchVisualizer::initialize() {
+      38          96 :   if (initialized) {
+      39           0 :     return;
+      40             :   }
+      41             : 
+      42             :   // setup points marker
+      43          96 :   std::stringstream ss;
+      44          96 :   ss << marker_topic_name << "_points";
+      45          96 :   points_marker.header.frame_id    = parent_frame;
+      46          96 :   points_marker.header.stamp       = ros::Time::now();
+      47          96 :   points_marker.ns                 = ss.str().c_str();
+      48          96 :   points_marker.action             = visualization_msgs::Marker::ADD;
+      49          96 :   points_marker.pose.orientation.w = 1.0;
+      50          96 :   points_marker.id                 = 8;
+      51          96 :   points_marker.type               = visualization_msgs::Marker::POINTS;
+      52             : 
+      53          96 :   points_marker.scale.x = points_scale;
+      54          96 :   points_marker.scale.y = points_scale;
+      55          96 :   points_marker.color.a = 1.0;
+      56             : 
+      57             :   // setup lines marker
+      58          96 :   ss.str(std::string());
+      59          96 :   ss << marker_topic_name << "_lines";
+      60          96 :   lines_marker.header.frame_id    = parent_frame;
+      61          96 :   lines_marker.header.stamp       = ros::Time::now();
+      62          96 :   lines_marker.ns                 = ss.str().c_str();
+      63          96 :   lines_marker.action             = visualization_msgs::Marker::ADD;
+      64          96 :   lines_marker.pose.orientation.w = 1.0;
+      65          96 :   lines_marker.id                 = 5;
+      66          96 :   lines_marker.type               = visualization_msgs::Marker::LINE_LIST;
+      67             : 
+      68          96 :   lines_marker.scale.x = lines_scale;
+      69          96 :   lines_marker.color.a = 1.0;
+      70             : 
+      71             :   // setup triangles marker
+      72          96 :   ss.str(std::string());
+      73          96 :   ss << marker_topic_name << "_triangles";
+      74          96 :   triangles_marker.header.frame_id    = parent_frame;
+      75          96 :   triangles_marker.header.stamp       = ros::Time::now();
+      76          96 :   triangles_marker.ns                 = ss.str().c_str();
+      77          96 :   triangles_marker.action             = visualization_msgs::Marker::ADD;
+      78          96 :   triangles_marker.pose.orientation.w = 1.0;
+      79          96 :   triangles_marker.id                 = 11;
+      80          96 :   triangles_marker.type               = visualization_msgs::Marker::TRIANGLE_LIST;
+      81             : 
+      82          96 :   triangles_marker.scale.x = 1;
+      83          96 :   triangles_marker.scale.y = 1;
+      84          96 :   triangles_marker.scale.z = 1;
+      85          96 :   triangles_marker.color.a = 1.0;
+      86             : 
+      87          96 :   ROS_INFO("[%s]: Batch visualizer loaded with default values", ros::this_node::getName().c_str());
+      88          96 :   initialized = true;
+      89             : }
+      90             : //}
+      91             : 
+      92             : /* addPoint //{ */
+      93           4 : 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           8 :   VisualObject obj = VisualObject(p, r, g, b, a, timeout, uuid++);
+      96           4 :   visual_objects.insert(obj);
+      97           4 : }
+      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         194 : void BatchVisualizer::addNullPoint() {
+     170         194 :   geometry_msgs::Point p;
+     171         194 :   p.x = 10000.0;
+     172         194 :   p.y = 0.0;
+     173         194 :   p.z = 0.0;
+     174             : 
+     175         194 :   std_msgs::ColorRGBA c;
+     176         194 :   c.r = 1.0;
+     177         194 :   c.g = 1.0;
+     178         194 :   c.b = 1.0;
+     179         194 :   c.a = 1.0;
+     180             : 
+     181         194 :   points_marker.points.push_back(p);
+     182         194 :   points_marker.colors.push_back(c);
+     183         194 : }
+     184             : //}
+     185             : 
+     186             : /* addNullLine //{ */
+     187         196 : void BatchVisualizer::addNullLine() {
+     188         196 :   geometry_msgs::Point p1, p2;
+     189         196 :   p1.x = 10000.0;
+     190         196 :   p1.y = 0.0;
+     191         196 :   p1.z = 0.0;
+     192             : 
+     193         196 :   p2.x = 10001.0;
+     194         196 :   p2.y = 0.0;
+     195         196 :   p2.z = 0.0;
+     196             : 
+     197         196 :   std_msgs::ColorRGBA c;
+     198         196 :   c.r = 1.0;
+     199         196 :   c.g = 1.0;
+     200         196 :   c.b = 1.0;
+     201             : 
+     202         196 :   lines_marker.colors.push_back(c);
+     203         196 :   lines_marker.colors.push_back(c);
+     204             : 
+     205         196 :   lines_marker.points.push_back(p1);
+     206         196 :   lines_marker.points.push_back(p2);
+     207         196 : }
+     208             : //}
+     209             : 
+     210             : /* addNullTriangle //{ */
+     211         196 : void BatchVisualizer::addNullTriangle() {
+     212         196 :   geometry_msgs::Point p1, p2, p3;
+     213         196 :   p1.x = 10000.0;
+     214         196 :   p1.y = 0.0;
+     215         196 :   p1.z = 0.0;
+     216             : 
+     217         196 :   p2.x = 10001.0;
+     218         196 :   p2.y = 0.0;
+     219         196 :   p2.z = 0.0;
+     220             : 
+     221         196 :   std_msgs::ColorRGBA c;
+     222         196 :   c.r = 1.0;
+     223         196 :   c.g = 1.0;
+     224         196 :   c.b = 1.0;
+     225             : 
+     226         196 :   p3.x = 10001.0;
+     227         196 :   p3.y = 0.01;
+     228         196 :   p3.z = 0.0;
+     229         196 :   triangles_marker.colors.push_back(c);
+     230         196 :   triangles_marker.colors.push_back(c);
+     231         196 :   triangles_marker.colors.push_back(c);
+     232             : 
+     233         196 :   triangles_marker.points.push_back(p1);
+     234         196 :   triangles_marker.points.push_back(p2);
+     235         196 :   triangles_marker.points.push_back(p3);
+     236         196 : }
+     237             : //}
+     238             : 
+     239             : /* setPointsScale //{ */
+     240           2 : void BatchVisualizer::setPointsScale(const double scale) {
+     241           2 :   points_scale = scale;
+     242           2 : }
+     243             : //}
+     244             : 
+     245             : /* setLinesScale //{ */
+     246           0 : void BatchVisualizer::setLinesScale(const double scale) {
+     247           0 :   lines_scale = scale;
+     248           0 : }
+     249             : //}
+     250             : 
+     251             : /* clearBuffers //{ */
+     252          98 : void BatchVisualizer::clearBuffers() {
+     253          98 :   visual_objects.clear();
+     254          98 : }
+     255             : //}
+     256             : 
+     257             : /* clearVisuals //{ */
+     258          98 : void BatchVisualizer::clearVisuals() {
+     259         196 :   std::set<VisualObject> visual_objects_tmp;
+     260          98 :   visual_objects_tmp.insert(visual_objects.begin(), visual_objects.end());
+     261             : 
+     262          98 :   visual_objects.clear();
+     263          98 :   publish();
+     264             : 
+     265          98 :   visual_objects.insert(visual_objects_tmp.begin(), visual_objects_tmp.end());
+     266          98 : }
+     267             : //}
+     268             : 
+     269             : /* publish //{ */
+     270         196 : void BatchVisualizer::publish() {
+     271             : 
+     272         196 :   msg.markers.clear();
+     273         196 :   points_marker.points.clear();
+     274         196 :   points_marker.colors.clear();
+     275             : 
+     276         196 :   lines_marker.points.clear();
+     277         196 :   lines_marker.colors.clear();
+     278             : 
+     279         196 :   triangles_marker.points.clear();
+     280         196 :   triangles_marker.colors.clear();
+     281             : 
+     282             :   // fill marker messages and remove objects that have timed out
+     283         200 :   for (auto it = visual_objects.begin(); it != visual_objects.end();) {
+     284           4 :     if (it->isTimedOut()) {
+     285           0 :       it = visual_objects.erase(it);
+     286             :     } else {
+     287           8 :       auto points = it->getPoints();
+     288           8 :       auto colors = it->getColors();
+     289           4 :       switch (it->getType()) {
+     290           4 :         case MarkerType::POINT: {
+     291           4 :           points_marker.points.insert(points_marker.points.end(), points.begin(), points.end());
+     292           4 :           points_marker.colors.insert(points_marker.colors.end(), colors.begin(), colors.end());
+     293           4 :           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           4 :       it++;
+     307             :     }
+     308             :   }
+     309             : 
+     310         196 :   auto now = ros::Time::now();
+     311             : 
+     312         196 :   if (!points_marker.points.empty()) {
+     313           2 :     points_marker.scale.x = points_scale;
+     314           2 :     points_marker.scale.y = points_scale;
+     315             :   } else {
+     316         194 :     addNullPoint();
+     317             :   }
+     318         196 :   points_marker.header.stamp = now;
+     319         196 :   msg.markers.push_back(points_marker);
+     320             : 
+     321         196 :   if (!lines_marker.points.empty()) {
+     322           0 :     lines_marker.scale.x = lines_scale;
+     323             :   } else {
+     324         196 :     addNullLine();
+     325             :   }
+     326         196 :   lines_marker.header.stamp = now;
+     327         196 :   msg.markers.push_back(lines_marker);
+     328             : 
+     329         196 :   if (!triangles_marker.points.empty()) {
+     330           0 :     triangles_marker.header.stamp = now;
+     331             :   } else {
+     332         196 :     addNullTriangle();
+     333             :   }
+     334         196 :   triangles_marker.header.stamp = now;
+     335         196 :   msg.markers.push_back(triangles_marker);
+     336             : 
+     337         196 :   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         196 :   visual_pub.publish(msg);
+     345         196 : }
+     346             : //}
+     347             : 
+     348             : }  // namespace mrs_lib
+
+
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76.1%76.1%
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visual_object.cpp +
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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:2023-12-14 21:42:20Functions:72133.3 %
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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::eigenToMsg(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)4
mrs_lib::VisualObject::VisualObject(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double, double, double, double, ros::Duration const&, unsigned long const&)4
mrs_lib::generateColor(double, double, double, double)4
mrs_lib::VisualObject::isTimedOut() const4
mrs_lib::VisualObject::getType() const4
mrs_lib::VisualObject::getColors() const4
mrs_lib::VisualObject::getPoints() const4
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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:2023-12-14 21:42:20Functions:72133.3 %
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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&)4
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&)4
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)4
mrs_lib::VisualObject::isTimedOut() const4
mrs_lib::VisualObject::getID() const0
mrs_lib::VisualObject::getType() const4
mrs_lib::VisualObject::getColors() const4
mrs_lib::VisualObject::getPoints() const4
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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:2023-12-14 21:42:20Functions: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           4 : geometry_msgs::Point eigenToMsg(const Eigen::Vector3d& v) {
+      10           4 :   geometry_msgs::Point p;
+      11           4 :   p.x = v.x();
+      12           4 :   p.y = v.y();
+      13           4 :   p.z = v.z();
+      14           4 :   return p;
+      15             : }
+      16             : 
+      17           4 : std_msgs::ColorRGBA generateColor(const double r, const double g, const double b, const double a) {
+      18           4 :   std_msgs::ColorRGBA c;
+      19           4 :   c.r = r;
+      20           4 :   c.g = g;
+      21           4 :   c.b = b;
+      22           4 :   c.a = a;
+      23           4 :   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           4 : VisualObject::VisualObject(const Eigen::Vector3d& point, const double r, const double g, const double b, const double a, const ros::Duration& timeout,
+     116           4 :                            const unsigned long& id)
+     117           4 :     : id_(id) {
+     118           4 :   type_ = MarkerType::POINT;
+     119           4 :   points_.push_back(eigenToMsg(point));
+     120           4 :   colors_.push_back(generateColor(r, g, b, a));
+     121           4 :   if (timeout.toSec() <= 0) {
+     122           4 :     timeout_time_ = ros::Time(0);
+     123             :   } else {
+     124           0 :     timeout_time_ = ros::Time::now() + timeout;
+     125             :   }
+     126           4 : }
+     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           4 : int VisualObject::getType() const {
+     295           4 :   return type_;
+     296             : }
+     297             : //}
+     298             : 
+     299             : /* isTimedOut //{ */
+     300           4 : bool VisualObject::isTimedOut() const {
+     301           4 :   return !timeout_time_.isZero() && (timeout_time_ - ros::Time::now()).toSec() <= 0;
+     302             : }
+     303             : //}
+     304             : 
+     305             : /* getPoints //{ */
+     306           4 : const std::vector<geometry_msgs::Point> VisualObject::getPoints() const {
+     307           4 :   return points_;
+     308             : }
+     309             : //}
+     310             : 
+     311             : /* getColors //{ */
+     312           4 : const std::vector<std_msgs::ColorRGBA> VisualObject::getColors() const {
+     313           4 :   return colors_;
+     314             : }
+     315             : //}
+     316             : 
+     317             : }  // namespace mrs_lib
+
+
+
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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.gcov.png b/mrs_lib/src/batch_visualizer/visual_object.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..af38cbc0ca11fc9d3c74d943d142de04550935b1 GIT binary patch literal 1166 zcmV;91abR`P)0GscesKPK=aG>FH;9Jv{QJ-20V9)iEvnYI9TmjjMN#B7W1 z`m{ePt})Nh+_qPqYlP&P+1n=;XbdL_3v{xx4*{|y`5tqZM}*qf!f^;J*mwZXOapYc zI-1!N+mPP%=jEgZ7Mi9u9(xWh%^(#(OcA^vB%b`M}UQsl0E zEh2aAE9Yl`tPZaL_F^&DqsABhhEBjhD0-xY=y54R-w-~0t8Nu zktT6X5X}0V3Z!ioXV19UvFu3Mgl-^s)Ietpa2P(YSfEaa*vu%$o-iDXlJbOeEl>M> zQ)%X$98HsI)-3}gCz5#1$gxj3%W*{cFZs11PkEtM&ws4`ck{=kDNw_cmoMj0QEP$j z-ECOwy0UpI^8_*wH@0^MxVq63umu)AS7E4@nF!kix*li&tITi!CVND67n2NYjY2)E z&>cMn&YRijBZ9rnH0Kb4nhAllG!p}CU9@KLxO7hy?B@!fq5r4vOad$N$3(xMu+OBf z-)lX;AxMovm1I4okm^`ZLYQc2q2`*fo8HbPGZTO(%}mIWL^F$);|^DtnN~b?8g7K1W5P}>H?h``R#~n- z4_7Z3-WDzbPg?lbNeeFt*tK8R@^LK%eFMCWLI9pMieH*?P0WWkLkuKHqrheci34JD zq}501EeFWJIs(qDb76VIPNOsnJeYZnn5FoIKd9q9o}?i&nsrW-j%cchG7r1ZV;}gA zcrXbQ*SR#5nZ>3)@QytK@LcSX=B0>Ys&mK*m*Fz|l8{A*^y2!7*pvLL8!3h%<*i7; zOvj%N0M#ypWPRZlH`m-r3(qk_qO$kt$c&2e?XCmh*;JwLu|#L>W%k(1QiUXHx$qGu z{|a!f5LYiYVIQQGT2*rao$sVTlp8Sk>w%r1cO9^^fK%^%IVS(Jb^j)#bJ*u~IU9;&+wE;SsN@M?=+~elCG3y`S^{HXI+Eg5t9y`lfVLxtv zt*!voD`!{jbyaM gbNzfgRewzKA60I + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/geometry/conversions.cpp - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_lib/src/geometry - conversions.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:324669.6 %
Date:2023-12-14 21:42:20Functions:71070.0 %
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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&)42173
mrs_lib::geometry::fromEigen(Eigen::Quaternion<double, 0> const&)42173
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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:2023-12-14 21:42:20Functions:71070.0 %
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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&)42173
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&)42173
mrs_lib::geometry::fromEigen(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)0
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Date:2023-12-14 21:42:20Functions: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       42173 :     geometry_msgs::Quaternion fromEigen(const Eigen::Quaterniond& what)
+      48             :     {
+      49       42173 :       geometry_msgs::Quaternion q;
+      50       42173 :       q.x = what.x();
+      51       42173 :       q.y = what.y();
+      52       42173 :       q.z = what.z();
+      53       42173 :       q.w = what.w();
+      54       42173 :       return q;
+      55             :     }
+      56             :     
+      57       42173 :     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       42173 :       Eigen::Quaterniond q;
+      61       42173 :       q.x() = what.x;
+      62       42173 :       q.y() = what.y;
+      63       42173 :       q.z() = what.z;
+      64       42173 :       q.w() = what.w;
+      65       42173 :       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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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::angleBetween(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)21972
mrs_lib::geometry::quaternionFromHeading(double)42179
mrs_lib::geometry::dist(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)83668
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Test:MRS UAV System - Test coverage reportLines:336451.6 %
Date:2023-12-14 21:42:20Functions: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&)21972
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)42179
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&)83668
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:2023-12-14 21:42:20Functions:71643.8 %
Legend: Lines: + hit + not hit +
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+
          Line data    Source code
+
+       1             : // clang: MatousFormat
+       2             : #include <mrs_lib/geometry/misc.h>
+       3             : 
+       4             : namespace mrs_lib
+       5             : {
+       6             :   namespace geometry
+       7             :   {
+       8             : 
+       9             :     // instantiation of common template values
+      10             :     vec_t<3 + 1> toHomogenous(const vec_t<3>& vec);
+      11             :     vec_t<2 + 1> toHomogenous(const vec_t<2>& vec);
+      12             : 
+      13             :     // | ----------------- Angle-related functions ---------------- |
+      14             : 
+      15             :     /* angle-related functions //{ */
+      16             : 
+      17             :     /* cross() //{ */
+      18             : 
+      19           3 :     double cross(const vec2_t& vec1, const vec2_t vec2)
+      20             :     {
+      21           3 :       return vec1.x() * vec2.y() - vec1.y() * vec2.x();
+      22             :     }
+      23             : 
+      24             :     //}
+      25             : 
+      26             :     /* angleBetween() //{ */
+      27             : 
+      28       21972 :     double angleBetween(const vec3_t& vec1, const vec3_t& vec2)
+      29             :     {
+      30       21972 :       const double sin_12 = vec1.cross(vec2).norm();
+      31       21970 :       const double cos_12 = vec1.dot(vec2);
+      32       21971 :       const double angle = std::atan2(sin_12, cos_12);
+      33       21971 :       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       42179 :     quat_t quaternionFromHeading(const double heading)
+      93             :     {
+      94       84358 :       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       83668 :     double dist(const vec3_t& a, const vec3_t& b)
+     177             :     {
+     178             : 
+     179       83668 :       return (a - b).norm();
+     180             :     }
+     181             : 
+     182             :     //}
+     183             : 
+     184             :   }  // namespace geometry
+     185             : }  // namespace mrs_lib
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_lib/src/geometry/misc.cpp.gcov.overview.html b/mrs_lib/src/geometry/misc.cpp.gcov.overview.html new file mode 100644 index 0000000000..bdcd7dc00e --- /dev/null +++ b/mrs_lib/src/geometry/misc.cpp.gcov.overview.html @@ -0,0 +1,67 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/geometry/misc.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 + + +
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+ Overview +
+ + 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
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/src/geometry - shapes.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:03350.0 %
Date:2023-12-14 21:42:20Functions: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
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + 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..052962b3e9 --- /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:2023-12-14 21:42:20Functions: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
+
+ + + 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..86dd1f202e --- /dev/null +++ b/mrs_lib/src/geometry/shapes.cpp.gcov.html @@ -0,0 +1,730 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/geometry/shapes.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/src/geometry - shapes.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:03350.0 %
Date:2023-12-14 21:42:20Functions: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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mrs_lib::MedianFilter::operator=(mrs_lib::MedianFilter&&)0
mrs_lib::MedianFilter::MedianFilter(mrs_lib::MedianFilter const&)1
mrs_lib::MedianFilter::MedianFilter()1
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mrs_lib::MedianFilter::setMaxValue(double)2
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mrs_lib::MedianFilter::operator=(mrs_lib::MedianFilter const&)17
mrs_lib::MedianFilter::MedianFilter(unsigned long, double, double, double)19
mrs_lib::MedianFilter::addCheck(double)26
mrs_lib::MedianFilter::check(double)20514
mrs_lib::MedianFilter::median() const20530
mrs_lib::MedianFilter::full() const21990
mrs_lib::MedianFilter::add(double)21995
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mrs_lib::MedianFilter::setMaxDifference(double)2
mrs_lib::MedianFilter::add(double)21995
mrs_lib::MedianFilter::check(double)20514
mrs_lib::MedianFilter::clear()2
mrs_lib::MedianFilter::addCheck(double)26
mrs_lib::MedianFilter::MedianFilter(mrs_lib::MedianFilter&&)16
mrs_lib::MedianFilter::MedianFilter(mrs_lib::MedianFilter const&)1
mrs_lib::MedianFilter::MedianFilter(unsigned long, double, double, double)19
mrs_lib::MedianFilter::MedianFilter()1
mrs_lib::MedianFilter::operator=(mrs_lib::MedianFilter&&)0
mrs_lib::MedianFilter::operator=(mrs_lib::MedianFilter const&)17
mrs_lib::MedianFilter::initialized() const1
mrs_lib::MedianFilter::full() const21990
mrs_lib::MedianFilter::median() const20530
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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          19 :   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          19 :       m_max_diff(max_diff)
+      12             :   {
+      13          19 :     m_buffer.set_capacity(buffer_length);
+      14          19 :     m_buffer_sorted.reserve(buffer_length);
+      15          19 :   }
+      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          16 :   MedianFilter::MedianFilter(MedianFilter&& other)
+      32             :   {
+      33          16 :     *this = other;
+      34          16 :   }
+      35             : 
+      36             :   //}
+      37             : 
+      38             :   /* operator=() method and overloads //{ */
+      39          17 :   MedianFilter& MedianFilter::operator=(const MedianFilter& other)
+      40             :   {
+      41          17 :     std::scoped_lock lck(other.m_mtx, m_mtx);
+      42             :   
+      43          17 :     m_buffer = other.m_buffer;
+      44          17 :     m_buffer_sorted = other.m_buffer_sorted;
+      45          17 :     m_median = other.m_median;
+      46             :   
+      47             :     // parameters specified by the user
+      48          17 :     m_min_valid = other.m_min_valid;
+      49          17 :     m_max_valid = other.m_max_valid;
+      50          17 :     m_max_diff = other.m_max_diff;
+      51             :   
+      52          34 :     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       21995 :   void MedianFilter::add(const double value)
+      74             :   {
+      75       43990 :     std::scoped_lock lck(m_mtx);
+      76             :     // add the value to the buffer
+      77       21995 :     m_buffer.push_back(value);
+      78             :     // reset the cached median value
+      79       21995 :     m_median = std::nullopt;
+      80       21995 :   }
+      81             :   //}
+      82             : 
+      83             :   /* check() method //{ */
+      84       20514 :   bool MedianFilter::check(const double value)
+      85             :   {
+      86       20514 :     std::scoped_lock lck(m_mtx);
+      87             :     // check if all constraints are met
+      88       20514 :     const double diff = m_buffer.empty() ? 0.0 : std::abs(median() - value);
+      89       41028 :     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       21990 :   bool MedianFilter::full() const
+     113             :   {
+     114       43980 :     std::scoped_lock lck(m_mtx);
+     115       43980 :     return m_buffer.full();
+     116             :   }
+     117             :   //}
+     118             : 
+     119             :   /* median() method //{ */
+     120       20530 :   double MedianFilter::median() const
+     121             :   {
+     122       41060 :     std::scoped_lock lck(m_mtx);
+     123             :     // if the value was already calculated, just return it
+     124       20530 :     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       20513 :     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       20509 :     m_buffer_sorted.clear();
+     136             :     // copy all elements from the input buffer to buffer_sorted
+     137       20509 :     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       20509 :     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       20509 :     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       20509 :     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       20509 :     if (even_set)
+     148       20493 :       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       20509 :     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)2072
mrs_lib::ParamProvider::addYamlFile(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)6798
mrs_lib::ParamProvider::findYamlNode(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) const45416
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mrs_lib::ParamProvider::addYamlFile(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)6798
mrs_lib::ParamProvider::ParamProvider(ros::NodeHandle const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool)2072
mrs_lib::ParamProvider::findYamlNode(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) const45416
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        2072 :   ParamProvider::ParamProvider(const ros::NodeHandle& nh, std::string node_name, const bool use_rosparam)
+      14        2072 :   : m_nh(nh), m_node_name(std::move(node_name)), m_use_rosparam(use_rosparam)
+      15             :   {
+      16        2072 :   }
+      17             : 
+      18        6798 :   bool ParamProvider::addYamlFile(const std::string& filepath)
+      19             :   {
+      20             :     try
+      21             :     {
+      22       13595 :       const auto loaded_yaml = YAML::LoadFile(filepath);
+      23        6798 :       YAML::Node root;
+      24        6798 :       root["root"] = loaded_yaml;
+      25        6798 :       m_yamls.emplace_back(root);
+      26        6797 :       return true;
+      27             :     }
+      28           0 :     catch (const YAML::ParserException& e)
+      29             :     {
+      30           0 :       ROS_ERROR_STREAM("[" << m_node_name << "]: Failed to parse file \"" << filepath << "\"! Parameters will not be loaded: " << e.what());
+      31           0 :       return false;
+      32             :     }
+      33           0 :     catch (const YAML::BadFile& e)
+      34             :     {
+      35           0 :       ROS_ERROR_STREAM("[" << m_node_name << "]: File \"" << filepath << "\" does not exist! Parameters will not be loaded: " << e.what());
+      36           0 :       return false;
+      37             :     }
+      38           0 :     catch (const YAML::Exception& e)
+      39             :     {
+      40           0 :       ROS_ERROR_STREAM("[" << m_node_name << "]: YAML-CPP threw an exception! Parameters will not be loaded: " << e.what());
+      41           0 :       return false;
+      42             :     }
+      43             :     return false;
+      44             :   }
+      45             : 
+      46           4 :   bool ParamProvider::getParam(const std::string& param_name, XmlRpc::XmlRpcValue& value_out) const
+      47             :   {
+      48           4 :     if (m_use_rosparam && m_nh.getParam(param_name, value_out))
+      49           2 :       return true;
+      50             : 
+      51             :     try
+      52             :     {
+      53           4 :       const auto found_node = findYamlNode(param_name);
+      54           2 :       if (found_node.has_value())
+      55           1 :         ROS_WARN_STREAM("[" << m_node_name << "]: Parameter \"" << param_name << "\" of desired type XmlRpc::XmlRpcValue is only available as a static parameter, which doesn't support loading of this type.");
+      56             :     }
+      57           0 :     catch (const YAML::Exception& e)
+      58             :     {
+      59           0 :       ROS_ERROR_STREAM("[" << m_node_name << "]: YAML-CPP threw an unknown exception: " << e.what());
+      60             :     }
+      61           2 :     return false;
+      62             :   }
+      63             : 
+      64       45416 :   std::optional<YAML::Node> ParamProvider::findYamlNode(const std::string& param_name) const
+      65             :   {
+      66      233128 :     for (const auto& yaml : m_yamls)
+      67             :     {
+      68             :       // Try to load the parameter sequentially as a map.
+      69      225065 :       auto cur_node_it = std::cbegin(yaml);
+      70             :       // The root should always be a pam
+      71      225064 :       if (!cur_node_it->second.IsMap())
+      72        6145 :         continue;
+      73             : 
+      74      218919 :       bool loaded = true;
+      75             :       {
+      76      218919 :         constexpr char delimiter = '/';
+      77      218919 :         auto substr_start = std::cbegin(param_name);
+      78      218919 :         auto substr_end = substr_start;
+      79      294636 :         do
+      80             :         {
+      81      513555 :           substr_end = std::find(substr_start, std::cend(param_name), delimiter);
+      82             :           // why can't substr or string_view take iterators? :'(
+      83      513555 :           const auto start_pos = std::distance(std::cbegin(param_name), substr_start);
+      84      513552 :           const auto count = std::distance(substr_start, substr_end);
+      85      513556 :           const std::string param_substr = param_name.substr(start_pos, count);
+      86      513557 :           substr_start = substr_end+1;
+      87             : 
+      88      513554 :           bool found = false;
+      89     2116196 :           for (auto node_it = std::cbegin(cur_node_it->second); node_it != std::cend(cur_node_it->second); ++node_it)
+      90             :           {
+      91     1089087 :             if (node_it->first.as<std::string>() == param_substr)
+      92             :             {
+      93      331989 :               cur_node_it = node_it;
+      94      331990 :               found = true;
+      95      331990 :               break;
+      96             :             }
+      97             :           }
+      98             : 
+      99      513556 :           if (!found)
+     100             :           {
+     101      181567 :             loaded = false;
+     102      181567 :             break;
+     103             :           }
+     104             :         }
+     105      331988 :         while (substr_end != std::end(param_name) && cur_node_it->second.IsMap());
+     106             :       }
+     107             : 
+     108      218920 :       if (loaded)
+     109             :       {
+     110       74706 :         return cur_node_it->second;
+     111             :       }
+     112             :     }
+     113             : 
+     114        8063 :     return std::nullopt;
+     115             :   }
+     116             : }
+
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Current view:top level - mrs_lib/src/profilerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:3810137.6 %
Date:2023-12-14 21:42:20Functions:91090.0 %
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Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
profiler.cpp +
37.6%37.6%
+ 		37.6 %38 / 10190.0 %9 / 10
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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/profilerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:3810137.6 %
Date:2023-12-14 21:42:20Functions:91090.0 %
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
profiler.cpp +
37.6%37.6%
+ 		37.6 %38 / 10190.0 %9 / 10
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Generated by: LCOV version 1.14
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Current view:top level - mrs_lib/src/profilerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:3810137.6 %
Date:2023-12-14 21:42:20Functions:91090.0 %
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
profiler.cpp +
37.6%37.6%
+ 		37.6 %38 / 10190.0 %9 / 10
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/src/profiler/profiler.cpp.func-sort-c.html b/mrs_lib/src/profiler/profiler.cpp.func-sort-c.html new file mode 100644 index 0000000000..e14c3e3036 --- /dev/null +++ b/mrs_lib/src/profiler/profiler.cpp.func-sort-c.html @@ -0,0 +1,120 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/profiler/profiler.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_lib/src/profiler - profiler.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:3810137.6 %
Date:2023-12-14 21:42:20Functions:91090.0 %
Legend: Lines: + hit + not hit +
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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)673
mrs_lib::Profiler::Profiler()673
mrs_lib::Profiler::operator=(mrs_lib::Profiler const&)673
mrs_lib::Profiler::createRoutine(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, double, double, ros::TimerEvent)264604
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)264715
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)762970
mrs_lib::Profiler::createRoutine(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)762998
mrs_lib::Routine::end()1027674
mrs_lib::Routine::~Routine()1027733
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/src/profiler/profiler.cpp.func.html b/mrs_lib/src/profiler/profiler.cpp.func.html new file mode 100644 index 0000000000..fa65728f62 --- /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
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Current view:top level - mrs_lib/src/profiler - profiler.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:3810137.6 %
Date:2023-12-14 21:42:20Functions:91090.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::Routine::end()1027674
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)762970
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)264715
mrs_lib::Routine::~Routine()1027733
mrs_lib::Profiler::createRoutine(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)762998
mrs_lib::Profiler::createRoutine(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, double, double, ros::TimerEvent)264604
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)673
mrs_lib::Profiler::Profiler()673
mrs_lib::Profiler::operator=(mrs_lib::Profiler const&)673
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/src/profiler/profiler.cpp.gcov.frameset.html b/mrs_lib/src/profiler/profiler.cpp.gcov.frameset.html new file mode 100644 index 0000000000..c91c4fd036 --- /dev/null +++ b/mrs_lib/src/profiler/profiler.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/profiler/profiler.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_lib/src/profiler/profiler.cpp.gcov.html b/mrs_lib/src/profiler/profiler.cpp.gcov.html new file mode 100644 index 0000000000..a320fdd299 --- /dev/null +++ b/mrs_lib/src/profiler/profiler.cpp.gcov.html @@ -0,0 +1,301 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/profiler/profiler.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_lib/src/profiler - profiler.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:3810137.6 %
Date:2023-12-14 21:42:20Functions: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         673 : Profiler::Profiler() {
+      11         673 : }
+      12             : 
+      13         673 : Profiler::Profiler(ros::NodeHandle& nh, std::string _node_name_, bool profiler_enabled) {
+      14             : 
+      15         673 :   this->nh_                = std::make_shared<ros::NodeHandle>(nh);
+      16         673 :   this->_node_name_        = _node_name_;
+      17         673 :   this->_profiler_enabled_ = profiler_enabled;
+      18             : 
+      19         673 :   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         673 :   ROS_INFO("[%s]: profiler initialized", _node_name_.c_str());
+      25             : 
+      26         673 :   this->is_initialized_ = true;
+      27         673 : }
+      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         673 : Profiler& Profiler::operator=(const Profiler& other) {
+      43             : 
+      44         673 :   if (this == &other) {
+      45           0 :     return *this;
+      46             :   }
+      47             : 
+      48         673 :   this->is_initialized_    = other.is_initialized_;
+      49         673 :   this->nh_                = other.nh_;
+      50         673 :   this->_node_name_        = other._node_name_;
+      51         673 :   this->_profiler_enabled_ = other._profiler_enabled_;
+      52             : 
+      53         673 :   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         673 :   return *this;
+      59             : }
+      60             : 
+      61             : //}
+      62             : 
+      63             : /* Profiler::registerRoutine() for periodic //{ */
+      64             : 
+      65      264604 : Routine Profiler::createRoutine(std::string name, double expected_rate, double threshold, ros::TimerEvent event) {
+      66             : 
+      67      264604 :   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      762998 : Routine Profiler::createRoutine(std::string name) {
+      75             : 
+      76      762998 :   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      264715 : Routine::Routine(std::string name, std::string node_name, double expected_rate, double threshold, std::shared_ptr<ros::Publisher> publisher,
+      86      264715 :                  std::shared_ptr<std::mutex> mutex_publisher, bool profiler_enabled, ros::TimerEvent event) {
+      87             : 
+      88      264151 :   if (!profiler_enabled) {
+      89      264170 :     return;
+      90             :   }
+      91             : 
+      92           0 :   _threshold_ = threshold;
+      93             : 
+      94           0 :   this->publisher_       = publisher;
+      95           0 :   this->mutex_publisher_ = mutex_publisher;
+      96             : 
+      97           0 :   this->_routine_name_  = name;
+      98           0 :   msg_out_.routine_name = name;
+      99             : 
+     100           0 :   this->_node_name_  = node_name;
+     101           0 :   msg_out_.node_name = node_name;
+     102             : 
+     103           0 :   this->_profiler_enabled_ = profiler_enabled;
+     104             : 
+     105           0 :   msg_out_.is_periodic   = true;
+     106           0 :   msg_out_.expected_rate = expected_rate;
+     107             : 
+     108           0 :   msg_out_.expected_start = event.current_expected.toSec();
+     109           0 :   msg_out_.real_start     = event.current_real.toSec();
+     110             : 
+     111           0 :   msg_out_.stamp     = ros::Time::now();
+     112           0 :   msg_out_.duration  = 0;
+     113           0 :   msg_out_.iteration = this->iteration_++;
+     114           0 :   msg_out_.event     = mrs_msgs::ProfilerUpdate::START;
+     115             : 
+     116           0 :   execution_start_ = ros::Time::now();
+     117             : 
+     118           0 :   double dt = msg_out_.real_start - msg_out_.expected_start;
+     119             : 
+     120           0 :   if (dt > _threshold_) {
+     121           0 :     ROS_WARN_THROTTLE(1.0, "[%s]: routine '%s' was lauched late by %.3f s!", _node_name_.c_str(), _routine_name_.c_str(), dt);
+     122             :   }
+     123             : 
+     124             :   {
+     125           0 :     std::scoped_lock lock(*mutex_publisher_);
+     126             : 
+     127             :     try {
+     128           0 :       publisher_->publish(mrs_msgs::ProfilerUpdateConstPtr(new mrs_msgs::ProfilerUpdate(msg_out_)));
+     129             :     }
+     130           0 :     catch (...) {
+     131           0 :       ROS_ERROR("Exception caught during publishing topic %s.", publisher_->getTopic().c_str());
+     132             :     }
+     133             :   }
+     134             : }
+     135             : 
+     136             : //}
+     137             : 
+     138             : /* Routine constructor for normal //{ */
+     139             : 
+     140      762970 : Routine::Routine(std::string name, std::string node_name, std::shared_ptr<ros::Publisher> publisher, std::shared_ptr<std::mutex> mutex_publisher,
+     141      762970 :                  bool profiler_enabled) {
+     142             : 
+     143      762513 :   if (!profiler_enabled) {
+     144      762517 :     return;
+     145             :   }
+     146             : 
+     147           1 :   this->publisher_       = publisher;
+     148           0 :   this->mutex_publisher_ = mutex_publisher;
+     149             : 
+     150           0 :   this->_routine_name_  = name;
+     151           0 :   msg_out_.routine_name = name;
+     152             : 
+     153           0 :   this->_node_name_  = node_name;
+     154           0 :   msg_out_.node_name = node_name;
+     155             : 
+     156           0 :   this->_profiler_enabled_ = profiler_enabled;
+     157             : 
+     158           0 :   msg_out_.is_periodic   = false;
+     159           0 :   msg_out_.expected_rate = 0;
+     160             : 
+     161           0 :   msg_out_.stamp      = ros::Time::now();
+     162           0 :   msg_out_.duration   = 0;
+     163           0 :   msg_out_.iteration  = this->iteration_++;
+     164           0 :   msg_out_.event      = mrs_msgs::ProfilerUpdate::START;
+     165           0 :   msg_out_.real_start = msg_out_.stamp.toSec();
+     166             : 
+     167           0 :   execution_start_ = ros::Time::now();
+     168             : 
+     169             :   {
+     170           0 :     std::scoped_lock lock(*mutex_publisher_);
+     171             : 
+     172             :     try {
+     173           0 :       publisher_->publish(mrs_msgs::ProfilerUpdateConstPtr(new mrs_msgs::ProfilerUpdate(msg_out_)));
+     174             :     }
+     175           0 :     catch (...) {
+     176           0 :       ROS_ERROR("Exception caught during publishing topic %s.", publisher_->getTopic().c_str());
+     177             :     }
+     178             :   }
+     179             : }
+     180             : 
+     181             : //}
+     182             : 
+     183             : /* end() //{ */
+     184             : 
+     185     1027674 : void Routine::end(void) {
+     186             : 
+     187     1027674 :   if (!_profiler_enabled_) {
+     188     1027530 :     return;
+     189             :   }
+     190             : 
+     191         144 :   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     1027576 : Routine::~Routine() {
+     213             : 
+     214     1027733 :   this->end();
+     215     1026959 : }
+     216             : 
+     217             : }  // namespace mrs_lib
+
+
+
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/src/profiler/profiler.cpp.gcov.overview.html b/mrs_lib/src/profiler/profiler.cpp.gcov.overview.html new file mode 100644 index 0000000000..f66727ff8b --- /dev/null +++ b/mrs_lib/src/profiler/profiler.cpp.gcov.overview.html @@ -0,0 +1,75 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/profiler/profiler.cpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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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:2023-12-14 21:42:20Functions:8988.9 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
safety_zone.cpp +
60.0%60.0%
+ 		60.0 %15 / 2583.3 %5 / 6
<unnamed>60.0 %15 / 2583.3 %5 / 6
line_operations.cpp +
66.7%66.7%
+ 		66.7 %16 / 24100.0 %3 / 3
<unnamed>66.7 %16 / 24100.0 %3 / 3
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Current view:top level - mrs_lib/src/safety_zoneHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:314963.3 %
Date:2023-12-14 21:42:20Functions:8988.9 %
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line_operations.cpp +
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Test:MRS UAV System - Test coverage reportLines:314963.3 %
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safety_zone.cpp +
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Test:MRS UAV System - Test coverage reportLines:314963.3 %
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safety_zone.cpp +
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Test:MRS UAV System - Test coverage reportLines:314963.3 %
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safety_zone.cpp +
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line_operations.cpp +
66.7%66.7%
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Test:MRS UAV System - Test coverage reportLines:314963.3 %
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line_operations.cpp +
66.7%66.7%
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safety_zone.cpp +
60.0%60.0%
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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:2023-12-14 21:42:20Functions:33100.0 %
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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>)206
mrs_lib::Intersection::Intersection(bool, bool, Eigen::Matrix<double, 1, 2, 1, 1, 2>)236
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>)236
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Test:MRS UAV System - Test coverage reportLines:162466.7 %
Date:2023-12-14 21:42:20Functions:33100.0 %
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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>)206
mrs_lib::Intersection::Intersection(bool, bool, Eigen::Matrix<double, 1, 2, 1, 1, 2>)236
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>)236
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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:2023-12-14 21:42:20Functions:33100.0 %
Legend: Lines: + hit + not hit +
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+
          Line data    Source code
+
+       1             : #include <mrs_lib/safety_zone/line_operations.h>
+       2             : 
+       3             : /* getScale() //{ */
+       4             : 
+       5         206 : 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         206 :   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         236 : Intersection::Intersection(bool intersect, bool parallel, Eigen::RowVector2d point) : point(std::move(point)), parallel(parallel), intersect(intersect){}
+      16             : 
+      17             : /* sectionIntersect() //{ */
+      18             : 
+      19         236 : Intersection sectionIntersect(Eigen::RowVector2d start1, Eigen::RowVector2d end1, Eigen::RowVector2d start2, Eigen::RowVector2d end2) {
+      20         236 :   Eigen::RowVector2d vector1 = end1 - start1;
+      21         236 :   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         236 :   double cross            = vector1(0) * vector2(1) - vector1(1) * vector2(0);
+      29         236 :   double difference_cross = (start2(0) - start1(0)) * vector2(1) - (start2(1) - start1(1)) * vector2(0);
+      30             : 
+      31         236 :   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         206 :   double             scale1 = difference_cross / cross;
+      48         206 :   Eigen::RowVector2d point  = start1 + scale1 * vector1;
+      49         206 :   double             scale2 = getScale(start2, vector2, point);
+      50             : 
+      51         206 :   if (0 <= scale1 && scale1 <= 1 && 0 <= scale2 && scale2 <= 1) {
+      52           0 :     return Intersection{true, false, point};
+      53             :   }
+      54         206 :   return Intersection{false, false};
+      55             : }
+      56             : 
+      57             : //}
+      58             : 
+      59             : }  // namespace mrs_lib
+
+
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+ + diff --git a/mrs_lib/src/safety_zone/line_operations.cpp.gcov.png b/mrs_lib/src/safety_zone/line_operations.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..f17bea8867e5900f80693d9429a08dd5c1c6f437 GIT binary patch literal 465 zcmV;?0WSWDP)x`S;$& zh!6sV;6o2ji*1r0-bIVAif(bpzgG0Gm;f;b+KCy$k6* zs4m;HHi$ik5mX|ecdHlV%1G1G#Q0wdsxjOFHw9s>yDgx~&V~I2Q7j6pwWdbYR+}PA z)a9H3)GF?29@(tQ}DV%D5I>#>bITI#a<(uasiqwRl`8#4}cAWZu~^8nKxqW5`|+ zD{t}~@5JhwJTDz@U9X8EsL|jQT1Q;3&qOhbB&eEjshWj7h-17`uxa4>$3$FNY>9oBsNWudC5U^nv{V0@Ny(PO3(N00000NkvXX Hu0mjfFxJW; literal 0 HcmV?d00001 diff --git a/mrs_lib/src/safety_zone/polygon/index-detail-sort-f.html b/mrs_lib/src/safety_zone/polygon/index-detail-sort-f.html new file mode 100644 index 0000000000..d44986fb00 --- /dev/null +++ b/mrs_lib/src/safety_zone/polygon/index-detail-sort-f.html @@ -0,0 +1,110 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/safety_zone/polygon + + + + + + + + + + + + + + +
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Test:MRS UAV System - Test coverage reportLines:4210340.8 %
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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:2023-12-14 21:42:20Functions: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>)45
mrs_lib::Polygon::doesSectionIntersect(double, double, double, double)59
mrs_lib::Polygon::isPointInside(double, double)2223
mrs_lib::Polygon::getPointMessageVector(double)9378
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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:2023-12-14 21:42:20Functions:4850.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::Polygon::inflateSelf(double)0
mrs_lib::Polygon::isClockwise()0
mrs_lib::Polygon::isPointInside(double, double)2223
mrs_lib::Polygon::doesSectionIntersect(double, double, double, double)59
mrs_lib::Polygon::getPointMessageVector(double)9378
mrs_lib::Polygon::Polygon(Eigen::Matrix<double, -1, -1, 0, -1, -1>)45
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:2023-12-14 21:42:20Functions: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          45 : Polygon::Polygon(const Eigen::MatrixXd vertices) : vertices(vertices) {
+      10             : 
+      11          45 :   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          45 :   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          45 :   Eigen::RowVector2d edge1;
+      21          45 :   Eigen::RowVector2d edge2 = vertices.row(1) - vertices.row(0);
+      22         225 :   for (int i = 0; i < vertices.rows(); ++i) {
+      23         180 :     edge1 = edge2;
+      24         180 :     edge2 = vertices.row((i + 2) % vertices.rows()) - vertices.row((i + 1) % vertices.rows());
+      25             : 
+      26         180 :     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         180 :     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          45 : }
+      36             : 
+      37             : //}
+      38             : 
+      39             : /* isPointInside() //{ */
+      40             : 
+      41        2223 : bool Polygon::isPointInside(const double px, const double py) {
+      42             : 
+      43        2223 :   int count = 0;
+      44             : 
+      45             :   // Cast a horizontal ray and see how many times it intersects all the edges
+      46       11115 :   for (int i = 0; i < vertices.rows(); ++i) {
+      47        8892 :     double v1x = vertices(i, 0);
+      48        8892 :     double v1y = vertices(i, 1);
+      49        8892 :     double v2x = vertices((i + 1) % vertices.rows(), 0);
+      50        8892 :     double v2y = vertices((i + 1) % vertices.rows(), 1);
+      51             : 
+      52        8892 :     if (v1y > py && v2y > py)
+      53        2147 :       continue;
+      54        6745 :     if (v1y <= py && v2y <= py)
+      55        2451 :       continue;
+      56        4294 :     double intersect_x    = (v1y == v2y) ? v1x : (py - v1y) * (v2x - v1x) / (v2y - v1y) + v1x;
+      57        4294 :     bool   does_intersect = intersect_x > px;
+      58        4294 :     if (does_intersect)
+      59        2147 :       ++count;
+      60             :   }
+      61             : 
+      62        2223 :   return count % 2;
+      63             : }
+      64             : 
+      65             : //}
+      66             : 
+      67             : /* doesSectionIntersect() //{ */
+      68             : 
+      69          59 : bool Polygon::doesSectionIntersect(const double startX, const double startY, const double endX, const double endY) {
+      70             : 
+      71          59 :   Eigen::RowVector2d start{startX, startY};
+      72          59 :   Eigen::RowVector2d end{endX, endY};
+      73             : 
+      74         295 :   for (int i = 0; i < vertices.rows(); ++i) {
+      75             : 
+      76         236 :     Eigen::RowVector2d edgeStart = vertices.row(i);
+      77         236 :     Eigen::RowVector2d edgeEnd   = vertices.row((i + 1) % vertices.rows());
+      78             : 
+      79         236 :     if (sectionIntersect(start, end, edgeStart, edgeEnd).intersect) {
+      80           0 :       return true;
+      81             :     }
+      82             :   }
+      83             : 
+      84          59 :   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        9378 : std::vector<geometry_msgs::Point> Polygon::getPointMessageVector(const double z) {
+     194        9378 :   std::vector<geometry_msgs::Point> points(vertices.rows());
+     195       46890 :   for (int i = 0; i < vertices.rows(); ++i) {
+     196       37512 :     points[i].x = vertices(i, 0);
+     197       37512 :     points[i].y = vertices(i, 1);
+     198       37512 :     points[i].z = z;
+     199             :   }
+     200             : 
+     201        9378 :   return points;
+     202             : }
+     203             : 
+     204             : //}
+     205             : 
+     206             : }  // namespace mrs_lib
+
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Generated by: LCOV version 1.14
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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:2023-12-14 21:42:20Functions: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&)45
mrs_lib::SafetyZone::~SafetyZone()45
mrs_lib::SafetyZone::isPathValid(double, double, double, double)59
mrs_lib::SafetyZone::isPointValid(double, double)2223
mrs_lib::SafetyZone::getBorder()4689
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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:2023-12-14 21:42:20Functions:5683.3 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::SafetyZone::isPathValid(double, double, double, double)59
mrs_lib::SafetyZone::isPointValid(double, double)2223
mrs_lib::SafetyZone::getBorder()4689
mrs_lib::SafetyZone::SafetyZone(mrs_lib::Polygon)0
mrs_lib::SafetyZone::SafetyZone(Eigen::Matrix<double, -1, -1, 0, -1, -1> const&)45
mrs_lib::SafetyZone::~SafetyZone()45
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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          90 : SafetyZone::~SafetyZone() {
+      17          45 :   delete outerBorder;
+      18          45 : }
+      19             : 
+      20             : //}
+      21             : 
+      22             : /* SafetyZone() //{ */
+      23             : 
+      24          45 : SafetyZone::SafetyZone(const Eigen::MatrixXd& outerBorderMatrix) {
+      25             : 
+      26             :   try {
+      27          45 :     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          45 : }
+      39             : 
+      40             : //}
+      41             : 
+      42             : /* isPointValid() //{ */
+      43             : 
+      44        2223 : bool SafetyZone::isPointValid(const double px, const double py) {
+      45             : 
+      46        2223 :   if (!outerBorder->isPointInside(px, py)) {
+      47          76 :     return false;
+      48             :   }
+      49             : 
+      50        2147 :   return true;
+      51             : }
+      52             : 
+      53             : //}
+      54             : 
+      55             : /* isPathValid() //{ */
+      56             : 
+      57          59 : bool SafetyZone::isPathValid(const double p1x, const double p1y, const double p2x, const double p2y) {
+      58             : 
+      59          59 :   if (outerBorder->doesSectionIntersect(p1x, p1y, p2x, p2y)) {
+      60           0 :     return false;
+      61             :   }
+      62             : 
+      63          59 :   return true;
+      64             : }
+      65             : 
+      66             : //}
+      67             : 
+      68             : /* getBorder() //{ */
+      69             : 
+      70        4689 : Polygon SafetyZone::getBorder() {
+      71        4689 :   return *outerBorder;
+      72             : }
+      73             : 
+      74             : //}
+      75             : 
+      76             : }  // namespace mrs_lib
+
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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)336
mrs_lib::ScopeTimerLogger::~ScopeTimerLogger()336
mrs_lib::ScopeTimer::checkpoint(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1717497
mrs_lib::ScopeTimer::ScopeTimer(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::shared_ptr<mrs_lib::ScopeTimerLogger>, bool)2154237
mrs_lib::ScopeTimer::~ScopeTimer()2155039
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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:2023-12-14 21:42:20Functions: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&)1717497
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)2154237
mrs_lib::ScopeTimer::~ScopeTimer()2155039
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)336
mrs_lib::ScopeTimerLogger::~ScopeTimerLogger()336
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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 %
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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         336 : ScopeTimerLogger::ScopeTimerLogger(const std::string& logfile, const bool enable_logging, const int log_precision)
+      10         336 :     : _logging_enabled_(enable_logging), _log_filepath_(logfile) {
+      11             : 
+      12         336 :   if (!_logging_enabled_) {
+      13         336 :     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         336 : ScopeTimerLogger::~ScopeTimerLogger() {
+      47         336 :   if (_logging_enabled_) {
+      48           0 :     ROS_DEBUG("[%s]: ScopeTimerLogger: closing logstream.", ros::this_node::getName().c_str());
+      49           0 :     _logstream_.close();
+      50             :   }
+      51         336 : }
+      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     2154237 : ScopeTimer::ScopeTimer(const std::string& label, const std::shared_ptr<ScopeTimerLogger> scope_timer_logger, const bool enable)
+     104     2154237 :     : _timer_label_(label), _enable_print_or_log(enable), _throttle_period_(ros::Duration(0.0)), _logger_(scope_timer_logger) {
+     105             : 
+     106     2148938 :   checkpoints.push_back(time_point("timer start"));
+     107             : 
+     108     2148150 :   ROS_DEBUG("[%s] Scope timer started with file logger (label: %s).", ros::this_node::getName().c_str(), label.c_str());
+     109     2148150 : }
+     110             : 
+     111             : //}
+     112             : 
+     113             : /* ScopeTimer::checkpoint() //{ */
+     114             : 
+     115     1717497 : void ScopeTimer::checkpoint(const std::string& label) {
+     116             : 
+     117     1717497 :   if (_enable_print_or_log) {
+     118           0 :     checkpoints.push_back(time_point(label));
+     119             :   }
+     120     1717497 : }
+     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     6462824 : ScopeTimer::~ScopeTimer() {
+     136             : 
+     137     2155039 :   if (!_enable_print_or_log) {
+     138     2155069 :     return;
+     139             :   }
+     140             : 
+     141           1 :   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     2154017 : }
+     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&)20
mrs_lib::TimeoutManager::registerNew(ros::Duration const&, std::function<void (ros::Time const&)> const&, ros::Time const&, bool, bool)23
mrs_lib::TimeoutManager::start(unsigned long, ros::Time const&)23
mrs_lib::TimeoutManager::started(unsigned long)1548
mrs_lib::TimeoutManager::main_timer_callback(ros::TimerEvent const&)5665
mrs_lib::TimeoutManager::reset(unsigned long, ros::Time const&)30708
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+
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+ + + diff --git a/mrs_lib/src/timeout_manager/timeout_manager.cpp.func.html b/mrs_lib/src/timeout_manager/timeout_manager.cpp.func.html new file mode 100644 index 0000000000..cc1743e41d --- /dev/null +++ b/mrs_lib/src/timeout_manager/timeout_manager.cpp.func.html @@ -0,0 +1,124 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/timeout_manager/timeout_manager.cpp - functions + + + + + + + + + + + + + + +
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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:2023-12-14 21:42:20Functions:91181.8 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::TimeoutManager::registerNew(ros::Duration const&, std::function<void (ros::Time const&)> const&, ros::Time const&, bool, bool)23
mrs_lib::TimeoutManager::main_timer_callback(ros::TimerEvent const&)5665
mrs_lib::TimeoutManager::pause(unsigned long)9
mrs_lib::TimeoutManager::reset(unsigned long, ros::Time const&)30708
mrs_lib::TimeoutManager::start(unsigned long, ros::Time const&)23
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)1548
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&)20
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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:2023-12-14 21:42:20Functions: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          20 :   TimeoutManager::TimeoutManager(const ros::NodeHandle& nh, const ros::Rate& update_rate)
+       7          20 :     : m_last_id(0)
+       8             :   {
+       9          20 :     m_main_timer = nh.createTimer(update_rate, &TimeoutManager::main_timer_callback, this);
+      10          20 :   }
+      11             : 
+      12             : 
+      13          23 :   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          46 :     std::scoped_lock lck(m_mtx);
+      16          23 :     const auto new_id = m_timeouts.size();
+      17          23 :     const timeout_info_t new_info = {oneshot, autostart, callback, timeout, last_reset, last_reset};
+      18          23 :     m_timeouts.push_back(new_info);
+      19          46 :     return new_id;
+      20             :   }
+      21             : 
+      22       30708 :   void TimeoutManager::reset(const timeout_id_t id, const ros::Time& time)
+      23             :   {
+      24       30708 :     std::scoped_lock lck(m_mtx);
+      25       30708 :     m_timeouts.at(id).last_reset = time;
+      26       30708 :   }
+      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          23 :   void TimeoutManager::start(const timeout_id_t id, const ros::Time& time)
+      35             :   {
+      36          23 :     std::scoped_lock lck(m_mtx);
+      37          23 :     m_timeouts.at(id).started = true;
+      38          23 :     m_timeouts.at(id).last_reset = time;
+      39          23 :   }
+      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        1548 :   bool TimeoutManager::started(const timeout_id_t id)
+      76             :   {
+      77        1548 :     std::scoped_lock lck(m_mtx);
+      78        3096 :     return m_timeouts.at(id).started;
+      79             :   }
+      80             : 
+      81        5665 :   void TimeoutManager::main_timer_callback([[maybe_unused]] const ros::TimerEvent &evt)
+      82             :   {
+      83        5665 :     const auto now = ros::Time::now();
+      84             : 
+      85       11330 :     std::scoped_lock lck(m_mtx);
+      86       17612 :     for (auto& timeout_info : m_timeouts)
+      87             :     {
+      88             :       // don't worry, this'll get optimized out by the compiler
+      89       11947 :       const bool started = timeout_info.started;
+      90       11947 :       const bool last_reset_timeout = now - timeout_info.last_reset >= timeout_info.timeout;
+      91       11947 :       const bool last_callback_timeout = now - timeout_info.last_callback >= timeout_info.timeout;
+      92       11947 :       if (started && last_reset_timeout && last_callback_timeout)
+      93             :       {
+      94        1677 :         timeout_info.callback(timeout_info.last_reset);
+      95        1677 :         timeout_info.last_callback = now;
+      96             :         // if the timeout is oneshot, pause it
+      97        1677 :         if (timeout_info.oneshot)
+      98           0 :           timeout_info.started = false;
+      99             :       }
+     100             :     }
+     101        5665 :   }
+     102             : }
+
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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
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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()214
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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 %
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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()214
mrs_lib::ROSTimer::setPeriod(ros::Duration const&, bool)8
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Date:2023-12-14 21:42:20Functions: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         214 : bool ROSTimer::running()
+      50             : {
+      51         428 :   std::scoped_lock lock(mutex_timer_);
+      52             : 
+      53         214 :   if (timer_)
+      54         214 :     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()93
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mrs_lib::TransformBroadcaster::TransformBroadcaster()93
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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          93 : TransformBroadcaster::TransformBroadcaster() {
+       8          93 :   broadcaster_ = tf2_ros::TransformBroadcaster();
+       9          93 : }
+      10             : //}
+      11             : 
+      12             : /* sendTransform (const geometry_msgs::TransformStamped &transform) //{ */
+      13      927263 : void TransformBroadcaster::sendTransform(const geometry_msgs::TransformStamped &transform) {
+      14     1853851 :   std::string frames_from_to = transform.header.frame_id + transform.child_frame_id;
+      15      926149 :   if (last_messages_.count(frames_from_to) > 0) {
+      16      926408 :     if (transform.header.stamp > last_messages_[frames_from_to]) {
+      17      741343 :       broadcaster_.sendTransform(transform);
+      18      742296 :       last_messages_[frames_from_to] = transform.header.stamp;
+      19             :     } else {
+      20      183831 :       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        1045 :     std::pair<std::string, ros::Time> new_pair;
+      25         511 :     new_pair.first  = frames_from_to;
+      26         511 :     new_pair.second = transform.header.stamp;
+      27         511 :     broadcaster_.sendTransform(transform);
+      28         511 :     last_messages_.insert(new_pair);
+      29             :   }
+      30      927295 : }
+      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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Current view:top level - mrs_lib/src/transformer - transformer.cpp (source / functions)HitTotalCoverage
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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&)320
mrs_lib::Transformer::UTMtoLL(geometry_msgs::PoseStamped_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)667
mrs_lib::Transformer::UTMtoLL(geometry_msgs::Pose_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)667
mrs_lib::Transformer::UTMtoLL(geometry_msgs::Point_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)669
mrs_lib::Transformer::getFramePrefix(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1344
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&)8844
mrs_lib::Transformer::transformImpl(geometry_msgs::TransformStamped_<std::allocator<void> > const&, mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)42173
mrs_lib::Transformer::setLatLon(double, double)78015
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&)678634
mrs_lib::Transformer::resolveFrameImpl(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2828406
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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:2023-12-14 21:42:20Functions: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&)8844
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&)42173
mrs_lib::Transformer::getFramePrefix(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1344
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&)678634
mrs_lib::Transformer::resolveFrameImpl(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2828406
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&)667
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&)667
mrs_lib::Transformer::UTMtoLL(geometry_msgs::Point_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)669
mrs_lib::Transformer::setLatLon(double, double)78015
mrs_lib::Transformer::Transformer(ros::NodeHandle const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Duration const&)320
mrs_lib::Transformer::Transformer(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Duration const&)12
mrs_lib::Transformer::Transformer()0
mrs_lib::Transformer::operator=(mrs_lib::Transformer&&)0
+
+
+ + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/src/transformer/transformer.cpp.gcov.frameset.html b/mrs_lib/src/transformer/transformer.cpp.gcov.frameset.html new file mode 100644 index 0000000000..c4e71e8234 --- /dev/null +++ b/mrs_lib/src/transformer/transformer.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/transformer/transformer.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_lib/src/transformer/transformer.cpp.gcov.html b/mrs_lib/src/transformer/transformer.cpp.gcov.html new file mode 100644 index 0000000000..a9e0a79bcb --- /dev/null +++ b/mrs_lib/src/transformer/transformer.cpp.gcov.html @@ -0,0 +1,671 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/transformer/transformer.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/src/transformer - transformer.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:18528066.1 %
Date:2023-12-14 21:42:20Functions:202676.9 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          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         320 :   Transformer::Transformer(const ros::NodeHandle& nh, const std::string& node_name, const ros::Duration& cache_time)
+      49         320 :     : 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         320 :   }
+      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        8844 :   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       17688 :     std::scoped_lock lck(mutex_);
+      81             : 
+      82        8844 :     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       17688 :     const std::string from_frame = resolveFrameImpl(from_frame_raw);
+      90       17688 :     const std::string to_frame = resolveFrameImpl(to_frame_raw);
+      91       17688 :     const std::string latlon_frame = resolveFrameImpl(LATLON_ORIGIN);
+      92             : 
+      93        8844 :     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       78015 :   void Transformer::setLatLon(const double lat, const double lon)
+     118             :   {
+     119       78015 :     std::scoped_lock lck(mutex_);
+     120             : 
+     121             :     double utm_x, utm_y;
+     122       77777 :     mrs_lib::LLtoUTM(lat, lon, utm_y, utm_x, utm_zone_.data());
+     123       77760 :     got_utm_zone_ = true;
+     124       77538 :   }
+     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       42173 :   std::optional<mrs_msgs::ReferenceStamped> Transformer::transformImpl(const geometry_msgs::TransformStamped& tf, const mrs_msgs::ReferenceStamped& what)
+     253             :   {
+     254             :     // create a pose message
+     255       84346 :     geometry_msgs::PoseStamped pose;
+     256       42173 :     pose.header = what.header;
+     257             :   
+     258       42173 :     pose.pose.position.x = what.reference.position.x;
+     259       42173 :     pose.pose.position.y = what.reference.position.y;
+     260       42173 :     pose.pose.position.z = what.reference.position.z;
+     261       42173 :     pose.pose.orientation = geometry::fromEigen(geometry::quaternionFromHeading(what.reference.heading));
+     262             :   
+     263             :     // try to transform the pose message
+     264       84346 :     const auto pose_opt = transformImpl(tf, pose);
+     265       42173 :     if (!pose_opt.has_value())
+     266           0 :       return std::nullopt;
+     267             :     // overwrite the pose with it's transformed value
+     268       42173 :     pose = pose_opt.value();
+     269             :   
+     270       84346 :     mrs_msgs::ReferenceStamped ret;
+     271       42173 :     ret.header = pose.header;
+     272             :   
+     273             :     // copy the new transformed data back
+     274       42173 :     ret.reference.position.x = pose.pose.position.x;
+     275       42173 :     ret.reference.position.y = pose.pose.position.y;
+     276       42173 :     ret.reference.position.z = pose.pose.position.z;
+     277       42173 :     ret.reference.heading = geometry::headingFromRot(geometry::toEigen(pose.pose.orientation));
+     278       42173 :     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      678634 :   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      678634 :     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      678634 :     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      678626 :     if (from_frame == to_frame)
+     319      151790 :       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      602737 :     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      602734 :     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        1340 :       const std::string utm_frame = getFramePrefix(to_frame) + "utm_origin";
+     337        1340 :       auto tf_opt = getTransformImpl(from_frame, utm_frame, time_stamp, latlon_frame);
+     338         670 :       if (!tf_opt.has_value())
+     339           0 :         return std::nullopt;
+     340             :       // change the transformation frames to point to latlon
+     341         670 :       frame_to(*tf_opt) = to_frame;
+     342         670 :       return tf_opt;
+     343             :     }
+     344             : 
+     345     1806121 :     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      884943 :       return tf_buffer_->lookupTransform(to_frame, from_frame, time_stamp, lookup_timeout_);
+     351             :     }
+     352      638172 :     catch (tf2::TransformException& e)
+     353             :     {
+     354      319087 :       ex = e;
+     355             :     }
+     356             : 
+     357             :     // if that failed, try to get the newest one if requested
+     358      319085 :     if (retry_lookup_newest_)
+     359             :     {
+     360             :       try
+     361             :       {
+     362      630001 :         return tf_buffer_->lookupTransform(to_frame, from_frame, ros::Time(0), lookup_timeout_);
+     363             :       }
+     364       16216 :       catch (tf2::TransformException& e)
+     365             :       {
+     366        8108 :         ex = e;
+     367             :       }
+     368             :     }
+     369             : 
+     370             :     // if the flow got here, we've failed to look the transform up
+     371        8138 :     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        8138 :       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        8138 :     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     2828406 :   std::string Transformer::resolveFrameImpl(const std::string& frame_id)
+     464             :   {
+     465             :     // if the frame is empty, return the default frame id
+     466     2828406 :     if (frame_id.empty())
+     467       28605 :       return default_frame_id_;
+     468             : 
+     469             :     // if there is no prefix set, just return the raw frame id
+     470     2799789 :     if (prefix_.empty())
+     471     1731471 :       return frame_id;
+     472             : 
+     473             :     // if there is a default prefix set and the frame does not start with it, prefix it
+     474     1068256 :     if (frame_id.substr(0, prefix_.length()) != prefix_)
+     475      702889 :       return prefix_ + frame_id;
+     476             : 
+     477      365481 :     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         669 :   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         669 :     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         668 :     geometry_msgs::Point latlon;
+     532         668 :     mrs_lib::UTMtoLL(what.y, what.x, utm_zone_.data(), latlon.x, latlon.y);
+     533         668 :     latlon.z = what.z;
+     534         668 :     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         667 :   std::optional<geometry_msgs::Pose> Transformer::UTMtoLL(const geometry_msgs::Pose& what, const std::string& prefix)
+     551             :   {
+     552         667 :     const auto opt = UTMtoLL(what.position, prefix);
+     553         667 :     if (!opt.has_value())
+     554           0 :       return std::nullopt;
+     555             : 
+     556         667 :     geometry_msgs::Pose ret;
+     557         667 :     ret.position = opt.value();
+     558         667 :     ret.orientation = what.orientation;
+     559         667 :     return ret;
+     560             :   }
+     561             : 
+     562         667 :   std::optional<geometry_msgs::PoseStamped> Transformer::UTMtoLL(const geometry_msgs::PoseStamped& what, const std::string& prefix)
+     563             :   {
+     564         667 :     const auto opt = UTMtoLL(what.pose, prefix);
+     565         667 :     if (!opt.has_value())
+     566           0 :       return std::nullopt;
+     567             : 
+     568        1334 :     geometry_msgs::PoseStamped ret;
+     569         667 :     ret.header.frame_id = prefix + "utm_origin";
+     570         667 :     ret.header.stamp = what.header.stamp;
+     571         667 :     ret.pose = opt.value();
+     572         667 :     return ret;
+     573             :   }
+     574             :   //}
+     575             : 
+     576             :   /* getFramePrefix() method //{ */
+     577        1344 :   std::string Transformer::getFramePrefix(const std::string& frame_id)
+     578             :   {
+     579        1344 :     const auto firstof = frame_id.find_first_of('/');
+     580        1344 :     if (firstof == std::string::npos)
+     581           0 :       return "";
+     582             :     else
+     583        1344 :       return frame_id.substr(0, firstof+1);
+     584             :   }
+     585             :   //}
+     586             : 
+     587             : }  // namespace mrs_lib
+
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Current view:top level - mrs_lib/src/utils - utils.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:77100.0 %
Date:2023-12-14 21:42:20Functions:22100.0 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::AtomicScopeFlag::AtomicScopeFlag(std::atomic<bool>&)201073
mrs_lib::AtomicScopeFlag::~AtomicScopeFlag()201083
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Generated by: LCOV version 1.14
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Current view:top level - mrs_lib/src/utils - utils.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:77100.0 %
Date:2023-12-14 21:42:20Functions:22100.0 %
Legend: Lines: + hit + not hit +
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+
          Line data    Source code
+
+       1             : #include <mrs_lib/utils.h>
+       2             : 
+       3             : namespace mrs_lib
+       4             : {
+       5             : 
+       6      201073 : AtomicScopeFlag::AtomicScopeFlag(std::atomic<bool>& in)
+       7      201073 :   : variable(in)
+       8             : {
+       9      201073 :   variable = true;
+      10      201080 : }
+      11             : 
+      12      402164 : AtomicScopeFlag::~AtomicScopeFlag()
+      13             : {
+      14      201083 :   variable = false;
+      15      201081 : }
+      16             : 
+      17             : }  // namespace mrs_lib
+
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+
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+ + diff --git a/mrs_lib/src/utils/utils.cpp.gcov.png b/mrs_lib/src/utils/utils.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..3b82aa0d55e194f12f9515f4d5ef4f00538985ef GIT binary patch literal 194 zcmeAS@N?(olHy`uVBq!ia0vp^0YEIs!VDyLSeu0dDTx4|5ZC|z|E~gqdj0}#k_Vn~lnZVFINzf&xlOe%CX$e!F(g};y)F!t{2}&Ee3~RkNUNtx`aKVxJ gJcj|7z|;l?m3NMIqUuuIK(iS + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_autostart/src/automatic_start.cpp - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_autostart/src - automatic_start.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:23626888.1 %
Date:2023-12-14 21:42:20Functions:1919100.0 %
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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()7
mrs_uav_autostart::automatic_start::AutomaticStart::toggleControlOutput(bool const&)8
(anonymous namespace)::ProxyExec0::ProxyExec0()11
mrs_uav_autostart::automatic_start::AutomaticStart::onInit()11
mrs_uav_autostart::automatic_start::AutomaticStart::changeState(mrs_uav_autostart::automatic_start::LandingStates_t)18
mrs_uav_autostart::automatic_start::Topic::Topic(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)23
mrs_uav_autostart::automatic_start::Topic::getTopicName[abi:cxx11]()75
mrs_uav_autostart::automatic_start::AutomaticStart::callbackGazeboSpawnerDiagnostics(boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const>)667
mrs_uav_autostart::automatic_start::AutomaticStart::speedCheck()1995
mrs_uav_autostart::automatic_start::AutomaticStart::topicCheck()1995
mrs_uav_autostart::automatic_start::AutomaticStart::validateReference()1995
mrs_uav_autostart::automatic_start::AutomaticStart::isGazeboSimulation()1995
mrs_uav_autostart::automatic_start::Topic::getTime()4065
mrs_uav_autostart::automatic_start::AutomaticStart::timerMain(ros::TimerEvent const&)5136
mrs_uav_autostart::automatic_start::Topic::updateTime()11789
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&) const11794
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)11795
mrs_uav_autostart::automatic_start::AutomaticStart::callbackHwApiStatus(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const>)38159
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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..50fae82a2d --- /dev/null +++ b/mrs_uav_autostart/src/automatic_start.cpp.func.html @@ -0,0 +1,156 @@ + + + + + + + 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:23626888.1 %
Date:2023-12-14 21:42:20Functions:1919100.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()11
mrs_uav_autostart::automatic_start::AutomaticStart::speedCheck()1995
mrs_uav_autostart::automatic_start::AutomaticStart::topicCheck()1995
mrs_uav_autostart::automatic_start::AutomaticStart::changeState(mrs_uav_autostart::automatic_start::LandingStates_t)18
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)11795
mrs_uav_autostart::automatic_start::AutomaticStart::validateReference()1995
mrs_uav_autostart::automatic_start::AutomaticStart::isGazeboSimulation()1995
mrs_uav_autostart::automatic_start::AutomaticStart::callbackHwApiStatus(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const>)38159
mrs_uav_autostart::automatic_start::AutomaticStart::toggleControlOutput(bool const&)8
mrs_uav_autostart::automatic_start::AutomaticStart::callbackGazeboSpawnerDiagnostics(boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const>)667
mrs_uav_autostart::automatic_start::AutomaticStart::disarm()3
mrs_uav_autostart::automatic_start::AutomaticStart::onInit()11
mrs_uav_autostart::automatic_start::AutomaticStart::takeoff()7
mrs_uav_autostart::automatic_start::AutomaticStart::timerMain(ros::TimerEvent const&)5136
mrs_uav_autostart::automatic_start::Topic::updateTime()11789
mrs_uav_autostart::automatic_start::Topic::getTopicName[abi:cxx11]()75
mrs_uav_autostart::automatic_start::Topic::getTime()4065
mrs_uav_autostart::automatic_start::Topic::Topic(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)23
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&) const11794
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_autostart/src/automatic_start.cpp.gcov.frameset.html b/mrs_uav_autostart/src/automatic_start.cpp.gcov.frameset.html new file mode 100644 index 0000000000..dc21d0ec86 --- /dev/null +++ b/mrs_uav_autostart/src/automatic_start.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_autostart/src/automatic_start.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_autostart/src/automatic_start.cpp.gcov.html b/mrs_uav_autostart/src/automatic_start.cpp.gcov.html new file mode 100644 index 0000000000..7687779dfa --- /dev/null +++ b/mrs_uav_autostart/src/automatic_start.cpp.gcov.html @@ -0,0 +1,887 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_autostart/src/automatic_start.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_autostart/src - automatic_start.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:23626888.1 %
Date:2023-12-14 21:42:20Functions:1919100.0 %
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/EstimationDiagnostics.h>
+      22             : 
+      23             : #include <topic_tools/shape_shifter.h>
+      24             : 
+      25             : //}
+      26             : 
+      27             : namespace mrs_uav_autostart
+      28             : {
+      29             : 
+      30             : namespace automatic_start
+      31             : {
+      32             : 
+      33             : /* class Topic //{ */
+      34             : 
+      35             : class Topic {
+      36             : private:
+      37             :   std::string topic_name_;
+      38             :   ros::Time   last_time_;
+      39             : 
+      40             : public:
+      41          23 :   Topic(std::string topic_name) : topic_name_(topic_name) {
+      42          23 :     last_time_ = ros::Time(0);
+      43          23 :   }
+      44             : 
+      45       11789 :   void updateTime(void) {
+      46       11789 :     last_time_ = ros::Time::now();
+      47       11793 :   }
+      48             : 
+      49        4065 :   ros::Time getTime(void) {
+      50        4065 :     return last_time_;
+      51             :   }
+      52             : 
+      53          75 :   std::string getTopicName(void) {
+      54          75 :     return topic_name_;
+      55             :   }
+      56             : };
+      57             : 
+      58             : //}
+      59             : 
+      60             : /* class AutomaticStart //{ */
+      61             : 
+      62             : // state machine
+      63             : typedef enum
+      64             : {
+      65             :   STATE_IDLE,
+      66             :   STATE_TAKEOFF,
+      67             :   STATE_FINISHED
+      68             : } LandingStates_t;
+      69             : 
+      70             : const char* state_names[4] = {"IDLING", "TAKEOFF", "FINISHED"};
+      71             : 
+      72             : class AutomaticStart : public nodelet::Nodelet {
+      73             : 
+      74             : public:
+      75             :   virtual void onInit();
+      76             : 
+      77             : private:
+      78             :   ros::NodeHandle   nh_;
+      79             :   std::atomic<bool> is_initialized_ = false;
+      80             : 
+      81             :   std::string _uav_name_;
+      82             :   bool        _simulation_;
+      83             : 
+      84             :   // | --------------------- service clients -------------------- |
+      85             : 
+      86             :   ros::ServiceClient service_client_toggle_control_output_;
+      87             :   ros::ServiceClient service_client_arm_;
+      88             :   ros::ServiceClient service_client_takeoff_;
+      89             :   ros::ServiceClient service_client_eland_;
+      90             :   ros::ServiceClient service_client_validate_reference_;
+      91             : 
+      92             :   // | ----------------------- subscribers ---------------------- |
+      93             : 
+      94             :   mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics>     sh_estimation_diag_;
+      95             :   mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus>               sh_hw_api_status_;
+      96             :   mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics> sh_control_manager_diag_;
+      97             :   mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics>     sh_uav_manager_diag_;
+      98             :   mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics>  sh_gazebo_spawner_diag_;
+      99             : 
+     100             :   // | ----------------------- publishers ----------------------- |
+     101             : 
+     102             :   mrs_lib::PublisherHandler<std_msgs::Bool> ph_can_takeoff_;
+     103             : 
+     104             :   // | ----------------------- main timer ----------------------- |
+     105             : 
+     106             :   ros::Timer timer_main_;
+     107             :   void       timerMain(const ros::TimerEvent& event);
+     108             :   double     _main_timer_rate_;
+     109             : 
+     110             :   // | ------------------- hw api diagnostics ------------------- |
+     111             : 
+     112             :   void              callbackHwApiStatus(const mrs_msgs::HwApiStatus::ConstPtr msg);
+     113             :   std::atomic<bool> got_hw_api_status_ = false;
+     114             :   std::mutex        mutex_hw_api_status_;
+     115             : 
+     116             :   // | --------------- Gazebo spawner diagnostics --------------- |
+     117             : 
+     118             :   void                               callbackGazeboSpawnerDiagnostics(const mrs_msgs::GazeboSpawnerDiagnostics::ConstPtr msg);
+     119             :   std::atomic<bool>                  got_gazebo_spawner_diagnostics = false;
+     120             :   mrs_msgs::GazeboSpawnerDiagnostics gazebo_spawner_diagnostics_;
+     121             :   std::mutex                         mutex_gazebo_spawner_diagnostics_;
+     122             : 
+     123             :   // | ----------------- arm and offboard check ----------------- |
+     124             : 
+     125             :   ros::Time armed_time_;
+     126             :   bool      armed_ = false;
+     127             : 
+     128             :   ros::Time offboard_time_;
+     129             :   bool      offboard_ = false;
+     130             : 
+     131             :   // | ------------------------ routines ------------------------ |
+     132             : 
+     133             :   bool takeoff();
+     134             : 
+     135             :   bool validateReference();
+     136             : 
+     137             :   bool toggleControlOutput(const bool& value);
+     138             :   bool disarm();
+     139             : 
+     140             :   bool isGazeboSimulation(void);
+     141             :   bool topicCheck(void);
+     142             :   bool speedCheck(void);
+     143             :   bool is_gazebo_simulation_ = false;
+     144             : 
+     145             :   // | ---------------------- other params ---------------------- |
+     146             : 
+     147             :   std::string _body_frame_name_;
+     148             :   double      _action_duration_;
+     149             :   double      _pre_takeoff_sleep_;
+     150             :   bool        _handle_takeoff_ = false;
+     151             :   double      _safety_timeout_;
+     152             :   double      _control_output_timeout_;
+     153             : 
+     154             :   // | ---------------------- state machine --------------------- |
+     155             : 
+     156             :   uint current_state = STATE_IDLE;
+     157             :   void changeState(LandingStates_t new_state);
+     158             : 
+     159             :   // | --------------------- velocity check --------------------- |
+     160             : 
+     161             :   bool   _velocity_check_enabled_ = false;
+     162             :   double _velocity_check_max_speed_;
+     163             : 
+     164             :   // | ---------------- generic topic subscribers --------------- |
+     165             : 
+     166             :   bool                     _topic_check_enabled_ = false;
+     167             :   double                   _topic_check_timeout_;
+     168             :   std::vector<std::string> _topic_check_topic_names_;
+     169             : 
+     170             :   std::vector<Topic>           topic_check_topics_;
+     171             :   std::vector<ros::Subscriber> generic_subscriber_vec_;
+     172             : 
+     173             :   // generic callback, for any topic, to monitor its rate
+     174             :   void genericCallback(const topic_tools::ShapeShifter::ConstPtr& msg, const std::string& topic_name, const int id);
+     175             : };
+     176             : 
+     177             : //}
+     178             : 
+     179             : /* onInit() //{ */
+     180             : 
+     181          11 : void AutomaticStart::onInit() {
+     182             : 
+     183          22 :   ros::NodeHandle nh_ = nodelet::Nodelet::getMTPrivateNodeHandle();
+     184             : 
+     185          11 :   ros::Time::waitForValid();
+     186             : 
+     187          11 :   armed_      = false;
+     188          11 :   armed_time_ = ros::Time(0);
+     189             : 
+     190          11 :   offboard_      = false;
+     191          11 :   offboard_time_ = ros::Time(0);
+     192             : 
+     193          22 :   mrs_lib::ParamLoader param_loader(nh_, "AutomaticStart");
+     194             : 
+     195          22 :   std::string custom_config_path;
+     196             : 
+     197          11 :   param_loader.loadParam("custom_config", custom_config_path);
+     198             : 
+     199          11 :   if (custom_config_path != "") {
+     200           2 :     param_loader.addYamlFile(custom_config_path);
+     201             :   }
+     202             : 
+     203          11 :   param_loader.addYamlFileFromParam("config_private");
+     204          11 :   param_loader.addYamlFileFromParam("config_public");
+     205             : 
+     206          11 :   param_loader.loadParam("uav_name", _uav_name_);
+     207          11 :   param_loader.loadParam("simulation", _simulation_);
+     208             : 
+     209          11 :   param_loader.loadParam("main_timer_rate", _main_timer_rate_);
+     210          11 :   param_loader.loadParam("body_frame_name", _body_frame_name_);
+     211          11 :   param_loader.loadParam("control_output_timeout", _control_output_timeout_);
+     212             : 
+     213          11 :   param_loader.loadParam("safety_timeout", _safety_timeout_);
+     214          11 :   param_loader.loadParam("pre_takeoff_sleep", _pre_takeoff_sleep_);
+     215             : 
+     216          11 :   param_loader.loadParam("handle_takeoff", _handle_takeoff_);
+     217             : 
+     218          11 :   param_loader.loadParam("preflight_check/velocity_check/enabled", _velocity_check_enabled_);
+     219          11 :   param_loader.loadParam("preflight_check/velocity_check/max_speed", _velocity_check_max_speed_);
+     220             : 
+     221          11 :   param_loader.loadParam("preflight_check/topic_check/enabled", _topic_check_enabled_);
+     222          11 :   param_loader.loadParam("preflight_check/topic_check/timeout", _topic_check_timeout_);
+     223          11 :   param_loader.loadParam("preflight_check/topic_check/topics", _topic_check_topic_names_);
+     224             : 
+     225          11 :   if (!param_loader.loadedSuccessfully()) {
+     226           0 :     ROS_ERROR("[AutomaticStart]: Could not load all parameters!");
+     227           0 :     ros::shutdown();
+     228             :   }
+     229             : 
+     230             :   // | ----------------------- subscribers ---------------------- |
+     231             : 
+     232          22 :   mrs_lib::SubscribeHandlerOptions shopts;
+     233          11 :   shopts.nh                 = nh_;
+     234          11 :   shopts.node_name          = "AutomaticStart";
+     235          11 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     236          11 :   shopts.threadsafe         = true;
+     237          11 :   shopts.autostart          = true;
+     238          11 :   shopts.queue_size         = 10;
+     239          11 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     240             : 
+     241          11 :   sh_estimation_diag_      = mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics>(shopts, "estimation_diag_in");
+     242          11 :   sh_hw_api_status_        = mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus>(shopts, "hw_api_status_in", &AutomaticStart::callbackHwApiStatus, this);
+     243          11 :   sh_control_manager_diag_ = mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics>(shopts, "control_manager_diagnostics_in");
+     244          11 :   sh_uav_manager_diag_     = mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics>(shopts, "uav_manager_diagnostics_in");
+     245          22 :   sh_gazebo_spawner_diag_  = mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics>(shopts, "gazebo_spawner_diagnostics_in",
+     246          11 :                                                                                           &AutomaticStart::callbackGazeboSpawnerDiagnostics, this);
+     247             : 
+     248             :   // | ----------------------- publishers ----------------------- |
+     249             : 
+     250          11 :   ph_can_takeoff_ = mrs_lib::PublisherHandler<std_msgs::Bool>(nh_, "can_takeoff_out");
+     251             : 
+     252             :   // | --------------------- service clients -------------------- |
+     253             : 
+     254          11 :   service_client_takeoff_               = nh_.serviceClient<std_srvs::Trigger>("takeoff_out");
+     255          11 :   service_client_eland_                 = nh_.serviceClient<std_srvs::Trigger>("eland_out");
+     256          11 :   service_client_toggle_control_output_ = nh_.serviceClient<std_srvs::SetBool>("toggle_control_output_out");
+     257          11 :   service_client_arm_                   = nh_.serviceClient<std_srvs::SetBool>("arm_out");
+     258             : 
+     259          11 :   service_client_validate_reference_ = nh_.serviceClient<mrs_msgs::ValidateReference>("validate_reference_out");
+     260             : 
+     261             :   // | ------------------ setup generic topics ------------------ |
+     262             : 
+     263          11 :   if (_topic_check_enabled_) {
+     264             : 
+     265          22 :     boost::function<void(const topic_tools::ShapeShifter::ConstPtr&)> callback;
+     266             : 
+     267          34 :     for (int i = 0; i < int(_topic_check_topic_names_.size()); i++) {
+     268             : 
+     269          46 :       std::string topic_name = _topic_check_topic_names_[i];
+     270             : 
+     271          23 :       if (topic_name.at(0) != '/') {
+     272          23 :         topic_name = "/" + _uav_name_ + "/" + topic_name;
+     273             :       }
+     274             : 
+     275          46 :       Topic tmp_topic(topic_name);
+     276          23 :       topic_check_topics_.push_back(tmp_topic);
+     277             : 
+     278          23 :       int id = i;  // id to identify which topic called the generic callback
+     279             : 
+     280       11817 :       callback                       = [this, topic_name, id](const topic_tools::ShapeShifter::ConstPtr& msg) -> void { genericCallback(msg, topic_name, id); };
+     281          69 :       ros::Subscriber tmp_subscriber = nh_.subscribe(topic_name, 1, callback);
+     282             : 
+     283          23 :       generic_subscriber_vec_.push_back(tmp_subscriber);
+     284             :     }
+     285             :   }
+     286             : 
+     287             :   // | ------------------------- timers ------------------------- |
+     288             : 
+     289          11 :   timer_main_ = nh_.createTimer(ros::Rate(_main_timer_rate_), &AutomaticStart::timerMain, this);
+     290             : 
+     291          11 :   is_initialized_ = true;
+     292             : 
+     293          11 :   ROS_INFO_THROTTLE(1.0, "[AutomaticStart]: initialized");
+     294          11 : }
+     295             : 
+     296             : //}
+     297             : 
+     298             : // --------------------------------------------------------------
+     299             : // |                          callbacks                         |
+     300             : // --------------------------------------------------------------
+     301             : 
+     302             : /* genericCallback() //{ */
+     303             : 
+     304       11795 : void AutomaticStart::genericCallback([[maybe_unused]] const topic_tools::ShapeShifter::ConstPtr& msg, [[maybe_unused]] const std::string& topic_name,
+     305             :                                      const int id) {
+     306       11795 :   topic_check_topics_[id].updateTime();
+     307       11794 : }
+     308             : 
+     309             : //}
+     310             : 
+     311             : /* callbackHwApiDiag() //{ */
+     312             : 
+     313       38159 : void AutomaticStart::callbackHwApiStatus(const mrs_msgs::HwApiStatus::ConstPtr msg) {
+     314             : 
+     315       38159 :   if (!is_initialized_) {
+     316           0 :     return;
+     317             :   }
+     318             : 
+     319       38159 :   ROS_INFO_ONCE("[AutomaticStart]: getting HW API diagnostics");
+     320             : 
+     321       76318 :   std::scoped_lock lock(mutex_hw_api_status_);
+     322             : 
+     323             :   // check armed_ state
+     324       38159 :   if (armed_ == false) {
+     325             : 
+     326             :     // if armed_ state changed to true, please "start the clock"
+     327       16676 :     if (msg->armed) {
+     328             : 
+     329          11 :       armed_      = true;
+     330          11 :       armed_time_ = ros::Time::now();
+     331             :     }
+     332             : 
+     333             :     // if we were armed_ previously
+     334       21483 :   } else if (armed_ == true) {
+     335             : 
+     336             :     // and we are not really now
+     337       21483 :     if (!msg->armed) {
+     338             : 
+     339           3 :       armed_ = false;
+     340             :     }
+     341             :   }
+     342             : 
+     343             :   // check offboard_ state
+     344       38159 :   if (offboard_ == false) {
+     345             : 
+     346             :     // if offboard_ state changed to true, please "start the clock"
+     347       19778 :     if (msg->offboard) {
+     348             : 
+     349           8 :       offboard_      = true;
+     350           8 :       offboard_time_ = ros::Time::now();
+     351             :     }
+     352             : 
+     353             :     // if we were in offboard_ previously
+     354       18381 :   } else if (offboard_ == true) {
+     355             : 
+     356             :     // and we are not really now
+     357       18381 :     if (!msg->offboard) {
+     358             : 
+     359           0 :       offboard_ = false;
+     360             :     }
+     361             :   }
+     362             : 
+     363       38159 :   if (msg->connected) {
+     364       37713 :     got_hw_api_status_ = true;
+     365             :   }
+     366             : }
+     367             : 
+     368             : //}
+     369             : 
+     370             : /* callbackGazeboSpawnerDiagnostics() //{ */
+     371             : 
+     372         667 : void AutomaticStart::callbackGazeboSpawnerDiagnostics(const mrs_msgs::GazeboSpawnerDiagnostics::ConstPtr msg) {
+     373             : 
+     374         667 :   if (!is_initialized_) {
+     375           0 :     return;
+     376             :   }
+     377             : 
+     378         667 :   ROS_INFO_ONCE("[AutomaticStart]: getting spawner diagnostics");
+     379             : 
+     380             :   {
+     381        1334 :     std::scoped_lock lock(mutex_gazebo_spawner_diagnostics_);
+     382             : 
+     383         667 :     gazebo_spawner_diagnostics_ = *msg;
+     384             : 
+     385         667 :     got_gazebo_spawner_diagnostics = true;
+     386             :   }
+     387             : }
+     388             : 
+     389             : //}
+     390             : 
+     391             : // --------------------------------------------------------------
+     392             : // |                           timers                           |
+     393             : // --------------------------------------------------------------
+     394             : 
+     395             : /* timerMain() //{ */
+     396             : 
+     397        5136 : void AutomaticStart::timerMain([[maybe_unused]] const ros::TimerEvent& event) {
+     398             : 
+     399        5136 :   if (!is_initialized_) {
+     400        2103 :     return;
+     401             :   }
+     402             : 
+     403        5136 :   bool got_uav_manager_diag     = sh_uav_manager_diag_.hasMsg();
+     404        5136 :   bool got_control_manager_diag = sh_control_manager_diag_.hasMsg();
+     405        5136 :   bool got_estimation_diag      = sh_estimation_diag_.hasMsg();
+     406             : 
+     407        5136 :   if (!got_control_manager_diag || !got_hw_api_status_ || !got_uav_manager_diag || !got_estimation_diag) {
+     408        2103 :     ROS_WARN_THROTTLE(5.0, "[AutomaticStart]: waiting for data: ControManager=%s, UavManager=%s, HW Api=%s, EstimationManager=%s",
+     409             :                       got_control_manager_diag ? "true" : "FALSE", got_uav_manager_diag ? "true" : "FALSE", got_hw_api_status_ ? "true" : "FALSE",
+     410             :                       got_estimation_diag ? "true" : "FALSE");
+     411        2103 :     return;
+     412             :   }
+     413             : 
+     414        3033 :   auto [armed, offboard, armed_time, offboard_time] = mrs_lib::get_mutexed(mutex_hw_api_status_, armed_, offboard_, armed_time_, offboard_time_);
+     415        3033 :   auto control_manager_diagnostics                  = sh_control_manager_diag_.getMsg();
+     416             : 
+     417        3033 :   switch (current_state) {
+     418             : 
+     419        1995 :     case STATE_IDLE: {
+     420             : 
+     421        1995 :       bool   control_output   = sh_control_manager_diag_.getMsg()->output_enabled;
+     422        1995 :       double time_from_arming = (ros::Time::now() - armed_time).toSec();
+     423             : 
+     424        1995 :       std_msgs::Bool can_takeoff_msg;
+     425        1995 :       can_takeoff_msg.data = false;
+     426             : 
+     427             :       // | -------------------- preflight checks -------------------- |
+     428             : 
+     429        1995 :       bool position_valid = validateReference();
+     430        1995 :       bool got_topics     = topicCheck();
+     431        1995 :       bool speed_valid    = speedCheck();
+     432             : 
+     433        1995 :       bool can_takeoff = got_topics && position_valid && speed_valid;
+     434             : 
+     435             :       // | ---------------------------------------------------------- |
+     436             : 
+     437        1995 :       can_takeoff_msg.data = can_takeoff;
+     438        1995 :       ph_can_takeoff_.publish(can_takeoff_msg);
+     439             : 
+     440        1995 :       if (armed && !control_output) {
+     441             : 
+     442         146 :         if (can_takeoff) {
+     443             : 
+     444           8 :           bool res = toggleControlOutput(true);
+     445             : 
+     446           8 :           if (!res) {
+     447           0 :             ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: could not set control output ON");
+     448             :           }
+     449             :         }
+     450             : 
+     451         146 :         if (time_from_arming > _control_output_timeout_) {
+     452             : 
+     453           3 :           ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: could not set control output ON for %.2f secs, disarming", _control_output_timeout_);
+     454           3 :           disarm();
+     455           3 :           changeState(STATE_FINISHED);
+     456             :         }
+     457             :       }
+     458             : 
+     459        1995 :       if (_simulation_ && isGazeboSimulation()) {
+     460             : 
+     461         668 :         std::scoped_lock lock(mutex_gazebo_spawner_diagnostics_);
+     462             : 
+     463         668 :         if (got_gazebo_spawner_diagnostics) {
+     464             : 
+     465         668 :           if (!gazebo_spawner_diagnostics_.spawn_called || gazebo_spawner_diagnostics_.processing) {
+     466           0 :             ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: (simulation) waiting for spawner to finish spawning UAVs");
+     467           0 :             return;
+     468             :           }
+     469             : 
+     470             :         } else {
+     471             : 
+     472           0 :           ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: (simulation) missing spawner diagnostics");
+     473           0 :           return;
+     474             :         }
+     475             :       }
+     476             : 
+     477             :       // when armed and in offboard, takeoff
+     478        1995 :       if (armed && offboard && control_output) {
+     479             : 
+     480        1209 :         double armed_time_diff    = (ros::Time::now() - armed_time).toSec();
+     481        1209 :         double offboard_time_diff = (ros::Time::now() - offboard_time).toSec();
+     482             : 
+     483        1209 :         if ((armed_time_diff > _safety_timeout_) && (offboard_time_diff > _safety_timeout_)) {
+     484             : 
+     485           8 :           if (_handle_takeoff_) {
+     486           7 :             changeState(STATE_TAKEOFF);
+     487             :           } else {
+     488           1 :             changeState(STATE_FINISHED);
+     489             :           }
+     490             : 
+     491             :         } else {
+     492             : 
+     493        1201 :           double min = (armed_time_diff < offboard_time_diff) ? armed_time_diff : offboard_time_diff;
+     494             : 
+     495        1201 :           ROS_WARN_THROTTLE(1.0, "taking off in %.0f", (_safety_timeout_ - min));
+     496             :         }
+     497             :       }
+     498             : 
+     499        1995 :       break;
+     500             :     }
+     501             : 
+     502        1027 :     case STATE_TAKEOFF: {
+     503             : 
+     504             :       // if takeoff finished
+     505        1027 :       if (control_manager_diagnostics->flying_normally) {
+     506             : 
+     507           7 :         ROS_INFO_THROTTLE(1.0, "[AutomaticStart]: takeoff finished");
+     508             : 
+     509           7 :         changeState(STATE_FINISHED);
+     510             : 
+     511             :       } else {
+     512             : 
+     513        1020 :         ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: waiting for the takeoff to finish");
+     514             :       }
+     515             : 
+     516        1027 :       break;
+     517             :     }
+     518             : 
+     519          11 :     case STATE_FINISHED: {
+     520             : 
+     521          11 :       ROS_INFO_THROTTLE(1.0, "[AutomaticStart]: finished");
+     522          11 :       ros::requestShutdown();
+     523          11 :       break;
+     524             :     }
+     525             :   }
+     526             : 
+     527             : }  // namespace automatic_start
+     528             : 
+     529             : //}
+     530             : 
+     531             : // --------------------------------------------------------------
+     532             : // |                          routines                          |
+     533             : // --------------------------------------------------------------
+     534             : 
+     535             : /* changeState() //{ */
+     536             : 
+     537          18 : void AutomaticStart::changeState(LandingStates_t new_state) {
+     538             : 
+     539          18 :   ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: switching states %s -> %s", state_names[current_state], state_names[new_state]);
+     540             : 
+     541          18 :   switch (new_state) {
+     542             : 
+     543           0 :     case STATE_IDLE: {
+     544             : 
+     545           0 :       break;
+     546             :     }
+     547             : 
+     548           7 :     case STATE_TAKEOFF: {
+     549             : 
+     550           7 :       if (_pre_takeoff_sleep_ > 1.0) {
+     551           0 :         ROS_INFO("[AutomaticStart]: sleeping for %.2f secs before takeoff", _pre_takeoff_sleep_);
+     552           0 :         ros::Duration(_pre_takeoff_sleep_).sleep();
+     553             :       }
+     554             : 
+     555           7 :       bool res = takeoff();
+     556             : 
+     557           7 :       if (!res) {
+     558           0 :         return;
+     559             :       }
+     560             : 
+     561           7 :       break;
+     562             :     }
+     563             : 
+     564          11 :     case STATE_FINISHED: {
+     565             : 
+     566          11 :       break;
+     567             :     }
+     568             : 
+     569             :     break;
+     570             :   }
+     571             : 
+     572          18 :   current_state = new_state;
+     573             : }
+     574             : 
+     575             : //}
+     576             : 
+     577             : /* takeoff() //{ */
+     578             : 
+     579           7 : bool AutomaticStart::takeoff() {
+     580             : 
+     581           7 :   ROS_INFO_THROTTLE(1.0, "[AutomaticStart]: taking off");
+     582             : 
+     583          14 :   std_srvs::Trigger srv;
+     584             : 
+     585           7 :   bool res = service_client_takeoff_.call(srv);
+     586             : 
+     587           7 :   if (res) {
+     588             : 
+     589           7 :     if (srv.response.success) {
+     590             : 
+     591           7 :       return true;
+     592             : 
+     593             :     } else {
+     594             : 
+     595           0 :       ROS_ERROR_THROTTLE(1.0, "[AutomaticStart]: taking off failed: %s", srv.response.message.c_str());
+     596             :     }
+     597             : 
+     598             :   } else {
+     599             : 
+     600           0 :     ROS_ERROR_THROTTLE(1.0, "[AutomaticStart]: service call for taking off failed");
+     601             :   }
+     602             : 
+     603           0 :   return false;
+     604             : }
+     605             : 
+     606             : //}
+     607             : 
+     608             : /* validateReference() //{ */
+     609             : 
+     610        1995 : bool AutomaticStart::validateReference() {
+     611             : 
+     612        3990 :   mrs_msgs::ValidateReference srv_out;
+     613             : 
+     614        1995 :   srv_out.request.reference.header.frame_id = _body_frame_name_;
+     615             : 
+     616        1995 :   bool res = service_client_validate_reference_.call(srv_out);
+     617             : 
+     618        1995 :   if (res) {
+     619             : 
+     620        1995 :     if (srv_out.response.success) {
+     621             : 
+     622        1919 :       ROS_INFO_THROTTLE(1.0, "[AutomaticStart]: current position is valid");
+     623        1919 :       return true;
+     624             : 
+     625             :     } else {
+     626             : 
+     627          76 :       ROS_ERROR_THROTTLE(1.0, "[AutomaticStart]: current position is not valid (safety area, bumper)!");
+     628          76 :       return false;
+     629             :     }
+     630             : 
+     631             :   } else {
+     632             : 
+     633           0 :     ROS_ERROR_THROTTLE(1.0, "[AutomaticStart]: current position could not be validated");
+     634           0 :     return false;
+     635             :   }
+     636             : }
+     637             : 
+     638             : //}
+     639             : 
+     640             : /* toggleControlOutput() //{ */
+     641             : 
+     642           8 : bool AutomaticStart::toggleControlOutput(const bool& value) {
+     643             : 
+     644           8 :   ROS_INFO_THROTTLE(1.0, "[AutomaticStart]: setting control output %s", value ? "ON" : "OFF");
+     645             : 
+     646          16 :   std_srvs::SetBool srv;
+     647           8 :   srv.request.data = value;
+     648             : 
+     649           8 :   bool res = service_client_toggle_control_output_.call(srv);
+     650             : 
+     651           8 :   if (res) {
+     652             : 
+     653           8 :     if (srv.response.success) {
+     654             : 
+     655           8 :       return true;
+     656             : 
+     657             :     } else {
+     658             : 
+     659           0 :       ROS_ERROR_THROTTLE(1.0, "[AutomaticStart]: setting of control output failed: %s", srv.response.message.c_str());
+     660             :     }
+     661             : 
+     662             :   } else {
+     663             : 
+     664           0 :     ROS_ERROR_THROTTLE(1.0, "[AutomaticStart]: service call for toggling control output failed");
+     665             :   }
+     666             : 
+     667           0 :   return false;
+     668             : }
+     669             : 
+     670             : //}
+     671             : 
+     672             : /* disarm() //{ */
+     673             : 
+     674           3 : bool AutomaticStart::disarm() {
+     675             : 
+     676           3 :   if (!got_hw_api_status_) {
+     677             : 
+     678           0 :     ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: cannot disarm, missing HW API status!");
+     679             : 
+     680           0 :     return false;
+     681             :   }
+     682             : 
+     683           3 :   auto [armed, offboard, armed_time, offboard_time] = mrs_lib::get_mutexed(mutex_hw_api_status_, armed_, offboard_, armed_time_, offboard_time_);
+     684             : 
+     685           3 :   if (offboard) {
+     686             : 
+     687           0 :     ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: cannot disarm, already in offboard mode!");
+     688             : 
+     689           0 :     return false;
+     690             :   }
+     691             : 
+     692           3 :   ROS_INFO_THROTTLE(1.0, "[AutomaticStart]: disarming");
+     693             : 
+     694           6 :   std_srvs::SetBool srv;
+     695           3 :   srv.request.data = false;
+     696             : 
+     697           3 :   bool res = service_client_arm_.call(srv);
+     698             : 
+     699           3 :   if (res) {
+     700             : 
+     701           3 :     if (srv.response.success) {
+     702             : 
+     703           3 :       return true;
+     704             : 
+     705             :     } else {
+     706             : 
+     707           0 :       ROS_ERROR_THROTTLE(1.0, "[AutomaticStart]: disarming failed");
+     708             :     }
+     709             : 
+     710             :   } else {
+     711             : 
+     712           0 :     ROS_ERROR_THROTTLE(1.0, "[AutomaticStart]: service call for disarming failed");
+     713             :   }
+     714             : 
+     715           0 :   return false;
+     716             : }
+     717             : 
+     718             : //}
+     719             : 
+     720             : /* isGazeboSimulation() //{ */
+     721             : 
+     722        1995 : bool AutomaticStart::isGazeboSimulation(void) {
+     723             : 
+     724        1995 :   if (is_gazebo_simulation_) {
+     725         665 :     return true;
+     726             :   }
+     727             : 
+     728        2660 :   ros::V_string node_list;
+     729        1330 :   ros::master::getNodes(node_list);
+     730             : 
+     731       18587 :   for (auto& node : node_list) {
+     732       17260 :     if (node.find("mrs_drone_spawner") != std::string::npos) {
+     733           3 :       ROS_INFO("[AutomaticStart]: MRS Gazebo Simulation detected");
+     734           3 :       is_gazebo_simulation_ = true;
+     735           3 :       return true;
+     736             :     }
+     737             :   }
+     738             : 
+     739        1327 :   return false;
+     740             : }
+     741             : 
+     742             : //}
+     743             : 
+     744             : /* topicCheck() //{ */
+     745             : 
+     746        1995 : bool AutomaticStart::topicCheck(void) {
+     747             : 
+     748        1995 :   bool got_topics = true;
+     749             : 
+     750        1995 :   std::stringstream missing_topics;
+     751             : 
+     752        1995 :   if (_topic_check_enabled_) {
+     753             : 
+     754        6060 :     for (int i = 0; i < int(topic_check_topics_.size()); i++) {
+     755        4065 :       if ((ros::Time::now() - topic_check_topics_[i].getTime()).toSec() > _topic_check_timeout_) {
+     756          75 :         missing_topics << std::endl << "\t" << topic_check_topics_[i].getTopicName();
+     757          75 :         got_topics = false;
+     758             :       }
+     759             :     }
+     760             :   }
+     761             : 
+     762        1995 :   if (!got_topics) {
+     763          75 :     ROS_WARN_STREAM_THROTTLE(1.0, "[AutomaticStart]: missing data on topics: " << missing_topics.str());
+     764             :   }
+     765             : 
+     766        3990 :   return got_topics;
+     767             : }
+     768             : 
+     769             : //}
+     770             : 
+     771             : /* velocityCheck() //{ */
+     772             : 
+     773        1995 : bool AutomaticStart::speedCheck(void) {
+     774             : 
+     775        1995 :   if (!_velocity_check_enabled_) {
+     776           0 :     return true;
+     777             :   }
+     778             : 
+     779        1995 :   if (!sh_estimation_diag_.hasMsg()) {
+     780           0 :     return false;
+     781             :   }
+     782             : 
+     783        3990 :   auto estimation_diag = sh_estimation_diag_.getMsg();
+     784             : 
+     785             :   double speed =
+     786        1995 :       sqrt(pow(estimation_diag->velocity.linear.x, 2.0) + pow(estimation_diag->velocity.linear.y, 2.0) + pow(estimation_diag->velocity.linear.z, 2.0));
+     787             : 
+     788        1995 :   if (speed > _velocity_check_max_speed_) {
+     789          77 :     ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: the estimated speed (%.2f ms^-2) is over the limit (%.2f ms^-2)", speed, _velocity_check_max_speed_);
+     790          77 :     return false;
+     791             :   }
+     792             : 
+     793        1918 :   return true;
+     794             : }
+     795             : 
+     796             : //}
+     797             : 
+     798             : }  // namespace automatic_start
+     799             : 
+     800             : }  // namespace mrs_uav_autostart
+     801             : 
+     802             : #include <pluginlib/class_list_macros.h>
+     803          11 : PLUGINLIB_EXPORT_CLASS(mrs_uav_autostart::automatic_start::AutomaticStart, nodelet::Nodelet)
+
+
+
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mrs_uav_controllers::common::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)2
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mrs_uav_controllers::common::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)3
mrs_uav_controllers::common::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)16
mrs_uav_controllers::common::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)18
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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&)18
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&)2
mrs_uav_controllers::common::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)16
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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+
          Line data    Source code
+
+       1             : #ifndef MRS_UAV_CONTROLLERS_COMMON_H
+       2             : #define MRS_UAV_CONTROLLERS_COMMON_H
+       3             : 
+       4             : #include <eigen3/Eigen/Eigen>
+       5             : #include <mrs_uav_managers/control_manager/common_handlers.h>
+       6             : #include <mrs_uav_managers/controller.h>
+       7             : #include <mrs_lib/attitude_converter.h>
+       8             : 
+       9             : namespace mrs_uav_controllers
+      10             : {
+      11             : 
+      12             : namespace common
+      13             : {
+      14             : 
+      15             : enum CONTROL_OUTPUT
+      16             : {
+      17             :   ACTUATORS_CMD,
+      18             :   CONTROL_GROUP,
+      19             :   ATTITUDE_RATE,
+      20             :   ATTITUDE,
+      21             :   ACCELERATION_HDG_RATE,
+      22             :   ACCELERATION_HDG,
+      23             :   VELOCITY_HDG_RATE,
+      24             :   VELOCITY_HDG,
+      25             :   POSITION
+      26             : };
+      27             : 
+      28             : Eigen::Vector3d orientationError(const Eigen::Matrix3d& R, const Eigen::Matrix3d& Rd);
+      29             : 
+      30             : std::optional<Eigen::Vector3d> sanitizeDesiredForce(const Eigen::Vector3d& desired_force, const double& tilt_over_limit, const double& tilt_saturation,
+      31             :                                                     const std::string& node_name);
+      32             : 
+      33             : Eigen::Matrix3d so3transform(const Eigen::Vector3d& body_z, const ::Eigen::Vector3d& heading, const bool& preserve_heading);
+      34             : 
+      35             : std::optional<CONTROL_OUTPUT> getLowestOuput(const mrs_uav_managers::control_manager::ControlOutputModalities_t& outputs);
+      36             : 
+      37             : std::optional<CONTROL_OUTPUT> getHighestOuput(const mrs_uav_managers::control_manager::ControlOutputModalities_t& outputs);
+      38             : 
+      39             : std::optional<mrs_msgs::HwApiAttitudeRateCmd> attitudeController(const mrs_msgs::UavState& uav_state, const mrs_msgs::HwApiAttitudeCmd& reference,
+      40             :                                                                  const Eigen::Vector3d& ff_rate, const Eigen::Vector3d& rate_saturation,
+      41             :                                                                  const Eigen::Vector3d& gains, const bool& parasitic_heading_rate_compensation);
+      42             : 
+      43             : std::optional<mrs_msgs::HwApiControlGroupCmd> attitudeRateController(const mrs_msgs::UavState& uav_state, const mrs_msgs::HwApiAttitudeRateCmd& reference,
+      44             :                                                                      const Eigen::Vector3d& gains);
+      45             : 
+      46             : 
+      47             : mrs_msgs::HwApiActuatorCmd actuatorMixer(const mrs_msgs::HwApiControlGroupCmd& ctrl_group_cmd, const Eigen::MatrixXd& mixer);
+      48             : 
+      49             : /* throttle extraction //{ */
+      50             : 
+      51             : std::optional<double> extractThrottle(const mrs_uav_managers::Controller::ControlOutput& control_output);
+      52             : 
+      53             : struct HwApiCmdExtractThrottleVisitor
+      54             : {
+      55           3 :   std::optional<double> operator()(const mrs_msgs::HwApiActuatorCmd& msg) {
+      56             : 
+      57           3 :     double throttle = 0;
+      58             : 
+      59           3 :     if (msg.motors.size() == 0) {
+      60           0 :       return std::nullopt;
+      61             :     }
+      62             : 
+      63           3 :     throttle = 0;
+      64             : 
+      65          15 :     for (size_t i = 0; i < msg.motors.size(); i++) {
+      66          12 :       throttle += msg.motors[i];
+      67             :     };
+      68             : 
+      69           3 :     throttle /= msg.motors.size();
+      70             : 
+      71           3 :     return throttle;
+      72             :   }
+      73           3 :   std::optional<double> operator()(const mrs_msgs::HwApiControlGroupCmd& msg) {
+      74           3 :     return msg.throttle;
+      75             :   }
+      76          18 :   std::optional<double> operator()(const mrs_msgs::HwApiAttitudeCmd& msg) {
+      77          18 :     return msg.throttle;
+      78             :   }
+      79          16 :   std::optional<double> operator()(const mrs_msgs::HwApiAttitudeRateCmd& msg) {
+      80          16 :     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           2 :   std::optional<double> operator()([[maybe_unused]] const mrs_msgs::HwApiVelocityHdgCmd& msg) {
+      92           2 :     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&)576
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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         576 : PIDController::PIDController() {
+      43             : 
+      44         576 :   this->reset();
+      45         576 : }
+      46             : 
+      47         576 : void PIDController::setParams(const double &kp, const double &kd, const double &ki, const double &saturation, const double &antiwindup) {
+      48             : 
+      49         576 :   this->_kp_       = kp;
+      50         576 :   this->_kd_       = kd;
+      51         576 :   this->_ki_       = ki;
+      52         576 :   this->saturation = saturation;
+      53         576 :   this->antiwindup = antiwindup;
+      54         576 : }
+      55             : 
+      56        4488 : void PIDController::setSaturation(const double saturation) {
+      57             : 
+      58        4488 :   this->saturation = saturation;
+      59        4488 : }
+      60             : 
+      61         576 : void PIDController::reset(void) {
+      62             : 
+      63         576 :   this->last_error_ = 0;
+      64         576 :   this->integral_   = 0;
+      65         576 : }
+      66             : 
+      67        4488 : double PIDController::update(const double &error, const double &dt) {
+      68             : 
+      69             :   // calculate the control error difference
+      70        4488 :   double difference = (error - last_error_) / dt;
+      71        4488 :   last_error_       = error;
+      72             : 
+      73        4488 :   double p_component = _kp_ * error;       // proportional feedback
+      74        4488 :   double d_component = _kd_ * difference;  // derivative feedback
+      75        4488 :   double i_component = _ki_ * integral_;   // derivative feedback
+      76             : 
+      77        4488 :   double sum = p_component + d_component + i_component;
+      78             : 
+      79        4488 :   if (saturation > 0) {
+      80        4488 :     if (sum >= saturation) {
+      81           0 :       sum = saturation;
+      82        4488 :     } else if (sum <= -saturation) {
+      83           0 :       sum = -saturation;
+      84             :     }
+      85             :   }
+      86             : 
+      87        4488 :   if (antiwindup > 0) {
+      88        4488 :     if (std::abs(sum) < antiwindup) {
+      89             :       // add to the integral
+      90        4261 :       integral_ += error * dt;
+      91             :     }
+      92             :   }
+      93             : 
+      94             :   // return the summ of the components
+      95        4488 :   return sum;
+      96             : }
+      97             : 
+      98             : }  // namespace mrs_uav_controllers
+      99             : 
+     100             : #endif  // PID_H
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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&)111
mrs_uav_controllers::common::actuatorMixer(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&, Eigen::Matrix<double, -1, -1, 0, -1, -1> const&)3799
mrs_uav_controllers::common::getHighestOuput(mrs_uav_managers::control_manager::ControlOutputModalities_t const&)7142
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&)7579
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&)30127
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&)30127
mrs_uav_controllers::common::orientationError(Eigen::Matrix<double, 3, 3, 0, 3, 3> const&, Eigen::Matrix<double, 3, 3, 0, 3, 3> const&)32151
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&)32151
mrs_uav_controllers::common::getLowestOuput(mrs_uav_managers::control_manager::ControlOutputModalities_t const&)33535
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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 - common.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:13515984.9 %
Date:2023-12-14 21:42:20Functions:99100.0 %
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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&)30127
mrs_uav_controllers::common::actuatorMixer(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&, Eigen::Matrix<double, -1, -1, 0, -1, -1> const&)3799
mrs_uav_controllers::common::getLowestOuput(mrs_uav_managers::control_manager::ControlOutputModalities_t const&)33535
mrs_uav_controllers::common::extractThrottle(mrs_uav_managers::Controller::ControlOutput const&)111
mrs_uav_controllers::common::getHighestOuput(mrs_uav_managers::control_manager::ControlOutputModalities_t const&)7142
mrs_uav_controllers::common::orientationError(Eigen::Matrix<double, 3, 3, 0, 3, 3> const&, Eigen::Matrix<double, 3, 3, 0, 3, 3> const&)32151
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&)32151
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&)30127
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&)7579
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LCOV - code coverage report
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Current view:top level - mrs_uav_controllers/src - common.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:13515984.9 %
Date:2023-12-14 21:42:20Functions: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       32151 : Eigen::Vector3d orientationError(const Eigen::Matrix3d& R, const Eigen::Matrix3d& Rd) {
+      12             : 
+      13             :   // orientation error
+      14       32151 :   Eigen::Matrix3d R_error = 0.5 * (Rd.transpose() * R - R.transpose() * Rd);
+      15             : 
+      16             :   // vectorize the orientation error
+      17             :   // clang-format off
+      18       32151 :     Eigen::Vector3d R_error_vec;
+      19       32151 :     R_error_vec << (R_error(1, 2) - R_error(2, 1)) / 2.0,
+      20       32151 :                    (R_error(2, 0) - R_error(0, 2)) / 2.0,
+      21       32151 :                    (R_error(0, 1) - R_error(1, 0)) / 2.0;
+      22             :   // clang-format on
+      23             : 
+      24       64302 :   return R_error_vec;
+      25             : }
+      26             : 
+      27             : //}
+      28             : 
+      29             : /* sanitizeDesiredForce() //{ */
+      30             : 
+      31       30127 : 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       30127 :   double theta = acos(input[2]);
+      36       30127 :   double phi   = atan2(input[1], input[0]);
+      37             : 
+      38             :   // check for the failsafe limit
+      39       30127 :   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       30127 :   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       30127 :   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       30127 :   Eigen::Vector3d output(sin(theta) * cos(phi), sin(theta) * sin(phi), cos(theta));
+      63             : 
+      64       30127 :   return {output};
+      65             : }
+      66             : 
+      67             : //}
+      68             : 
+      69             : /* so3transform() //{ */
+      70             : 
+      71       30127 : Eigen::Matrix3d so3transform(const Eigen::Vector3d& body_z, const ::Eigen::Vector3d& heading, const bool& preserve_heading) {
+      72             : 
+      73       30127 :   Eigen::Vector3d body_z_normed = body_z.normalized();
+      74             : 
+      75       30127 :   Eigen::Matrix3d Rd;
+      76             : 
+      77       30127 :   if (preserve_heading) {
+      78             : 
+      79        7863 :     ROS_DEBUG_THROTTLE(1.0, "[SO3Transform]: using Baca's method");
+      80             : 
+      81             :     // | ------------------------- body z ------------------------- |
+      82        7863 :     Rd.col(2) = body_z_normed;
+      83             : 
+      84             :     // | ------------------------- body x ------------------------- |
+      85             : 
+      86             :     // construct the oblique projection
+      87        7863 :     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       15726 :     Eigen::MatrixXd A = Eigen::MatrixXd(3, 2);
+      91        7863 :     A.col(0)          = projector_body_z_compl.col(0);
+      92        7863 :     A.col(1)          = projector_body_z_compl.col(1);
+      93             : 
+      94             :     // create the basis of the projection null-space complement
+      95       15726 :     Eigen::MatrixXd B = Eigen::MatrixXd(3, 2);
+      96        7863 :     B.col(0)          = Eigen::Vector3d(1, 0, 0);
+      97        7863 :     B.col(1)          = Eigen::Vector3d(0, 1, 0);
+      98             : 
+      99             :     // oblique projector to <range_basis>
+     100       15726 :     Eigen::MatrixXd Bt_A               = B.transpose() * A;
+     101       15726 :     Eigen::MatrixXd Bt_A_pseudoinverse = ((Bt_A.transpose() * Bt_A).inverse()) * Bt_A.transpose();
+     102        7863 :     Eigen::MatrixXd oblique_projector  = A * Bt_A_pseudoinverse * B.transpose();
+     103             : 
+     104        7863 :     Rd.col(0) = oblique_projector * heading;
+     105        7863 :     Rd.col(0).normalize();
+     106             : 
+     107             :     // | ------------------------- body y ------------------------- |
+     108             : 
+     109        7863 :     Rd.col(1) = Rd.col(2).cross(Rd.col(0));
+     110        7863 :     Rd.col(1).normalize();
+     111             : 
+     112             :   } else {
+     113             : 
+     114       22264 :     ROS_DEBUG_THROTTLE(1.0, "[SO3Transform]: using Lee's method");
+     115             : 
+     116       22264 :     Rd.col(2) = body_z_normed;
+     117       22264 :     Rd.col(1) = Rd.col(2).cross(heading);
+     118       22264 :     Rd.col(1).normalize();
+     119       22264 :     Rd.col(0) = Rd.col(1).cross(Rd.col(2));
+     120       22264 :     Rd.col(0).normalize();
+     121             :   }
+     122             : 
+     123       60254 :   return Rd;
+     124             : }
+     125             : 
+     126             : //}
+     127             : 
+     128             : /* getLowestOutput() //{ */
+     129             : 
+     130       33535 : std::optional<CONTROL_OUTPUT> getLowestOuput(const mrs_uav_managers::control_manager::ControlOutputModalities_t& outputs) {
+     131             : 
+     132       33535 :   if (outputs.actuators) {
+     133        2406 :     return ACTUATORS_CMD;
+     134             :   }
+     135             : 
+     136       31129 :   if (outputs.control_group) {
+     137        2387 :     return CONTROL_GROUP;
+     138             :   }
+     139             : 
+     140       28742 :   if (outputs.attitude_rate) {
+     141       23179 :     return ATTITUDE_RATE;
+     142             :   }
+     143             : 
+     144        5563 :   if (outputs.attitude) {
+     145        2155 :     return ATTITUDE;
+     146             :   }
+     147             : 
+     148        3408 :   if (outputs.acceleration_hdg_rate) {
+     149         988 :     return ACCELERATION_HDG_RATE;
+     150             :   }
+     151             : 
+     152        2420 :   if (outputs.acceleration_hdg) {
+     153         959 :     return ACCELERATION_HDG;
+     154             :   }
+     155             : 
+     156        1461 :   if (outputs.velocity_hdg_rate) {
+     157         503 :     return VELOCITY_HDG_RATE;
+     158             :   }
+     159             : 
+     160         958 :   if (outputs.velocity_hdg) {
+     161         496 :     return VELOCITY_HDG;
+     162             :   }
+     163             : 
+     164         462 :   if (outputs.position) {
+     165         462 :     return POSITION;
+     166             :   }
+     167             : 
+     168           0 :   return {};
+     169             : }
+     170             : 
+     171             : //}
+     172             : 
+     173             : /* getHighestOutput() //{ */
+     174             : 
+     175        7142 : std::optional<CONTROL_OUTPUT> getHighestOuput(const mrs_uav_managers::control_manager::ControlOutputModalities_t& outputs) {
+     176             : 
+     177        7142 :   if (outputs.position) {
+     178           2 :     return POSITION;
+     179             :   }
+     180             : 
+     181        7140 :   if (outputs.velocity_hdg) {
+     182           3 :     return VELOCITY_HDG;
+     183             :   }
+     184             : 
+     185        7137 :   if (outputs.velocity_hdg_rate) {
+     186           2 :     return VELOCITY_HDG_RATE;
+     187             :   }
+     188             : 
+     189        7135 :   if (outputs.acceleration_hdg) {
+     190           4 :     return ACCELERATION_HDG;
+     191             :   }
+     192             : 
+     193        7131 :   if (outputs.acceleration_hdg_rate) {
+     194           5 :     return ACCELERATION_HDG_RATE;
+     195             :   }
+     196             : 
+     197        7126 :   if (outputs.attitude) {
+     198        2895 :     return ATTITUDE;
+     199             :   }
+     200             : 
+     201        4231 :   if (outputs.attitude_rate) {
+     202        1409 :     return ATTITUDE_RATE;
+     203             :   }
+     204             : 
+     205        2822 :   if (outputs.control_group) {
+     206        1411 :     return CONTROL_GROUP;
+     207             :   }
+     208             : 
+     209        1411 :   if (outputs.actuators) {
+     210        1411 :     return ACTUATORS_CMD;
+     211             :   }
+     212             : 
+     213           0 :   return {};
+     214             : }
+     215             : 
+     216             : //}
+     217             : 
+     218             : /* extractThrottle() //{ */
+     219             : 
+     220         111 : std::optional<double> extractThrottle(const mrs_uav_managers::Controller::ControlOutput& control_output) {
+     221             : 
+     222         111 :   if (!control_output.control_output) {
+     223          61 :     return {};
+     224             :   }
+     225             : 
+     226         100 :   return std::visit(HwApiCmdExtractThrottleVisitor(), control_output.control_output.value());
+     227             : }
+     228             : 
+     229             : //}
+     230             : 
+     231             : /* attitudeController() //{ */
+     232             : 
+     233       32151 : 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       32151 :   Eigen::Matrix3d R  = mrs_lib::AttitudeConverter(uav_state.pose.orientation);
+     238       32151 :   Eigen::Matrix3d Rd = mrs_lib::AttitudeConverter(reference.orientation);
+     239             : 
+     240             :   // calculate the orientation error
+     241       32151 :   Eigen::Vector3d E = common::orientationError(R, Rd);
+     242             : 
+     243       32151 :   Eigen::Vector3d rate_feedback = gains.array() * E.array() + ff_rate.array();
+     244             : 
+     245             :   // | ----------- parasitic heading rate compensation ---------- |
+     246             : 
+     247       32151 :   if (parasitic_heading_rate_compensation) {
+     248             : 
+     249        6766 :     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        6766 :     Eigen::Vector3d rp_heading_rate_compensation(0, 0, 0);
+     253             : 
+     254        6766 :     Eigen::Vector3d q_feedback_yawless = rate_feedback;
+     255        6766 :     q_feedback_yawless(2)              = 0;  // nullyfy the effect of the original yaw feedback
+     256             : 
+     257        6766 :     double parasitic_heading_rate = 0;
+     258             : 
+     259             :     try {
+     260        6766 :       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        6766 :       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        6766 :     rate_feedback += rp_heading_rate_compensation;
+     274             :   }
+     275             : 
+     276             :   // | --------------- saturate the attitude rate --------------- |
+     277             : 
+     278       32151 :   if (rate_feedback[0] > rate_saturation[0]) {
+     279           0 :     rate_feedback[0] = rate_saturation[0];
+     280       32151 :   } else if (rate_feedback[0] < -rate_saturation[0]) {
+     281           0 :     rate_feedback[0] = -rate_saturation[0];
+     282             :   }
+     283             : 
+     284       32151 :   if (rate_feedback[1] > rate_saturation[1]) {
+     285           0 :     rate_feedback[1] = rate_saturation[1];
+     286       32151 :   } else if (rate_feedback[1] < -rate_saturation[1]) {
+     287           0 :     rate_feedback[1] = -rate_saturation[1];
+     288             :   }
+     289             : 
+     290       32151 :   if (rate_feedback[2] > rate_saturation[2]) {
+     291           0 :     rate_feedback[2] = rate_saturation[2];
+     292       32151 :   } 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       32151 :   mrs_msgs::HwApiAttitudeRateCmd cmd;
+     299             : 
+     300       32151 :   cmd.stamp = ros::Time::now();
+     301             : 
+     302       32151 :   cmd.body_rate.x = rate_feedback[0];
+     303       32151 :   cmd.body_rate.y = rate_feedback[1];
+     304       32151 :   cmd.body_rate.z = rate_feedback[2];
+     305             : 
+     306       32151 :   cmd.throttle = reference.throttle;
+     307             : 
+     308       64302 :   return cmd;
+     309             : }
+     310             : 
+     311             : //}
+     312             : 
+     313             : /* attitudeRateController() //{ */
+     314             : 
+     315        7579 : std::optional<mrs_msgs::HwApiControlGroupCmd> attitudeRateController(const mrs_msgs::UavState& uav_state, const mrs_msgs::HwApiAttitudeRateCmd& reference,
+     316             :                                                                      const Eigen::Vector3d& gains) {
+     317             : 
+     318        7579 :   Eigen::Vector3d des_rate(reference.body_rate.x, reference.body_rate.y, reference.body_rate.z);
+     319        7579 :   Eigen::Vector3d cur_rate(uav_state.velocity.angular.x, uav_state.velocity.angular.y, uav_state.velocity.angular.z);
+     320             : 
+     321        7579 :   Eigen::Vector3d ctrl_group_action = (des_rate - cur_rate).array() * gains.array();
+     322             : 
+     323        7579 :   mrs_msgs::HwApiControlGroupCmd cmd;
+     324             : 
+     325        7579 :   cmd.stamp = ros::Time::now();
+     326             : 
+     327        7579 :   cmd.throttle = reference.throttle;
+     328             : 
+     329        7579 :   cmd.roll  = ctrl_group_action[0];
+     330        7579 :   cmd.pitch = ctrl_group_action[1];
+     331        7579 :   cmd.yaw   = ctrl_group_action[2];
+     332             : 
+     333       15158 :   return {cmd};
+     334             : }
+     335             : 
+     336             : //}
+     337             : 
+     338             : /* actuatorMixer() //{ */
+     339             : 
+     340        3799 : mrs_msgs::HwApiActuatorCmd actuatorMixer(const mrs_msgs::HwApiControlGroupCmd& ctrl_group_cmd, const Eigen::MatrixXd& mixer) {
+     341             : 
+     342        3799 :   Eigen::Vector4d ctrl_group(ctrl_group_cmd.roll, ctrl_group_cmd.pitch, ctrl_group_cmd.yaw, ctrl_group_cmd.throttle);
+     343             : 
+     344        7598 :   Eigen::VectorXd motors = mixer * ctrl_group;
+     345             : 
+     346        3799 :   double min = motors.minCoeff();
+     347             : 
+     348        3799 :   if (min < 0.0) {
+     349           1 :     motors.array() += abs(min);
+     350             :   }
+     351             : 
+     352        3799 :   double max = motors.maxCoeff();
+     353             : 
+     354        3799 :   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        3799 :   mrs_msgs::HwApiActuatorCmd actuator_msg;
+     373             : 
+     374        3799 :   actuator_msg.stamp = ros::Time::now();
+     375             : 
+     376       18995 :   for (int i = 0; i < motors.size(); i++) {
+     377       15196 :     actuator_msg.motors.push_back(motors[i]);
+     378             :   }
+     379             : 
+     380        7598 :   return actuator_msg;
+     381             : }
+     382             : 
+     383             : //}
+     384             : 
+     385             : }  // namespace common
+     386             : 
+     387             : }  // namespace mrs_uav_controllers
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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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&)5
mrs_uav_controllers::failsafe_controller::FailsafeController::activate(mrs_uav_managers::Controller::ControlOutput const&)5
mrs_uav_controllers::failsafe_controller::FailsafeController::deactivate()20
(anonymous namespace)::ProxyExec0::ProxyExec0()48
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>)48
mrs_uav_controllers::failsafe_controller::FailsafeController::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)188
mrs_uav_controllers::failsafe_controller::FailsafeController::getStatus()697
mrs_uav_controllers::failsafe_controller::FailsafeController::updateActive(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)6970
mrs_uav_controllers::failsafe_controller::FailsafeController::updateInactive(mrs_msgs::UavState_<std::allocator<void> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)43352
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Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()48
mrs_uav_controllers::failsafe_controller::FailsafeController::deactivate()20
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>)48
mrs_uav_controllers::failsafe_controller::FailsafeController::updateActive(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)6970
mrs_uav_controllers::failsafe_controller::FailsafeController::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)188
mrs_uav_controllers::failsafe_controller::FailsafeController::updateInactive(mrs_msgs::UavState_<std::allocator<void> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)43352
mrs_uav_controllers::failsafe_controller::FailsafeController::getHeadingSafely(geometry_msgs::Quaternion_<std::allocator<void> > const&)5
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&)5
mrs_uav_controllers::failsafe_controller::FailsafeController::getStatus()697
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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          48 : 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          48 :   nh_ = nh;
+     117             : 
+     118          48 :   common_handlers_  = common_handlers;
+     119          48 :   private_handlers_ = private_handlers;
+     120             : 
+     121          48 :   _uav_mass_ = common_handlers->getMass();
+     122             : 
+     123          48 :   ros::Time::waitForValid();
+     124             : 
+     125             :   // | ---------- loading params using the parent's nh ---------- |
+     126             : 
+     127          96 :   mrs_lib::ParamLoader param_loader_parent(common_handlers->parent_nh, "ControlManager");
+     128             : 
+     129          48 :   param_loader_parent.loadParam("enable_profiler", _profiler_enabled_);
+     130             : 
+     131          48 :   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          48 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/private/failsafe_controller.yaml");
+     139          48 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/public/failsafe_controller.yaml");
+     140             : 
+     141          96 :   const std::string yaml_namespace = "mrs_uav_controllers/failsafe_controller/";
+     142             : 
+     143          48 :   private_handlers->param_loader->loadParam(yaml_namespace + "throttle_output/throttle_decrease_rate", _throttle_decrease_rate_);
+     144          48 :   private_handlers->param_loader->loadParam(yaml_namespace + "throttle_output/initial_throttle_percentage", _initial_throttle_percentage_);
+     145             : 
+     146          48 :   private_handlers->param_loader->loadParam(yaml_namespace + "attitude_controller/gains/kp", _kq_);
+     147             : 
+     148          48 :   private_handlers->param_loader->loadParam(yaml_namespace + "rate_controller/gains/kp", _kw_);
+     149             : 
+     150          48 :   private_handlers->param_loader->loadParam(yaml_namespace + "velocity_output/descend_speed", _descend_speed_);
+     151          48 :   private_handlers->param_loader->loadParam(yaml_namespace + "acceleration_output/descend_acceleration", _descend_acceleration_);
+     152             : 
+     153          48 :   if (!private_handlers->param_loader->loadedSuccessfully()) {
+     154           0 :     ROS_ERROR("[FailsafeController]: Could not load all parameters!");
+     155           0 :     return false;
+     156             :   }
+     157             : 
+     158          48 :   _descend_speed_        = std::abs(_descend_speed_);
+     159          48 :   _descend_acceleration_ = std::abs(_descend_acceleration_);
+     160             : 
+     161          48 :   uav_mass_difference_ = 0;
+     162             : 
+     163             :   // | ----------------------- subscribers ---------------------- |
+     164             : 
+     165          48 :   mrs_lib::SubscribeHandlerOptions shopts;
+     166          48 :   shopts.nh                 = nh_;
+     167          48 :   shopts.node_name          = "FailsafeController";
+     168          48 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     169          48 :   shopts.threadsafe         = true;
+     170          48 :   shopts.autostart          = true;
+     171          48 :   shopts.queue_size         = 10;
+     172          48 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     173             : 
+     174          48 :   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          48 :   hover_throttle_ = mrs_lib::quadratic_throttle_model::forceToThrottle(common_handlers_->throttle_model, _uav_mass_ * common_handlers_->g);
+     179             : 
+     180             :   // | ------------------------ profiler ------------------------ |
+     181             : 
+     182          48 :   profiler_ = mrs_lib::Profiler(common_handlers->parent_nh, "FailsafeController", _profiler_enabled_);
+     183             : 
+     184             :   // | ----------------------- finish init ---------------------- |
+     185             : 
+     186          48 :   ROS_INFO("[FailsafeController]: initialized");
+     187             : 
+     188          48 :   is_initialized_ = true;
+     189             : 
+     190          48 :   return true;
+     191             : }
+     192             : 
+     193             : //}
+     194             : 
+     195             : /* activate() //{ */
+     196             : 
+     197           5 : bool FailsafeController::activate(const ControlOutput &last_control_output) {
+     198             : 
+     199          10 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     200             : 
+     201           5 :   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           5 :     if (sh_hw_api_orientation_.getMsg()) {
+     212             : 
+     213          10 :       auto hw_api_orientation = sh_hw_api_orientation_.getMsg();
+     214             : 
+     215           5 :       heading_setpoint_ = getHeadingSafely(hw_api_orientation->quaternion);
+     216             : 
+     217           5 :       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           5 :     activation_control_output_ = last_control_output;
+     227             : 
+     228           5 :     if (last_control_output.diagnostics.mass_estimator) {
+     229           5 :       uav_mass_difference_ = last_control_output.diagnostics.mass_difference;
+     230             :     } else {
+     231           0 :       uav_mass_difference_ = 0;
+     232             :     }
+     233             : 
+     234           5 :     activation_control_output_.diagnostics.controller_enforcing_constraints = false;
+     235             : 
+     236           5 :     hover_throttle_ = _initial_throttle_percentage_ * mrs_lib::quadratic_throttle_model::forceToThrottle(
+     237           5 :                                                           common_handlers_->throttle_model, (_uav_mass_ + uav_mass_difference_) * common_handlers_->g);
+     238             : 
+     239           5 :     ROS_INFO("[FailsafeController]: activated with uav_mass_difference %.2f kg.", uav_mass_difference_);
+     240             :   }
+     241             : 
+     242           5 :   first_iteration_ = true;
+     243             : 
+     244           5 :   is_active_ = true;
+     245             : 
+     246           5 :   return true;
+     247             : }
+     248             : 
+     249             : //}
+     250             : 
+     251             : /* deactivate() //{ */
+     252             : 
+     253          20 : void FailsafeController::deactivate(void) {
+     254             : 
+     255          20 :   is_active_           = false;
+     256          20 :   first_iteration_     = false;
+     257          20 :   uav_mass_difference_ = 0;
+     258             : 
+     259          20 :   ROS_INFO("[FailsafeController]: deactivated");
+     260          20 : }
+     261             : 
+     262             : //}
+     263             : 
+     264             : /* updateInactive() //{ */
+     265             : 
+     266       43352 : void FailsafeController::updateInactive(const mrs_msgs::UavState &uav_state, [[maybe_unused]] const std::optional<mrs_msgs::TrackerCommand> &tracker_command) {
+     267             : 
+     268       43352 :   mrs_lib::set_mutexed(mutex_uav_state_, uav_state, uav_state_);
+     269             : 
+     270       43352 :   last_update_time_ = ros::Time::now();
+     271             : 
+     272       43352 :   first_iteration_ = false;
+     273       43352 : }
+     274             : 
+     275             : //}
+     276             : 
+     277             : /* //{ updateWhenAcctive() */
+     278             : 
+     279        6970 : FailsafeController::ControlOutput FailsafeController::updateActive(const mrs_msgs::UavState &                       uav_state,
+     280             :                                                                    [[maybe_unused]] const mrs_msgs::TrackerCommand &tracker_command) {
+     281             : 
+     282       20910 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("update");
+     283       20910 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("FailsafeController::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     284             : 
+     285             :   {
+     286       13940 :     std::scoped_lock lock(mutex_uav_state_);
+     287             : 
+     288        6970 :     uav_state_ = uav_state;
+     289             :   }
+     290             : 
+     291        6970 :   if (!is_active_) {
+     292           0 :     return ControlOutput();
+     293             :   }
+     294             : 
+     295        6970 :   auto constraints = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+     296             : 
+     297             :   // | -------------------- calculate the dt -------------------- |
+     298             : 
+     299             :   double dt;
+     300             : 
+     301        6970 :   if (first_iteration_) {
+     302           5 :     dt               = 0.01;
+     303           5 :     first_iteration_ = false;
+     304             :   } else {
+     305        6965 :     dt = (ros::Time::now() - last_update_time_).toSec();
+     306             :   }
+     307             : 
+     308        6970 :   last_update_time_ = ros::Time::now();
+     309             : 
+     310        6970 :   hover_throttle_ -= _throttle_decrease_rate_ * dt;
+     311             : 
+     312        6970 :   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        6970 :   } else if (hover_throttle_ > 1.0) {
+     316           0 :     hover_throttle_ = 1.0;
+     317        6970 :   } else if (hover_throttle_ < 0.0) {
+     318           0 :     hover_throttle_ = 0.0;
+     319             :   }
+     320             : 
+     321             :   // | --------------- prepare the control output --------------- |
+     322             : 
+     323       13940 :   FailsafeController::ControlOutput control_output;
+     324             : 
+     325        6970 :   control_output.diagnostics.controller = "FailsafeController";
+     326             : 
+     327        6970 :   auto highest_modality = common::getHighestOuput(common_handlers_->control_output_modalities);
+     328             : 
+     329        6970 :   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        6970 :   control_output.diagnostics.controller = "FailsafeController";
+     335             : 
+     336             :   // --------------------------------------------------------------
+     337             :   // |                       position output                      |
+     338             :   // --------------------------------------------------------------
+     339             : 
+     340        6970 :   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        6970 :   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        6970 :   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        6970 :   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        6970 :   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        6970 :   mrs_msgs::HwApiAttitudeCmd attitude_cmd;
+     422             : 
+     423        6970 :   attitude_cmd.stamp       = ros::Time::now();
+     424        6970 :   attitude_cmd.orientation = mrs_lib::AttitudeConverter(0, 0, heading_setpoint_);
+     425        6970 :   attitude_cmd.throttle    = hover_throttle_;
+     426             : 
+     427        6970 :   if (highest_modality.value() == common::ATTITUDE) {
+     428        2791 :     ROS_DEBUG_THROTTLE(1.0, "[FailsafeController]: returning attitude output");
+     429        2791 :     control_output.control_output = attitude_cmd;
+     430        2791 :     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         697 : const mrs_msgs::ControllerStatus FailsafeController::getStatus() {
+     479             : 
+     480         697 :   mrs_msgs::ControllerStatus controller_status;
+     481             : 
+     482         697 :   controller_status.active = is_active_;
+     483             : 
+     484         697 :   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         188 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr FailsafeController::setConstraints([
+     506             :     [maybe_unused]] const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &constraints) {
+     507             : 
+     508         188 :   if (!is_initialized_) {
+     509           0 :     return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse());
+     510             :   }
+     511             : 
+     512         188 :   mrs_lib::set_mutexed(mutex_constraints_, constraints->constraints, constraints_);
+     513             : 
+     514         188 :   ROS_INFO("[FailsafeController]: updating constraints");
+     515             : 
+     516         376 :   mrs_msgs::DynamicsConstraintsSrvResponse res;
+     517         188 :   res.success = true;
+     518         188 :   res.message = "constraints updated";
+     519             : 
+     520         188 :   return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse(res));
+     521             : }
+     522             : 
+     523             : //}
+     524             : 
+     525             : /* getHeadingSafely() //{ */
+     526             : 
+     527           5 : double FailsafeController::getHeadingSafely(const geometry_msgs::Quaternion &quaternion) {
+     528             : 
+     529             :   try {
+     530           5 :     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          48 : PLUGINLIB_EXPORT_CLASS(mrs_uav_controllers::failsafe_controller::FailsafeController, mrs_uav_managers::Controller)
+
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Test:MRS UAV System - Test coverage reportLines:1731217279.7 %
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midair_activation_controller.cpp +
88.7%88.7%
+ 		88.7 %134 / 15181.8 %9 / 11
<unnamed>88.7 %134 / 15181.8 %9 / 11
failsafe_controller.cpp +
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+ 		67.5 %131 / 19481.8 %9 / 11
<unnamed>67.5 %131 / 19481.8 %9 / 11
mpc_controller.cpp +
80.8%80.8%
+ 		80.8 %722 / 89483.3 %15 / 18
<unnamed>80.8 %722 / 89483.3 %15 / 18
se3_controller.cpp +
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+ 		78.7 %609 / 77488.2 %15 / 17
<unnamed>78.7 %609 / 77488.2 %15 / 17
common.cpp +
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+ 		84.9 %135 / 159100.0 %9 / 9
<unnamed>84.9 %135 / 159100.0 %9 / 9
+
+
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Test:MRS UAV System - Test coverage reportLines:1731217279.7 %
Date:2023-12-14 21:42:20Functions:576686.4 %
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failsafe_controller.cpp +
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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
mpc_controller.cpp +
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+ 		80.8 %722 / 89483.3 %15 / 18
<unnamed>80.8 %722 / 89483.3 %15 / 18
common.cpp +
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+ 		84.9 %135 / 159100.0 %9 / 9
<unnamed>84.9 %135 / 159100.0 %9 / 9
midair_activation_controller.cpp +
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<unnamed>88.7 %134 / 15181.8 %9 / 11
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Test:MRS UAV System - Test coverage reportLines:1731217279.7 %
Date:2023-12-14 21:42:20Functions:576686.4 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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common.cpp +
84.9%84.9%
+ 		84.9 %135 / 159100.0 %9 / 9
<unnamed>84.9 %135 / 159100.0 %9 / 9
failsafe_controller.cpp +
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<unnamed>67.5 %131 / 19481.8 %9 / 11
midair_activation_controller.cpp +
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+ 		88.7 %134 / 15181.8 %9 / 11
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mpc_controller.cpp +
80.8%80.8%
+ 		80.8 %722 / 89483.3 %15 / 18
<unnamed>80.8 %722 / 89483.3 %15 / 18
se3_controller.cpp +
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LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_controllers/srcHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1731217279.7 %
Date:2023-12-14 21:42:20Functions:576686.4 %
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
midair_activation_controller.cpp +
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+ 		88.7 %134 / 15181.8 %9 / 11
failsafe_controller.cpp +
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+ 		67.5 %131 / 19481.8 %9 / 11
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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:1731217279.7 %
Date:2023-12-14 21:42:20Functions:576686.4 %
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
failsafe_controller.cpp +
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+ 		67.5 %131 / 19481.8 %9 / 11
se3_controller.cpp +
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+ 		78.7 %609 / 77488.2 %15 / 17
mpc_controller.cpp +
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+ 		80.8 %722 / 89483.3 %15 / 18
common.cpp +
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+ 		84.9 %135 / 159100.0 %9 / 9
midair_activation_controller.cpp +
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+ 		88.7 %134 / 15181.8 %9 / 11
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Generated by: LCOV version 1.14
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LCOV - code coverage report
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Current view:top level - mrs_uav_controllers/srcHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1731217279.7 %
Date:2023-12-14 21:42:20Functions:576686.4 %
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
common.cpp +
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+ 		84.9 %135 / 159100.0 %9 / 9
failsafe_controller.cpp +
67.5%67.5%
+ 		67.5 %131 / 19481.8 %9 / 11
midair_activation_controller.cpp +
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+ 		88.7 %134 / 15181.8 %9 / 11
mpc_controller.cpp +
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+ 		80.8 %722 / 89483.3 %15 / 18
se3_controller.cpp +
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+ 		78.7 %609 / 77488.2 %15 / 17
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_controllers/src/midair_activation_controller.cpp.func-sort-c.html b/mrs_uav_controllers/src/midair_activation_controller.cpp.func-sort-c.html new file mode 100644 index 0000000000..dcde681bb3 --- /dev/null +++ b/mrs_uav_controllers/src/midair_activation_controller.cpp.func-sort-c.html @@ -0,0 +1,124 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_controllers/src/midair_activation_controller.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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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:13415188.7 %
Date:2023-12-14 21:42:20Functions:91181.8 %
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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&)9
mrs_uav_controllers::midair_activation_controller::MidairActivationController::deactivate()47
(anonymous namespace)::ProxyExec0::ProxyExec0()48
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>)48
mrs_uav_controllers::midair_activation_controller::MidairActivationController::getStatus()56
mrs_uav_controllers::midair_activation_controller::MidairActivationController::activate(mrs_uav_managers::Controller::ControlOutput const&)74
mrs_uav_controllers::midair_activation_controller::MidairActivationController::updateActive(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)172
mrs_uav_controllers::midair_activation_controller::MidairActivationController::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)188
mrs_uav_controllers::midair_activation_controller::MidairActivationController::updateInactive(mrs_msgs::UavState_<std::allocator<void> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)50150
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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:13415188.7 %
Date:2023-12-14 21:42:20Functions: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()48
mrs_uav_controllers::midair_activation_controller::MidairActivationController::deactivate()47
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>)48
mrs_uav_controllers::midair_activation_controller::MidairActivationController::updateActive(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)172
mrs_uav_controllers::midair_activation_controller::MidairActivationController::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)188
mrs_uav_controllers::midair_activation_controller::MidairActivationController::updateInactive(mrs_msgs::UavState_<std::allocator<void> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)50150
mrs_uav_controllers::midair_activation_controller::MidairActivationController::getHeadingSafely(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)9
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&)74
mrs_uav_controllers::midair_activation_controller::MidairActivationController::getStatus()56
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+ + + diff --git a/mrs_uav_controllers/src/midair_activation_controller.cpp.gcov.frameset.html b/mrs_uav_controllers/src/midair_activation_controller.cpp.gcov.frameset.html new file mode 100644 index 0000000000..0679c78cc0 --- /dev/null +++ b/mrs_uav_controllers/src/midair_activation_controller.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_controllers/src/midair_activation_controller.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_controllers/src/midair_activation_controller.cpp.gcov.html b/mrs_uav_controllers/src/midair_activation_controller.cpp.gcov.html new file mode 100644 index 0000000000..3e9550bb55 --- /dev/null +++ b/mrs_uav_controllers/src/midair_activation_controller.cpp.gcov.html @@ -0,0 +1,518 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_controllers/src/midair_activation_controller.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
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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:13415188.7 %
Date:2023-12-14 21:42:20Functions: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          48 : 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          48 :   nh_ = nh;
+      90             : 
+      91          48 :   common_handlers_  = common_handlers;
+      92          48 :   private_handlers_ = private_handlers;
+      93             : 
+      94          48 :   _uav_mass_ = common_handlers->getMass();
+      95             : 
+      96          48 :   ros::Time::waitForValid();
+      97             : 
+      98             :   // | ---------- loading params using the parent's nh ---------- |
+      99             : 
+     100          96 :   mrs_lib::ParamLoader param_loader_parent(common_handlers->parent_nh, "ControlManager");
+     101             : 
+     102          48 :   param_loader_parent.loadParam("enable_profiler", _profiler_enabled_);
+     103             : 
+     104          48 :   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          48 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/private/midair_activation_controller.yaml");
+     112          48 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/public/midair_activation_controller.yaml");
+     113             : 
+     114          48 :   if (!private_handlers->param_loader->loadedSuccessfully()) {
+     115           0 :     ROS_ERROR("[MidairActivationController]: Could not load all parameters!");
+     116           0 :     return false;
+     117             :   }
+     118             : 
+     119          48 :   uav_mass_difference_ = 0;
+     120             : 
+     121             :   // | ------------------------ profiler ------------------------ |
+     122             : 
+     123          48 :   profiler_ = mrs_lib::Profiler(common_handlers->parent_nh, "MidairActivationController", _profiler_enabled_);
+     124             : 
+     125             :   // | ----------------------- finish init ---------------------- |
+     126             : 
+     127          48 :   ROS_INFO("[MidairActivationController]: initialized");
+     128             : 
+     129          48 :   is_initialized_ = true;
+     130             : 
+     131          48 :   return true;
+     132             : }
+     133             : 
+     134             : //}
+     135             : 
+     136             : /* activate() //{ */
+     137             : 
+     138          74 : bool MidairActivationController::activate([[maybe_unused]] const ControlOutput &last_control_output) {
+     139             : 
+     140          74 :   ROS_INFO("[MidairActivationController]: activating");
+     141             : 
+     142          74 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     143             : 
+     144          74 :   hover_throttle_ = mrs_lib::quadratic_throttle_model::forceToThrottle(common_handlers_->throttle_model, _uav_mass_ * common_handlers_->g);
+     145             : 
+     146          74 :   is_active_ = true;
+     147             : 
+     148          74 :   ROS_INFO("[MidairActivationController]: activated, hover throttle %.2f", hover_throttle_);
+     149             : 
+     150         148 :   return true;
+     151             : }
+     152             : 
+     153             : //}
+     154             : 
+     155             : /* deactivate() //{ */
+     156             : 
+     157          47 : void MidairActivationController::deactivate(void) {
+     158             : 
+     159          47 :   is_active_           = false;
+     160          47 :   uav_mass_difference_ = 0;
+     161             : 
+     162          47 :   ROS_INFO("[MidairActivationController]: deactivated");
+     163          47 : }
+     164             : 
+     165             : //}
+     166             : 
+     167             : /* updateInactive() //{ */
+     168             : 
+     169       50150 : void MidairActivationController::updateInactive(const mrs_msgs::UavState &                                      uav_state,
+     170             :                                                 [[maybe_unused]] const std::optional<mrs_msgs::TrackerCommand> &tracker_command) {
+     171             : 
+     172       50150 :   mrs_lib::set_mutexed(mutex_uav_state_, uav_state, uav_state_);
+     173       50150 : }
+     174             : 
+     175             : //}
+     176             : 
+     177             : /* //{ updateWhenAcctive() */
+     178             : 
+     179         172 : MidairActivationController::ControlOutput MidairActivationController::updateActive(const mrs_msgs::UavState &      uav_state,
+     180             :                                                                                    const mrs_msgs::TrackerCommand &tracker_command) {
+     181             : 
+     182         516 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("update");
+     183             :   mrs_lib::ScopeTimer timer =
+     184         516 :       mrs_lib::ScopeTimer("MidairActivationController::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     185             : 
+     186         172 :   mrs_lib::set_mutexed(mutex_uav_state_, uav_state, uav_state_);
+     187             : 
+     188         172 :   if (!is_active_) {
+     189           0 :     return Controller::ControlOutput();
+     190             :   }
+     191             : 
+     192             :   // | --------------- prepare the control output --------------- |
+     193             : 
+     194         344 :   ControlOutput control_output;
+     195             : 
+     196         172 :   control_output.diagnostics.controller = "MidairActivationController";
+     197             : 
+     198         172 :   auto highest_modality = common::getHighestOuput(common_handlers_->control_output_modalities);
+     199             : 
+     200         172 :   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         172 :   switch (highest_modality.value()) {
+     208             : 
+     209           2 :     case common::POSITION: {
+     210             : 
+     211           4 :       mrs_msgs::HwApiPositionCmd cmd;
+     212             : 
+     213           2 :       cmd.header.stamp    = ros::Time::now();
+     214           2 :       cmd.header.frame_id = uav_state.header.frame_id;
+     215             : 
+     216           2 :       cmd.position.x = uav_state.pose.position.x;
+     217           2 :       cmd.position.y = uav_state.pose.position.y;
+     218           2 :       cmd.position.z = uav_state.pose.position.z;
+     219             : 
+     220           2 :       cmd.heading = getHeadingSafely(uav_state, tracker_command);
+     221             : 
+     222           2 :       control_output.control_output = cmd;
+     223             : 
+     224           2 :       break;
+     225             :     }
+     226             : 
+     227           3 :     case common::VELOCITY_HDG: {
+     228             : 
+     229           6 :       mrs_msgs::HwApiVelocityHdgCmd cmd;
+     230             : 
+     231           3 :       cmd.header.stamp    = ros::Time::now();
+     232           3 :       cmd.header.frame_id = uav_state.header.frame_id;
+     233             : 
+     234           3 :       cmd.velocity.x = uav_state.velocity.linear.x;
+     235           3 :       cmd.velocity.y = uav_state.velocity.linear.y;
+     236           3 :       cmd.velocity.z = uav_state.velocity.linear.z;
+     237             : 
+     238           3 :       cmd.heading = getHeadingSafely(uav_state, tracker_command);
+     239             : 
+     240           3 :       control_output.control_output = cmd;
+     241             : 
+     242           3 :       break;
+     243             :     }
+     244             : 
+     245           2 :     case common::VELOCITY_HDG_RATE: {
+     246             : 
+     247           4 :       mrs_msgs::HwApiVelocityHdgRateCmd cmd;
+     248             : 
+     249           2 :       cmd.header.stamp    = ros::Time::now();
+     250           2 :       cmd.header.frame_id = uav_state.header.frame_id;
+     251             : 
+     252           2 :       cmd.velocity.x = uav_state.velocity.linear.x;
+     253           2 :       cmd.velocity.y = uav_state.velocity.linear.y;
+     254           2 :       cmd.velocity.z = uav_state.velocity.linear.z;
+     255             : 
+     256           2 :       cmd.heading_rate = 0;
+     257             : 
+     258           2 :       control_output.control_output = cmd;
+     259             : 
+     260           2 :       break;
+     261             :     }
+     262             : 
+     263           4 :     case common::ACCELERATION_HDG: {
+     264             : 
+     265           8 :       mrs_msgs::HwApiAccelerationHdgCmd cmd;
+     266             : 
+     267           4 :       cmd.header.stamp    = ros::Time::now();
+     268           4 :       cmd.header.frame_id = uav_state.header.frame_id;
+     269             : 
+     270           4 :       cmd.acceleration.x = uav_state.acceleration.linear.x;
+     271           4 :       cmd.acceleration.y = uav_state.acceleration.linear.y;
+     272           4 :       cmd.acceleration.z = uav_state.acceleration.linear.z;
+     273             : 
+     274           4 :       cmd.heading = getHeadingSafely(uav_state, tracker_command);
+     275             : 
+     276           4 :       control_output.control_output = cmd;
+     277             : 
+     278           4 :       break;
+     279             :     }
+     280             : 
+     281           5 :     case common::ACCELERATION_HDG_RATE: {
+     282             : 
+     283          10 :       mrs_msgs::HwApiAccelerationHdgRateCmd cmd;
+     284             : 
+     285           5 :       cmd.header.stamp    = ros::Time::now();
+     286           5 :       cmd.header.frame_id = uav_state.header.frame_id;
+     287             : 
+     288           5 :       cmd.acceleration.x = uav_state.acceleration.linear.x;
+     289           5 :       cmd.acceleration.y = uav_state.acceleration.linear.y;
+     290           5 :       cmd.acceleration.z = uav_state.acceleration.linear.z;
+     291             : 
+     292           5 :       cmd.heading_rate = 0;
+     293             : 
+     294           5 :       control_output.control_output = cmd;
+     295             : 
+     296           5 :       break;
+     297             :     }
+     298             : 
+     299         104 :     case common::ATTITUDE: {
+     300             : 
+     301         104 :       mrs_msgs::HwApiAttitudeCmd cmd;
+     302             : 
+     303         104 :       cmd.stamp = ros::Time::now();
+     304             : 
+     305         104 :       cmd.orientation = uav_state.pose.orientation;
+     306         104 :       cmd.throttle    = hover_throttle_;
+     307             : 
+     308         104 :       control_output.control_output = cmd;
+     309             : 
+     310         104 :       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          18 :     case common::CONTROL_GROUP: {
+     331             : 
+     332          18 :       mrs_msgs::HwApiControlGroupCmd cmd;
+     333             : 
+     334          18 :       cmd.stamp = ros::Time::now();
+     335             : 
+     336          18 :       cmd.roll     = 0;
+     337          18 :       cmd.pitch    = 0;
+     338          18 :       cmd.yaw      = 0;
+     339          18 :       cmd.throttle = hover_throttle_;
+     340             : 
+     341          18 :       control_output.control_output = cmd;
+     342             : 
+     343          18 :       break;
+     344             :     }
+     345             : 
+     346          18 :     case common::ACTUATORS_CMD: {
+     347             : 
+     348          36 :       mrs_msgs::HwApiActuatorCmd cmd;
+     349             : 
+     350          18 :       cmd.stamp = ros::Time::now();
+     351             : 
+     352          90 :       for (int i = 0; i < common_handlers_->throttle_model.n_motors; i++) {
+     353          72 :         cmd.motors.push_back(hover_throttle_);
+     354             :       }
+     355             : 
+     356          18 :       control_output.control_output = cmd;
+     357             : 
+     358          18 :       break;
+     359             :     }
+     360             :   }
+     361             : 
+     362         172 :   return control_output;
+     363             : }  // namespace midair_activation_controller
+     364             : 
+     365             : //}
+     366             : 
+     367             : /* getStatus() //{ */
+     368             : 
+     369          56 : const mrs_msgs::ControllerStatus MidairActivationController::getStatus() {
+     370             : 
+     371          56 :   mrs_msgs::ControllerStatus controller_status;
+     372             : 
+     373          56 :   controller_status.active = is_active_;
+     374             : 
+     375          56 :   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         188 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr MidairActivationController::setConstraints([
+     397             :     [maybe_unused]] const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &constraints) {
+     398             : 
+     399         188 :   return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse());
+     400             : }
+     401             : 
+     402             : //}
+     403             : 
+     404             : /* getHeadingSafely() //{ */
+     405             : 
+     406           9 : double MidairActivationController::getHeadingSafely(const mrs_msgs::UavState &uav_state, const mrs_msgs::TrackerCommand &tracker_command) {
+     407             : 
+     408             :   try {
+     409           9 :     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          48 : PLUGINLIB_EXPORT_CLASS(mrs_uav_controllers::midair_activation_controller::MidairActivationController, mrs_uav_managers::Controller)
+
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+ + diff --git a/mrs_uav_controllers/src/midair_activation_controller.cpp.gcov.png b/mrs_uav_controllers/src/midair_activation_controller.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..49f6832acd8e49470672760900f2d06888ca2a29 GIT binary patch literal 1228 zcmV;-1T*`IP);0000OP)t-s|NsB0 zs;a7|?_FK${{R500003000620&P%hU00009a7bBm000ie000ie0hKEb8vph4Hy$oLH;~?T|h?sE{F^y{nigeQwS&~b%McnB~@KD?`FrCR}1JerB z`tpc`p(qsvr?`mJYP(o^_aBZTKe^FMlq%#+_n`w!7&I8E78#6xR}J&Gq9x*3_Evvh zun+-#4j^u*0U{tcbe0W{aO#482VxHqa#70hs!`{o8eJivg0;&vg{FoIyt2JS^u7Yu1_<`hK&0f<5qD6I7WmN)ga?n_bI z7hQQSj-4jKD1hkk*v>Sa+|u7#mR}ae%ZEUEr)b}!T-?r|o{h-$QE)Rg&(n;FcK>&U zZbT)1Bi-~kYdvcm*O!E8Owl+oYI~Je)K(F7gll>VlPQ3hjf0738i48X`}jOI=c=v& zcs}AZ%Cn~!HNP zS4x-_hT_%A!1~;xGX7AQGF^>7T;=BL-AC8*Lh)`_`>5bPT!xRvwYoeS#4YgLbi+fO zay{875@xqUku0s&J(8c#rYD0VZ|AGiwOQdLg$@-Nh|@7vlgNBTOS7ERtSL&0Tp#0T z&$8&_@=p(iA6Z_5bZ|?!UvJDvrnSL@L~hOGT9ZvT-0q20JKgqNN0@R^TP3q)p{qJzPu~_kVzAwNe?obgTdz+? zqr|d=G|MVB*%t-_J~6f#3HNH4%Qy!yB-)hVZWZD#s56Rkqx14t;qB7>ESenC%X70hNB#R7%t54`RU+eO899}jWkU~WO&?XhAuq1H4}QIioLKK>RT zzjYekPM@yiNj#~T_EhYM$g3zKsWhC*+<<1{4`}^I8d=kN+6xD&hxtgAX6FEu%#-F# zV8Ga^fb2PdxYjscM1V@fv+LrD9K^I|p5l!T0tucEfls+p=UF@A1IUH`@U!_>B?K~5 zO3(XD%e~Sgc(f?}tln=go!cs8-lDlji!#SK-Eot9jccjW + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_controllers/src/mpc_controller.cpp - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_controllers/src - mpc_controller.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:72289480.8 %
Date:2023-12-14 21:42:20Functions:151883.3 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_controllers::mpc_controller::MpcController::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)0
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
(anonymous namespace)::ProxyExec0::ProxyExec0()48
mrs_uav_controllers::mpc_controller::MpcController::deactivate()80
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>)96
mrs_uav_controllers::mpc_controller::MpcController::callbackDrs(mrs_uav_controllers::mpc_controllerConfig&, unsigned int)96
mrs_uav_controllers::mpc_controller::MpcController::activate(mrs_uav_managers::Controller::ControlOutput const&)98
mrs_uav_controllers::mpc_controller::MpcController::positionPassthrough(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)227
mrs_uav_controllers::mpc_controller::MpcController::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)376
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&)469
mrs_uav_controllers::mpc_controller::MpcController::getStatus()4726
mrs_uav_controllers::mpc_controller::MpcController::timerGains(ros::TimerEvent const&)5720
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&)23154
mrs_uav_controllers::mpc_controller::MpcController::getHeadingSafely(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)23623
mrs_uav_controllers::mpc_controller::MpcController::updateActive(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)23850
mrs_uav_controllers::mpc_controller::MpcController::calculateGainChange(double, double, double, bool, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool&)45760
mrs_uav_controllers::mpc_controller::MpcController::updateInactive(mrs_msgs::UavState_<std::allocator<void> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)76794
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_controllers/src/mpc_controller.cpp.func.html b/mrs_uav_controllers/src/mpc_controller.cpp.func.html new file mode 100644 index 0000000000..9006a12091 --- /dev/null +++ b/mrs_uav_controllers/src/mpc_controller.cpp.func.html @@ -0,0 +1,152 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_controllers/src/mpc_controller.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_controllers/src - mpc_controller.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:72289480.8 %
Date:2023-12-14 21:42:20Functions:151883.3 %
Legend: Lines: + hit + not hit +
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+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()48
mrs_uav_controllers::mpc_controller::MpcController::deactivate()80
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>)96
mrs_uav_controllers::mpc_controller::MpcController::timerGains(ros::TimerEvent const&)5720
mrs_uav_controllers::mpc_controller::MpcController::callbackDrs(mrs_uav_controllers::mpc_controllerConfig&, unsigned int)96
mrs_uav_controllers::mpc_controller::MpcController::updateActive(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)23850
mrs_uav_controllers::mpc_controller::MpcController::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)376
mrs_uav_controllers::mpc_controller::MpcController::updateInactive(mrs_msgs::UavState_<std::allocator<void> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)76794
mrs_uav_controllers::mpc_controller::MpcController::getHeadingSafely(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)23623
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&)469
mrs_uav_controllers::mpc_controller::MpcController::calculateGainChange(double, double, double, bool, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool&)45760
mrs_uav_controllers::mpc_controller::MpcController::positionPassthrough(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)227
mrs_uav_controllers::mpc_controller::MpcController::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)0
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&)23154
mrs_uav_controllers::mpc_controller::MpcController::activate(mrs_uav_managers::Controller::ControlOutput const&)98
mrs_uav_controllers::mpc_controller::MpcController::getStatus()4726
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_controllers/src/mpc_controller.cpp.gcov.frameset.html b/mrs_uav_controllers/src/mpc_controller.cpp.gcov.frameset.html new file mode 100644 index 0000000000..8a9f67a4c4 --- /dev/null +++ b/mrs_uav_controllers/src/mpc_controller.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_controllers/src/mpc_controller.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_controllers/src/mpc_controller.cpp.gcov.html b/mrs_uav_controllers/src/mpc_controller.cpp.gcov.html new file mode 100644 index 0000000000..f06b006296 --- /dev/null +++ b/mrs_uav_controllers/src/mpc_controller.cpp.gcov.html @@ -0,0 +1,2214 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_controllers/src/mpc_controller.cpp + + + + + + + + + + + + + + +
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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:72289480.8 %
Date:2023-12-14 21:42:20Functions:151883.3 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : /* includes //{ */
+       2             : 
+       3             : #include <ros/ros.h>
+       4             : #include <ros/package.h>
+       5             : 
+       6             : #include <common.h>
+       7             : #include <pid.hpp>
+       8             : 
+       9             : #include <mrs_uav_managers/controller.h>
+      10             : 
+      11             : #include <mpc_controller.h>
+      12             : 
+      13             : #include <dynamic_reconfigure/server.h>
+      14             : #include <mrs_uav_controllers/mpc_controllerConfig.h>
+      15             : 
+      16             : #include <std_srvs/SetBool.h>
+      17             : 
+      18             : #include <mrs_lib/profiler.h>
+      19             : #include <mrs_lib/utils.h>
+      20             : #include <mrs_lib/mutex.h>
+      21             : #include <mrs_lib/attitude_converter.h>
+      22             : #include <mrs_lib/geometry/cyclic.h>
+      23             : 
+      24             : #include <geometry_msgs/Vector3Stamped.h>
+      25             : 
+      26             : //}
+      27             : 
+      28             : #define OUTPUT_ACTUATORS 0
+      29             : #define OUTPUT_CONTROL_GROUP 1
+      30             : #define OUTPUT_ATTITUDE_RATE 2
+      31             : #define OUTPUT_ATTITUDE 3
+      32             : 
+      33             : namespace mrs_uav_controllers
+      34             : {
+      35             : 
+      36             : namespace mpc_controller
+      37             : {
+      38             : 
+      39             : /* structs //{ */
+      40             : 
+      41             : typedef struct
+      42             : {
+      43             :   double kiwxy;          // world xy integral gain
+      44             :   double kibxy;          // body xy integral gain
+      45             :   double kiwxy_lim;      // world xy integral limit
+      46             :   double kibxy_lim;      // body xy integral limit
+      47             :   double km;             // mass estimator gain
+      48             :   double km_lim;         // mass estimator limit
+      49             :   double kq_roll_pitch;  // pitch/roll attitude gain
+      50             :   double kq_yaw;         // yaw attitude gain
+      51             :   double kw_rp;          // attitude rate gain
+      52             :   double kw_y;           // attitude rate gain
+      53             : } Gains_t;
+      54             : 
+      55             : //}
+      56             : 
+      57             : /* //{ class MpcController */
+      58             : 
+      59             : class MpcController : public mrs_uav_managers::Controller {
+      60             : 
+      61             : public:
+      62             :   bool initialize(const ros::NodeHandle &nh, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t> common_handlers,
+      63             :                   std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers);
+      64             : 
+      65             :   bool activate(const ControlOutput &last_control_output);
+      66             : 
+      67             :   void deactivate(void);
+      68             : 
+      69             :   void updateInactive(const mrs_msgs::UavState &uav_state, const std::optional<mrs_msgs::TrackerCommand> &tracker_command);
+      70             : 
+      71             :   ControlOutput updateActive(const mrs_msgs::UavState &uav_state, const mrs_msgs::TrackerCommand &tracker_command);
+      72             : 
+      73             :   const mrs_msgs::ControllerStatus getStatus();
+      74             : 
+      75             :   void switchOdometrySource(const mrs_msgs::UavState &new_uav_state);
+      76             : 
+      77             :   void resetDisturbanceEstimators(void);
+      78             : 
+      79             :   const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr setConstraints(const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &cmd);
+      80             : 
+      81             : private:
+      82             :   ros::NodeHandle nh_;
+      83             : 
+      84             :   bool is_initialized_ = false;
+      85             :   bool is_active_      = false;
+      86             : 
+      87             :   std::string name_;
+      88             : 
+      89             :   std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t>  common_handlers_;
+      90             :   std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers_;
+      91             : 
+      92             :   // | ------------------------ uav state ----------------------- |
+      93             : 
+      94             :   mrs_msgs::UavState uav_state_;
+      95             :   std::mutex         mutex_uav_state_;
+      96             : 
+      97             :   // | --------------- dynamic reconfigure server --------------- |
+      98             : 
+      99             :   boost::recursive_mutex                            mutex_drs_;
+     100             :   typedef mrs_uav_controllers::mpc_controllerConfig DrsConfig_t;
+     101             :   typedef dynamic_reconfigure::Server<DrsConfig_t>  Drs_t;
+     102             :   boost::shared_ptr<Drs_t>                          drs_;
+     103             :   void                                              callbackDrs(mrs_uav_controllers::mpc_controllerConfig &config, uint32_t level);
+     104             :   DrsConfig_t                                       drs_params_;
+     105             : 
+     106             :   // | ----------------------- controllers ---------------------- |
+     107             : 
+     108             :   void positionPassthrough(const mrs_msgs::UavState &uav_state, const mrs_msgs::TrackerCommand &tracker_command);
+     109             : 
+     110             :   void PIDVelocityOutput(const mrs_msgs::UavState &uav_state, const mrs_msgs::TrackerCommand &tracker_command, const common::CONTROL_OUTPUT &control_output,
+     111             :                          const double &dt);
+     112             : 
+     113             :   void MPC(const mrs_msgs::UavState &uav_state, const mrs_msgs::TrackerCommand &tracker_command, const double &dt,
+     114             :            const common::CONTROL_OUTPUT &output_modality);
+     115             : 
+     116             :   // | ----------------------- constraints ---------------------- |
+     117             : 
+     118             :   mrs_msgs::DynamicsConstraints constraints_;
+     119             :   std::mutex                    mutex_constraints_;
+     120             : 
+     121             :   // | -------- throttle generation and mass estimation --------- |
+     122             : 
+     123             :   double _uav_mass_;
+     124             :   double uav_mass_difference_;
+     125             : 
+     126             :   Gains_t gains_;
+     127             : 
+     128             :   // | ------------------- configurable gains ------------------- |
+     129             : 
+     130             :   std::mutex mutex_gains_;       // locks the gains the are used and filtered
+     131             :   std::mutex mutex_drs_params_;  // locks the gains that came from the drs
+     132             : 
+     133             :   ros::Timer timer_gains_;
+     134             :   void       timerGains(const ros::TimerEvent &event);
+     135             : 
+     136             :   double _gain_filtering_rate_;
+     137             : 
+     138             :   // | --------------------- gain filtering --------------------- |
+     139             : 
+     140             :   double calculateGainChange(const double dt, const double current_value, const double desired_value, const bool bypass_rate, std::string name, bool &updated);
+     141             : 
+     142             :   double getHeadingSafely(const mrs_msgs::UavState &uav_state, const mrs_msgs::TrackerCommand &tracker_command);
+     143             : 
+     144             :   double _gains_filter_change_rate_;
+     145             :   double _gains_filter_min_change_rate_;
+     146             : 
+     147             :   // | ----------------------- gain muting ---------------------- |
+     148             : 
+     149             :   std::atomic<bool> mute_gains_            = false;
+     150             :   std::atomic<bool> mute_gains_by_tracker_ = false;
+     151             :   double            _gain_mute_coefficient_;
+     152             : 
+     153             :   // | ------------ controller limits and saturations ----------- |
+     154             : 
+     155             :   bool   _tilt_angle_failsafe_enabled_;
+     156             :   double _tilt_angle_failsafe_;
+     157             : 
+     158             :   double _throttle_saturation_;
+     159             : 
+     160             :   // | ------------------ activation and output ----------------- |
+     161             : 
+     162             :   ControlOutput last_control_output_;
+     163             :   ControlOutput activation_control_output_;
+     164             : 
+     165             :   ros::Time         last_update_time_;
+     166             :   std::atomic<bool> first_iteration_ = true;
+     167             : 
+     168             :   // | ----------------- integral terms enabler ----------------- |
+     169             : 
+     170             :   ros::ServiceServer service_set_integral_terms_;
+     171             :   bool               callbackSetIntegralTerms(std_srvs::SetBool::Request &req, std_srvs::SetBool::Response &res);
+     172             :   bool               integral_terms_enabled_ = true;
+     173             : 
+     174             :   // | --------------------- MPC controller --------------------- |
+     175             : 
+     176             :   // number of states
+     177             :   int _n_states_;
+     178             : 
+     179             :   // time steps
+     180             :   double _dt1_;  // the first time step
+     181             :   double _dt2_;  // all the other steps
+     182             : 
+     183             :   // the last control input
+     184             :   double mpc_solver_x_u_ = 0;
+     185             :   double mpc_solver_y_u_ = 0;
+     186             :   double mpc_solver_z_u_ = 0;
+     187             : 
+     188             :   int _horizon_length_;
+     189             : 
+     190             :   // constraints
+     191             :   double _max_speed_horizontal_, _max_acceleration_horizontal_, _max_jerk_;
+     192             :   double _max_speed_vertical_, _max_acceleration_vertical_, _max_u_vertical_;
+     193             : 
+     194             :   // Q and S matrix diagonals for horizontal
+     195             :   std::vector<double> _mat_Q_, _mat_S_;
+     196             : 
+     197             :   // Q and S matrix diagonals for vertical
+     198             :   std::vector<double> _mat_Q_z_, _mat_S_z_;
+     199             : 
+     200             :   // MPC solver handlers
+     201             :   std::shared_ptr<mrs_mpc_solvers::mpc_controller::Solver> mpc_solver_x_;
+     202             :   std::shared_ptr<mrs_mpc_solvers::mpc_controller::Solver> mpc_solver_y_;
+     203             :   std::shared_ptr<mrs_mpc_solvers::mpc_controller::Solver> mpc_solver_z_;
+     204             : 
+     205             :   // MPC solver params
+     206             :   bool _mpc_solver_verbose_ = false;
+     207             :   int  _mpc_solver_max_iterations_;
+     208             : 
+     209             :   // | ------------------------ profiler ------------------------ |
+     210             : 
+     211             :   mrs_lib::Profiler profiler_;
+     212             :   bool              _profiler_enabled_ = false;
+     213             : 
+     214             :   // | ------------------------ integrals ----------------------- |
+     215             : 
+     216             :   Eigen::Vector2d Ib_b_;  // body error integral in the body frame
+     217             :   Eigen::Vector2d Iw_w_;  // world error integral in the world_frame
+     218             :   std::mutex      mutex_integrals_;
+     219             : 
+     220             :   // | ------------------------- rampup ------------------------- |
+     221             : 
+     222             :   bool   _rampup_enabled_ = false;
+     223             :   double _rampup_speed_;
+     224             : 
+     225             :   bool      rampup_active_ = false;
+     226             :   double    rampup_throttle_;
+     227             :   int       rampup_direction_;
+     228             :   double    rampup_duration_;
+     229             :   ros::Time rampup_start_time_;
+     230             :   ros::Time rampup_last_time_;
+     231             : 
+     232             :   // | ---------------------- position pid ---------------------- |
+     233             : 
+     234             :   double _pos_pid_p_;
+     235             :   double _pos_pid_i_;
+     236             :   double _pos_pid_d_;
+     237             : 
+     238             :   double _hdg_pid_p_;
+     239             :   double _hdg_pid_i_;
+     240             :   double _hdg_pid_d_;
+     241             : 
+     242             :   PIDController position_pid_x_;
+     243             :   PIDController position_pid_y_;
+     244             :   PIDController position_pid_z_;
+     245             :   PIDController position_pid_heading_;
+     246             : };
+     247             : 
+     248             : //}
+     249             : 
+     250             : // --------------------------------------------------------------
+     251             : // |                   controller's interface                   |
+     252             : // --------------------------------------------------------------
+     253             : 
+     254             : /* //{ initialize() */
+     255             : 
+     256          96 : 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          96 :   nh_ = nh;
+     260             : 
+     261          96 :   common_handlers_  = common_handlers;
+     262          96 :   private_handlers_ = private_handlers;
+     263             : 
+     264          96 :   _uav_mass_ = common_handlers_->getMass();
+     265          96 :   name_      = private_handlers_->runtime_name;
+     266             : 
+     267          96 :   ros::Time::waitForValid();
+     268             : 
+     269             :   // | ---------- loading params using the parent's nh ---------- |
+     270             : 
+     271         192 :   mrs_lib::ParamLoader param_loader_parent(common_handlers->parent_nh, "ControlManager");
+     272             : 
+     273          96 :   param_loader_parent.loadParam("enable_profiler", _profiler_enabled_);
+     274             : 
+     275          96 :   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          96 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/private/mpc_controller.yaml");
+     283          96 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/public/mpc_controller.yaml");
+     284          96 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/private/" + private_handlers->name_space + ".yaml");
+     285          96 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/public/" + private_handlers->name_space + ".yaml");
+     286             : 
+     287         192 :   const std::string yaml_namespace = "mrs_uav_controllers/" + private_handlers_->name_space + "/";
+     288             : 
+     289             :   // load the dynamicall model parameters
+     290          96 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_model/number_of_states", _n_states_);
+     291          96 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_model/dt1", _dt1_);
+     292          96 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_model/dt2", _dt2_);
+     293             : 
+     294          96 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/horizon_length", _horizon_length_);
+     295             : 
+     296          96 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/horizontal/max_speed", _max_speed_horizontal_);
+     297          96 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/horizontal/max_acceleration", _max_acceleration_horizontal_);
+     298          96 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/horizontal/max_jerk", _max_jerk_);
+     299             : 
+     300          96 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/horizontal/Q", _mat_Q_);
+     301          96 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/horizontal/S", _mat_S_);
+     302             : 
+     303          96 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/vertical/max_speed", _max_speed_vertical_);
+     304          96 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/vertical/max_acceleration", _max_acceleration_vertical_);
+     305          96 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/vertical/max_u", _max_u_vertical_);
+     306             : 
+     307          96 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/vertical/Q", _mat_Q_z_);
+     308          96 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/vertical/S", _mat_S_z_);
+     309             : 
+     310          96 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/solver/verbose", _mpc_solver_verbose_);
+     311          96 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/solver/max_iterations", _mpc_solver_max_iterations_);
+     312             : 
+     313             :   // | ------------------------- rampup ------------------------- |
+     314             : 
+     315          96 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/rampup/enabled", _rampup_enabled_);
+     316          96 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/rampup/speed", _rampup_speed_);
+     317             : 
+     318             :   // | --------------------- integral gains --------------------- |
+     319             : 
+     320          96 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gains/integral_gains/kiw", gains_.kiwxy);
+     321          96 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gains/integral_gains/kib", gains_.kibxy);
+     322             : 
+     323             :   // integrator limits
+     324          96 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gains/integral_gains/kiw_lim", gains_.kiwxy_lim);
+     325          96 :   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          96 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gains/attitude/roll_pitch", gains_.kq_roll_pitch);
+     331          96 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gains/attitude/yaw", gains_.kq_yaw);
+     332             : 
+     333             :   // attitude rate gains
+     334          96 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gains/attitude_rate/roll_pitch", gains_.kw_rp);
+     335          96 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gains/attitude_rate/yaw", gains_.kw_y);
+     336             : 
+     337             :   // mass estimator
+     338          96 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/mass_estimator/km", gains_.km);
+     339          96 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/mass_estimator/km_lim", gains_.km_lim);
+     340             : 
+     341             :   // constraints
+     342          96 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/constraints/tilt_angle_failsafe/enabled", _tilt_angle_failsafe_enabled_);
+     343          96 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/constraints/tilt_angle_failsafe/limit", _tilt_angle_failsafe_);
+     344             : 
+     345          96 :   _tilt_angle_failsafe_ = M_PI * (_tilt_angle_failsafe_ / 180.0);
+     346             : 
+     347          96 :   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          96 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/constraints/throttle_saturation", _throttle_saturation_);
+     353             : 
+     354             :   // gain filtering
+     355          96 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gain_filtering/perc_change_rate", _gains_filter_change_rate_);
+     356          96 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gain_filtering/min_change_rate", _gains_filter_min_change_rate_);
+     357          96 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gain_filtering/rate", _gain_filtering_rate_);
+     358          96 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gain_filtering/gain_mute_coefficient", _gain_mute_coefficient_);
+     359             : 
+     360             :   // angular rate feed forward
+     361          96 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/angular_rate_feedforward/jerk", drs_params_.jerk_feedforward);
+     362             : 
+     363             :   // output mode
+     364          96 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/preferred_output", drs_params_.preferred_output_mode);
+     365             : 
+     366             :   // | ------------------- position pid params ------------------ |
+     367             : 
+     368          96 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/translation_gains/p", _pos_pid_p_);
+     369          96 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/translation_gains/i", _pos_pid_i_);
+     370          96 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/translation_gains/d", _pos_pid_d_);
+     371             : 
+     372          96 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/heading_gains/p", _hdg_pid_p_);
+     373          96 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/heading_gains/i", _hdg_pid_i_);
+     374          96 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/heading_gains/d", _hdg_pid_d_);
+     375             : 
+     376          96 :   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          96 :   if (!(drs_params_.preferred_output_mode == OUTPUT_ACTUATORS || drs_params_.preferred_output_mode == OUTPUT_CONTROL_GROUP ||
+     384          96 :         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          96 :   uav_mass_difference_ = 0;
+     390          96 :   Iw_w_                = Eigen::Vector2d::Zero(2);
+     391          96 :   Ib_b_                = Eigen::Vector2d::Zero(2);
+     392             : 
+     393             :   // | ----------------- prepare the MPC solver ----------------- |
+     394             : 
+     395          96 :   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          96 :                                                                             _dt2_, 0, 1.0);
+     397          96 :   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          96 :                                                                             _dt2_, 0, 1.0);
+     399          96 :   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          96 :                                                                             _dt1_, _dt2_, 0.5, 0.5);
+     401             : 
+     402             :   // | --------------- dynamic reconfigure server --------------- |
+     403             : 
+     404          96 :   drs_params_.kiwxy         = gains_.kiwxy;
+     405          96 :   drs_params_.kibxy         = gains_.kibxy;
+     406          96 :   drs_params_.kq_roll_pitch = gains_.kq_roll_pitch;
+     407          96 :   drs_params_.kq_yaw        = gains_.kq_yaw;
+     408          96 :   drs_params_.km            = gains_.km;
+     409          96 :   drs_params_.km_lim        = gains_.km_lim;
+     410          96 :   drs_params_.kiwxy_lim     = gains_.kiwxy_lim;
+     411          96 :   drs_params_.kibxy_lim     = gains_.kibxy_lim;
+     412             : 
+     413          96 :   drs_.reset(new Drs_t(mutex_drs_, nh_));
+     414          96 :   drs_->updateConfig(drs_params_);
+     415          96 :   Drs_t::CallbackType f = boost::bind(&MpcController::callbackDrs, this, _1, _2);
+     416          96 :   drs_->setCallback(f);
+     417             : 
+     418             :   // | --------------------- service servers -------------------- |
+     419             : 
+     420          96 :   service_set_integral_terms_ = nh_.advertiseService("set_integral_terms_in", &MpcController::callbackSetIntegralTerms, this);
+     421             : 
+     422             :   // | ------------------------- timers ------------------------- |
+     423             : 
+     424          96 :   timer_gains_ = nh_.createTimer(ros::Rate(_gain_filtering_rate_), &MpcController::timerGains, this, false, false);
+     425             : 
+     426             :   // | ---------------------- position pid ---------------------- |
+     427             : 
+     428          96 :   position_pid_x_.setParams(_pos_pid_p_, _pos_pid_d_, _pos_pid_i_, -1, 1.0);
+     429          96 :   position_pid_y_.setParams(_pos_pid_p_, _pos_pid_d_, _pos_pid_i_, -1, 1.0);
+     430          96 :   position_pid_z_.setParams(_pos_pid_p_, _pos_pid_d_, _pos_pid_i_, -1, 1.0);
+     431          96 :   position_pid_heading_.setParams(_hdg_pid_p_, _hdg_pid_d_, _hdg_pid_i_, -1, 0.1);
+     432             : 
+     433             :   // | ------------------------ profiler ------------------------ |
+     434             : 
+     435          96 :   profiler_ = mrs_lib::Profiler(common_handlers->parent_nh, "MpcController", _profiler_enabled_);
+     436             : 
+     437             :   // | ----------------------- finish init ---------------------- |
+     438             : 
+     439          96 :   ROS_INFO("[%s]: initialized", this->name_.c_str());
+     440             : 
+     441          96 :   is_initialized_ = true;
+     442             : 
+     443          96 :   return true;
+     444             : }
+     445             : 
+     446             : //}
+     447             : 
+     448             : /* //{ activate() */
+     449             : 
+     450          98 : bool MpcController::activate(const ControlOutput &last_control_output) {
+     451             : 
+     452          98 :   activation_control_output_ = last_control_output;
+     453             : 
+     454          98 :   double activation_mass = _uav_mass_;
+     455             : 
+     456          98 :   if (activation_control_output_.diagnostics.mass_estimator) {
+     457           3 :     uav_mass_difference_ = activation_control_output_.diagnostics.mass_difference;
+     458           3 :     activation_mass += uav_mass_difference_;
+     459           3 :     ROS_INFO("[%s]: setting mass difference from the last control output: %.2f kg", this->name_.c_str(), uav_mass_difference_);
+     460             :   }
+     461             : 
+     462          98 :   last_control_output_.diagnostics.controller_enforcing_constraints = false;
+     463             : 
+     464          98 :   if (activation_control_output_.diagnostics.disturbance_estimator) {
+     465           3 :     Ib_b_[0] = -activation_control_output_.diagnostics.disturbance_bx_b;
+     466           3 :     Ib_b_[1] = -activation_control_output_.diagnostics.disturbance_by_b;
+     467             : 
+     468           3 :     Iw_w_[0] = -activation_control_output_.diagnostics.disturbance_wx_w;
+     469           3 :     Iw_w_[1] = -activation_control_output_.diagnostics.disturbance_wy_w;
+     470             : 
+     471           3 :     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          98 :   auto throttle_last_controller = common::extractThrottle(activation_control_output_);
+     479             : 
+     480             :   // rampup check
+     481          98 :   if (_rampup_enabled_ && throttle_last_controller) {
+     482             : 
+     483          32 :     double hover_throttle = mrs_lib::quadratic_throttle_model::forceToThrottle(common_handlers_->throttle_model, activation_mass * common_handlers_->g);
+     484             : 
+     485          32 :     double throttle_difference = hover_throttle - throttle_last_controller.value();
+     486             : 
+     487          32 :     if (throttle_difference > 0) {
+     488          16 :       rampup_direction_ = 1;
+     489          16 :     } else if (throttle_difference < 0) {
+     490           1 :       rampup_direction_ = -1;
+     491             :     } else {
+     492          15 :       rampup_direction_ = 0;
+     493             :     }
+     494             : 
+     495          32 :     ROS_INFO("[%s]: activating rampup with initial throttle: %.4f, target: %.4f", name_.c_str(), throttle_last_controller.value(), hover_throttle);
+     496             : 
+     497          32 :     rampup_active_     = true;
+     498          32 :     rampup_start_time_ = ros::Time::now();
+     499          32 :     rampup_last_time_  = ros::Time::now();
+     500          32 :     rampup_throttle_   = throttle_last_controller.value();
+     501             : 
+     502          32 :     rampup_duration_ = fabs(throttle_difference) / _rampup_speed_;
+     503             :   }
+     504             : 
+     505          98 :   first_iteration_ = true;
+     506          98 :   mute_gains_      = true;
+     507             : 
+     508          98 :   timer_gains_.start();
+     509             : 
+     510          98 :   ROS_INFO("[%s]: activated", this->name_.c_str());
+     511             : 
+     512          98 :   is_active_ = true;
+     513             : 
+     514          98 :   return true;
+     515             : }
+     516             : 
+     517             : //}
+     518             : 
+     519             : /* //{ deactivate() */
+     520             : 
+     521          80 : void MpcController::deactivate(void) {
+     522             : 
+     523          80 :   is_active_           = false;
+     524          80 :   first_iteration_     = false;
+     525          80 :   uav_mass_difference_ = 0;
+     526             : 
+     527          80 :   timer_gains_.stop();
+     528             : 
+     529          80 :   ROS_INFO("[%s]: deactivated", this->name_.c_str());
+     530          80 : }
+     531             : 
+     532             : //}
+     533             : 
+     534             : /* updateInactive() //{ */
+     535             : 
+     536       76794 : void MpcController::updateInactive(const mrs_msgs::UavState &uav_state, [[maybe_unused]] const std::optional<mrs_msgs::TrackerCommand> &tracker_command) {
+     537             : 
+     538       76794 :   mrs_lib::set_mutexed(mutex_uav_state_, uav_state, uav_state_);
+     539             : 
+     540       76794 :   last_update_time_ = uav_state.header.stamp;
+     541             : 
+     542       76794 :   first_iteration_ = false;
+     543       76794 : }
+     544             : 
+     545             : //}
+     546             : 
+     547             : /* //{ updateWhenAcctive() */
+     548             : 
+     549       23850 : MpcController::ControlOutput MpcController::updateActive(const mrs_msgs::UavState &uav_state, const mrs_msgs::TrackerCommand &tracker_command) {
+     550             : 
+     551       71550 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("update");
+     552       71550 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MpcController::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     553             : 
+     554       47700 :   auto drs_params = mrs_lib::get_mutexed(mutex_drs_params_, drs_params_);
+     555             : 
+     556       23850 :   mrs_lib::set_mutexed(mutex_uav_state_, uav_state, uav_state_);
+     557             : 
+     558       23850 :   last_control_output_.desired_heading_rate          = {};
+     559       23850 :   last_control_output_.desired_orientation           = {};
+     560       23850 :   last_control_output_.desired_unbiased_acceleration = {};
+     561       23850 :   last_control_output_.control_output                = {};
+     562             : 
+     563       23850 :   if (!is_active_) {
+     564           0 :     return last_control_output_;
+     565             :   }
+     566             : 
+     567             :   // | -------------------- calculate the dt -------------------- |
+     568             : 
+     569             :   double dt;
+     570             : 
+     571       23850 :   if (first_iteration_) {
+     572          35 :     dt               = 0.01;
+     573          35 :     first_iteration_ = false;
+     574             :   } else {
+     575       23815 :     dt = (uav_state.header.stamp - last_update_time_).toSec();
+     576             :   }
+     577             : 
+     578       23850 :   last_update_time_ = uav_state.header.stamp;
+     579             : 
+     580       23850 :   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       23850 :   auto lowest_modality = common::getLowestOuput(common_handlers_->control_output_modalities);
+     590             : 
+     591       23850 :   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       23850 :   if (drs_params.preferred_output_mode == OUTPUT_ATTITUDE_RATE && common_handlers_->control_output_modalities.attitude_rate) {
+     601       18825 :     ROS_DEBUG_THROTTLE(1.0, "[%s]: prioritizing attitude rate output", name_.c_str());
+     602       18825 :     lowest_modality = common::ATTITUDE_RATE;
+     603        5025 :   } 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        5025 :   } 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        5025 :   } 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       23850 :   switch (lowest_modality.value()) {
+     615             : 
+     616         227 :     case common::POSITION: {
+     617         227 :       positionPassthrough(uav_state, tracker_command);
+     618         227 :       break;
+     619             :     }
+     620             : 
+     621         232 :     case common::VELOCITY_HDG: {
+     622         232 :       PIDVelocityOutput(uav_state, tracker_command, common::VELOCITY_HDG, dt);
+     623         232 :       break;
+     624             :     }
+     625             : 
+     626         237 :     case common::VELOCITY_HDG_RATE: {
+     627         237 :       PIDVelocityOutput(uav_state, tracker_command, common::VELOCITY_HDG_RATE, dt);
+     628         237 :       break;
+     629             :     }
+     630             : 
+     631         443 :     case common::ACCELERATION_HDG: {
+     632         443 :       MPC(uav_state, tracker_command, dt, common::ACCELERATION_HDG);
+     633         443 :       break;
+     634             :     }
+     635             : 
+     636         447 :     case common::ACCELERATION_HDG_RATE: {
+     637         447 :       MPC(uav_state, tracker_command, dt, common::ACCELERATION_HDG_RATE);
+     638         447 :       break;
+     639             :     }
+     640             : 
+     641        1058 :     case common::ATTITUDE: {
+     642        1058 :       MPC(uav_state, tracker_command, dt, common::ATTITUDE);
+     643        1058 :       break;
+     644             :     }
+     645             : 
+     646       18825 :     case common::ATTITUDE_RATE: {
+     647       18825 :       MPC(uav_state, tracker_command, dt, common::ATTITUDE_RATE);
+     648       18825 :       break;
+     649             :     }
+     650             : 
+     651        1181 :     case common::CONTROL_GROUP: {
+     652        1181 :       MPC(uav_state, tracker_command, dt, common::CONTROL_GROUP);
+     653        1181 :       break;
+     654             :     }
+     655             : 
+     656        1200 :     case common::ACTUATORS_CMD: {
+     657        1200 :       MPC(uav_state, tracker_command, dt, common::ACTUATORS_CMD);
+     658        1200 :       break;
+     659             :     }
+     660             : 
+     661           0 :     default: {
+     662           0 :       break;
+     663             :     }
+     664             :   }
+     665             : 
+     666       23850 :   return last_control_output_;
+     667             : }
+     668             : 
+     669             : //}
+     670             : 
+     671             : /* //{ getStatus() */
+     672             : 
+     673        4726 : const mrs_msgs::ControllerStatus MpcController::getStatus() {
+     674             : 
+     675        4726 :   mrs_msgs::ControllerStatus controller_status;
+     676             : 
+     677        4726 :   controller_status.active = is_active_;
+     678             : 
+     679        4726 :   return controller_status;
+     680             : }
+     681             : 
+     682             : //}
+     683             : 
+     684             : /* switchOdometrySource() //{ */
+     685             : 
+     686           0 : void MpcController::switchOdometrySource(const mrs_msgs::UavState &new_uav_state) {
+     687             : 
+     688           0 :   ROS_INFO("[%s]: switching the odometry source", this->name_.c_str());
+     689             : 
+     690           0 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     691             : 
+     692             :   // | ----- transform world disturabances to the new frame ----- |
+     693             : 
+     694           0 :   geometry_msgs::Vector3Stamped world_integrals;
+     695             : 
+     696           0 :   world_integrals.header.stamp    = ros::Time::now();
+     697           0 :   world_integrals.header.frame_id = uav_state.header.frame_id;
+     698             : 
+     699           0 :   world_integrals.vector.x = Iw_w_[0];
+     700           0 :   world_integrals.vector.y = Iw_w_[1];
+     701           0 :   world_integrals.vector.z = 0;
+     702             : 
+     703           0 :   auto res = common_handlers_->transformer->transformSingle(world_integrals, new_uav_state.header.frame_id);
+     704             : 
+     705           0 :   if (res) {
+     706             : 
+     707           0 :     std::scoped_lock lock(mutex_integrals_);
+     708             : 
+     709           0 :     Iw_w_[0] = res.value().vector.x;
+     710           0 :     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           0 : }
+     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         376 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr MpcController::setConstraints([
+     740             :     [maybe_unused]] const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &constraints) {
+     741             : 
+     742         376 :   if (!is_initialized_) {
+     743           0 :     return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse());
+     744             :   }
+     745             : 
+     746         376 :   mrs_lib::set_mutexed(mutex_constraints_, constraints->constraints, constraints_);
+     747             : 
+     748         376 :   ROS_INFO("[%s]: updating constraints", this->name_.c_str());
+     749             : 
+     750         752 :   mrs_msgs::DynamicsConstraintsSrvResponse res;
+     751         376 :   res.success = true;
+     752         376 :   res.message = "constraints updated";
+     753             : 
+     754         376 :   return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse(res));
+     755             : }
+     756             : 
+     757             : //}
+     758             : 
+     759             : // --------------------------------------------------------------
+     760             : // |                         controllers                        |
+     761             : // --------------------------------------------------------------
+     762             : 
+     763             : /* Mpc() //{ */
+     764             : 
+     765       23154 : 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       46308 :   auto drs_params  = mrs_lib::get_mutexed(mutex_drs_params_, drs_params_);
+     769       23154 :   auto constraints = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+     770       23154 :   auto gains       = mrs_lib::get_mutexed(mutex_gains_, gains_);
+     771             : 
+     772             :   // | ----------------- get the current heading ---------------- |
+     773             : 
+     774       23154 :   double uav_heading = getHeadingSafely(uav_state, tracker_command);
+     775             : 
+     776             :   // | ------------------- prepare constraints ------------------ |
+     777             : 
+     778       23154 :   double max_speed_horizontal        = _max_speed_horizontal_;
+     779       23154 :   double max_speed_vertical          = _max_speed_vertical_;
+     780       23154 :   double max_acceleration_horizontal = _max_acceleration_horizontal_;
+     781       23154 :   double max_acceleration_vertical   = _max_acceleration_vertical_;
+     782       23154 :   double max_jerk                    = _max_jerk_;
+     783       23154 :   double max_u_vertical              = _max_u_vertical_;
+     784             : 
+     785       23154 :   if (tracker_command.use_full_state_prediction) {
+     786             : 
+     787       13206 :     max_speed_horizontal = 1.5 * (constraints.horizontal_speed);
+     788       13206 :     max_speed_vertical   = 1.5 * (constraints.vertical_ascending_speed < constraints.vertical_descending_speed ? constraints.vertical_ascending_speed
+     789             :                                                                                                              : constraints.vertical_descending_speed);
+     790             : 
+     791       13206 :     max_acceleration_horizontal = 1.5 * (constraints.horizontal_acceleration);
+     792       13206 :     max_acceleration_vertical =
+     793       13206 :         1.5 * (constraints.vertical_ascending_acceleration < constraints.vertical_descending_acceleration ? constraints.vertical_ascending_acceleration
+     794             :                                                                                                           : constraints.vertical_descending_acceleration);
+     795             : 
+     796       13206 :     max_jerk       = 1.5 * constraints.horizontal_jerk;
+     797       13206 :     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       23154 :   Eigen::Vector3d Rp = Eigen::Vector3d::Zero(3);
+     810       23154 :   Eigen::Vector3d Rv = Eigen::Vector3d::Zero(3);
+     811       23154 :   Eigen::Vector3d Ra = Eigen::Vector3d::Zero(3);
+     812             : 
+     813       23154 :   Rp << tracker_command.position.x, tracker_command.position.y, tracker_command.position.z;  // fill the desired position
+     814       23154 :   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       23154 :   Eigen::Vector3d Op(uav_state.pose.position.x, uav_state.pose.position.y, uav_state.pose.position.z);
+     821       23154 :   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       23154 :   Eigen::Matrix3d R = mrs_lib::AttitudeConverter(uav_state.pose.orientation);
+     825             : 
+     826             :   // Ow - UAV angular rate
+     827       23154 :   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       23154 :   Eigen::Vector3d Ep = Rp - Op;
+     836       23154 :   Eigen::Vector3d Ev = Rv - Ov;
+     837             : 
+     838             :   // | ------------------- initial conditions ------------------- |
+     839             : 
+     840       46308 :   Eigen::MatrixXd initial_x = Eigen::MatrixXd::Zero(3, 1);
+     841       46308 :   Eigen::MatrixXd initial_y = Eigen::MatrixXd::Zero(3, 1);
+     842       46308 :   Eigen::MatrixXd initial_z = Eigen::MatrixXd::Zero(3, 1);
+     843             : 
+     844             :   /* initial x //{ */
+     845             : 
+     846             :   {
+     847             :     double acceleration;
+     848             :     double velocity;
+     849       23154 :     double coef = 1.5;
+     850             : 
+     851       23154 :     if (fabs(uav_state.acceleration.linear.x) < coef * max_acceleration_horizontal) {
+     852       23154 :       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       23154 :     if (fabs(uav_state.velocity.linear.x) < coef * max_speed_horizontal) {
+     861       23154 :       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       23154 :     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       23154 :     double coef = 1.5;
+     880             : 
+     881       23154 :     if (fabs(uav_state.acceleration.linear.y) < coef * max_acceleration_horizontal) {
+     882       23154 :       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       23154 :     if (fabs(uav_state.velocity.linear.y) < coef * max_speed_horizontal) {
+     891       23154 :       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       23154 :     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       23154 :     double coef = 1.5;
+     910             : 
+     911       23154 :     if (fabs(uav_state.acceleration.linear.z) < coef * max_acceleration_horizontal) {
+     912       23154 :       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       23154 :     if (fabs(uav_state.velocity.linear.z) < coef * max_speed_vertical) {
+     921       23154 :       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       23154 :     initial_z << uav_state.pose.position.z, velocity, acceleration;
+     930             :   }
+     931             : 
+     932             :   //}
+     933             : 
+     934             :   // | ---------------------- set reference --------------------- |
+     935             : 
+     936       46308 :   Eigen::MatrixXd mpc_reference_x = Eigen::MatrixXd::Zero(_horizon_length_ * _n_states_, 1);
+     937       46308 :   Eigen::MatrixXd mpc_reference_y = Eigen::MatrixXd::Zero(_horizon_length_ * _n_states_, 1);
+     938       46308 :   Eigen::MatrixXd mpc_reference_z = Eigen::MatrixXd::Zero(_horizon_length_ * _n_states_, 1);
+     939             : 
+     940             :   // prepare the full reference vector
+     941       23154 :   if (tracker_command.use_full_state_prediction) {
+     942             : 
+     943       13206 :     mpc_reference_x(0, 0) = tracker_command.position.x;
+     944       13206 :     mpc_reference_y(0, 0) = tracker_command.position.y;
+     945       13206 :     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      343356 :     for (int i = 1; i < _horizon_length_; i++) {
+     951      330150 :       mpc_reference_x((i * _n_states_) + 0, 0) = tracker_command.full_state_prediction.position[i].x;
+     952      330150 :       mpc_reference_y((i * _n_states_) + 0, 0) = tracker_command.full_state_prediction.position[i].y;
+     953      330150 :       mpc_reference_z((i * _n_states_) + 0, 0) = tracker_command.full_state_prediction.position[i].z;
+     954             :     }
+     955             : 
+     956      343356 :     for (int i = 1; i < _horizon_length_; i++) {
+     957      330150 :       mpc_reference_x((i * _n_states_) + 1, 0) = tracker_command.full_state_prediction.velocity[i].x;
+     958      330150 :       mpc_reference_y((i * _n_states_) + 1, 0) = tracker_command.full_state_prediction.velocity[i].y;
+     959      330150 :       mpc_reference_z((i * _n_states_) + 1, 0) = tracker_command.full_state_prediction.velocity[i].z;
+     960             :     }
+     961             : 
+     962      343356 :     for (int i = 1; i < _horizon_length_; i++) {
+     963      330150 :       mpc_reference_x((i * _n_states_) + 2, 0) = tracker_command.full_state_prediction.acceleration[i].x;
+     964      330150 :       mpc_reference_y((i * _n_states_) + 2, 0) = tracker_command.full_state_prediction.acceleration[i].y;
+     965      330150 :       mpc_reference_z((i * _n_states_) + 2, 0) = tracker_command.full_state_prediction.acceleration[i].z;
+     966             :     }
+     967             : 
+     968             :   } else {
+     969             : 
+     970      268596 :     for (int i = 0; i < _horizon_length_; i++) {
+     971      258648 :       mpc_reference_x((i * _n_states_) + 0, 0) = tracker_command.position.x;
+     972      258648 :       mpc_reference_y((i * _n_states_) + 0, 0) = tracker_command.position.y;
+     973      258648 :       mpc_reference_z((i * _n_states_) + 0, 0) = tracker_command.position.z;
+     974             :     }
+     975             :   }
+     976             : 
+     977             :   // | ------------------ set the penalizations ----------------- |
+     978             : 
+     979       46308 :   std::vector<double> temp_Q_horizontal = _mat_Q_;
+     980       46308 :   std::vector<double> temp_Q_vertical   = _mat_Q_z_;
+     981             : 
+     982       46308 :   std::vector<double> temp_S_horizontal = _mat_S_;
+     983       46308 :   std::vector<double> temp_S_vertical   = _mat_S_z_;
+     984             : 
+     985       23154 :   if (!tracker_command.use_position_horizontal) {
+     986           0 :     temp_Q_horizontal[0] = 0;
+     987           0 :     temp_S_horizontal[0] = 0;
+     988             :   }
+     989             : 
+     990       23154 :   if (!tracker_command.use_velocity_horizontal) {
+     991           0 :     temp_Q_horizontal[1] = 0;
+     992           0 :     temp_S_horizontal[1] = 0;
+     993             :   }
+     994             : 
+     995       23154 :   if (!tracker_command.use_position_vertical) {
+     996           0 :     temp_Q_vertical[0] = 0;
+     997           0 :     temp_S_vertical[0] = 0;
+     998             :   }
+     999             : 
+    1000       23154 :   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       23154 :   mpc_solver_x_->setQ(temp_Q_horizontal);
+    1008       23154 :   mpc_solver_x_->setS(temp_S_horizontal);
+    1009       23154 :   mpc_solver_x_->setParams();
+    1010       23154 :   mpc_solver_x_->setLastInput(mpc_solver_x_u_);
+    1011       23154 :   mpc_solver_x_->loadReference(mpc_reference_x);
+    1012       23154 :   mpc_solver_x_->setLimits(max_speed_horizontal, 999, max_acceleration_horizontal, max_jerk, _dt1_, _dt2_);
+    1013       23154 :   mpc_solver_x_->setInitialState(initial_x);
+    1014       23154 :   [[maybe_unused]] int iters_x = mpc_solver_x_->solveMPC();
+    1015       23154 :   mpc_solver_x_u_              = mpc_solver_x_->getFirstControlInput();
+    1016             : 
+    1017       23154 :   mpc_solver_y_->setQ(temp_Q_horizontal);
+    1018       23154 :   mpc_solver_y_->setS(temp_S_horizontal);
+    1019       23154 :   mpc_solver_y_->setParams();
+    1020       23154 :   mpc_solver_y_->setLastInput(mpc_solver_y_u_);
+    1021       23154 :   mpc_solver_y_->loadReference(mpc_reference_y);
+    1022       23154 :   mpc_solver_y_->setLimits(max_speed_horizontal, 999, max_acceleration_horizontal, max_jerk, _dt1_, _dt2_);
+    1023       23154 :   mpc_solver_y_->setInitialState(initial_y);
+    1024       23154 :   [[maybe_unused]] int iters_y = mpc_solver_y_->solveMPC();
+    1025       23154 :   mpc_solver_y_u_              = mpc_solver_y_->getFirstControlInput();
+    1026             : 
+    1027       23154 :   mpc_solver_z_->setQ(temp_Q_vertical);
+    1028       23154 :   mpc_solver_z_->setS(temp_S_vertical);
+    1029       23154 :   mpc_solver_z_->setParams();
+    1030       23154 :   mpc_solver_z_->setLastInput(mpc_solver_z_u_);
+    1031       23154 :   mpc_solver_z_->loadReference(mpc_reference_z);
+    1032       23154 :   mpc_solver_z_->setLimits(max_speed_vertical, max_acceleration_vertical, max_u_vertical, 999.0, _dt1_, _dt2_);
+    1033       23154 :   mpc_solver_z_->setInitialState(initial_z);
+    1034       23154 :   [[maybe_unused]] int iters_z = mpc_solver_z_->solveMPC();
+    1035       23154 :   mpc_solver_z_u_              = mpc_solver_z_->getFirstControlInput();
+    1036             : 
+    1037             :   // | ----------- disable lateral feedback if needed ----------- |
+    1038             : 
+    1039       23154 :   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       23154 :   mute_gains_by_tracker_ = tracker_command.disable_position_gains;
+    1047             : 
+    1048       23154 :   Eigen::Array3d Kw(0, 0, 0);
+    1049       23154 :   Eigen::Array3d Kq;
+    1050             : 
+    1051             :   {
+    1052       23154 :     std::scoped_lock lock(mutex_gains_);
+    1053             : 
+    1054       23154 :     Kq << gains.kq_roll_pitch, gains.kq_roll_pitch, gains.kq_yaw;
+    1055             : 
+    1056       23154 :     Kw[0] = gains.kw_rp;
+    1057       23154 :     Kw[1] = gains.kw_rp;
+    1058       23154 :     Kw[2] = gains.kw_y;
+    1059             :   }
+    1060             : 
+    1061             :   // | ---------- desired orientation matrix and force ---------- |
+    1062             : 
+    1063             :   // get body integral in the world frame
+    1064             : 
+    1065       23154 :   Eigen::Vector2d Ib_w = Eigen::Vector2d(0, 0);
+    1066             : 
+    1067             :   {
+    1068             : 
+    1069       46308 :     geometry_msgs::Vector3Stamped Ib_b_stamped;
+    1070             : 
+    1071       23154 :     Ib_b_stamped.header.stamp    = ros::Time::now();
+    1072       23154 :     Ib_b_stamped.header.frame_id = "fcu_untilted";
+    1073       23154 :     Ib_b_stamped.vector.x        = Ib_b_(0);
+    1074       23154 :     Ib_b_stamped.vector.y        = Ib_b_(1);
+    1075       23154 :     Ib_b_stamped.vector.z        = 0;
+    1076             : 
+    1077       46308 :     auto res = common_handlers_->transformer->transformSingle(Ib_b_stamped, uav_state_.header.frame_id);
+    1078             : 
+    1079       23154 :     if (res) {
+    1080       23154 :       Ib_w[0] = res.value().vector.x;
+    1081       23154 :       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       23154 :   if (tracker_command.use_acceleration && !tracker_command.use_full_state_prediction) {
+    1090        2099 :     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       21055 :     Ra << mpc_solver_x_u_, mpc_solver_y_u_, mpc_solver_z_u_;
+    1093             :   }
+    1094             : 
+    1095       23154 :   double total_mass = _uav_mass_ + uav_mass_difference_;
+    1096             : 
+    1097       23154 :   Eigen::Vector3d feed_forward = total_mass * (Eigen::Vector3d(0, 0, common_handlers_->g) + Ra);
+    1098             : 
+    1099       23154 :   Eigen::Vector3d integral_feedback;
+    1100             :   {
+    1101       23154 :     std::scoped_lock lock(mutex_integrals_);
+    1102             : 
+    1103       23154 :     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       46308 :     std::scoped_lock lock(mutex_gains_, mutex_integrals_);
+    1118             : 
+    1119       23154 :     Eigen::Vector3d integration_switch(1, 1, 0);
+    1120             : 
+    1121             :     // integrate the world error
+    1122             : 
+    1123             :     // antiwindup
+    1124       23154 :     double temp_gain = gains.kiwxy;
+    1125       23154 :     if (!tracker_command.disable_antiwindups) {
+    1126       19721 :       if (rampup_active_ || sqrt(pow(uav_state.velocity.linear.x, 2) + pow(uav_state.velocity.linear.y, 2)) > 0.3) {
+    1127        9063 :         temp_gain = 0;
+    1128        9063 :         ROS_DEBUG_THROTTLE(1.0, "[%s]: anti-windup for world integral kicks in", this->name_.c_str());
+    1129             :       }
+    1130             :     }
+    1131             : 
+    1132       23154 :     if (integral_terms_enabled_) {
+    1133       23154 :       if (tracker_command.use_position_horizontal) {
+    1134       23154 :         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       23154 :     bool world_integral_saturated = false;
+    1142       23154 :     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       23154 :     } else if (Iw_w_[0] > gains.kiwxy_lim) {
+    1146           0 :       Iw_w_[0]                 = gains.kiwxy_lim;
+    1147           0 :       world_integral_saturated = true;
+    1148       23154 :     } 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       23154 :     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       23154 :     world_integral_saturated = false;
+    1159       23154 :     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       23154 :     } else if (Iw_w_[1] > gains.kiwxy_lim) {
+    1163           0 :       Iw_w_[1]                 = gains.kiwxy_lim;
+    1164           0 :       world_integral_saturated = true;
+    1165       23154 :     } 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       23154 :     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       46308 :     std::scoped_lock lock(mutex_gains_);
+    1181             : 
+    1182       23154 :     Eigen::Vector2d Ep_fcu_untilted = Eigen::Vector2d(0, 0);  // position error in the untilted frame of the UAV
+    1183       23154 :     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       46308 :       geometry_msgs::Vector3Stamped Ep_stamped;
+    1189             : 
+    1190       23154 :       Ep_stamped.header.stamp    = ros::Time::now();
+    1191       23154 :       Ep_stamped.header.frame_id = uav_state_.header.frame_id;
+    1192       23154 :       Ep_stamped.vector.x        = Ep(0);
+    1193       23154 :       Ep_stamped.vector.y        = Ep(1);
+    1194       23154 :       Ep_stamped.vector.z        = Ep(2);
+    1195             : 
+    1196       69462 :       auto res = common_handlers_->transformer->transformSingle(Ep_stamped, "fcu_untilted");
+    1197             : 
+    1198       23154 :       if (res) {
+    1199       23154 :         Ep_fcu_untilted[0] = res.value().vector.x;
+    1200       23154 :         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       46308 :       geometry_msgs::Vector3Stamped Ev_stamped;
+    1209             : 
+    1210       23154 :       Ev_stamped.header.stamp    = ros::Time::now();
+    1211       23154 :       Ev_stamped.header.frame_id = uav_state_.header.frame_id;
+    1212       23154 :       Ev_stamped.vector.x        = Ev(0);
+    1213       23154 :       Ev_stamped.vector.y        = Ev(1);
+    1214       23154 :       Ev_stamped.vector.z        = Ev(2);
+    1215             : 
+    1216       69462 :       auto res = common_handlers_->transformer->transformSingle(Ev_stamped, "fcu_untilted");
+    1217             : 
+    1218       23154 :       if (res) {
+    1219       23154 :         Ev_fcu_untilted[0] = res.value().vector.x;
+    1220       23154 :         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       23154 :     double temp_gain = gains.kibxy;
+    1230       23154 :     if (!tracker_command.disable_antiwindups) {
+    1231       19721 :       if (rampup_active_ || sqrt(pow(uav_state.velocity.linear.x, 2) + pow(uav_state.velocity.linear.y, 2)) > 0.3) {
+    1232        9063 :         temp_gain = 0;
+    1233        9063 :         ROS_DEBUG_THROTTLE(1.0, "[%s]: anti-windup for body integral kicks in", this->name_.c_str());
+    1234             :       }
+    1235             :     }
+    1236             : 
+    1237       23154 :     if (integral_terms_enabled_) {
+    1238       23154 :       if (tracker_command.use_position_horizontal) {
+    1239       23154 :         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       23154 :     bool body_integral_saturated = false;
+    1247       23154 :     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       23154 :     } else if (Ib_b_[0] > gains.kibxy_lim) {
+    1251           0 :       Ib_b_[0]                = gains.kibxy_lim;
+    1252           0 :       body_integral_saturated = true;
+    1253       23154 :     } 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       23154 :     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       23154 :     body_integral_saturated = false;
+    1264       23154 :     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       23154 :     } else if (Ib_b_[1] > gains.kibxy_lim) {
+    1268           0 :       Ib_b_[1]                = gains.kibxy_lim;
+    1269           0 :       body_integral_saturated = true;
+    1270       23154 :     } 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       23154 :     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       23154 :   Eigen::Vector3d des_acc = integral_feedback / total_mass + Ra;
+    1283             : 
+    1284       23154 :   if (output_modality == common::ACCELERATION_HDG || output_modality == common::ACCELERATION_HDG_RATE) {
+    1285             : 
+    1286         890 :     if (output_modality == common::ACCELERATION_HDG) {
+    1287             : 
+    1288         886 :       mrs_msgs::HwApiAccelerationHdgCmd cmd;
+    1289             : 
+    1290         443 :       cmd.acceleration.x = des_acc[0];
+    1291         443 :       cmd.acceleration.y = des_acc[1];
+    1292         443 :       cmd.acceleration.z = des_acc[2];
+    1293             : 
+    1294         443 :       cmd.heading = tracker_command.heading;
+    1295             : 
+    1296         443 :       last_control_output_.control_output = cmd;
+    1297             : 
+    1298             :     } else {
+    1299             : 
+    1300         447 :       double des_hdg_ff = 0;
+    1301             : 
+    1302         447 :       if (tracker_command.use_heading_rate) {
+    1303         447 :         des_hdg_ff = tracker_command.heading_rate;
+    1304             :       }
+    1305             : 
+    1306         894 :       mrs_msgs::HwApiAccelerationHdgRateCmd cmd;
+    1307             : 
+    1308         447 :       cmd.acceleration.x = des_acc[0];
+    1309         447 :       cmd.acceleration.y = des_acc[1];
+    1310         447 :       cmd.acceleration.z = des_acc[2];
+    1311             : 
+    1312         447 :       position_pid_heading_.setSaturation(constraints.heading_speed);
+    1313             : 
+    1314         447 :       double hdg_err = mrs_lib::geometry::sradians::diff(tracker_command.heading, uav_heading);
+    1315             : 
+    1316         447 :       double des_hdg_rate = position_pid_heading_.update(hdg_err, dt) + des_hdg_ff;
+    1317             : 
+    1318         447 :       cmd.heading_rate = des_hdg_rate;
+    1319             : 
+    1320         447 :       last_control_output_.desired_heading_rate = des_hdg_rate;
+    1321             : 
+    1322         447 :       last_control_output_.control_output = cmd;
+    1323             :     }
+    1324             : 
+    1325             :     // | -------------- unbiased desired acceleration ------------- |
+    1326             : 
+    1327         890 :     Eigen::Vector3d unbiased_des_acc(0, 0, 0);
+    1328             : 
+    1329             :     {
+    1330             : 
+    1331        1780 :       geometry_msgs::Vector3Stamped world_accel;
+    1332             : 
+    1333         890 :       world_accel.header.stamp    = ros::Time::now();
+    1334         890 :       world_accel.header.frame_id = uav_state.header.frame_id;
+    1335         890 :       world_accel.vector.x        = Ra[0];
+    1336         890 :       world_accel.vector.y        = Ra[1];
+    1337         890 :       world_accel.vector.z        = Ra[2];
+    1338             : 
+    1339        2670 :       auto res = common_handlers_->transformer->transformSingle(world_accel, "fcu");
+    1340             : 
+    1341         890 :       if (res) {
+    1342         890 :         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         890 :     last_control_output_.desired_unbiased_acceleration = unbiased_des_acc;
+    1348             : 
+    1349             :     // | ----------------- fill in the diagnostics ---------------- |
+    1350             : 
+    1351         890 :     last_control_output_.diagnostics.ramping_up = false;
+    1352             : 
+    1353         890 :     last_control_output_.diagnostics.mass_estimator  = false;
+    1354         890 :     last_control_output_.diagnostics.mass_difference = 0;
+    1355         890 :     last_control_output_.diagnostics.total_mass      = total_mass;
+    1356             : 
+    1357         890 :     last_control_output_.diagnostics.disturbance_estimator = true;
+    1358             : 
+    1359         890 :     last_control_output_.diagnostics.disturbance_bx_b = -Ib_b_[0];
+    1360         890 :     last_control_output_.diagnostics.disturbance_by_b = -Ib_b_[1];
+    1361             : 
+    1362         890 :     last_control_output_.diagnostics.disturbance_bx_w = -Ib_w[0];
+    1363         890 :     last_control_output_.diagnostics.disturbance_by_w = -Ib_w[1];
+    1364             : 
+    1365         890 :     last_control_output_.diagnostics.disturbance_wx_w = -Iw_w_[0];
+    1366         890 :     last_control_output_.diagnostics.disturbance_wy_w = -Iw_w_[1];
+    1367             : 
+    1368         890 :     last_control_output_.diagnostics.controller_enforcing_constraints = !tracker_command.use_full_state_prediction;
+    1369             : 
+    1370         890 :     last_control_output_.diagnostics.horizontal_speed_constraint = 0.5 * max_speed_horizontal;
+    1371         890 :     last_control_output_.diagnostics.horizontal_acc_constraint   = 0.5 * max_acceleration_horizontal;
+    1372             : 
+    1373         890 :     last_control_output_.diagnostics.vertical_asc_speed_constraint = 0.5 * max_speed_vertical;
+    1374         890 :     last_control_output_.diagnostics.vertical_asc_acc_constraint   = 0.5 * max_acceleration_vertical;
+    1375             : 
+    1376         890 :     last_control_output_.diagnostics.vertical_desc_speed_constraint = 0.5 * max_speed_vertical;
+    1377         890 :     last_control_output_.diagnostics.vertical_desc_acc_constraint   = 0.5 * max_acceleration_vertical;
+    1378             : 
+    1379         890 :     last_control_output_.diagnostics.controller = name_;
+    1380             : 
+    1381         890 :     return;
+    1382             :   }
+    1383             : 
+    1384             :   /* mass estimatior //{ */
+    1385             : 
+    1386             :   // --------------------------------------------------------------
+    1387             :   // |                integrate the mass difference               |
+    1388             :   // --------------------------------------------------------------
+    1389             : 
+    1390             :   {
+    1391       44528 :     std::scoped_lock lock(mutex_gains_);
+    1392             : 
+    1393             :     // antiwindup
+    1394       22264 :     double temp_gain = gains.km;
+    1395       44140 :     if (rampup_active_ ||
+    1396       21876 :         (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        6080 :       temp_gain = 0;
+    1398        6080 :       ROS_DEBUG_THROTTLE(1.0, "[%s]: anti-windup for the mass kicks in", this->name_.c_str());
+    1399             :     }
+    1400             : 
+    1401       22264 :     if (tracker_command.use_position_vertical) {
+    1402       22264 :       uav_mass_difference_ += temp_gain * Ep[2] * dt;
+    1403             :     }
+    1404             : 
+    1405             :     // saturate the mass estimator
+    1406       22264 :     bool uav_mass_saturated = false;
+    1407       22264 :     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       22264 :     } else if (uav_mass_difference_ > gains.km_lim) {
+    1411           0 :       uav_mass_difference_ = gains.km_lim;
+    1412           0 :       uav_mass_saturated   = true;
+    1413       22264 :     } 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       22264 :     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       22264 :   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       22264 :   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       22264 :   double tilt_safety_limit = _tilt_angle_failsafe_enabled_ ? _tilt_angle_failsafe_ : std::numeric_limits<double>::max();
+    1441             : 
+    1442       22264 :   auto f_normed_sanitized = common::sanitizeDesiredForce(f.normalized(), tilt_safety_limit, constraints.tilt, "MpcController");
+    1443             : 
+    1444       22264 :   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       22264 :   Eigen::Vector3d f_normed = f_normed_sanitized.value();
+    1458             : 
+    1459             :   // --------------------------------------------------------------
+    1460             :   // |               desired orientation + throttle               |
+    1461             :   // --------------------------------------------------------------
+    1462             : 
+    1463             :   // | ------------------- desired orientation ------------------ |
+    1464             : 
+    1465       22264 :   Eigen::Matrix3d Rd;
+    1466             : 
+    1467       22264 :   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       22264 :     Eigen::Vector3d bxd;  // desired heading vector
+    1484             : 
+    1485       22264 :     if (tracker_command.use_heading) {
+    1486       22264 :       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       22264 :     Rd = common::so3transform(f_normed, bxd, false);
+    1493             :   }
+    1494             : 
+    1495             :   // | -------------------- desired throttle -------------------- |
+    1496             : 
+    1497       22264 :   double desired_thrust_force = f.dot(R.col(2));
+    1498       22264 :   double throttle             = 0;
+    1499             : 
+    1500       22264 :   if (rampup_active_) {
+    1501             : 
+    1502             :     // deactivate the rampup when the times up
+    1503         388 :     if (fabs((ros::Time::now() - rampup_start_time_).toSec()) >= rampup_duration_) {
+    1504             : 
+    1505          30 :       rampup_active_ = false;
+    1506             : 
+    1507          30 :       ROS_INFO("[%s]: rampup finished", name_.c_str());
+    1508             : 
+    1509             :     } else {
+    1510             : 
+    1511         358 :       double rampup_dt = (ros::Time::now() - rampup_last_time_).toSec();
+    1512             : 
+    1513         358 :       rampup_throttle_ += double(rampup_direction_) * _rampup_speed_ * rampup_dt;
+    1514             : 
+    1515         358 :       rampup_last_time_ = ros::Time::now();
+    1516             : 
+    1517         358 :       throttle = rampup_throttle_;
+    1518             : 
+    1519         358 :       ROS_INFO_THROTTLE(0.1, "[%s]: ramping up throttle, %.4f", name_.c_str(), throttle);
+    1520             :     }
+    1521             : 
+    1522             :   } else {
+    1523             : 
+    1524       21876 :     if (desired_thrust_force >= 0) {
+    1525       21876 :       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       22264 :   bool throttle_saturated = false;
+    1534             : 
+    1535       22264 :   if (!std::isfinite(throttle)) {
+    1536             : 
+    1537           0 :     ROS_ERROR("[%s]: NaN detected in variable 'throttle'!!!", name_.c_str());
+    1538           0 :     return;
+    1539             : 
+    1540       22264 :   } 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       22264 :   } 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       22264 :   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       22264 :   double desired_x_accel = 0;
+    1569       22264 :   double desired_y_accel = 0;
+    1570       22264 :   double desired_z_accel = 0;
+    1571             : 
+    1572             :   {
+    1573       22264 :     Eigen::Vector3d thrust_vector = desired_thrust_force * Rd.col(2);
+    1574             : 
+    1575       22264 :     double world_accel_x = (thrust_vector[0] / total_mass) - (Iw_w_[0] / total_mass) - (Ib_w[0] / total_mass);
+    1576       22264 :     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       22264 :     double world_accel_z = tracker_command.acceleration.z;
+    1580             : 
+    1581       44528 :     geometry_msgs::Vector3Stamped world_accel;
+    1582             : 
+    1583       22264 :     world_accel.header.stamp    = ros::Time::now();
+    1584       22264 :     world_accel.header.frame_id = uav_state.header.frame_id;
+    1585       22264 :     world_accel.vector.x        = world_accel_x;
+    1586       22264 :     world_accel.vector.y        = world_accel_y;
+    1587       22264 :     world_accel.vector.z        = world_accel_z;
+    1588             : 
+    1589       66792 :     auto res = common_handlers_->transformer->transformSingle(world_accel, "fcu");
+    1590             : 
+    1591       22264 :     if (res) {
+    1592             : 
+    1593       22264 :       desired_x_accel = res.value().vector.x;
+    1594       22264 :       desired_y_accel = res.value().vector.y;
+    1595       22264 :       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       22264 :   last_control_output_.desired_orientation = mrs_lib::AttitudeConverter(Rd);
+    1603             : 
+    1604             :   // fill the unbiased desired accelerations
+    1605       22264 :   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       22264 :   last_control_output_.diagnostics.ramping_up = rampup_active_;
+    1610             : 
+    1611       22264 :   last_control_output_.diagnostics.mass_estimator  = true;
+    1612       22264 :   last_control_output_.diagnostics.mass_difference = uav_mass_difference_;
+    1613       22264 :   last_control_output_.diagnostics.total_mass      = total_mass;
+    1614             : 
+    1615       22264 :   last_control_output_.diagnostics.disturbance_estimator = true;
+    1616             : 
+    1617       22264 :   last_control_output_.diagnostics.disturbance_bx_b = -Ib_b_[0];
+    1618       22264 :   last_control_output_.diagnostics.disturbance_by_b = -Ib_b_[1];
+    1619             : 
+    1620       22264 :   last_control_output_.diagnostics.disturbance_bx_w = -Ib_w[0];
+    1621       22264 :   last_control_output_.diagnostics.disturbance_by_w = -Ib_w[1];
+    1622             : 
+    1623       22264 :   last_control_output_.diagnostics.disturbance_wx_w = -Iw_w_[0];
+    1624       22264 :   last_control_output_.diagnostics.disturbance_wy_w = -Iw_w_[1];
+    1625             : 
+    1626       22264 :   last_control_output_.diagnostics.controller_enforcing_constraints = !tracker_command.use_full_state_prediction;
+    1627             : 
+    1628       22264 :   last_control_output_.diagnostics.horizontal_speed_constraint = 0.5 * _max_speed_horizontal_;
+    1629       22264 :   last_control_output_.diagnostics.horizontal_acc_constraint   = 0.5 * _max_acceleration_horizontal_;
+    1630             : 
+    1631       22264 :   last_control_output_.diagnostics.vertical_asc_speed_constraint = 0.5 * _max_speed_vertical_;
+    1632       22264 :   last_control_output_.diagnostics.vertical_asc_acc_constraint   = 0.5 * _max_acceleration_vertical_;
+    1633             : 
+    1634       22264 :   last_control_output_.diagnostics.vertical_desc_speed_constraint = 0.5 * _max_speed_vertical_;
+    1635       22264 :   last_control_output_.diagnostics.vertical_desc_acc_constraint   = 0.5 * _max_acceleration_vertical_;
+    1636             : 
+    1637       22264 :   last_control_output_.diagnostics.controller = name_;
+    1638             : 
+    1639             :   // | ------------ construct the attitude reference ------------ |
+    1640             : 
+    1641       22264 :   mrs_msgs::HwApiAttitudeCmd attitude_cmd;
+    1642             : 
+    1643       22264 :   attitude_cmd.stamp       = ros::Time::now();
+    1644       22264 :   attitude_cmd.orientation = mrs_lib::AttitudeConverter(Rd);
+    1645       22264 :   attitude_cmd.throttle    = throttle;
+    1646             : 
+    1647       22264 :   if (output_modality == common::ATTITUDE) {
+    1648             : 
+    1649        1058 :     last_control_output_.control_output = attitude_cmd;
+    1650             : 
+    1651        1058 :     return;
+    1652             :   }
+    1653             : 
+    1654             :   // --------------------------------------------------------------
+    1655             :   // |                      attitude control                      |
+    1656             :   // --------------------------------------------------------------
+    1657             : 
+    1658       21206 :   Eigen::Vector3d rate_feedforward = Eigen::Vector3d::Zero(3);
+    1659             : 
+    1660       21206 :   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       21206 :   } else if (tracker_command.use_heading_rate) {
+    1665             : 
+    1666             :     // to fill in the feed forward yaw rate
+    1667       21204 :     double desired_yaw_rate = 0;
+    1668             : 
+    1669             :     try {
+    1670       21204 :       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       21204 :     rate_feedforward << 0, 0, desired_yaw_rate;
+    1677             :   }
+    1678             : 
+    1679             :   // | ------------ jerk feedforward -> angular rate ------------ |
+    1680             : 
+    1681       21206 :   Eigen::Vector3d jerk_feedforward = Eigen::Vector3d(0, 0, 0);
+    1682             : 
+    1683       21206 :   if (tracker_command.use_jerk && drs_params.jerk_feedforward) {
+    1684             : 
+    1685       11260 :     ROS_DEBUG_THROTTLE(1.0, "[%s]: using jerk feedforward", name_.c_str());
+    1686             : 
+    1687       11260 :     Eigen::Matrix3d I;
+    1688       11260 :     I << 0, 1, 0, -1, 0, 0, 0, 0, 0;
+    1689       11260 :     Eigen::Vector3d desired_jerk = Eigen::Vector3d(tracker_command.jerk.x, tracker_command.jerk.y, tracker_command.jerk.z);
+    1690       11260 :     jerk_feedforward             = (I.transpose() * Rd.transpose() * desired_jerk) / (desired_thrust_force / total_mass);
+    1691             :   }
+    1692             : 
+    1693             :   // | --------------- run the attitude controller -------------- |
+    1694             : 
+    1695       21206 :   Eigen::Vector3d attitude_rate_saturation(constraints.roll_rate, constraints.pitch_rate, constraints.yaw_rate);
+    1696             : 
+    1697       21206 :   auto attitude_rate_command = common::attitudeController(uav_state, attitude_cmd, jerk_feedforward + rate_feedforward, attitude_rate_saturation, Kq, false);
+    1698             : 
+    1699       21206 :   if (!attitude_rate_command) {
+    1700           0 :     return;
+    1701             :   }
+    1702             : 
+    1703             :   // | --------- fill in the already known attitude rate -------- |
+    1704             : 
+    1705             :   {
+    1706             :     try {
+    1707       21206 :       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       21206 :   if (output_modality == common::ATTITUDE_RATE) {
+    1716             : 
+    1717       18825 :     last_control_output_.control_output = attitude_rate_command;
+    1718             : 
+    1719       18825 :     return;
+    1720             :   }
+    1721             : 
+    1722             :   // --------------------------------------------------------------
+    1723             :   // |                    Attitude rate control                   |
+    1724             :   // --------------------------------------------------------------
+    1725             : 
+    1726        2381 :   Kw = common_handlers_->detailed_model_params->inertia.diagonal().array() * Kw;
+    1727             : 
+    1728        2381 :   auto control_group_command = common::attitudeRateController(uav_state, attitude_rate_command.value(), Kw);
+    1729             : 
+    1730        2381 :   if (!control_group_command) {
+    1731           0 :     return;
+    1732             :   }
+    1733             : 
+    1734        2381 :   if (output_modality == common::CONTROL_GROUP) {
+    1735             : 
+    1736        1181 :     last_control_output_.control_output = control_group_command;
+    1737             : 
+    1738        1181 :     return;
+    1739             :   }
+    1740             : 
+    1741             :   // --------------------------------------------------------------
+    1742             :   // |                        output mixer                        |
+    1743             :   // --------------------------------------------------------------
+    1744             : 
+    1745        2400 :   mrs_msgs::HwApiActuatorCmd actuator_cmd = common::actuatorMixer(control_group_command.value(), common_handlers_->detailed_model_params->control_group_mixer);
+    1746             : 
+    1747        1200 :   last_control_output_.control_output = actuator_cmd;
+    1748             : 
+    1749        1200 :   return;
+    1750             : }
+    1751             : 
+    1752             : //}
+    1753             : 
+    1754             : /* positionPassthrough() //{ */
+    1755             : 
+    1756         227 : void MpcController::positionPassthrough(const mrs_msgs::UavState &uav_state, const mrs_msgs::TrackerCommand &tracker_command) {
+    1757             : 
+    1758         227 :   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         454 :   mrs_msgs::HwApiPositionCmd cmd;
+    1764             : 
+    1765         227 :   cmd.header.frame_id = uav_state.header.frame_id;
+    1766         227 :   cmd.header.stamp    = ros::Time::now();
+    1767             : 
+    1768         227 :   cmd.position = tracker_command.position;
+    1769         227 :   cmd.heading  = tracker_command.heading;
+    1770             : 
+    1771         227 :   last_control_output_.control_output = cmd;
+    1772             : 
+    1773             :   // fill the unbiased desired accelerations
+    1774         227 :   last_control_output_.desired_unbiased_acceleration = {};
+    1775         227 :   last_control_output_.desired_orientation           = {};
+    1776         227 :   last_control_output_.desired_heading_rate          = {};
+    1777             : 
+    1778             :   // | ----------------- fill in the diagnostics ---------------- |
+    1779             : 
+    1780         227 :   last_control_output_.diagnostics.ramping_up = false;
+    1781             : 
+    1782         227 :   last_control_output_.diagnostics.mass_estimator  = false;
+    1783         227 :   last_control_output_.diagnostics.mass_difference = 0;
+    1784             : 
+    1785         227 :   last_control_output_.diagnostics.disturbance_estimator = false;
+    1786             : 
+    1787         227 :   last_control_output_.diagnostics.disturbance_bx_b = 0;
+    1788         227 :   last_control_output_.diagnostics.disturbance_by_b = 0;
+    1789             : 
+    1790         227 :   last_control_output_.diagnostics.disturbance_bx_w = 0;
+    1791         227 :   last_control_output_.diagnostics.disturbance_by_w = 0;
+    1792             : 
+    1793         227 :   last_control_output_.diagnostics.disturbance_wx_w = 0;
+    1794         227 :   last_control_output_.diagnostics.disturbance_wy_w = 0;
+    1795             : 
+    1796         227 :   last_control_output_.diagnostics.controller_enforcing_constraints = !tracker_command.use_full_state_prediction;
+    1797             : 
+    1798         227 :   last_control_output_.diagnostics.horizontal_speed_constraint = 0.5 * _max_speed_horizontal_;
+    1799         227 :   last_control_output_.diagnostics.horizontal_acc_constraint   = 0.5 * _max_acceleration_horizontal_;
+    1800             : 
+    1801         227 :   last_control_output_.diagnostics.vertical_asc_speed_constraint = 0.5 * _max_speed_vertical_;
+    1802         227 :   last_control_output_.diagnostics.vertical_asc_acc_constraint   = 0.5 * _max_acceleration_vertical_;
+    1803             : 
+    1804         227 :   last_control_output_.diagnostics.vertical_desc_speed_constraint = 0.5 * _max_speed_vertical_;
+    1805         227 :   last_control_output_.diagnostics.vertical_desc_acc_constraint   = 0.5 * _max_acceleration_vertical_;
+    1806             : 
+    1807         227 :   last_control_output_.diagnostics.controller = name_;
+    1808             : }
+    1809             : 
+    1810             : //}
+    1811             : 
+    1812             : /* PIDVelocityOutput() //{ */
+    1813             : 
+    1814         469 : 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         469 :   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         469 :   auto constraints = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+    1823             : 
+    1824         469 :   Eigen::Vector3d pos_ref = Eigen::Vector3d(tracker_command.position.x, tracker_command.position.y, tracker_command.position.z);
+    1825         469 :   Eigen::Vector3d pos     = Eigen::Vector3d(uav_state.pose.position.x, uav_state.pose.position.y, uav_state.pose.position.z);
+    1826             : 
+    1827         469 :   double hdg_ref = tracker_command.heading;
+    1828         469 :   double hdg     = getHeadingSafely(uav_state, tracker_command);
+    1829             : 
+    1830             :   // | ------------------ velocity feedforward ------------------ |
+    1831             : 
+    1832         469 :   Eigen::Vector3d vel_ff(0, 0, 0);
+    1833             : 
+    1834         469 :   if (tracker_command.use_velocity_horizontal && tracker_command.use_velocity_vertical) {
+    1835         469 :     vel_ff = Eigen::Vector3d(tracker_command.velocity.x, tracker_command.velocity.y, tracker_command.velocity.z);
+    1836             :   }
+    1837             : 
+    1838             :   // | --------------------- control errors --------------------- |
+    1839             : 
+    1840         469 :   Eigen::Vector3d Ep = pos_ref - pos;
+    1841             : 
+    1842             :   // | --------------------------- pid -------------------------- |
+    1843             : 
+    1844         469 :   position_pid_x_.setSaturation(constraints.horizontal_speed);
+    1845         469 :   position_pid_y_.setSaturation(constraints.horizontal_speed);
+    1846         469 :   position_pid_z_.setSaturation(std::min(constraints.vertical_ascending_speed, constraints.vertical_descending_speed));
+    1847             : 
+    1848         469 :   double des_vel_x = position_pid_x_.update(Ep[0], dt);
+    1849         469 :   double des_vel_y = position_pid_y_.update(Ep[1], dt);
+    1850         469 :   double des_vel_z = position_pid_z_.update(Ep[2], dt);
+    1851             : 
+    1852             :   // | -------------------- position feedback ------------------- |
+    1853             : 
+    1854         469 :   Eigen::Vector3d des_vel = Eigen::Vector3d(des_vel_x, des_vel_y, des_vel_z) + vel_ff;
+    1855             : 
+    1856         469 :   if (control_output == common::VELOCITY_HDG) {
+    1857             : 
+    1858             :     // | --------------------- fill the output -------------------- |
+    1859             : 
+    1860         464 :     mrs_msgs::HwApiVelocityHdgCmd cmd;
+    1861             : 
+    1862         232 :     cmd.header.frame_id = uav_state.header.frame_id;
+    1863         232 :     cmd.header.stamp    = ros::Time::now();
+    1864             : 
+    1865         232 :     cmd.velocity.x = des_vel[0];
+    1866         232 :     cmd.velocity.y = des_vel[1];
+    1867         232 :     cmd.velocity.z = des_vel[2];
+    1868             : 
+    1869         232 :     cmd.heading = tracker_command.heading;
+    1870             : 
+    1871         232 :     last_control_output_.control_output = cmd;
+    1872             : 
+    1873         237 :   } else if (control_output == common::VELOCITY_HDG_RATE) {
+    1874             : 
+    1875         237 :     position_pid_heading_.setSaturation(constraints.heading_speed);
+    1876             : 
+    1877         237 :     double hdg_err = mrs_lib::geometry::sradians::diff(hdg_ref, hdg);
+    1878             : 
+    1879         237 :     double des_hdg_rate = position_pid_heading_.update(hdg_err, dt);
+    1880             : 
+    1881             :     // | --------------------------- ff --------------------------- |
+    1882             : 
+    1883         237 :     double des_hdg_ff = 0;
+    1884             : 
+    1885         237 :     if (tracker_command.use_heading_rate) {
+    1886         237 :       des_hdg_ff = tracker_command.heading_rate;
+    1887             :     }
+    1888             : 
+    1889             :     // | --------------------- fill the output -------------------- |
+    1890             : 
+    1891         474 :     mrs_msgs::HwApiVelocityHdgRateCmd cmd;
+    1892             : 
+    1893         237 :     cmd.header.frame_id = uav_state.header.frame_id;
+    1894         237 :     cmd.header.stamp    = ros::Time::now();
+    1895             : 
+    1896         237 :     cmd.velocity.x = des_vel[0];
+    1897         237 :     cmd.velocity.y = des_vel[1];
+    1898         237 :     cmd.velocity.z = des_vel[2];
+    1899             : 
+    1900         237 :     cmd.heading_rate = des_hdg_rate + des_hdg_ff;
+    1901             : 
+    1902         237 :     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         469 :   last_control_output_.desired_unbiased_acceleration = {};
+    1911         469 :   last_control_output_.desired_orientation           = {};
+    1912         469 :   last_control_output_.desired_heading_rate          = {};
+    1913             : 
+    1914             :   // | ----------------- fill in the diagnostics ---------------- |
+    1915             : 
+    1916         469 :   last_control_output_.diagnostics.ramping_up = false;
+    1917             : 
+    1918         469 :   last_control_output_.diagnostics.mass_estimator  = false;
+    1919         469 :   last_control_output_.diagnostics.mass_difference = 0;
+    1920             : 
+    1921         469 :   last_control_output_.diagnostics.disturbance_estimator = false;
+    1922             : 
+    1923         469 :   last_control_output_.diagnostics.disturbance_bx_b = 0;
+    1924         469 :   last_control_output_.diagnostics.disturbance_by_b = 0;
+    1925             : 
+    1926         469 :   last_control_output_.diagnostics.disturbance_bx_w = 0;
+    1927         469 :   last_control_output_.diagnostics.disturbance_by_w = 0;
+    1928             : 
+    1929         469 :   last_control_output_.diagnostics.disturbance_wx_w = 0;
+    1930         469 :   last_control_output_.diagnostics.disturbance_wy_w = 0;
+    1931             : 
+    1932         469 :   last_control_output_.diagnostics.controller_enforcing_constraints = !tracker_command.use_full_state_prediction;
+    1933             : 
+    1934         469 :   last_control_output_.diagnostics.horizontal_speed_constraint = 0.5 * _max_speed_horizontal_;
+    1935         469 :   last_control_output_.diagnostics.horizontal_acc_constraint   = 0.5 * _max_acceleration_horizontal_;
+    1936             : 
+    1937         469 :   last_control_output_.diagnostics.vertical_asc_speed_constraint = 0.5 * _max_speed_vertical_;
+    1938         469 :   last_control_output_.diagnostics.vertical_asc_acc_constraint   = 0.5 * _max_acceleration_vertical_;
+    1939             : 
+    1940         469 :   last_control_output_.diagnostics.vertical_desc_speed_constraint = 0.5 * _max_speed_vertical_;
+    1941         469 :   last_control_output_.diagnostics.vertical_desc_acc_constraint   = 0.5 * _max_acceleration_vertical_;
+    1942             : 
+    1943         469 :   last_control_output_.diagnostics.controller = name_;
+    1944             : }
+    1945             : 
+    1946             : //}
+    1947             : 
+    1948             : // --------------------------------------------------------------
+    1949             : // |                          callbacks                         |
+    1950             : // --------------------------------------------------------------
+    1951             : 
+    1952             : /* //{ callbackDrs() */
+    1953             : 
+    1954          96 : void MpcController::callbackDrs(mrs_uav_controllers::mpc_controllerConfig &config, [[maybe_unused]] uint32_t level) {
+    1955             : 
+    1956          96 :   mrs_lib::set_mutexed(mutex_drs_params_, config, drs_params_);
+    1957             : 
+    1958          96 :   ROS_INFO("[%s]: DRS updated gains", this->name_.c_str());
+    1959          96 : }
+    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        5720 : void MpcController::timerGains(const ros::TimerEvent &event) {
+    1993             : 
+    1994       17160 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerGains", _gain_filtering_rate_, 1.0, event);
+    1995             :   mrs_lib::ScopeTimer timer =
+    1996       17160 :       mrs_lib::ScopeTimer("ControlManager::timerHwApiCapabilities", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    1997             : 
+    1998       11440 :   auto drs_params = mrs_lib::get_mutexed(mutex_drs_params_, drs_params_);
+    1999        5720 :   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        5720 :   bool   bypass_filter = (mute_gains_ || mute_gains_by_tracker_);
+    2004        5720 :   double gain_coeff    = (mute_gains_ || mute_gains_by_tracker_) ? _gain_mute_coefficient_ : 1.0;
+    2005             : 
+    2006        5720 :   mute_gains_ = false;
+    2007             : 
+    2008        5720 :   const double dt = (event.current_real - event.last_real).toSec();
+    2009             : 
+    2010        5720 :   bool updated = false;
+    2011             : 
+    2012        5720 :   gains.kq_roll_pitch = calculateGainChange(dt, gains.kq_roll_pitch, drs_params.kq_roll_pitch * gain_coeff, bypass_filter, "kq_roll_pitch", updated);
+    2013        5720 :   gains.kq_yaw        = calculateGainChange(dt, gains.kq_yaw, drs_params.kq_yaw * gain_coeff, bypass_filter, "kq_yaw", updated);
+    2014        5720 :   gains.km            = calculateGainChange(dt, gains.km, drs_params.km * gain_coeff, bypass_filter, "km", updated);
+    2015        5720 :   gains.kiwxy         = calculateGainChange(dt, gains.kiwxy, drs_params.kiwxy * gain_coeff, bypass_filter, "kiwxy", updated);
+    2016        5720 :   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        5720 :   gains.kiwxy_lim = calculateGainChange(dt, gains.kiwxy_lim, drs_params.kiwxy_lim, false, "kiwxy_lim", updated);
+    2020        5720 :   gains.kibxy_lim = calculateGainChange(dt, gains.kibxy_lim, drs_params.kibxy_lim, false, "kibxy_lim", updated);
+    2021        5720 :   gains.km_lim    = calculateGainChange(dt, gains.km_lim, drs_params.km_lim, false, "km_lim", updated);
+    2022             : 
+    2023        5720 :   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        5720 :   if (updated) {
+    2028             : 
+    2029         711 :     drs_params.kiwxy         = gains.kiwxy;
+    2030         711 :     drs_params.kibxy         = gains.kibxy;
+    2031         711 :     drs_params.kq_roll_pitch = gains.kq_roll_pitch;
+    2032         711 :     drs_params.kq_yaw        = gains.kq_yaw;
+    2033         711 :     drs_params.km            = gains.km;
+    2034         711 :     drs_params.km_lim        = gains.km_lim;
+    2035         711 :     drs_params.kiwxy_lim     = gains.kiwxy_lim;
+    2036         711 :     drs_params.kibxy_lim     = gains.kibxy_lim;
+    2037             : 
+    2038         711 :     drs_->updateConfig(drs_params);
+    2039             : 
+    2040         711 :     ROS_INFO_THROTTLE(10.0, "[%s]: gains have been updated", name_.c_str());
+    2041             :   }
+    2042        5720 : }
+    2043             : 
+    2044             : //}
+    2045             : 
+    2046             : // --------------------------------------------------------------
+    2047             : // |                       other routines                       |
+    2048             : // --------------------------------------------------------------
+    2049             : 
+    2050             : /* calculateGainChange() //{ */
+    2051             : 
+    2052       45760 : 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       45760 :   double change = desired_value - current_value;
+    2056             : 
+    2057       45760 :   double gains_filter_max_change = _gains_filter_change_rate_ * dt;
+    2058       45760 :   double gains_filter_min_change = _gains_filter_min_change_rate_ * dt;
+    2059             : 
+    2060       45760 :   if (!bypass_rate) {
+    2061             : 
+    2062             :     // if current value is near 0...
+    2063             :     double change_in_perc;
+    2064             :     double saturated_change;
+    2065             : 
+    2066       45365 :     if (fabs(current_value) < 1e-6) {
+    2067           0 :       change *= gains_filter_max_change;
+    2068             :     } else {
+    2069             : 
+    2070       45365 :       saturated_change = change;
+    2071             : 
+    2072       45365 :       change_in_perc = (current_value + saturated_change) / current_value - 1.0;
+    2073             : 
+    2074       45365 :       if (change_in_perc > gains_filter_max_change) {
+    2075        2765 :         saturated_change = current_value * gains_filter_max_change;
+    2076       42600 :       } else if (change_in_perc < -gains_filter_max_change) {
+    2077           0 :         saturated_change = current_value * -gains_filter_max_change;
+    2078             :       }
+    2079             : 
+    2080       45365 :       if (fabs(saturated_change) < fabs(change) * gains_filter_min_change) {
+    2081           0 :         change *= gains_filter_min_change;
+    2082             :       } else {
+    2083       45365 :         change = saturated_change;
+    2084             :       }
+    2085             :     }
+    2086             :   }
+    2087             : 
+    2088       45760 :   if (fabs(change) > 1e-3) {
+    2089        3555 :     ROS_DEBUG("[%s]: changing gain '%s' from %.2f to %.2f", name_.c_str(), name.c_str(), current_value, desired_value);
+    2090        3555 :     updated = true;
+    2091             :   }
+    2092             : 
+    2093       45760 :   return current_value + change;
+    2094             : }
+    2095             : 
+    2096             : //}
+    2097             : 
+    2098             : /* getHeadingSafely() //{ */
+    2099             : 
+    2100       23623 : double MpcController::getHeadingSafely(const mrs_msgs::UavState &uav_state, const mrs_msgs::TrackerCommand &tracker_command) {
+    2101             : 
+    2102             :   try {
+    2103       23623 :     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          48 : PLUGINLIB_EXPORT_CLASS(mrs_uav_controllers::mpc_controller::MpcController, mrs_uav_managers::Controller)
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_controllers/src/mpc_controller.cpp.gcov.overview.html b/mrs_uav_controllers/src/mpc_controller.cpp.gcov.overview.html new file mode 100644 index 0000000000..ec11992da7 --- /dev/null +++ b/mrs_uav_controllers/src/mpc_controller.cpp.gcov.overview.html @@ -0,0 +1,553 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_controllers/src/mpc_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 + 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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:2023-12-14 21:42:20Functions:151788.2 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_controllers::se3_controller::Se3Controller::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_controllers::se3_controller::Se3Controller::resetDisturbanceEstimators()0
mrs_uav_controllers::se3_controller::Se3Controller::deactivate()10
mrs_uav_controllers::se3_controller::Se3Controller::activate(mrs_uav_managers::Controller::ControlOutput const&)13
(anonymous namespace)::ProxyExec0::ProxyExec0()48
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>)48
mrs_uav_controllers::se3_controller::Se3Controller::callbackDrs(mrs_uav_controllers::se3_controllerConfig&, unsigned int)96
mrs_uav_controllers::se3_controller::Se3Controller::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)188
mrs_uav_controllers::se3_controller::Se3Controller::positionPassthrough(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)235
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&)530
mrs_uav_controllers::se3_controller::Se3Controller::getStatus()907
mrs_uav_controllers::se3_controller::Se3Controller::timerGains(ros::TimerEvent const&)1497
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&)8920
mrs_uav_controllers::se3_controller::Se3Controller::getHeadingSafely(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)9450
mrs_uav_controllers::se3_controller::Se3Controller::updateActive(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)9685
mrs_uav_controllers::se3_controller::Se3Controller::calculateGainChange(double, double, double, bool, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool&)20958
mrs_uav_controllers::se3_controller::Se3Controller::updateInactive(mrs_msgs::UavState_<std::allocator<void> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)40637
+
+
+ + + +
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..bc3c08184c --- /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:2023-12-14 21:42:20Functions:151788.2 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()48
mrs_uav_controllers::se3_controller::Se3Controller::deactivate()10
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>)48
mrs_uav_controllers::se3_controller::Se3Controller::timerGains(ros::TimerEvent const&)1497
mrs_uav_controllers::se3_controller::Se3Controller::callbackDrs(mrs_uav_controllers::se3_controllerConfig&, unsigned int)96
mrs_uav_controllers::se3_controller::Se3Controller::updateActive(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)9685
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&)8920
mrs_uav_controllers::se3_controller::Se3Controller::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)188
mrs_uav_controllers::se3_controller::Se3Controller::updateInactive(mrs_msgs::UavState_<std::allocator<void> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)40637
mrs_uav_controllers::se3_controller::Se3Controller::getHeadingSafely(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)9450
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&)530
mrs_uav_controllers::se3_controller::Se3Controller::calculateGainChange(double, double, double, bool, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool&)20958
mrs_uav_controllers::se3_controller::Se3Controller::positionPassthrough(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)235
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&)13
mrs_uav_controllers::se3_controller::Se3Controller::getStatus()907
+
+
+ + + +
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+ + + diff --git a/mrs_uav_controllers/src/se3_controller.cpp.gcov.frameset.html b/mrs_uav_controllers/src/se3_controller.cpp.gcov.frameset.html new file mode 100644 index 0000000000..96cbbf6f55 --- /dev/null +++ b/mrs_uav_controllers/src/se3_controller.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_controllers/src/se3_controller.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_controllers/src/se3_controller.cpp.gcov.html b/mrs_uav_controllers/src/se3_controller.cpp.gcov.html new file mode 100644 index 0000000000..59caf72237 --- /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:2023-12-14 21:42:20Functions: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          48 : 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          48 :   nh_ = nh;
+     217             : 
+     218          48 :   common_handlers_  = common_handlers;
+     219          48 :   private_handlers_ = private_handlers;
+     220             : 
+     221          48 :   _uav_mass_ = common_handlers->getMass();
+     222             : 
+     223          48 :   ros::Time::waitForValid();
+     224             : 
+     225             :   // | ---------- loading params using the parent's nh ---------- |
+     226             : 
+     227          96 :   mrs_lib::ParamLoader param_loader_parent(common_handlers->parent_nh, "ControlManager");
+     228             : 
+     229          48 :   param_loader_parent.loadParam("enable_profiler", _profiler_enabled_);
+     230             : 
+     231          48 :   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          48 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/private/se3_controller.yaml");
+     239          48 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/public/se3_controller.yaml");
+     240             : 
+     241          96 :   const std::string yaml_namespace = "mrs_uav_controllers/se3_controller/";
+     242             : 
+     243             :   // lateral gains
+     244          48 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/horizontal/kp", gains_.kpxy);
+     245          48 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/horizontal/kv", gains_.kvxy);
+     246          48 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/horizontal/ka", gains_.kaxy);
+     247             : 
+     248          48 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/horizontal/kiw", gains_.kiwxy);
+     249          48 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/horizontal/kib", gains_.kibxy);
+     250             : 
+     251             :   // | ------------------------- rampup ------------------------- |
+     252             : 
+     253          48 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/rampup/enabled", _rampup_enabled_);
+     254          48 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/rampup/speed", _rampup_speed_);
+     255             : 
+     256             :   // height gains
+     257          48 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/vertical/kp", gains_.kpz);
+     258          48 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/vertical/kv", gains_.kvz);
+     259          48 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/vertical/ka", gains_.kaz);
+     260             : 
+     261             :   // attitude gains
+     262          48 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/attitude/kq_roll_pitch", gains_.kq_roll_pitch);
+     263          48 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/attitude/kq_yaw", gains_.kq_yaw);
+     264             : 
+     265             :   // attitude rate gains
+     266          48 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/attitude_rate_gains/kw_roll_pitch", gains_.kw_roll_pitch);
+     267          48 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/attitude_rate_gains/kw_yaw", gains_.kw_yaw);
+     268             : 
+     269             :   // mass estimator
+     270          48 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/mass_estimator/km", gains_.km);
+     271          48 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/mass_estimator/km_lim", gains_.km_lim);
+     272             : 
+     273             :   // integrator limits
+     274          48 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/horizontal/kiw_lim", gains_.kiwxy_lim);
+     275          48 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/horizontal/kib_lim", gains_.kibxy_lim);
+     276             : 
+     277             :   // constraints
+     278          48 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/constraints/tilt_angle_failsafe/enabled", _tilt_angle_failsafe_enabled_);
+     279          48 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/constraints/tilt_angle_failsafe/limit", _tilt_angle_failsafe_);
+     280             : 
+     281          48 :   _tilt_angle_failsafe_ = M_PI * (_tilt_angle_failsafe_ / 180.0);
+     282             : 
+     283          48 :   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          48 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/constraints/throttle_saturation", _throttle_saturation_);
+     289             : 
+     290             :   // gain filtering
+     291          48 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/gain_filtering/perc_change_rate", _gains_filter_change_rate_);
+     292          48 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/gain_filtering/min_change_rate", _gains_filter_min_change_rate_);
+     293          48 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/gain_filtering/rate", _gain_filtering_rate_);
+     294          48 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/gain_filtering/gain_mute_coefficient", _gain_mute_coefficient_);
+     295             : 
+     296             :   // output mode
+     297          48 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/preferred_output", drs_params_.preferred_output_mode);
+     298             : 
+     299          48 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/rotation_matrix", drs_params_.rotation_type);
+     300             : 
+     301             :   // angular rate feed forward
+     302          96 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/angular_rate_feedforward/parasitic_pitch_roll",
+     303          48 :                                             drs_params_.pitch_roll_heading_rate_compensation);
+     304          48 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/angular_rate_feedforward/jerk", drs_params_.jerk_feedforward);
+     305             : 
+     306             :   // | ------------------- position pid params ------------------ |
+     307             : 
+     308          48 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/translation_gains/p", _pos_pid_p_);
+     309          48 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/translation_gains/i", _pos_pid_i_);
+     310          48 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/translation_gains/d", _pos_pid_d_);
+     311             : 
+     312          48 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/heading_gains/p", _hdg_pid_p_);
+     313          48 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/heading_gains/i", _hdg_pid_i_);
+     314          48 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/heading_gains/d", _hdg_pid_d_);
+     315             : 
+     316             :   // | ------------------ finish loading params ----------------- |
+     317             : 
+     318          48 :   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          48 :   if (!(drs_params_.preferred_output_mode == OUTPUT_ACTUATORS || drs_params_.preferred_output_mode == OUTPUT_CONTROL_GROUP ||
+     326          48 :         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          48 :   uav_mass_difference_ = 0;
+     333          48 :   Iw_w_                = Eigen::Vector2d::Zero(2);
+     334          48 :   Ib_b_                = Eigen::Vector2d::Zero(2);
+     335             : 
+     336             :   // | --------------- dynamic reconfigure server --------------- |
+     337             : 
+     338          48 :   drs_params_.kpxy             = gains_.kpxy;
+     339          48 :   drs_params_.kvxy             = gains_.kvxy;
+     340          48 :   drs_params_.kaxy             = gains_.kaxy;
+     341          48 :   drs_params_.kiwxy            = gains_.kiwxy;
+     342          48 :   drs_params_.kibxy            = gains_.kibxy;
+     343          48 :   drs_params_.kpz              = gains_.kpz;
+     344          48 :   drs_params_.kvz              = gains_.kvz;
+     345          48 :   drs_params_.kaz              = gains_.kaz;
+     346          48 :   drs_params_.kq_roll_pitch    = gains_.kq_roll_pitch;
+     347          48 :   drs_params_.kq_yaw           = gains_.kq_yaw;
+     348          48 :   drs_params_.kiwxy_lim        = gains_.kiwxy_lim;
+     349          48 :   drs_params_.kibxy_lim        = gains_.kibxy_lim;
+     350          48 :   drs_params_.km               = gains_.km;
+     351          48 :   drs_params_.km_lim           = gains_.km_lim;
+     352          48 :   drs_params_.jerk_feedforward = true;
+     353             : 
+     354          48 :   drs_.reset(new Drs_t(mutex_drs_, nh_));
+     355          48 :   drs_->updateConfig(drs_params_);
+     356          48 :   Drs_t::CallbackType f = boost::bind(&Se3Controller::callbackDrs, this, _1, _2);
+     357          48 :   drs_->setCallback(f);
+     358             : 
+     359             :   // | ------------------------- timers ------------------------- |
+     360             : 
+     361          48 :   timer_gains_ = nh_.createTimer(ros::Rate(_gain_filtering_rate_), &Se3Controller::timerGains, this, false, false);
+     362             : 
+     363             :   // | ---------------------- position pid ---------------------- |
+     364             : 
+     365          48 :   position_pid_x_.setParams(_pos_pid_p_, _pos_pid_d_, _pos_pid_i_, -1, 1.0);
+     366          48 :   position_pid_y_.setParams(_pos_pid_p_, _pos_pid_d_, _pos_pid_i_, -1, 1.0);
+     367          48 :   position_pid_z_.setParams(_pos_pid_p_, _pos_pid_d_, _pos_pid_i_, -1, 1.0);
+     368          48 :   position_pid_heading_.setParams(_hdg_pid_p_, _hdg_pid_d_, _hdg_pid_i_, -1, 0.1);
+     369             : 
+     370             :   // | ------------------------ profiler ------------------------ |
+     371             : 
+     372          48 :   profiler_ = mrs_lib::Profiler(common_handlers_->parent_nh, "Se3Controller", _profiler_enabled_);
+     373             : 
+     374             :   // | ----------------------- finish init ---------------------- |
+     375             : 
+     376          48 :   ROS_INFO("[Se3Controller]: initialized");
+     377             : 
+     378          48 :   is_initialized_ = true;
+     379             : 
+     380          48 :   return true;
+     381             : }
+     382             : 
+     383             : //}
+     384             : 
+     385             : /* //{ activate() */
+     386             : 
+     387          13 : bool Se3Controller::activate(const ControlOutput& last_control_output) {
+     388             : 
+     389          13 :   activation_control_output_ = last_control_output;
+     390             : 
+     391          13 :   double activation_mass = _uav_mass_;
+     392             : 
+     393          13 :   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          13 :   last_control_output_.diagnostics.controller_enforcing_constraints = false;
+     400             : 
+     401          13 :   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          13 :   auto throttle_last_controller = common::extractThrottle(activation_control_output_);
+     416             : 
+     417             :   // rampup check
+     418          13 :   if (_rampup_enabled_ && throttle_last_controller) {
+     419             : 
+     420           8 :     double hover_throttle = mrs_lib::quadratic_throttle_model::forceToThrottle(common_handlers_->throttle_model, activation_mass * common_handlers_->g);
+     421             : 
+     422           8 :     double throttle_difference = hover_throttle - throttle_last_controller.value();
+     423             : 
+     424           8 :     if (throttle_difference > 0) {
+     425           2 :       rampup_direction_ = 1;
+     426           6 :     } else if (throttle_difference < 0) {
+     427           0 :       rampup_direction_ = -1;
+     428             :     } else {
+     429           6 :       rampup_direction_ = 0;
+     430             :     }
+     431             : 
+     432           8 :     ROS_INFO("[Se3Controller]: activating rampup with initial throttle: %.4f, target: %.4f", throttle_last_controller.value(), hover_throttle);
+     433             : 
+     434           8 :     rampup_active_     = true;
+     435           8 :     rampup_start_time_ = ros::Time::now();
+     436           8 :     rampup_last_time_  = ros::Time::now();
+     437           8 :     rampup_throttle_   = throttle_last_controller.value();
+     438             : 
+     439           8 :     rampup_duration_ = fabs(throttle_difference) / _rampup_speed_;
+     440             :   }
+     441             : 
+     442          13 :   first_iteration_ = true;
+     443          13 :   mute_gains_      = true;
+     444             : 
+     445          13 :   timer_gains_.start();
+     446             : 
+     447             :   // | ------------------ finish the activation ----------------- |
+     448             : 
+     449          13 :   ROS_INFO("[Se3Controller]: activated");
+     450             : 
+     451          13 :   is_active_ = true;
+     452             : 
+     453          13 :   return true;
+     454             : }
+     455             : 
+     456             : //}
+     457             : 
+     458             : /* //{ deactivate() */
+     459             : 
+     460          10 : void Se3Controller::deactivate(void) {
+     461             : 
+     462          10 :   is_active_           = false;
+     463          10 :   first_iteration_     = false;
+     464          10 :   uav_mass_difference_ = 0;
+     465             : 
+     466          10 :   timer_gains_.stop();
+     467             : 
+     468          10 :   ROS_INFO("[Se3Controller]: deactivated");
+     469          10 : }
+     470             : 
+     471             : //}
+     472             : 
+     473             : /* updateInactive() //{ */
+     474             : 
+     475       40637 : void Se3Controller::updateInactive(const mrs_msgs::UavState& uav_state, [[maybe_unused]] const std::optional<mrs_msgs::TrackerCommand>& tracker_command) {
+     476             : 
+     477       40637 :   mrs_lib::set_mutexed(mutex_uav_state_, uav_state, uav_state_);
+     478             : 
+     479       40637 :   last_update_time_ = uav_state.header.stamp;
+     480             : 
+     481       40637 :   first_iteration_ = false;
+     482       40637 : }
+     483             : 
+     484             : //}
+     485             : 
+     486             : /* //{ updateWhenActive() */
+     487             : 
+     488        9685 : Se3Controller::ControlOutput Se3Controller::updateActive(const mrs_msgs::UavState& uav_state, const mrs_msgs::TrackerCommand& tracker_command) {
+     489             : 
+     490       29055 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("update");
+     491       29055 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("Se3Controller::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     492             : 
+     493       19370 :   auto drs_params = mrs_lib::get_mutexed(mutex_drs_params_, drs_params_);
+     494             : 
+     495        9685 :   mrs_lib::set_mutexed(mutex_uav_state_, uav_state, uav_state_);
+     496             : 
+     497        9685 :   last_control_output_.desired_heading_rate          = {};
+     498        9685 :   last_control_output_.desired_orientation           = {};
+     499        9685 :   last_control_output_.desired_unbiased_acceleration = {};
+     500        9685 :   last_control_output_.control_output                = {};
+     501             : 
+     502             :   // | -------------------- calculate the dt -------------------- |
+     503             : 
+     504             :   double dt;
+     505             : 
+     506        9685 :   if (first_iteration_) {
+     507          13 :     dt               = 0.01;
+     508          13 :     first_iteration_ = false;
+     509             :   } else {
+     510        9672 :     dt = (uav_state.header.stamp - last_update_time_).toSec();
+     511             :   }
+     512             : 
+     513        9685 :   last_update_time_ = uav_state.header.stamp;
+     514             : 
+     515        9685 :   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        9685 :   auto lowest_modality = common::getLowestOuput(common_handlers_->control_output_modalities);
+     525             : 
+     526        9685 :   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        9685 :   if (drs_params.preferred_output_mode == OUTPUT_ATTITUDE_RATE && common_handlers_->control_output_modalities.attitude_rate) {
+     536        4354 :     ROS_DEBUG_THROTTLE(1.0, "[Se3Controller]: prioritizing attitude rate output");
+     537        4354 :     lowest_modality = common::ATTITUDE_RATE;
+     538        5331 :   } 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        5331 :   } 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        5331 :   } 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        9685 :   switch (lowest_modality.value()) {
+     550             : 
+     551         235 :     case common::POSITION: {
+     552         235 :       positionPassthrough(uav_state, tracker_command);
+     553         235 :       break;
+     554             :     }
+     555             : 
+     556         264 :     case common::VELOCITY_HDG: {
+     557         264 :       PIDVelocityOutput(uav_state, tracker_command, common::VELOCITY_HDG, dt);
+     558         264 :       break;
+     559             :     }
+     560             : 
+     561         266 :     case common::VELOCITY_HDG_RATE: {
+     562         266 :       PIDVelocityOutput(uav_state, tracker_command, common::VELOCITY_HDG_RATE, dt);
+     563         266 :       break;
+     564             :     }
+     565             : 
+     566         516 :     case common::ACCELERATION_HDG: {
+     567         516 :       SE3Controller(uav_state, tracker_command, dt, common::ACCELERATION_HDG);
+     568         516 :       break;
+     569             :     }
+     570             : 
+     571         541 :     case common::ACCELERATION_HDG_RATE: {
+     572         541 :       SE3Controller(uav_state, tracker_command, dt, common::ACCELERATION_HDG_RATE);
+     573         541 :       break;
+     574             :     }
+     575             : 
+     576        1097 :     case common::ATTITUDE: {
+     577        1097 :       SE3Controller(uav_state, tracker_command, dt, common::ATTITUDE);
+     578        1097 :       break;
+     579             :     }
+     580             : 
+     581        4354 :     case common::ATTITUDE_RATE: {
+     582        4354 :       SE3Controller(uav_state, tracker_command, dt, common::ATTITUDE_RATE);
+     583        4354 :       break;
+     584             :     }
+     585             : 
+     586        1206 :     case common::CONTROL_GROUP: {
+     587        1206 :       SE3Controller(uav_state, tracker_command, dt, common::CONTROL_GROUP);
+     588        1206 :       break;
+     589             :     }
+     590             : 
+     591        1206 :     case common::ACTUATORS_CMD: {
+     592        1206 :       SE3Controller(uav_state, tracker_command, dt, common::ACTUATORS_CMD);
+     593        1206 :       break;
+     594             :     }
+     595             : 
+     596        9685 :     default: {
+     597             :     }
+     598             :   }
+     599             : 
+     600        9685 :   return last_control_output_;
+     601             : }
+     602             : 
+     603             : //}
+     604             : 
+     605             : /* //{ getStatus() */
+     606             : 
+     607         907 : const mrs_msgs::ControllerStatus Se3Controller::getStatus() {
+     608             : 
+     609         907 :   mrs_msgs::ControllerStatus controller_status;
+     610             : 
+     611         907 :   controller_status.active = is_active_;
+     612             : 
+     613         907 :   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         188 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr Se3Controller::setConstraints([
+     674             :     [maybe_unused]] const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr& constraints) {
+     675             : 
+     676         188 :   if (!is_initialized_) {
+     677           0 :     return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse());
+     678             :   }
+     679             : 
+     680         188 :   mrs_lib::set_mutexed(mutex_constraints_, constraints->constraints, constraints_);
+     681             : 
+     682         188 :   ROS_INFO("[Se3Controller]: updating constraints");
+     683             : 
+     684         376 :   mrs_msgs::DynamicsConstraintsSrvResponse res;
+     685         188 :   res.success = true;
+     686         188 :   res.message = "constraints updated";
+     687             : 
+     688         188 :   return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse(res));
+     689             : }
+     690             : 
+     691             : //}
+     692             : 
+     693             : // --------------------------------------------------------------
+     694             : // |                         controllers                        |
+     695             : // --------------------------------------------------------------
+     696             : 
+     697             : /* SE3Controller() //{ */
+     698             : 
+     699        8920 : 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       17840 :   auto drs_params  = mrs_lib::get_mutexed(mutex_drs_params_, drs_params_);
+     703        8920 :   auto constraints = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+     704        8920 :   auto gains       = mrs_lib::get_mutexed(mutex_gains_, gains_);
+     705             : 
+     706             :   // | ----------------- get the current heading ---------------- |
+     707             : 
+     708        8920 :   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        8920 :   Eigen::Vector3d Rp = Eigen::Vector3d::Zero(3);
+     719        8920 :   Eigen::Vector3d Rv = Eigen::Vector3d::Zero(3);
+     720        8920 :   Eigen::Vector3d Ra = Eigen::Vector3d::Zero(3);
+     721             : 
+     722        8920 :   if (tracker_command.use_position_vertical || tracker_command.use_position_horizontal) {
+     723             : 
+     724        8920 :     if (tracker_command.use_position_horizontal) {
+     725        8920 :       Rp[0] = tracker_command.position.x;
+     726        8920 :       Rp[1] = tracker_command.position.y;
+     727             :     } else {
+     728           0 :       Rv[0] = 0;
+     729           0 :       Rv[1] = 0;
+     730             :     }
+     731             : 
+     732        8920 :     if (tracker_command.use_position_vertical) {
+     733        8920 :       Rp[2] = tracker_command.position.z;
+     734             :     } else {
+     735           0 :       Rv[2] = 0;
+     736             :     }
+     737             :   }
+     738             : 
+     739        8920 :   if (tracker_command.use_velocity_horizontal) {
+     740        8920 :     Rv[0] = tracker_command.velocity.x;
+     741        8920 :     Rv[1] = tracker_command.velocity.y;
+     742             :   } else {
+     743           0 :     Rv[0] = 0;
+     744           0 :     Rv[1] = 0;
+     745             :   }
+     746             : 
+     747        8920 :   if (tracker_command.use_velocity_vertical) {
+     748        8920 :     Rv[2] = tracker_command.velocity.z;
+     749             :   } else {
+     750           0 :     Rv[2] = 0;
+     751             :   }
+     752             : 
+     753        8920 :   if (tracker_command.use_acceleration) {
+     754        8920 :     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        8920 :   Eigen::Vector3d Op(uav_state.pose.position.x, uav_state.pose.position.y, uav_state.pose.position.z);
+     764        8920 :   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        8920 :   Eigen::Matrix3d R = mrs_lib::AttitudeConverter(uav_state.pose.orientation);
+     768             : 
+     769             :   // Ow - UAV angular rate
+     770        8920 :   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        8920 :   Eigen::Vector3d Ep(0, 0, 0);
+     776             : 
+     777        8920 :   if (tracker_command.use_position_horizontal || tracker_command.use_position_vertical) {
+     778        8920 :     Ep = Rp - Op;
+     779             :   }
+     780             : 
+     781             :   // velocity control error
+     782        8920 :   Eigen::Vector3d Ev(0, 0, 0);
+     783             : 
+     784        8920 :   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        8920 :     Ev = Rv - Ov;
+     787             :   }
+     788             : 
+     789             :   // | --------------------- load the gains --------------------- |
+     790             : 
+     791        8920 :   mute_gains_by_tracker_ = tracker_command.disable_position_gains;
+     792             : 
+     793        8920 :   Eigen::Vector3d Ka(0, 0, 0);
+     794        8920 :   Eigen::Array3d  Kp(0, 0, 0);
+     795        8920 :   Eigen::Array3d  Kv(0, 0, 0);
+     796        8920 :   Eigen::Array3d  Kq(0, 0, 0);
+     797        8920 :   Eigen::Array3d  Kw(0, 0, 0);
+     798             : 
+     799             :   {
+     800        8920 :     std::scoped_lock lock(mutex_gains_);
+     801             : 
+     802        8920 :     if (tracker_command.use_position_horizontal) {
+     803        8920 :       Kp[0] = gains.kpxy;
+     804        8920 :       Kp[1] = gains.kpxy;
+     805             :     } else {
+     806           0 :       Kp[0] = 0;
+     807           0 :       Kp[1] = 0;
+     808             :     }
+     809             : 
+     810        8920 :     if (tracker_command.use_position_vertical) {
+     811        8920 :       Kp[2] = gains.kpz;
+     812             :     } else {
+     813           0 :       Kp[2] = 0;
+     814             :     }
+     815             : 
+     816        8920 :     if (tracker_command.use_velocity_horizontal) {
+     817        8920 :       Kv[0] = gains.kvxy;
+     818        8920 :       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        8920 :     if (tracker_command.use_velocity_vertical || tracker_command.use_position_vertical) {
+     826        8920 :       Kv[2] = gains.kvz;
+     827             :     } else {
+     828           0 :       Kv[2] = 0;
+     829             :     }
+     830             : 
+     831        8920 :     if (tracker_command.use_acceleration) {
+     832        8920 :       Ka << gains.kaxy, gains.kaxy, gains.kaz;
+     833             :     } else {
+     834           0 :       Ka << 0, 0, 0;
+     835             :     }
+     836             : 
+     837        8920 :     if (!tracker_command.use_attitude_rate) {
+     838        8920 :       Kq << gains.kq_roll_pitch, gains.kq_roll_pitch, gains.kq_yaw;
+     839             :     }
+     840             : 
+     841        8920 :     Kw[0] = gains.kw_roll_pitch;
+     842        8920 :     Kw[1] = gains.kw_roll_pitch;
+     843        8920 :     Kw[2] = gains.kw_yaw;
+     844             :   }
+     845             : 
+     846        8920 :   Kp = Kp * (_uav_mass_ + uav_mass_difference_);
+     847        8920 :   Kv = Kv * (_uav_mass_ + uav_mass_difference_);
+     848             : 
+     849             :   // | --------------- desired orientation matrix --------------- |
+     850             : 
+     851             :   // get body integral in the world frame
+     852             : 
+     853        8920 :   Eigen::Vector2d Ib_w = Eigen::Vector2d(0, 0);
+     854             : 
+     855             :   {
+     856       17840 :     geometry_msgs::Vector3Stamped Ib_b_stamped;
+     857             : 
+     858        8920 :     Ib_b_stamped.header.stamp    = ros::Time::now();
+     859        8920 :     Ib_b_stamped.header.frame_id = "fcu_untilted";
+     860        8920 :     Ib_b_stamped.vector.x        = Ib_b_(0);
+     861        8920 :     Ib_b_stamped.vector.y        = Ib_b_(1);
+     862        8920 :     Ib_b_stamped.vector.z        = 0;
+     863             : 
+     864       17840 :     auto res = common_handlers_->transformer->transformSingle(Ib_b_stamped, uav_state_.header.frame_id);
+     865             : 
+     866        8920 :     if (res) {
+     867        8920 :       Ib_w[0] = res.value().vector.x;
+     868        8920 :       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        8920 :   double total_mass = _uav_mass_ + uav_mass_difference_;
+     877             : 
+     878        8920 :   Eigen::Vector3d feed_forward      = total_mass * (Eigen::Vector3d(0, 0, common_handlers_->g) + Ra);
+     879        8920 :   Eigen::Vector3d position_feedback = Kp * Ep.array();
+     880        8920 :   Eigen::Vector3d velocity_feedback = Kv * Ev.array();
+     881        8920 :   Eigen::Vector3d integral_feedback;
+     882             :   {
+     883        8920 :     std::scoped_lock lock(mutex_integrals_);
+     884             : 
+     885        8920 :     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       17840 :     std::scoped_lock lock(mutex_gains_, mutex_integrals_);
+     900             : 
+     901        8920 :     Eigen::Vector3d integration_switch(1, 1, 0);
+     902             : 
+     903             :     // integrate the world error
+     904        8920 :     if (tracker_command.use_position_horizontal) {
+     905        8920 :       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        8920 :     bool world_integral_saturated = false;
+     912        8920 :     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        8920 :     } else if (Iw_w_[0] > gains.kiwxy_lim) {
+     916           0 :       Iw_w_[0]                 = gains.kiwxy_lim;
+     917           0 :       world_integral_saturated = true;
+     918        8920 :     } 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        8920 :     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        8920 :     world_integral_saturated = false;
+     929        8920 :     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        8920 :     } else if (Iw_w_[1] > gains.kiwxy_lim) {
+     933           0 :       Iw_w_[1]                 = gains.kiwxy_lim;
+     934           0 :       world_integral_saturated = true;
+     935        8920 :     } 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        8920 :     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       17840 :     std::scoped_lock lock(mutex_gains_);
+     955             : 
+     956        8920 :     Eigen::Vector2d Ep_fcu_untilted = Eigen::Vector2d(0, 0);  // position error in the untilted frame of the UAV
+     957        8920 :     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       17840 :       geometry_msgs::Vector3Stamped Ep_stamped;
+     963             : 
+     964        8920 :       Ep_stamped.header.stamp    = ros::Time::now();
+     965        8920 :       Ep_stamped.header.frame_id = uav_state_.header.frame_id;
+     966        8920 :       Ep_stamped.vector.x        = Ep(0);
+     967        8920 :       Ep_stamped.vector.y        = Ep(1);
+     968        8920 :       Ep_stamped.vector.z        = Ep(2);
+     969             : 
+     970       26760 :       auto res = common_handlers_->transformer->transformSingle(Ep_stamped, "fcu_untilted");
+     971             : 
+     972        8920 :       if (res) {
+     973        8920 :         Ep_fcu_untilted[0] = res.value().vector.x;
+     974        8920 :         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       17840 :       geometry_msgs::Vector3Stamped Ev_stamped;
+     983             : 
+     984        8920 :       Ev_stamped.header.stamp    = ros::Time::now();
+     985        8920 :       Ev_stamped.header.frame_id = uav_state_.header.frame_id;
+     986        8920 :       Ev_stamped.vector.x        = Ev(0);
+     987        8920 :       Ev_stamped.vector.y        = Ev(1);
+     988        8920 :       Ev_stamped.vector.z        = Ev(2);
+     989             : 
+     990       26760 :       auto res = common_handlers_->transformer->transformSingle(Ev_stamped, "fcu_untilted");
+     991             : 
+     992        8920 :       if (res) {
+     993        8920 :         Ev_fcu_untilted[0] = res.value().vector.x;
+     994        8920 :         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        8920 :     if (tracker_command.use_position_horizontal) {
+    1002        8920 :       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        8920 :     bool body_integral_saturated = false;
+    1009        8920 :     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        8920 :     } else if (Ib_b_[0] > gains.kibxy_lim) {
+    1013           0 :       Ib_b_[0]                = gains.kibxy_lim;
+    1014           0 :       body_integral_saturated = true;
+    1015        8920 :     } 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        8920 :     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        8920 :     body_integral_saturated = false;
+    1026        8920 :     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        8920 :     } else if (Ib_b_[1] > gains.kibxy_lim) {
+    1030           0 :       Ib_b_[1]                = gains.kibxy_lim;
+    1031           0 :       body_integral_saturated = true;
+    1032        8920 :     } 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        8920 :     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        8920 :   if (output_modality == common::ACCELERATION_HDG || output_modality == common::ACCELERATION_HDG_RATE) {
+    1045             : 
+    1046        1057 :     Eigen::Vector3d des_acc = (position_feedback + velocity_feedback + integral_feedback) / total_mass + Ra;
+    1047             : 
+    1048        1057 :     if (output_modality == common::ACCELERATION_HDG) {
+    1049             : 
+    1050        1032 :       mrs_msgs::HwApiAccelerationHdgCmd cmd;
+    1051             : 
+    1052         516 :       cmd.acceleration.x = des_acc[0];
+    1053         516 :       cmd.acceleration.y = des_acc[1];
+    1054         516 :       cmd.acceleration.z = des_acc[2];
+    1055             : 
+    1056         516 :       cmd.heading = tracker_command.heading;
+    1057             : 
+    1058         516 :       last_control_output_.control_output = cmd;
+    1059             : 
+    1060             :     } else {
+    1061             : 
+    1062         541 :       double des_hdg_ff = 0;
+    1063             : 
+    1064         541 :       if (tracker_command.use_heading_rate) {
+    1065         541 :         des_hdg_ff = tracker_command.heading_rate;
+    1066             :       }
+    1067             : 
+    1068        1082 :       mrs_msgs::HwApiAccelerationHdgRateCmd cmd;
+    1069             : 
+    1070         541 :       cmd.acceleration.x = des_acc[0];
+    1071         541 :       cmd.acceleration.y = des_acc[1];
+    1072         541 :       cmd.acceleration.z = des_acc[2];
+    1073             : 
+    1074         541 :       position_pid_heading_.setSaturation(constraints.heading_speed);
+    1075             : 
+    1076         541 :       double hdg_err = mrs_lib::geometry::sradians::diff(tracker_command.heading, uav_heading);
+    1077             : 
+    1078         541 :       double des_hdg_rate = position_pid_heading_.update(hdg_err, dt) + des_hdg_ff;
+    1079             : 
+    1080         541 :       cmd.heading_rate = des_hdg_rate;
+    1081             : 
+    1082         541 :       last_control_output_.desired_heading_rate = des_hdg_rate;
+    1083             : 
+    1084         541 :       last_control_output_.control_output = cmd;
+    1085             :     }
+    1086             : 
+    1087             :     // | -------------- unbiased desired acceleration ------------- |
+    1088             : 
+    1089        1057 :     Eigen::Vector3d unbiased_des_acc(0, 0, 0);
+    1090             : 
+    1091             :     {
+    1092             : 
+    1093        1057 :       Eigen::Vector3d unbiased_des_acc_world = (position_feedback + velocity_feedback) / total_mass + Ra;
+    1094             : 
+    1095        2114 :       geometry_msgs::Vector3Stamped world_accel;
+    1096             : 
+    1097        1057 :       world_accel.header.stamp    = ros::Time::now();
+    1098        1057 :       world_accel.header.frame_id = uav_state.header.frame_id;
+    1099        1057 :       world_accel.vector.x        = unbiased_des_acc_world[0];
+    1100        1057 :       world_accel.vector.y        = unbiased_des_acc_world[1];
+    1101        1057 :       world_accel.vector.z        = unbiased_des_acc_world[2];
+    1102             : 
+    1103        3171 :       auto res = common_handlers_->transformer->transformSingle(world_accel, "fcu");
+    1104             : 
+    1105        1057 :       if (res) {
+    1106        1057 :         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        1057 :     last_control_output_.desired_unbiased_acceleration = unbiased_des_acc;
+    1112             : 
+    1113             :     // | ----------------- fill in the diagnostics ---------------- |
+    1114             : 
+    1115        1057 :     last_control_output_.diagnostics.ramping_up = false;
+    1116             : 
+    1117        1057 :     last_control_output_.diagnostics.mass_estimator  = false;
+    1118        1057 :     last_control_output_.diagnostics.mass_difference = 0;
+    1119        1057 :     last_control_output_.diagnostics.total_mass      = total_mass;
+    1120             : 
+    1121        1057 :     last_control_output_.diagnostics.disturbance_estimator = true;
+    1122             : 
+    1123        1057 :     last_control_output_.diagnostics.disturbance_bx_b = -Ib_b_[0];
+    1124        1057 :     last_control_output_.diagnostics.disturbance_by_b = -Ib_b_[1];
+    1125             : 
+    1126        1057 :     last_control_output_.diagnostics.disturbance_bx_w = -Ib_w[0];
+    1127        1057 :     last_control_output_.diagnostics.disturbance_by_w = -Ib_w[1];
+    1128             : 
+    1129        1057 :     last_control_output_.diagnostics.disturbance_wx_w = -Iw_w_[0];
+    1130        1057 :     last_control_output_.diagnostics.disturbance_wy_w = -Iw_w_[1];
+    1131             : 
+    1132        1057 :     last_control_output_.diagnostics.controller_enforcing_constraints = false;
+    1133             : 
+    1134        1057 :     last_control_output_.diagnostics.controller = "Se3Controller";
+    1135             : 
+    1136        1057 :     return;
+    1137             :   }
+    1138             : 
+    1139             :   /* mass estimatior //{ */
+    1140             : 
+    1141             :   // --------------------------------------------------------------
+    1142             :   // |                integrate the mass difference               |
+    1143             :   // --------------------------------------------------------------
+    1144             : 
+    1145             :   {
+    1146       15726 :     std::scoped_lock lock(mutex_gains_);
+    1147             : 
+    1148        7863 :     if (tracker_command.use_position_vertical && !rampup_active_) {
+    1149        7855 :       uav_mass_difference_ += gains.km * Ep[2] * dt;
+    1150             :     }
+    1151             : 
+    1152             :     // saturate the mass estimator
+    1153        7863 :     bool uav_mass_saturated = false;
+    1154        7863 :     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        7863 :     } else if (uav_mass_difference_ > gains.km_lim) {
+    1158           0 :       uav_mass_difference_ = gains.km_lim;
+    1159           0 :       uav_mass_saturated   = true;
+    1160        7863 :     } 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        7863 :     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        7863 :   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        7863 :   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        7863 :   double tilt_safety_limit = _tilt_angle_failsafe_enabled_ ? _tilt_angle_failsafe_ : std::numeric_limits<double>::max();
+    1188             : 
+    1189        7863 :   auto f_normed_sanitized = common::sanitizeDesiredForce(f.normalized(), tilt_safety_limit, constraints.tilt, "Se3Controller");
+    1190             : 
+    1191        7863 :   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        7863 :   Eigen::Vector3d f_normed = f_normed_sanitized.value();
+    1205             : 
+    1206             :   // --------------------------------------------------------------
+    1207             :   // |               desired orientation + throttle               |
+    1208             :   // --------------------------------------------------------------
+    1209             : 
+    1210             :   // | ------------------- desired orientation ------------------ |
+    1211             : 
+    1212        7863 :   Eigen::Matrix3d Rd;
+    1213             : 
+    1214        7863 :   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        7863 :     Eigen::Vector3d bxd;  // desired heading vector
+    1231             : 
+    1232        7863 :     if (tracker_command.use_heading) {
+    1233        7863 :       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        7863 :     Rd = common::so3transform(f_normed, bxd, drs_params.rotation_type == 1);
+    1240             :   }
+    1241             : 
+    1242             :   // | -------------------- desired throttle -------------------- |
+    1243             : 
+    1244        7863 :   double desired_thrust_force = f.dot(R.col(2));
+    1245        7863 :   double throttle             = 0;
+    1246             : 
+    1247        7863 :   if (tracker_command.use_throttle) {
+    1248             : 
+    1249             :     // the throttle is overriden from the tracker command
+    1250           0 :     throttle = tracker_command.throttle;
+    1251             : 
+    1252        7863 :   } else if (rampup_active_) {
+    1253             : 
+    1254             :     // deactivate the rampup when the times up
+    1255           8 :     if (fabs((ros::Time::now() - rampup_start_time_).toSec()) >= rampup_duration_) {
+    1256             : 
+    1257           8 :       rampup_active_ = false;
+    1258             : 
+    1259           8 :       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        7855 :     if (desired_thrust_force >= 0) {
+    1277        7855 :       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        7863 :   bool throttle_saturated = false;
+    1286             : 
+    1287        7863 :   if (!std::isfinite(throttle)) {
+    1288             : 
+    1289           0 :     ROS_ERROR("[Se3Controller]: NaN detected in variable 'throttle'!!!");
+    1290           0 :     return;
+    1291             : 
+    1292        7863 :   } 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        7863 :   } 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        7863 :   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        7863 :   Eigen::Vector3d unbiased_des_acc(0, 0, 0);
+    1321             : 
+    1322             :   {
+    1323        7863 :     Eigen::Vector3d unbiased_des_acc_world = (position_feedback + velocity_feedback) / total_mass + Ra;
+    1324             : 
+    1325       15726 :     geometry_msgs::Vector3Stamped world_accel;
+    1326             : 
+    1327        7863 :     world_accel.header.stamp    = ros::Time::now();
+    1328        7863 :     world_accel.header.frame_id = uav_state.header.frame_id;
+    1329        7863 :     world_accel.vector.x        = unbiased_des_acc_world[0];
+    1330        7863 :     world_accel.vector.y        = unbiased_des_acc_world[1];
+    1331        7863 :     world_accel.vector.z        = unbiased_des_acc_world[2];
+    1332             : 
+    1333       23589 :     auto res = common_handlers_->transformer->transformSingle(world_accel, "fcu");
+    1334             : 
+    1335        7863 :     if (res) {
+    1336        7863 :       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        7863 :   last_control_output_.desired_orientation = mrs_lib::AttitudeConverter(Rd);
+    1344             : 
+    1345             :   // fill the unbiased desired accelerations
+    1346        7863 :   last_control_output_.desired_unbiased_acceleration = unbiased_des_acc;
+    1347             : 
+    1348             :   // | ----------------- fill in the diagnostics ---------------- |
+    1349             : 
+    1350        7863 :   last_control_output_.diagnostics.ramping_up = rampup_active_;
+    1351             : 
+    1352        7863 :   last_control_output_.diagnostics.mass_estimator  = true;
+    1353        7863 :   last_control_output_.diagnostics.mass_difference = uav_mass_difference_;
+    1354        7863 :   last_control_output_.diagnostics.total_mass      = total_mass;
+    1355             : 
+    1356        7863 :   last_control_output_.diagnostics.disturbance_estimator = true;
+    1357             : 
+    1358        7863 :   last_control_output_.diagnostics.disturbance_bx_b = -Ib_b_[0];
+    1359        7863 :   last_control_output_.diagnostics.disturbance_by_b = -Ib_b_[1];
+    1360             : 
+    1361        7863 :   last_control_output_.diagnostics.disturbance_bx_w = -Ib_w[0];
+    1362        7863 :   last_control_output_.diagnostics.disturbance_by_w = -Ib_w[1];
+    1363             : 
+    1364        7863 :   last_control_output_.diagnostics.disturbance_wx_w = -Iw_w_[0];
+    1365        7863 :   last_control_output_.diagnostics.disturbance_wy_w = -Iw_w_[1];
+    1366             : 
+    1367        7863 :   last_control_output_.diagnostics.controller_enforcing_constraints = false;
+    1368             : 
+    1369        7863 :   last_control_output_.diagnostics.controller = "Se3Controller";
+    1370             : 
+    1371             :   // | ------------ construct the attitude reference ------------ |
+    1372             : 
+    1373        7863 :   mrs_msgs::HwApiAttitudeCmd attitude_cmd;
+    1374             : 
+    1375        7863 :   attitude_cmd.stamp       = ros::Time::now();
+    1376        7863 :   attitude_cmd.orientation = mrs_lib::AttitudeConverter(Rd);
+    1377        7863 :   attitude_cmd.throttle    = throttle;
+    1378             : 
+    1379        7863 :   if (output_modality == common::ATTITUDE) {
+    1380             : 
+    1381        1097 :     last_control_output_.control_output = attitude_cmd;
+    1382             : 
+    1383        1097 :     return;
+    1384             :   }
+    1385             : 
+    1386             :   // --------------------------------------------------------------
+    1387             :   // |                      attitude control                      |
+    1388             :   // --------------------------------------------------------------
+    1389             : 
+    1390        6766 :   Eigen::Vector3d rate_feedforward = Eigen::Vector3d::Zero(3);
+    1391             : 
+    1392        6766 :   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        6766 :   } else if (tracker_command.use_heading_rate) {
+    1397             : 
+    1398             :     // to fill in the feed forward yaw rate
+    1399        6766 :     double desired_yaw_rate = 0;
+    1400             : 
+    1401             :     try {
+    1402        6766 :       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        6766 :     rate_feedforward << 0, 0, desired_yaw_rate;
+    1409             :   }
+    1410             : 
+    1411             :   // | ------------ jerk feedforward -> angular rate ------------ |
+    1412             : 
+    1413        6766 :   Eigen::Vector3d jerk_feedforward = Eigen::Vector3d(0, 0, 0);
+    1414             : 
+    1415        6766 :   if (tracker_command.use_jerk && drs_params.jerk_feedforward) {
+    1416             : 
+    1417        6759 :     ROS_DEBUG_THROTTLE(1.0, "[Se3Controller]: using jerk feedforward");
+    1418             : 
+    1419        6759 :     Eigen::Matrix3d I;
+    1420        6759 :     I << 0, 1, 0, -1, 0, 0, 0, 0, 0;
+    1421        6759 :     Eigen::Vector3d desired_jerk = Eigen::Vector3d(tracker_command.jerk.x, tracker_command.jerk.y, tracker_command.jerk.z);
+    1422        6759 :     jerk_feedforward             = (I.transpose() * Rd.transpose() * desired_jerk) / (desired_thrust_force / total_mass);
+    1423             :   }
+    1424             : 
+    1425             :   // | --------------- run the attitude controller -------------- |
+    1426             : 
+    1427        6766 :   Eigen::Vector3d attitude_rate_saturation(constraints.roll_rate, constraints.pitch_rate, constraints.yaw_rate);
+    1428             : 
+    1429        6766 :   auto attitude_rate_command = common::attitudeController(uav_state, attitude_cmd, jerk_feedforward + rate_feedforward, attitude_rate_saturation, Kq,
+    1430       13532 :                                                           drs_params.pitch_roll_heading_rate_compensation);
+    1431             : 
+    1432        6766 :   if (!attitude_rate_command) {
+    1433           0 :     return;
+    1434             :   }
+    1435             : 
+    1436             :   // | --------- fill in the already known attitude rate -------- |
+    1437             : 
+    1438             :   {
+    1439             :     try {
+    1440        6766 :       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        6766 :   if (output_modality == common::ATTITUDE_RATE) {
+    1449             : 
+    1450        4354 :     last_control_output_.control_output = attitude_rate_command;
+    1451             : 
+    1452        4354 :     return;
+    1453             :   }
+    1454             : 
+    1455             :   // --------------------------------------------------------------
+    1456             :   // |                    Attitude rate control                   |
+    1457             :   // --------------------------------------------------------------
+    1458             : 
+    1459        2412 :   Kw = common_handlers_->detailed_model_params->inertia.diagonal().array() * Kw;
+    1460             : 
+    1461        2412 :   auto control_group_command = common::attitudeRateController(uav_state, attitude_rate_command.value(), Kw);
+    1462             : 
+    1463        2412 :   if (!control_group_command) {
+    1464           0 :     return;
+    1465             :   }
+    1466             : 
+    1467        2412 :   if (output_modality == common::CONTROL_GROUP) {
+    1468             : 
+    1469        1206 :     last_control_output_.control_output = control_group_command;
+    1470             : 
+    1471        1206 :     return;
+    1472             :   }
+    1473             : 
+    1474             :   // --------------------------------------------------------------
+    1475             :   // |                        output mixer                        |
+    1476             :   // --------------------------------------------------------------
+    1477             : 
+    1478        2412 :   mrs_msgs::HwApiActuatorCmd actuator_cmd = common::actuatorMixer(control_group_command.value(), common_handlers_->detailed_model_params->control_group_mixer);
+    1479             : 
+    1480        1206 :   last_control_output_.control_output = actuator_cmd;
+    1481             : 
+    1482        1206 :   return;
+    1483             : }
+    1484             : 
+    1485             : //}
+    1486             : 
+    1487             : /* positionPassthrough() //{ */
+    1488             : 
+    1489         235 : void Se3Controller::positionPassthrough(const mrs_msgs::UavState& uav_state, const mrs_msgs::TrackerCommand& tracker_command) {
+    1490             : 
+    1491         235 :   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         470 :   mrs_msgs::HwApiPositionCmd cmd;
+    1497             : 
+    1498         235 :   cmd.header.frame_id = uav_state.header.frame_id;
+    1499         235 :   cmd.header.stamp    = ros::Time::now();
+    1500             : 
+    1501         235 :   cmd.position = tracker_command.position;
+    1502         235 :   cmd.heading  = tracker_command.heading;
+    1503             : 
+    1504         235 :   last_control_output_.control_output = cmd;
+    1505             : 
+    1506             :   // fill the unbiased desired accelerations
+    1507         235 :   last_control_output_.desired_unbiased_acceleration = {};
+    1508         235 :   last_control_output_.desired_orientation           = {};
+    1509         235 :   last_control_output_.desired_heading_rate          = {};
+    1510             : 
+    1511             :   // | ----------------- fill in the diagnostics ---------------- |
+    1512             : 
+    1513         235 :   last_control_output_.diagnostics.ramping_up = false;
+    1514             : 
+    1515         235 :   last_control_output_.diagnostics.mass_estimator  = false;
+    1516         235 :   last_control_output_.diagnostics.mass_difference = 0;
+    1517             : 
+    1518         235 :   last_control_output_.diagnostics.disturbance_estimator = false;
+    1519             : 
+    1520         235 :   last_control_output_.diagnostics.disturbance_bx_b = 0;
+    1521         235 :   last_control_output_.diagnostics.disturbance_by_b = 0;
+    1522             : 
+    1523         235 :   last_control_output_.diagnostics.disturbance_bx_w = 0;
+    1524         235 :   last_control_output_.diagnostics.disturbance_by_w = 0;
+    1525             : 
+    1526         235 :   last_control_output_.diagnostics.disturbance_wx_w = 0;
+    1527         235 :   last_control_output_.diagnostics.disturbance_wy_w = 0;
+    1528             : 
+    1529         235 :   last_control_output_.diagnostics.controller_enforcing_constraints = false;
+    1530             : 
+    1531         235 :   last_control_output_.diagnostics.controller = "Se3Controller";
+    1532             : }
+    1533             : 
+    1534             : //}
+    1535             : 
+    1536             : /* PIDVelocityOutput() //{ */
+    1537             : 
+    1538         530 : 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         530 :   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         530 :   auto constraints = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+    1547         530 :   auto gains       = mrs_lib::get_mutexed(mutex_gains_, gains_);
+    1548             : 
+    1549         530 :   Eigen::Vector3d pos_ref = Eigen::Vector3d(tracker_command.position.x, tracker_command.position.y, tracker_command.position.z);
+    1550         530 :   Eigen::Vector3d pos     = Eigen::Vector3d(uav_state.pose.position.x, uav_state.pose.position.y, uav_state.pose.position.z);
+    1551             : 
+    1552         530 :   double hdg_ref = tracker_command.heading;
+    1553         530 :   double hdg     = getHeadingSafely(uav_state, tracker_command);
+    1554             : 
+    1555             :   // | ------------------ velocity feedforward ------------------ |
+    1556             : 
+    1557         530 :   Eigen::Vector3d vel_ff(0, 0, 0);
+    1558             : 
+    1559         530 :   if (tracker_command.use_velocity_horizontal && tracker_command.use_velocity_vertical) {
+    1560         530 :     vel_ff = Eigen::Vector3d(tracker_command.velocity.x, tracker_command.velocity.y, tracker_command.velocity.z);
+    1561             :   }
+    1562             : 
+    1563             :   // | -------------------------- gains ------------------------- |
+    1564             : 
+    1565         530 :   Eigen::Vector3d Kp;
+    1566             : 
+    1567             :   {
+    1568         530 :     std::scoped_lock lock(mutex_gains_);
+    1569             : 
+    1570         530 :     Kp << gains.kpxy, gains.kpxy, gains.kpz;
+    1571             :   }
+    1572             : 
+    1573             :   // | --------------------- control errors --------------------- |
+    1574             : 
+    1575         530 :   Eigen::Vector3d Ep = pos_ref - pos;
+    1576             : 
+    1577             :   // | --------------------------- pid -------------------------- |
+    1578             : 
+    1579         530 :   position_pid_x_.setSaturation(constraints.horizontal_speed);
+    1580         530 :   position_pid_y_.setSaturation(constraints.horizontal_speed);
+    1581         530 :   position_pid_z_.setSaturation(std::min(constraints.vertical_ascending_speed, constraints.vertical_descending_speed));
+    1582             : 
+    1583         530 :   double des_vel_x = position_pid_x_.update(Ep[0], dt);
+    1584         530 :   double des_vel_y = position_pid_y_.update(Ep[1], dt);
+    1585         530 :   double des_vel_z = position_pid_z_.update(Ep[2], dt);
+    1586             : 
+    1587             :   // | -------------------- position feedback ------------------- |
+    1588             : 
+    1589         530 :   Eigen::Vector3d des_vel = Eigen::Vector3d(des_vel_x, des_vel_y, des_vel_z) + vel_ff;
+    1590             : 
+    1591         530 :   if (control_output == common::VELOCITY_HDG) {
+    1592             : 
+    1593             :     // | --------------------- fill the output -------------------- |
+    1594             : 
+    1595         528 :     mrs_msgs::HwApiVelocityHdgCmd cmd;
+    1596             : 
+    1597         264 :     cmd.header.frame_id = uav_state.header.frame_id;
+    1598         264 :     cmd.header.stamp    = ros::Time::now();
+    1599             : 
+    1600         264 :     cmd.velocity.x = des_vel[0];
+    1601         264 :     cmd.velocity.y = des_vel[1];
+    1602         264 :     cmd.velocity.z = des_vel[2];
+    1603             : 
+    1604         264 :     cmd.heading = tracker_command.heading;
+    1605             : 
+    1606         264 :     last_control_output_.control_output = cmd;
+    1607             : 
+    1608         266 :   } else if (control_output == common::VELOCITY_HDG_RATE) {
+    1609             : 
+    1610         266 :     position_pid_heading_.setSaturation(constraints.heading_speed);
+    1611             : 
+    1612         266 :     double hdg_err = mrs_lib::geometry::sradians::diff(hdg_ref, hdg);
+    1613             : 
+    1614         266 :     double des_hdg_rate = position_pid_heading_.update(hdg_err, dt);
+    1615             : 
+    1616             :     // | --------------------------- ff --------------------------- |
+    1617             : 
+    1618         266 :     double des_hdg_ff = 0;
+    1619             : 
+    1620         266 :     if (tracker_command.use_heading_rate) {
+    1621         266 :       des_hdg_ff = tracker_command.heading_rate;
+    1622             :     }
+    1623             : 
+    1624             :     // | --------------------- fill the output -------------------- |
+    1625             : 
+    1626         532 :     mrs_msgs::HwApiVelocityHdgRateCmd cmd;
+    1627             : 
+    1628         266 :     cmd.header.frame_id = uav_state.header.frame_id;
+    1629         266 :     cmd.header.stamp    = ros::Time::now();
+    1630             : 
+    1631         266 :     cmd.velocity.x = des_vel[0];
+    1632         266 :     cmd.velocity.y = des_vel[1];
+    1633         266 :     cmd.velocity.z = des_vel[2];
+    1634             : 
+    1635         266 :     cmd.heading_rate = des_hdg_rate + des_hdg_ff;
+    1636             : 
+    1637         266 :     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         530 :   last_control_output_.desired_unbiased_acceleration = {};
+    1646         530 :   last_control_output_.desired_orientation           = {};
+    1647         530 :   last_control_output_.desired_heading_rate          = {};
+    1648             : 
+    1649             :   // | ----------------- fill in the diagnostics ---------------- |
+    1650             : 
+    1651         530 :   last_control_output_.diagnostics.ramping_up = false;
+    1652             : 
+    1653         530 :   last_control_output_.diagnostics.mass_estimator  = false;
+    1654         530 :   last_control_output_.diagnostics.mass_difference = 0;
+    1655             : 
+    1656         530 :   last_control_output_.diagnostics.disturbance_estimator = false;
+    1657             : 
+    1658         530 :   last_control_output_.diagnostics.disturbance_bx_b = 0;
+    1659         530 :   last_control_output_.diagnostics.disturbance_by_b = 0;
+    1660             : 
+    1661         530 :   last_control_output_.diagnostics.disturbance_bx_w = 0;
+    1662         530 :   last_control_output_.diagnostics.disturbance_by_w = 0;
+    1663             : 
+    1664         530 :   last_control_output_.diagnostics.disturbance_wx_w = 0;
+    1665         530 :   last_control_output_.diagnostics.disturbance_wy_w = 0;
+    1666             : 
+    1667         530 :   last_control_output_.diagnostics.controller_enforcing_constraints = false;
+    1668             : 
+    1669         530 :   last_control_output_.diagnostics.controller = "Se3Controller";
+    1670             : }
+    1671             : 
+    1672             : //}
+    1673             : 
+    1674             : // --------------------------------------------------------------
+    1675             : // |                          callbacks                         |
+    1676             : 
+    1677             : 
+    1678             : /* //{ callbackDrs() */
+    1679             : 
+    1680          96 : void Se3Controller::callbackDrs(mrs_uav_controllers::se3_controllerConfig& config, [[maybe_unused]] uint32_t level) {
+    1681             : 
+    1682          96 :   mrs_lib::set_mutexed(mutex_drs_params_, config, drs_params_);
+    1683             : 
+    1684          96 :   ROS_INFO("[Se3Controller]: DRS updated gains");
+    1685          96 : }
+    1686             : 
+    1687             : //}
+    1688             : 
+    1689             : // --------------------------------------------------------------
+    1690             : // |                           timers                           |
+    1691             : // --------------------------------------------------------------
+    1692             : 
+    1693             : /* timerGains() //{ */
+    1694             : 
+    1695        1497 : void Se3Controller::timerGains(const ros::TimerEvent& event) {
+    1696             : 
+    1697        4491 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerGains", _gain_filtering_rate_, 1.0, event);
+    1698             :   mrs_lib::ScopeTimer timer =
+    1699        4491 :       mrs_lib::ScopeTimer("ControlManager::timerHwApiCapabilities", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    1700             : 
+    1701        2994 :   auto drs_params = mrs_lib::get_mutexed(mutex_drs_params_, drs_params_);
+    1702        1497 :   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        1497 :   bool   bypass_filter = (mute_gains_ || mute_gains_by_tracker_);
+    1707        1497 :   double gain_coeff    = (mute_gains_ || mute_gains_by_tracker_) ? _gain_mute_coefficient_ : 1.0;
+    1708             : 
+    1709        1497 :   mute_gains_ = false;
+    1710             : 
+    1711        1497 :   const double dt = (event.current_real - event.last_real).toSec();
+    1712             : 
+    1713        1497 :   bool updated = false;
+    1714             : 
+    1715        1497 :   gains.kpxy          = calculateGainChange(dt, gains.kpxy, drs_params.kpxy * gain_coeff, bypass_filter, "kpxy", updated);
+    1716        1497 :   gains.kvxy          = calculateGainChange(dt, gains.kvxy, drs_params.kvxy * gain_coeff, bypass_filter, "kvxy", updated);
+    1717        1497 :   gains.kaxy          = calculateGainChange(dt, gains.kaxy, drs_params.kaxy * gain_coeff, bypass_filter, "kaxy", updated);
+    1718        1497 :   gains.kiwxy         = calculateGainChange(dt, gains.kiwxy, drs_params.kiwxy * gain_coeff, bypass_filter, "kiwxy", updated);
+    1719        1497 :   gains.kibxy         = calculateGainChange(dt, gains.kibxy, drs_params.kibxy * gain_coeff, bypass_filter, "kibxy", updated);
+    1720        1497 :   gains.kpz           = calculateGainChange(dt, gains.kpz, drs_params.kpz * gain_coeff, bypass_filter, "kpz", updated);
+    1721        1497 :   gains.kvz           = calculateGainChange(dt, gains.kvz, drs_params.kvz * gain_coeff, bypass_filter, "kvz", updated);
+    1722        1497 :   gains.kaz           = calculateGainChange(dt, gains.kaz, drs_params.kaz * gain_coeff, bypass_filter, "kaz", updated);
+    1723        1497 :   gains.kq_roll_pitch = calculateGainChange(dt, gains.kq_roll_pitch, drs_params.kq_roll_pitch * gain_coeff, bypass_filter, "kq_roll_pitch", updated);
+    1724        1497 :   gains.kq_yaw        = calculateGainChange(dt, gains.kq_yaw, drs_params.kq_yaw * gain_coeff, bypass_filter, "kq_yaw", updated);
+    1725        1497 :   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        1497 :   gains.kiwxy_lim = calculateGainChange(dt, gains.kiwxy_lim, drs_params.kiwxy_lim, false, "kiwxy_lim", updated);
+    1729        1497 :   gains.kibxy_lim = calculateGainChange(dt, gains.kibxy_lim, drs_params.kibxy_lim, false, "kibxy_lim", updated);
+    1730        1497 :   gains.km_lim    = calculateGainChange(dt, gains.km_lim, drs_params.km_lim, false, "km_lim", updated);
+    1731             : 
+    1732        1497 :   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        1497 :   if (updated) {
+    1737             : 
+    1738         117 :     drs_params.kpxy          = gains.kpxy;
+    1739         117 :     drs_params.kvxy          = gains.kvxy;
+    1740         117 :     drs_params.kaxy          = gains.kaxy;
+    1741         117 :     drs_params.kiwxy         = gains.kiwxy;
+    1742         117 :     drs_params.kibxy         = gains.kibxy;
+    1743         117 :     drs_params.kpz           = gains.kpz;
+    1744         117 :     drs_params.kvz           = gains.kvz;
+    1745         117 :     drs_params.kaz           = gains.kaz;
+    1746         117 :     drs_params.kq_roll_pitch = gains.kq_roll_pitch;
+    1747         117 :     drs_params.kq_yaw        = gains.kq_yaw;
+    1748         117 :     drs_params.kiwxy_lim     = gains.kiwxy_lim;
+    1749         117 :     drs_params.kibxy_lim     = gains.kibxy_lim;
+    1750         117 :     drs_params.km            = gains.km;
+    1751         117 :     drs_params.km_lim        = gains.km_lim;
+    1752             : 
+    1753         117 :     drs_->updateConfig(drs_params);
+    1754             : 
+    1755         117 :     ROS_INFO_THROTTLE(10.0, "[Se3Controller]: gains have been updated");
+    1756             :   }
+    1757        1497 : }
+    1758             : 
+    1759             : //}
+    1760             : 
+    1761             : // --------------------------------------------------------------
+    1762             : // |                       other routines                       |
+    1763             : // --------------------------------------------------------------
+    1764             : 
+    1765             : /* calculateGainChange() //{ */
+    1766             : 
+    1767       20958 : 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       20958 :   double change = desired_value - current_value;
+    1771             : 
+    1772       20958 :   double gains_filter_max_change = _gains_filter_change_rate_ * dt;
+    1773       20958 :   double gains_filter_min_change = _gains_filter_min_change_rate_ * dt;
+    1774             : 
+    1775       20958 :   if (!bypass_rate) {
+    1776             : 
+    1777             :     // if current value is near 0...
+    1778             :     double change_in_perc;
+    1779             :     double saturated_change;
+    1780             : 
+    1781       20815 :     if (fabs(current_value) < 1e-6) {
+    1782           0 :       change *= gains_filter_max_change;
+    1783             :     } else {
+    1784             : 
+    1785       20815 :       saturated_change = change;
+    1786             : 
+    1787       20815 :       change_in_perc = (current_value + saturated_change) / current_value - 1.0;
+    1788             : 
+    1789       20815 :       if (change_in_perc > gains_filter_max_change) {
+    1790        1001 :         saturated_change = current_value * gains_filter_max_change;
+    1791       19814 :       } else if (change_in_perc < -gains_filter_max_change) {
+    1792          22 :         saturated_change = current_value * -gains_filter_max_change;
+    1793             :       }
+    1794             : 
+    1795       20815 :       if (fabs(saturated_change) < fabs(change) * gains_filter_min_change) {
+    1796          13 :         change *= gains_filter_min_change;
+    1797             :       } else {
+    1798       20802 :         change = saturated_change;
+    1799             :       }
+    1800             :     }
+    1801             :   }
+    1802             : 
+    1803       20958 :   if (fabs(change) > 1e-3) {
+    1804        1309 :     ROS_DEBUG("[Se3Controller]: changing gain '%s' from %.2f to %.2f", name.c_str(), current_value, desired_value);
+    1805        1309 :     updated = true;
+    1806             :   }
+    1807             : 
+    1808       20958 :   return current_value + change;
+    1809             : }
+    1810             : 
+    1811             : //}
+    1812             : 
+    1813             : /* getHeadingSafely() //{ */
+    1814             : 
+    1815        9450 : double Se3Controller::getHeadingSafely(const mrs_msgs::UavState& uav_state, const mrs_msgs::TrackerCommand& tracker_command) {
+    1816             : 
+    1817             :   try {
+    1818        9450 :     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          48 : PLUGINLIB_EXPORT_CLASS(mrs_uav_controllers::se3_controller::Se3Controller, mrs_uav_managers::Controller)
+
+
+
+ + + + +
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Current view:top level - mrs_uav_managers/include/control_managerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2023-12-14 21:42:20Functions:1010100.0 %
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Current view:top level - mrs_uav_managers/include/control_managerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2023-12-14 21:42:20Functions:1010100.0 %
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Current view:top level - mrs_uav_managers/include/control_managerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2023-12-14 21:42:20Functions:1010100.0 %
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LCOV - code coverage report
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Current view:top level - mrs_uav_managers/include/control_managerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2023-12-14 21:42:20Functions:1010100.0 %
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LCOV - code coverage report
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Current view:top level - mrs_uav_managers/include/control_managerHitTotalCoverage
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Date:2023-12-14 21:42:20Functions:1010100.0 %
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output_publisher.h +
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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..5139f16e0b --- /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
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Current view:top level - mrs_uav_managers/include/control_managerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2023-12-14 21:42:20Functions:1010100.0 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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output_publisher.h +
100.0%
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_managers/include/control_manager/output_publisher.h.func-sort-c.html b/mrs_uav_managers/include/control_manager/output_publisher.h.func-sort-c.html new file mode 100644 index 0000000000..73dd79529b --- /dev/null +++ b/mrs_uav_managers/include/control_manager/output_publisher.h.func-sort-c.html @@ -0,0 +1,120 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/control_manager/output_publisher.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_managers/include/control_manager - output_publisher.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2023-12-14 21:42:20Functions:1010100.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)464
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)499
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)505
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)963
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)993
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)3798
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)3817
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)5050
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)29128
mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::PublisherVisitor(mrs_uav_managers::control_manager::OutputPublisher*)45217
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_managers/include/control_manager/output_publisher.h.func.html b/mrs_uav_managers/include/control_manager/output_publisher.h.func.html new file mode 100644 index 0000000000..047860238e --- /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
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Current view:top level - mrs_uav_managers/include/control_manager - output_publisher.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2023-12-14 21:42:20Functions:1010100.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::PublisherVisitor(mrs_uav_managers::control_manager::OutputPublisher*)45217
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)3817
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)5050
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)464
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)499
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)29128
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)3798
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)963
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)505
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)993
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LCOV - code coverage report
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Current view:top level - mrs_uav_managers/include/control_manager - output_publisher.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2023-12-14 21:42:20Functions:1010100.0 %
Legend: Lines: + hit + not hit +
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+
          Line data    Source code
+
+       1             : #ifndef CONTROL_MANAGER_OUTPUT_PUBLISHER
+       2             : #define CONTROL_MANAGER_OUTPUT_PUBLISHER
+       3             : 
+       4             : #include <mrs_lib/publisher_handler.h>
+       5             : 
+       6             : #include <mrs_uav_managers/controller.h>
+       7             : 
+       8             : namespace mrs_uav_managers
+       9             : {
+      10             : 
+      11             : namespace control_manager
+      12             : {
+      13             : 
+      14             : class OutputPublisher {
+      15             : 
+      16             : public:
+      17             :   OutputPublisher();
+      18             : 
+      19             :   OutputPublisher(ros::NodeHandle& nh);
+      20             : 
+      21             :   void publish(const Controller::HwApiOutputVariant& control_output);
+      22             : 
+      23             : private:
+      24             :   mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd>            ph_hw_api_actuator_cmd_;
+      25             :   mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd>        ph_hw_api_control_group_cmd_;
+      26             :   mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd>        ph_hw_api_attitude_rate_cmd_;
+      27             :   mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd>            ph_hw_api_attitude_cmd_;
+      28             :   mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd> ph_hw_api_acceleration_hdg_rate_cmd_;
+      29             :   mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd>     ph_hw_api_acceleration_hdg_cmd_;
+      30             :   mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd>     ph_hw_api_velocity_hdg_rate_cmd_;
+      31             :   mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd>         ph_hw_api_velocity_hdg_cmd_;
+      32             :   mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd>            ph_hw_api_position_cmd_;
+      33             : 
+      34             :   void publish(const mrs_msgs::HwApiActuatorCmd& msg);
+      35             :   void publish(const mrs_msgs::HwApiControlGroupCmd& msg);
+      36             :   void publish(const mrs_msgs::HwApiAttitudeRateCmd& msg);
+      37             :   void publish(const mrs_msgs::HwApiAttitudeCmd& msg);
+      38             :   void publish(const mrs_msgs::HwApiAccelerationHdgRateCmd& msg);
+      39             :   void publish(const mrs_msgs::HwApiAccelerationHdgCmd& msg);
+      40             :   void publish(const mrs_msgs::HwApiVelocityHdgRateCmd& msg);
+      41             :   void publish(const mrs_msgs::HwApiVelocityHdgCmd& msg);
+      42             :   void publish(const mrs_msgs::HwApiPositionCmd& msg);
+      43             : 
+      44             :   class PublisherVisitor {
+      45             : 
+      46             :   public:
+      47       45217 :     PublisherVisitor(OutputPublisher* obj) : obj_(obj){};
+      48             : 
+      49             :     OutputPublisher* obj_;
+      50             : 
+      51             :     template <class T>
+      52       45217 :     void operator()(const T& msg) {
+      53       45217 :       obj_->publish(msg);
+      54       45217 :     }
+      55             :   };
+      56             : };
+      57             : 
+      58             : }  // namespace control_manager
+      59             : 
+      60             : }  // namespace mrs_uav_managers
+      61             : 
+      62             : #endif  //  CONTROL_MANAGER_OUTPUT_PUBLISHER
+
+
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+ + + + +
Generated by: LCOV version 1.14
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+ Top

+ Overview +
+ + diff --git a/mrs_uav_managers/include/control_manager/output_publisher.h.gcov.png b/mrs_uav_managers/include/control_manager/output_publisher.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..fdd688bb370f7663153724647927eaa459667bca GIT binary patch literal 332 zcmeAS@N?(olHy`uVBq!ia0vp^0YGfW!VDz+4mNH9QW60^A+G=b|6c_J%iqVwzWUF= zunH&+rp|e9UJ7J$7I;J!GcfQS0b$0e+I-SL!CRg#jv*eMTc_R@JgmUO63D)Y^##MP z_qxsoW@77=HNHQc`DTrZj!g2}RPCgyMn{X24zmu;3tZ^#7E%+I9$1z2-~Hw84U=k2 z4|j*$Z0-BVwQ#LZPe@1*@1FIJ-4-|f*Lgnua4f;i^kDBLO$82VM}aqiJexoA?e=!; zP1$C<>VaG4@4cUR8vfjSmptKVZex36aP6U&;q4|#;dgdw2qk^7v)`$HtkLlNGdUR# zYu`;D4^40T_+7%T&EUnw&}9A@Oy}y>9psSfzqj9wQ#d|**7eZ4D=rjGy76rCwIcb5 X-I2 + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/mrs_uav_managers/agl_estimator.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_managers/include/mrs_uav_managers - agl_estimator.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2023-12-14 21:42:20Functions:2366.7 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::AglEstimator::~AglEstimator()0
mrs_uav_managers::AglEstimator::AglEstimator(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)41
mrs_uav_managers::AglEstimator::~AglEstimator().241
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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 - agl_estimator.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2023-12-14 21:42:20Functions: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&)41
mrs_uav_managers::AglEstimator::~AglEstimator()0
mrs_uav_managers::AglEstimator::~AglEstimator().241
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+
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_managers/include/mrs_uav_managers/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..19054b8cd3 --- /dev/null +++ b/mrs_uav_managers/include/mrs_uav_managers/agl_estimator.h.gcov.html @@ -0,0 +1,157 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/mrs_uav_managers/agl_estimator.h + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_managers/include/mrs_uav_managers - agl_estimator.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2023-12-14 21:42:20Functions:2366.7 %
Legend: Lines: + hit + not hit +
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+
          Line data    Source code
+
+       1             : #ifndef MRS_UAV_MANAGERS_AGL_ESTIMATOR_H
+       2             : #define MRS_UAV_MANAGERS_AGL_ESTIMATOR_H
+       3             : 
+       4             : /* includes //{ */
+       5             : 
+       6             : #include <ros/ros.h>
+       7             : 
+       8             : #include <Eigen/Dense>
+       9             : 
+      10             : #include <nav_msgs/Odometry.h>
+      11             : 
+      12             : #include <mrs_msgs/UavState.h>
+      13             : #include <mrs_msgs/Float64Stamped.h>
+      14             : #include <mrs_msgs/Float64ArrayStamped.h>
+      15             : #include <mrs_msgs/HwApiCapabilities.h>
+      16             : 
+      17             : #include <mrs_uav_managers/estimation_manager/estimator.h>
+      18             : #include <mrs_uav_managers/estimation_manager/support.h>
+      19             : 
+      20             : //}
+      21             : 
+      22             : namespace mrs_uav_managers
+      23             : {
+      24             : 
+      25             : namespace agl
+      26             : {
+      27             : const char type[] = "AGL";
+      28             : }
+      29             : 
+      30             : using namespace estimation_manager;
+      31             : 
+      32             : class AglEstimator : public Estimator {
+      33             : 
+      34             : protected:
+      35             :   const std::string package_name_ = "mrs_uav_state_estimators";
+      36             : 
+      37             :   ros::NodeHandle nh_;
+      38             : 
+      39             :   mrs_msgs::Float64Stamped agl_height_;
+      40             :   mrs_msgs::Float64Stamped agl_height_init_;
+      41             :   mutable std::mutex       mtx_agl_height_;
+      42             : 
+      43             :   mrs_msgs::Float64ArrayStamped agl_height_cov_;
+      44             :   mrs_msgs::Float64ArrayStamped agl_height_cov_init_;
+      45             :   mutable std::mutex            mtx_agl_height_cov_;
+      46             : 
+      47             :   bool is_override_frame_id_ = false;
+      48             : 
+      49             : protected:
+      50             :   mutable mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>      ph_agl_height_;
+      51             :   mutable mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped> ph_agl_height_cov_;
+      52             : 
+      53             : public:
+      54          41 :   AglEstimator(const std::string &name, const std::string &frame_id, const std::string &package_name)
+      55          41 :       : Estimator(agl::type, name, frame_id), package_name_(package_name) {
+      56          41 :   }
+      57             : 
+      58          41 :   virtual ~AglEstimator(void) {
+      59          41 :   }
+      60             : 
+      61             :   // virtual methods
+      62             :   virtual mrs_msgs::Float64Stamped getUavAglHeight() const     = 0;
+      63             :   virtual std::vector<double>      getHeightCovariance() const = 0;
+      64             : 
+      65             :   // implemented methods
+      66             :   void publishAglHeight() const;
+      67             :   void publishCovariance() const;
+      68             :   bool isCompatibleWithHwApi(const mrs_msgs::HwApiCapabilitiesConstPtr &hw_api_capabilities) const;
+      69             : };
+      70             : 
+      71             : }  // namespace mrs_uav_managers
+      72             : 
+      73             : #endif  // MRS_UAV_MANAGERS_AGL_ESTIMATOR_H
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_managers/include/mrs_uav_managers/agl_estimator.h.gcov.overview.html b/mrs_uav_managers/include/mrs_uav_managers/agl_estimator.h.gcov.overview.html new file mode 100644 index 0000000000..21f3af39aa --- /dev/null +++ b/mrs_uav_managers/include/mrs_uav_managers/agl_estimator.h.gcov.overview.html @@ -0,0 +1,39 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/mrs_uav_managers/agl_estimator.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
+ Top

+ Overview +
+ + diff --git a/mrs_uav_managers/include/mrs_uav_managers/agl_estimator.h.gcov.png b/mrs_uav_managers/include/mrs_uav_managers/agl_estimator.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..d88c3428e27de2da87a77f1e9b45246bce5c1009 GIT binary patch literal 397 zcmeAS@N?(olHy`uVBq!ia0vp^0YL1@!VDxMp6xjcq$C1-LR|m<|Gx?dmcNgUef6J# zVHHpuOr7)IycEdhEbxddW?X?_wfUqO7#O8JT^vI^I**2N^Bq>;m@551^bPNq zf9122k3Q-bES1dkxxB~jU(@G%i}R249^oF@8-^V(Ynvcr7WJ?T*XcTjST)6V%To!AaM zVduIYRMU7w<@9e;50Qhsq7K!Y7H0fOOAcJ-FL2X1>-ZLKhy8pP p#LM#zrZ}!(zhtL;GxNsIIKPIdz%zeOxB$bB!PC{xWt~$(697r3r%?a^ literal 0 HcmV?d00001 diff --git a/mrs_uav_managers/include/mrs_uav_managers/control_manager/common.h.func-sort-c.html b/mrs_uav_managers/include/mrs_uav_managers/control_manager/common.h.func-sort-c.html new file mode 100644 index 0000000000..e8a2b957a3 --- /dev/null +++ b/mrs_uav_managers/include/mrs_uav_managers/control_manager/common.h.func-sort-c.html @@ -0,0 +1,188 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/mrs_uav_managers/control_manager/common.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_managers/include/mrs_uav_managers/control_manager - common.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:539655.2 %
Date:2023-12-14 21:42:20Functions:192770.4 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::control_manager::HwApiInitializeVisitor::operator()(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> >&, mrs_msgs::UavState_<std::allocator<void> > const&, double const&, double const&)0
mrs_uav_managers::control_manager::HwApiInitializeVisitor::operator()(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> >&, mrs_msgs::UavState_<std::allocator<void> > const&, double const&, double const&)0
mrs_uav_managers::control_manager::HwApiInitializeVisitor::operator()(mrs_msgs::HwApiPositionCmd_<std::allocator<void> >&, mrs_msgs::UavState_<std::allocator<void> > const&, double const&, double const&)0
mrs_uav_managers::control_manager::HwApiInitializeVisitor::operator()(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> >&, mrs_msgs::UavState_<std::allocator<void> > const&, double const&, double const&)0
mrs_uav_managers::control_manager::HwApiInitializeVisitor::operator()(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> >&, mrs_msgs::UavState_<std::allocator<void> > const&, double const&, double const&)0
mrs_uav_managers::control_manager::HwApiInitializeVisitor::operator()(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> >&, mrs_msgs::UavState_<std::allocator<void> > const&, double const&, double const&)0
mrs_uav_managers::control_manager::HwApiInitializeVisitor::operator()(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> >&, mrs_msgs::UavState_<std::allocator<void> > const&, double const&, double const&)0
mrs_uav_managers::control_manager::HwApiInitializeVisitor::operator()(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> >&, mrs_msgs::UavState_<std::allocator<void> > const&, double const&, double const&)0
mrs_uav_managers::control_manager::HwApiValidateVisitor::operator()(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&, mrs_uav_managers::control_manager::ControlOutputModalities_t const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)464
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)464
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&)499
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)499
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&)505
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)505
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&)963
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)963
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&)993
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)993
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&)3798
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&)3817
mrs_uav_managers::control_manager::HwApiInitializeVisitor::operator()(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> >&, mrs_msgs::UavState_<std::allocator<void> > const&, double const&, double const&)4540
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&)5050
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)5191
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)5210
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)7841
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&)24588
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)30814
+
+
+ + + +
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..5e6c2a4415 --- /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:2023-12-14 21:42:20Functions: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&)3817
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&)5050
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&)464
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&)499
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&)24588
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&)3798
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&)963
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&)505
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&)993
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&)4540
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&)5210
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)7841
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)464
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)499
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)30814
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)5191
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)963
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)505
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)993
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+ + + diff --git a/mrs_uav_managers/include/mrs_uav_managers/control_manager/common.h.gcov.frameset.html b/mrs_uav_managers/include/mrs_uav_managers/control_manager/common.h.gcov.frameset.html new file mode 100644 index 0000000000..20a444da4e --- /dev/null +++ b/mrs_uav_managers/include/mrs_uav_managers/control_manager/common.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/mrs_uav_managers/control_manager/common.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_managers/include/mrs_uav_managers/control_manager/common.h.gcov.html b/mrs_uav_managers/include/mrs_uav_managers/control_manager/common.h.gcov.html new file mode 100644 index 0000000000..8a331c6821 --- /dev/null +++ b/mrs_uav_managers/include/mrs_uav_managers/control_manager/common.h.gcov.html @@ -0,0 +1,380 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/mrs_uav_managers/control_manager/common.h + + + + + + + + + + + + + + +
LCOV - code coverage report
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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:2023-12-14 21:42:20Functions: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        5210 :   std::optional<double> operator()(const mrs_msgs::HwApiActuatorCmd& msg) {
+      82             : 
+      83        5210 :     if (msg.motors.size() == 0) {
+      84           0 :       return std::nullopt;
+      85             :     }
+      86             : 
+      87        5210 :     double throttle = 0;
+      88             : 
+      89       26050 :     for (size_t i = 0; i < msg.motors.size(); i++) {
+      90       20840 :       throttle += msg.motors[i];
+      91             :     };
+      92             : 
+      93        5210 :     throttle /= msg.motors.size();
+      94             : 
+      95        5210 :     return throttle;
+      96             :   }
+      97        5191 :   std::optional<double> operator()(const mrs_msgs::HwApiControlGroupCmd& msg) {
+      98        5191 :     return msg.throttle;
+      99             :   }
+     100        7841 :   std::optional<double> operator()(const mrs_msgs::HwApiAttitudeCmd& msg) {
+     101        7841 :     return msg.throttle;
+     102             :   }
+     103       30814 :   std::optional<double> operator()(const mrs_msgs::HwApiAttitudeRateCmd& msg) {
+     104       30814 :     return msg.throttle;
+     105             :   }
+     106         993 :   std::optional<double> operator()([[maybe_unused]] const mrs_msgs::HwApiAccelerationHdgRateCmd& msg) {
+     107         993 :     return std::nullopt;
+     108             :   }
+     109         963 :   std::optional<double> operator()([[maybe_unused]] const mrs_msgs::HwApiAccelerationHdgCmd& msg) {
+     110         963 :     return std::nullopt;
+     111             :   }
+     112         505 :   std::optional<double> operator()([[maybe_unused]] const mrs_msgs::HwApiVelocityHdgRateCmd& msg) {
+     113         505 :     return std::nullopt;
+     114             :   }
+     115         499 :   std::optional<double> operator()([[maybe_unused]] const mrs_msgs::HwApiVelocityHdgCmd& msg) {
+     116         499 :     return std::nullopt;
+     117             :   }
+     118         464 :   std::optional<double> operator()([[maybe_unused]] const mrs_msgs::HwApiPositionCmd& msg) {
+     119         464 :     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        3817 :   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        3817 :     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        3817 :     return validateHwApiActuatorCmd(msg, node_name, var_name);
+     152             :   }
+     153        3798 :   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        3798 :     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        3798 :     return validateHwApiControlGroupCmd(msg, node_name, var_name);
+     162             :   }
+     163        5050 :   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        5050 :     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        5050 :     return validateHwApiAttitudeCmd(msg, node_name, var_name);
+     172             :   }
+     173       24588 :   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       24588 :     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       24588 :     return validateHwApiAttitudeRateCmd(msg, node_name, var_name);
+     182             :   }
+     183         993 :   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         993 :     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         993 :     return validateHwApiAccelerationHdgRateCmd(msg, node_name, var_name);
+     192             :   }
+     193         963 :   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         963 :     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         963 :     return validateHwApiAccelerationHdgCmd(msg, node_name, var_name);
+     202             :   }
+     203         505 :   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         505 :     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         505 :     return validateHwApiVelocityHdgRateCmd(msg, node_name, var_name);
+     212             :   }
+     213         499 :   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         499 :     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         499 :     return validateHwApiVelocityHdgCmd(msg, node_name, var_name);
+     222             :   }
+     223         464 :   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         464 :     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         464 :     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        4540 :   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        4540 :     initializeHwApiCmd(msg, min_throttle);
+     267        4540 :   }
+     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
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
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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         240 :   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&)265
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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&)265
mrs_uav_managers::Estimator::~Estimator()0
mrs_uav_managers::Estimator::~Estimator().2265
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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         265 :   Estimator(const std::string &type, const std::string &name, const std::string &frame_id) : type_(type), name_(name), frame_id_(frame_id) {
+      64         265 :   }
+      65             : 
+      66         265 :   virtual ~Estimator(void) {
+      67         265 :   }
+      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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LCOV - code coverage report
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Current view:top level - mrs_uav_managers/include/mrs_uav_managers/estimation_manager - support.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:8510581.0 %
Date:2023-12-14 21:42:20Functions:131586.7 %
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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&)0
mrs_uav_managers::estimation_manager::Support::frameIdToEstimatorName(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
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&)173
mrs_uav_managers::estimation_manager::Support::toLowercase(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)192
mrs_uav_managers::estimation_manager::Support::toSnakeCase(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)985
mrs_uav_managers::estimation_manager::Support::applyPoseDiff(geometry_msgs::Pose_<std::allocator<void> > const&, geometry_msgs::Pose_<std::allocator<void> > const&)66183
mrs_uav_managers::estimation_manager::Support::rotateVecByHdg(geometry_msgs::Vector3_<std::allocator<void> > const&, double)92319
mrs_uav_managers::estimation_manager::Support::msgFromTf2(tf2::Transform const&)137750
mrs_uav_managers::estimation_manager::Support::uavStateToOdom(mrs_msgs::UavState_<std::allocator<void> > const&)139228
mrs_uav_managers::estimation_manager::Support::noNans(geometry_msgs::Quaternion_<std::allocator<void> > const&)142404
mrs_uav_managers::estimation_manager::Support::rotateVector(geometry_msgs::Vector3_<std::allocator<void> > const&, geometry_msgs::Quaternion_<std::allocator<void> > const&)143330
mrs_uav_managers::estimation_manager::Support::pointToVector3(geometry_msgs::Point_<std::allocator<void> > const&)341363
mrs_uav_managers::estimation_manager::Support::poseFromTf2(tf2::Transform const&)345267
mrs_uav_managers::estimation_manager::Support::tf2FromPose(geometry_msgs::Pose_<std::allocator<void> > const&)483257
mrs_uav_managers::estimation_manager::Support::noNans(geometry_msgs::TransformStamped_<std::allocator<void> > const&)595853
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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:8510581.0 %
Date:2023-12-14 21:42:20Functions:131586.7 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::estimation_manager::Support::msgFromTf2(tf2::Transform const&)137750
mrs_uav_managers::estimation_manager::Support::getPoseDiff(geometry_msgs::Pose_<std::allocator<void> > const&, geometry_msgs::Pose_<std::allocator<void> > const&)0
mrs_uav_managers::estimation_manager::Support::poseFromTf2(tf2::Transform const&)345267
mrs_uav_managers::estimation_manager::Support::tf2FromPose(geometry_msgs::Pose_<std::allocator<void> > const&)483257
mrs_uav_managers::estimation_manager::Support::toLowercase(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)192
mrs_uav_managers::estimation_manager::Support::toSnakeCase(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)985
mrs_uav_managers::estimation_manager::Support::rotateVector(geometry_msgs::Vector3_<std::allocator<void> > const&, geometry_msgs::Quaternion_<std::allocator<void> > const&)143330
mrs_uav_managers::estimation_manager::Support::applyPoseDiff(geometry_msgs::Pose_<std::allocator<void> > const&, geometry_msgs::Pose_<std::allocator<void> > const&)66183
mrs_uav_managers::estimation_manager::Support::pointToVector3(geometry_msgs::Point_<std::allocator<void> > const&)341363
mrs_uav_managers::estimation_manager::Support::rotateVecByHdg(geometry_msgs::Vector3_<std::allocator<void> > const&, double)92319
mrs_uav_managers::estimation_manager::Support::uavStateToOdom(mrs_msgs::UavState_<std::allocator<void> > const&)139228
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&)173
mrs_uav_managers::estimation_manager::Support::frameIdToEstimatorName(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
mrs_uav_managers::estimation_manager::Support::noNans(geometry_msgs::Quaternion_<std::allocator<void> > const&)142404
mrs_uav_managers::estimation_manager::Support::noNans(geometry_msgs::TransformStamped_<std::allocator<void> > const&)595853
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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/estimation_manager - support.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:8510581.0 %
Date:2023-12-14 21:42:20Functions:131586.7 %
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         985 :   static std::string toSnakeCase(const std::string& str_in) {
+      39             : 
+      40         985 :     std::string str(1, tolower(str_in[0]));
+      41             : 
+      42       15267 :     for (auto it = str_in.begin() + 1; it != str_in.end(); ++it) {
+      43       14282 :       if (isupper(*it) && *(it - 1) != '_' && islower(*(it - 1))) {
+      44         803 :         str += "_";
+      45             :       }
+      46       14282 :       str += *it;
+      47             :     }
+      48             : 
+      49         985 :     std::transform(str.begin(), str.end(), str.begin(), ::tolower);
+      50             : 
+      51         985 :     return str;
+      52             :   }
+      53             :   /*//}*/
+      54             : 
+      55             : /* toLowercase() //{ */
+      56             : 
+      57         192 : static std::string toLowercase(const std::string str_in) {
+      58         192 :   std::string str_out = str_in;
+      59         192 :   std::transform(str_out.begin(), str_out.end(), str_out.begin(), ::tolower);
+      60         192 :   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       92319 :   static tf2::Vector3 rotateVecByHdg(const geometry_msgs::Vector3& vec_in, const double hdg_in) {
+      99             : 
+     100       92319 :     const tf2::Quaternion q_hdg = mrs_lib::AttitudeConverter(0, 0, 0).setHeading(hdg_in);
+     101             : 
+     102       91505 :     const tf2::Vector3 vec_tf2(vec_in.x, vec_in.y, vec_in.z);
+     103             : 
+     104       90961 :     const tf2::Vector3 vec_rotated = tf2::quatRotate(q_hdg, vec_tf2);
+     105             : 
+     106      182226 :     return vec_rotated;
+     107             :   }
+     108             :   //}
+     109             : 
+     110             :   /* noNans() //{ */
+     111      595853 :   static bool noNans(const geometry_msgs::TransformStamped& tf) {
+     112             : 
+     113     1786651 :     return (std::isfinite(tf.transform.rotation.x) && std::isfinite(tf.transform.rotation.y) && std::isfinite(tf.transform.rotation.z) &&
+     114     2381737 :             std::isfinite(tf.transform.rotation.w) && std::isfinite(tf.transform.translation.x) && std::isfinite(tf.transform.translation.y) &&
+     115     1191120 :             std::isfinite(tf.transform.translation.z));
+     116             :   }
+     117             :   //}
+     118             : 
+     119             :   /* noNans() //{ */
+     120      142404 :   static bool noNans(const geometry_msgs::Quaternion& q) {
+     121             : 
+     122      142404 :     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      483257 :   static tf2::Transform tf2FromPose(const geometry_msgs::Pose& pose_in) {
+     136             : 
+     137      483257 :     tf2::Vector3 position(pose_in.position.x, pose_in.position.y, pose_in.position.z);
+     138             : 
+     139      483175 :     tf2::Quaternion q;
+     140      483141 :     tf2::fromMsg(pose_in.orientation, q);
+     141             : 
+     142      483056 :     tf2::Transform tf_out(q, position);
+     143             : 
+     144      964740 :     return tf_out;
+     145             :   }
+     146             : 
+     147             :   //}
+     148             : 
+     149             :   /* poseFromTf2() //{ */
+     150             : 
+     151      345267 :   static geometry_msgs::Pose poseFromTf2(const tf2::Transform& tf_in) {
+     152             : 
+     153      345267 :     geometry_msgs::Pose pose_out;
+     154      344599 :     pose_out.position.x = tf_in.getOrigin().getX();
+     155      345001 :     pose_out.position.y = tf_in.getOrigin().getY();
+     156      345150 :     pose_out.position.z = tf_in.getOrigin().getZ();
+     157             : 
+     158      345142 :     pose_out.orientation = tf2::toMsg(tf_in.getRotation());
+     159             : 
+     160      345260 :     return pose_out;
+     161             :   }
+     162             : 
+     163             :   //}
+     164             : 
+     165             :   /* msgFromTf2() //{ */
+     166      137750 :   static geometry_msgs::Transform msgFromTf2(const tf2::Transform& tf_in) {
+     167             : 
+     168      137750 :     geometry_msgs::Transform tf_out;
+     169      137750 :     tf_out.translation.x = tf_in.getOrigin().getX();
+     170      137750 :     tf_out.translation.y = tf_in.getOrigin().getY();
+     171      137750 :     tf_out.translation.z = tf_in.getOrigin().getZ();
+     172      137750 :     tf_out.rotation = tf2::toMsg(tf_in.getRotation());
+     173             : 
+     174      137750 :     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      341363 :   static geometry_msgs::Vector3 pointToVector3(const geometry_msgs::Point& point_in) {
+     194             : 
+     195      341363 :     geometry_msgs::Vector3 vec_out;
+     196      341266 :     vec_out.x = point_in.x;
+     197      341266 :     vec_out.y = point_in.y;
+     198      341266 :     vec_out.z = point_in.z;
+     199             : 
+     200      341266 :     return vec_out;
+     201             :   }
+     202             : 
+     203             :   //}
+     204             : 
+     205             :   /*//{ rotateVector() */
+     206      143330 :   static geometry_msgs::Vector3 rotateVector(const geometry_msgs::Vector3& vec_in, const geometry_msgs::Quaternion& q_in) {
+     207             : 
+     208             :     try {
+     209      143330 :       Eigen::Matrix3d        R = mrs_lib::AttitudeConverter(q_in);
+     210      143330 :       Eigen::Vector3d        vec_in_eigen(vec_in.x, vec_in.y, vec_in.z);
+     211      143207 :       Eigen::Vector3d        vec_eigen_rotated = R * vec_in_eigen;
+     212      143284 :       geometry_msgs::Vector3 vec_out;
+     213      142964 :       vec_out.x = vec_eigen_rotated[0];
+     214      142945 :       vec_out.y = vec_eigen_rotated[1];
+     215      143061 :       vec_out.z = vec_eigen_rotated[2];
+     216      143093 :       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      139228 :   static nav_msgs::Odometry uavStateToOdom(const mrs_msgs::UavState& uav_state) {
+     227      139228 :     nav_msgs::Odometry odom;
+     228      139217 :     odom.header              = uav_state.header;
+     229      139213 :     odom.child_frame_id      = uav_state.child_frame_id;
+     230      139211 :     odom.pose.pose           = uav_state.pose;
+     231      139211 :     odom.twist.twist.angular = uav_state.velocity.angular;
+     232             : 
+     233      139211 :     tf2::Quaternion q;
+     234      139209 :     tf2::fromMsg(odom.pose.pose.orientation, q);
+     235      139203 :     odom.twist.twist.linear = Support::rotateVector(uav_state.velocity.linear, mrs_lib::AttitudeConverter(q.inverse()));
+     236             : 
+     237      277548 :     return odom;
+     238             :   }
+     239             :   /*//}*/
+     240             : 
+     241             :   /*//{ getPoseDiff() */
+     242           0 :   static geometry_msgs::Pose getPoseDiff(const geometry_msgs::Pose& p1, const geometry_msgs::Pose& p2) {
+     243             : 
+     244           0 :     tf2::Vector3 v1, v2;
+     245           0 :     tf2::fromMsg(p1.position, v1);
+     246           0 :     tf2::fromMsg(p2.position, v2);
+     247           0 :     const tf2::Vector3 v3 = v1 - v2;
+     248             : 
+     249           0 :     tf2::Quaternion q1, q2;
+     250           0 :     tf2::fromMsg(p1.orientation, q1);
+     251           0 :     tf2::fromMsg(p2.orientation, q2);
+     252           0 :     tf2::Quaternion q3 = q2 * q1.inverse();
+     253           0 :     q3.normalize();
+     254             : 
+     255           0 :     geometry_msgs::Pose pose_diff;
+     256           0 :     tf2::toMsg(v3, pose_diff.position);
+     257           0 :     pose_diff.orientation = tf2::toMsg(q3);
+     258             : 
+     259           0 :     return pose_diff;
+     260             :   }
+     261             :   /*//}*/
+     262             : 
+     263             :   /*//{ applyPoseDiff() */
+     264       66183 :   static geometry_msgs::Pose applyPoseDiff(const geometry_msgs::Pose& pose_in, const geometry_msgs::Pose& pose_diff) {
+     265             : 
+     266       66183 :     tf2::Vector3    pos_in;
+     267       66183 :     tf2::Quaternion q_in;
+     268       66183 :     tf2::fromMsg(pose_in.position, pos_in);
+     269       66183 :     tf2::fromMsg(pose_in.orientation, q_in);
+     270             : 
+     271       66183 :     tf2::Vector3    pos_diff;
+     272       66183 :     tf2::Quaternion q_diff;
+     273       66183 :     tf2::fromMsg(pose_diff.position, pos_diff);
+     274       66183 :     tf2::fromMsg(pose_diff.orientation, q_diff);
+     275             : 
+     276       66183 :     const tf2::Vector3    pos_out = tf2::quatRotate(q_diff.inverse(), (pos_in - pos_diff));
+     277       66183 :     const tf2::Quaternion q_out   = q_diff.inverse() * q_in;
+     278             : 
+     279       66183 :     geometry_msgs::Pose pose_out;
+     280       66183 :     tf2::toMsg(pos_out, pose_out.position);
+     281       66183 :     pose_out.orientation = tf2::toMsg(q_out);
+     282             : 
+     283      132366 :     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         173 :   static bool isStringInVector(const std::string& value, const std::vector<std::string>& str_vec) {
+     300         173 :     return std::find(str_vec.begin(), str_vec.end(), value) != str_vec.end();
+     301             :   }
+     302             :   /*//}*/
+     303             : 
+     304             :   /*//{ frameIdToEstimatorName() */
+     305           0 :   static std::string frameIdToEstimatorName(const std::string& str_in) {
+     306           0 :     const std::string str_tmp = str_in.substr(str_in.find("/")+1, str_in.size());
+     307           0 :     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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Test:MRS UAV System - Test coverage reportLines:1212100.0 %
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Test:MRS UAV System - Test coverage reportLines:1212100.0 %
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Date:2023-12-14 21:42:20Functions:2366.7 %
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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&)48
mrs_uav_managers::StateEstimator::~StateEstimator().248
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Date:2023-12-14 21:42:20Functions:2366.7 %
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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&)48
mrs_uav_managers::StateEstimator::~StateEstimator()0
mrs_uav_managers::StateEstimator::~StateEstimator().248
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Date:2023-12-14 21:42:20Functions: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          48 :   StateEstimator(const std::string &name, const std::string &frame_id, const std::string &package_name)
+      62          48 :       : Estimator(state::type, name, frame_id), package_name_(package_name) {
+      63          48 :   }
+      64             : 
+      65          48 :   virtual ~StateEstimator(void) {
+      66          48 :   }
+      67             : 
+      68             :   virtual bool setUavState(const mrs_msgs::UavState &uav_state) = 0;
+      69             : 
+      70             :   // implemented methods
+      71             :   std::optional<mrs_msgs::UavState>        getUavState();
+      72             :   nav_msgs::Odometry                       getInnovation() const;
+      73             :   std::vector<double>                      getPoseCovariance() const;
+      74             :   std::vector<double>                      getTwistCovariance() const;
+      75             :   void                                     publishUavState() const;
+      76             :   void                                     publishOdom() const;
+      77             :   void                                     publishCovariance() const;
+      78             :   void                                     publishInnovation() const;
+      79             :   std::optional<geometry_msgs::Quaternion> rotateQuaternionByHeading(const geometry_msgs::Quaternion &q, const double hdg) const;
+      80             :   bool                                     isCompatibleWithHwApi(const mrs_msgs::HwApiCapabilitiesConstPtr &hw_api_capabilities) const;
+      81             : };
+      82             : 
+      83             : }  // namespace mrs_uav_managers
+      84             : 
+      85             : #endif  // MRS_UAV_MANAGERS_STATE_ESTIMATOR_H
+
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+
          Line data    Source code
+
+       1             : #ifndef MRS_UAV_TRACKER_H
+       2             : #define MRS_UAV_TRACKER_H
+       3             : 
+       4             : /* includes //{ */
+       5             : 
+       6             : #include <ros/ros.h>
+       7             : 
+       8             : #include <mrs_uav_managers/control_manager/common_handlers.h>
+       9             : #include <mrs_uav_managers/control_manager/private_handlers.h>
+      10             : 
+      11             : #include <mrs_msgs/TrackerCommand.h>
+      12             : #include <mrs_msgs/TrackerStatus.h>
+      13             : #include <mrs_msgs/UavState.h>
+      14             : 
+      15             : #include <mrs_msgs/Float64Srv.h>
+      16             : #include <mrs_msgs/Float64SrvRequest.h>
+      17             : #include <mrs_msgs/Float64SrvResponse.h>
+      18             : 
+      19             : #include <mrs_msgs/Float64.h>
+      20             : 
+      21             : #include <mrs_msgs/ReferenceSrv.h>
+      22             : #include <mrs_msgs/ReferenceSrvRequest.h>
+      23             : #include <mrs_msgs/ReferenceSrvResponse.h>
+      24             : 
+      25             : #include <mrs_msgs/VelocityReferenceSrv.h>
+      26             : #include <mrs_msgs/VelocityReferenceSrvRequest.h>
+      27             : #include <mrs_msgs/VelocityReferenceSrvResponse.h>
+      28             : 
+      29             : #include <mrs_msgs/TrajectoryReferenceSrv.h>
+      30             : #include <mrs_msgs/TrajectoryReferenceSrvRequest.h>
+      31             : #include <mrs_msgs/TrajectoryReferenceSrvResponse.h>
+      32             : 
+      33             : #include <std_srvs/Trigger.h>
+      34             : #include <std_srvs/TriggerRequest.h>
+      35             : #include <std_srvs/TriggerResponse.h>
+      36             : 
+      37             : #include <std_srvs/SetBool.h>
+      38             : #include <std_srvs/SetBoolRequest.h>
+      39             : #include <std_srvs/SetBoolResponse.h>
+      40             : 
+      41             : #include <mrs_msgs/DynamicsConstraintsSrv.h>
+      42             : #include <mrs_msgs/DynamicsConstraintsSrvRequest.h>
+      43             : #include <mrs_msgs/DynamicsConstraintsSrvResponse.h>
+      44             : 
+      45             : #include <mrs_uav_managers/controller.h>
+      46             : 
+      47             : //}
+      48             : 
+      49             : namespace mrs_uav_managers
+      50             : {
+      51             : 
+      52             : class Tracker {
+      53             : 
+      54             : public:
+      55             :   /**
+      56             :    * @brief It is called once for every tracker. The runtime is not limited.
+      57             :    *
+      58             :    * @param nh the node handle of the ControlManager
+      59             :    * @param uav_name the UAV name (e.g., "uav1")
+      60             :    * @param common_handlers handlers shared between trackers and controllers
+      61             :    * @param private_handlers handlers provided individually to each tracker
+      62             :    *
+      63             :    * @return true if success
+      64             :    */
+      65             :   virtual bool initialize(const ros::NodeHandle &nh, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t> common_handlers,
+      66             :                           std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers) = 0;
+      67             : 
+      68             :   /**
+      69             :    * @brief It is called before the trackers output will be required and used. Should not take much time (within miliseconds).
+      70             :    *
+      71             :    * @param last_tracker_cmd the last command produced by the last active tracker. Should be used as an initial condition to maintain a smooth reference.
+      72             :    *
+      73             :    * @return true if success and message
+      74             :    */
+      75             :   virtual std::tuple<bool, std::string> activate(const std::optional<mrs_msgs::TrackerCommand> &last_tracker_cmd) = 0;
+      76             : 
+      77             :   /**
+      78             :    * @brief is called when this trackers output is no longer needed. However, it can be activated later.
+      79             :    */
+      80             :   virtual void deactivate(void) = 0;
+      81             : 
+      82             :   /**
+      83             :    * @brief It is called during every switch of reference frames of the UAV state estimate.
+      84             :    * The tracker should recalculate its internal states from old the frame to the new one.
+      85             :    *
+      86             :    * @param new_uav_state the new UavState which will come in the next update()
+      87             :    *
+      88             :    * @return a service response
+      89             :    */
+      90             :   virtual const std_srvs::TriggerResponse::ConstPtr switchOdometrySource(const mrs_msgs::UavState &new_uav_state) = 0;
+      91             : 
+      92             :   /**
+      93             :    * @brief Request for reseting the tracker's states given the UAV is static.
+      94             :    *
+      95             :    * @return true if success
+      96             :    */
+      97             :   virtual bool resetStatic(void) = 0;
+      98             : 
+      99             :   /**
+     100             :    * @brief The most important routine. It is called with every state estimator update and it should produce a new reference for the controllers.
+     101             :    *        The run time should be as short as possible (<= 1 ms).
+     102             :    *
+     103             :    * @param uav_state the latest UAV state estimate
+     104             :    * @param last_attitude_cmd the last controller's output command (may be useful)
+     105             :    *
+     106             :    * @return the new reference for the controllers
+     107             :    */
+     108             :   virtual std::optional<mrs_msgs::TrackerCommand> update(const mrs_msgs::UavState &uav_state, const Controller::ControlOutput &last_control_output) = 0;
+     109             : 
+     110             :   /**
+     111             :    * @brief A request for the tracker's status.
+     112             :    *
+     113             :    * @return the tracker's status
+     114             :    */
+     115             :   virtual const mrs_msgs::TrackerStatus getStatus() = 0;
+     116             : 
+     117             :   /**
+     118             :    * @brief Request for a flight to a given coordinates.
+     119             :    *
+     120             :    * @param cmd the reference
+     121             :    *
+     122             :    * @return a service response
+     123             :    */
+     124             :   virtual const mrs_msgs::ReferenceSrvResponse::ConstPtr setReference(const mrs_msgs::ReferenceSrvRequest::ConstPtr &cmd) = 0;
+     125             : 
+     126             :   /**
+     127             :    * @brief Request for desired velocity reference
+     128             :    *
+     129             :    * @param cmd the reference
+     130             :    *
+     131             :    * @return a service response
+     132             :    */
+     133             :   virtual const mrs_msgs::VelocityReferenceSrvResponse::ConstPtr setVelocityReference(const mrs_msgs::VelocityReferenceSrvRequest::ConstPtr &cmd) = 0;
+     134             : 
+     135             :   /**
+     136             :    * @brief Request for a flight along a given trajectory
+     137             :    *
+     138             :    * @param cmd the reference trajectory
+     139             :    *
+     140             :    * @return a service response
+     141             :    */
+     142             :   virtual const mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr setTrajectoryReference(const mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr &cmd) = 0;
+     143             : 
+     144             :   /**
+     145             :    * @brief Request for stopping the motion of the UAV.
+     146             :    *
+     147             :    * @param trigger service request
+     148             :    *
+     149             :    * @return a service response
+     150             :    */
+     151             :   virtual const std_srvs::TriggerResponse::ConstPtr hover(const std_srvs::TriggerRequest::ConstPtr &cmd) = 0;
+     152             : 
+     153             :   /**
+     154             :    * @brief Request to goto to the first trajectory coordinate.
+     155             :    *
+     156             :    * @param trigger service request
+     157             :    *
+     158             :    * @return a service response
+     159             :    */
+     160             :   virtual const std_srvs::TriggerResponse::ConstPtr gotoTrajectoryStart(const std_srvs::TriggerRequest::ConstPtr &cmd) = 0;
+     161             : 
+     162             :   /**
+     163             :    * @brief Request to start tracking of the pre-loaded trajectory
+     164             :    *
+     165             :    * @param trigger service request
+     166             :    *
+     167             :    * @return a service response
+     168             :    */
+     169             :   virtual const std_srvs::TriggerResponse::ConstPtr startTrajectoryTracking(const std_srvs::TriggerRequest::ConstPtr &cmd) = 0;
+     170             : 
+     171             :   /**
+     172             :    * @brief Request to stop tracking of the pre-loaded trajectory. The hover() routine will be engaged, thus it should be implemented by the tracker.
+     173             :    *
+     174             :    * @param trigger service request
+     175             :    *
+     176             :    * @return a service response
+     177             :    */
+     178             :   virtual const std_srvs::TriggerResponse::ConstPtr stopTrajectoryTracking(const std_srvs::TriggerRequest::ConstPtr &cmd) = 0;
+     179             : 
+     180             :   /**
+     181             :    * @brief Request to resume the previously stopped trajectory tracking.
+     182             :    *
+     183             :    * @param trigger service request
+     184             :    *
+     185             :    * @return a service response
+     186             :    */
+     187             :   virtual const std_srvs::TriggerResponse::ConstPtr resumeTrajectoryTracking(const std_srvs::TriggerRequest::ConstPtr &cmd) = 0;
+     188             : 
+     189             :   /**
+     190             :    * @brief Request for enabling/disabling callbacks.
+     191             :    *
+     192             :    * @param cmd service request
+     193             :    *
+     194             :    * @return a service response
+     195             :    */
+     196             :   virtual const std_srvs::SetBoolResponse::ConstPtr enableCallbacks(const std_srvs::SetBoolRequest::ConstPtr &cmd) = 0;
+     197             : 
+     198             :   /**
+     199             :    * @brief Request for setting new constraints.
+     200             :    *
+     201             :    * @param constraints to be set
+     202             :    *
+     203             :    * @return a service response
+     204             :    */
+     205             :   virtual const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr setConstraints(const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &constraints) = 0;
+     206             : 
+     207         289 :   virtual ~Tracker() = default;
+     208             : };
+     209             : 
+     210             : }  // namespace mrs_uav_managers
+     211             : 
+     212             : #endif
+
+
+
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mrs_uav_managers::TfMappingOrigin::callbackMappingOdomAlt(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)0
mrs_uav_managers::TfMappingOrigin::callbackMappingOdomLat(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)0
mrs_uav_managers::TfMappingOrigin::callbackMappingOdomRot(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>)0
mrs_uav_managers::TfMappingOrigin::TfMappingOrigin(ros::NodeHandle, std::shared_ptr<mrs_lib::ParamLoader>, std::shared_ptr<mrs_lib::TransformBroadcaster> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t>)0
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mrs_uav_managers::TfMappingOrigin::callbackMappingOdomAlt(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)0
mrs_uav_managers::TfMappingOrigin::callbackMappingOdomLat(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)0
mrs_uav_managers::TfMappingOrigin::callbackMappingOdomRot(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>)0
mrs_uav_managers::TfMappingOrigin::TfMappingOrigin(ros::NodeHandle, std::shared_ptr<mrs_lib::ParamLoader>, std::shared_ptr<mrs_lib::TransformBroadcaster> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t>)0
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+
          Line data    Source code
+
+       1             : #pragma once
+       2             : #ifndef TF_MAPPING_ORIGIN_H
+       3             : #define TF_MAPPING_ORIGIN_H
+       4             : 
+       5             : #include <ros/ros.h>
+       6             : 
+       7             : #include <mrs_lib/param_loader.h>
+       8             : #include <mrs_lib/subscribe_handler.h>
+       9             : #include <mrs_lib/transform_broadcaster.h>
+      10             : #include <mrs_lib/attitude_converter.h>
+      11             : #include <mrs_lib/publisher_handler.h>
+      12             : 
+      13             : #include <nav_msgs/Odometry.h>
+      14             : #include <geometry_msgs/QuaternionStamped.h>
+      15             : #include <geometry_msgs/TransformStamped.h>
+      16             : 
+      17             : #include <mrs_uav_managers/estimation_manager/support.h>
+      18             : #include <mrs_uav_managers/estimation_manager/common_handlers.h>
+      19             : 
+      20             : namespace mrs_uav_managers
+      21             : {
+      22             : 
+      23             : /*//{ class TfMappingOrigin */
+      24             : class TfMappingOrigin {
+      25             : 
+      26             :   using Support = estimation_manager::Support;
+      27             : 
+      28             : public:
+      29             :   /*//{ constructor */
+      30           0 :   TfMappingOrigin(ros::NodeHandle nh, std::shared_ptr<mrs_lib::ParamLoader> param_loader, const std::shared_ptr<mrs_lib::TransformBroadcaster>& broadcaster,
+      31             :                   const std::shared_ptr<estimation_manager::CommonHandlers_t> ch)
+      32           0 :       : nh_(nh), broadcaster_(broadcaster), ch_(ch) {
+      33             : 
+      34           0 :     ROS_INFO("[%s]: initializing", getPrintName().c_str());
+      35             : 
+      36           0 :     const std::string yaml_prefix = "mrs_uav_managers/transform_manager/mapping_origin_tf/";
+      37             : 
+      38             :     /*//{ load mapping origin parameters */
+      39           0 :     param_loader->loadParam(yaml_prefix + "debug_prints", debug_prints_);
+      40           0 :     param_loader->loadParam(yaml_prefix + "lateral_topic", lateral_topic_);
+      41           0 :     param_loader->loadParam(yaml_prefix + "altitude_topic", altitude_topic_);
+      42           0 :     param_loader->loadParam(yaml_prefix + "orientation_topic", orientation_topic_);
+      43           0 :     param_loader->loadParam(yaml_prefix + "inverted", tf_inverted_);
+      44           0 :     param_loader->loadParam(yaml_prefix + "custom_frame_id/enabled", custom_frame_id_enabled_);
+      45             : 
+      46           0 :     if (custom_frame_id_enabled_) {
+      47           0 :       param_loader->loadParam(yaml_prefix + "custom_frame_id/frame_id", custom_frame_id_);
+      48             :     }
+      49             : 
+      50           0 :     if (!param_loader->loadedSuccessfully()) {
+      51           0 :       ROS_ERROR("[%s]: Could not load all non-optional parameters. Shutting down.", getPrintName().c_str());
+      52           0 :       ros::shutdown();
+      53             :     }
+      54             : 
+      55             :     /*//}*/
+      56             : 
+      57             :     /*//{ initialize subscribers */
+      58           0 :     mrs_lib::SubscribeHandlerOptions shopts;
+      59           0 :     shopts.nh                 = nh_;
+      60           0 :     shopts.node_name          = getPrintName();
+      61           0 :     shopts.no_message_timeout = mrs_lib::no_timeout;
+      62           0 :     shopts.threadsafe         = true;
+      63           0 :     shopts.autostart          = true;
+      64           0 :     shopts.queue_size         = 10;
+      65           0 :     shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+      66             : 
+      67             :     sh_mapping_odom_lat_ =
+      68           0 :         mrs_lib::SubscribeHandler<nav_msgs::Odometry>(shopts, "/" + ch_->uav_name + "/" + lateral_topic_, &TfMappingOrigin::callbackMappingOdomLat, this);
+      69             : 
+      70           0 :     if (orientation_topic_ != lateral_topic_) {
+      71           0 :       sh_mapping_odom_rot_ = mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped>(shopts, "/" + ch_->uav_name + "/" + orientation_topic_.c_str(),
+      72           0 :                                                                                          &TfMappingOrigin::callbackMappingOdomRot, this);
+      73             :     }
+      74             : 
+      75           0 :     if (altitude_topic_ != lateral_topic_) {
+      76           0 :       sh_mapping_odom_alt_ = mrs_lib::SubscribeHandler<nav_msgs::Odometry>(shopts, "/" + ch_->uav_name + "/" + altitude_topic_.c_str(),
+      77           0 :                                                                            &TfMappingOrigin::callbackMappingOdomAlt, this);
+      78             :     }
+      79             :     /*//}*/
+      80             : 
+      81           0 :     ph_map_delay_ = mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>(nh_, "map_delay_out", 10);
+      82             : 
+      83           0 :     is_initialized_ = true;
+      84           0 :     ROS_INFO("[%s]: initialized", getPrintName().c_str());
+      85           0 :   }
+      86             :   /*//}*/
+      87             : 
+      88             :   /*//{ getName() */
+      89             :   std::string getName() {
+      90             :     return name_;
+      91             :   }
+      92             :   /*//}*/
+      93             : 
+      94             :   /*//{ getPrintName() */
+      95           0 :   std::string getPrintName() {
+      96           0 :     return ch_->nodelet_name + "/" + name_;
+      97             :   }
+      98             :   /*//}*/
+      99             : 
+     100             : private:
+     101             :   const std::string name_ = "TfMappingOrigin";
+     102             : 
+     103             :   ros::NodeHandle nh_;
+     104             : 
+     105             :   std::shared_ptr<mrs_lib::TransformBroadcaster> broadcaster_;
+     106             : 
+     107             :   std::shared_ptr<estimation_manager::CommonHandlers_t> ch_;
+     108             : 
+     109             :   std::atomic_bool is_initialized_ = false;
+     110             : 
+     111             :   mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped> ph_map_delay_;
+     112             : 
+     113             :   bool        debug_prints_;
+     114             :   bool        tf_inverted_;
+     115             :   bool        custom_frame_id_enabled_;
+     116             :   std::string custom_frame_id_;
+     117             :   double      cache_duration_;
+     118             : 
+     119             :   std::string                                   lateral_topic_;
+     120             :   mrs_lib::SubscribeHandler<nav_msgs::Odometry> sh_mapping_odom_lat_;
+     121             :   std::vector<nav_msgs::Odometry>               vec_mapping_odom_lat_;
+     122             :   std::atomic_bool                              got_mapping_odom_lat_ = false;
+     123             :   std::atomic<double>                           timestamp_lat_;
+     124             : 
+     125             :   /*//{ callbackMappingOdomLat() */
+     126             : 
+     127           0 :   void callbackMappingOdomLat(const nav_msgs::Odometry::ConstPtr msg) {
+     128             : 
+     129           0 :     if (!is_initialized_) {
+     130           0 :       return;
+     131             :     }
+     132             : 
+     133           0 :     timestamp_lat_ = msg->header.stamp.toSec();
+     134             : 
+     135           0 :     if (!got_mapping_odom_lat_) {
+     136           0 :       got_mapping_odom_lat_ = true;
+     137             :     }
+     138             : 
+     139           0 :     if (!got_mapping_odom_rot_ && orientation_topic_ == lateral_topic_) {
+     140           0 :       got_mapping_odom_rot_ = true;
+     141             :     }
+     142             : 
+     143           0 :     if (!got_mapping_odom_alt_ && altitude_topic_ == lateral_topic_) {
+     144           0 :       got_mapping_odom_alt_ = true;
+     145             :     }
+     146             : 
+     147           0 :     mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("TfMappingOrigin::callbackMappingOdomLat", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     148             : 
+     149           0 :     const double hdg_mapping_old = mrs_lib::AttitudeConverter(msg->pose.pose.orientation).getHeading();
+     150             : 
+     151             :     /* publish mapping origin tf //{ */
+     152             : 
+     153           0 :     bool clear_needed = false;
+     154             : 
+     155           0 :     if (got_mapping_odom_rot_ && got_mapping_odom_alt_) {
+     156           0 :       std::scoped_lock lock(mtx_mapping_odom_rot_);
+     157             : 
+     158             :       // Copy mapping odometry
+     159           0 :       nav_msgs::Odometry mapping_odom;
+     160           0 :       mapping_odom = *msg;
+     161             : 
+     162             :       // Find corresponding orientation
+     163           0 :       geometry_msgs::QuaternionStamped rot_tmp           = *sh_mapping_odom_rot_.getMsg();  // start with newest msg
+     164           0 :       ros::Time                        dbg_timestamp_rot = rot_tmp.header.stamp;
+     165           0 :       tf2::Quaternion                  tf2_rot;
+     166             : 
+     167           0 :       for (size_t i = 0; i < vec_mapping_odom_rot_.size(); i++) {
+     168           0 :         if (mapping_odom.header.stamp < vec_mapping_odom_rot_.at(i).header.stamp) {
+     169             : 
+     170             :           // Choose an orientation with closest timestamp
+     171           0 :           double time_diff      = std::fabs(vec_mapping_odom_rot_.at(i).header.stamp.toSec() - mapping_odom.header.stamp.toSec());
+     172           0 :           double time_diff_prev = std::numeric_limits<double>::max();
+     173           0 :           if (i > 0) {
+     174           0 :             time_diff_prev = std::fabs(vec_mapping_odom_rot_.at(i - 1).header.stamp.toSec() - mapping_odom.header.stamp.toSec());
+     175             :           }
+     176           0 :           if (time_diff_prev < time_diff && i > 0) {
+     177           0 :             i = i - 1;
+     178             :           }
+     179             : 
+     180             :           // Cache is too small if it is full and its oldest element is used
+     181           0 :           if (clear_needed && i == 0) {
+     182           0 :             ROS_WARN_THROTTLE(1.0, "[%s] Mapping orientation cache is too small.", getPrintName().c_str());
+     183             :           }
+     184           0 :           rot_tmp           = vec_mapping_odom_rot_.at(i);
+     185           0 :           dbg_timestamp_rot = vec_mapping_odom_rot_.at(i).header.stamp;
+     186           0 :           break;
+     187             :         }
+     188             :       }
+     189             : 
+     190           0 :       tf2_rot = mrs_lib::AttitudeConverter(rot_tmp.quaternion);
+     191             : 
+     192             :       // Obtain heading from orientation
+     193           0 :       double hdg = 0;
+     194             :       try {
+     195           0 :         hdg = mrs_lib::AttitudeConverter(rot_tmp.quaternion).getHeading();
+     196             :       }
+     197           0 :       catch (...) {
+     198           0 :         ROS_WARN("[%s]: failed to getHeading() from rot_tmp", getPrintName().c_str());
+     199             :       }
+     200             : 
+     201             :       // Build rotation matrix from difference between new heading and old heading
+     202           0 :       tf2::Matrix3x3 rot_mat = mrs_lib::AttitudeConverter(Eigen::AngleAxisd(hdg_mapping_old - hdg, Eigen::Vector3d::UnitZ()));
+     203             : 
+     204             :       // Transform the mavros orientation by the rotation matrix
+     205           0 :       geometry_msgs::Quaternion new_orientation = mrs_lib::AttitudeConverter(tf2::Transform(rot_mat) * tf2_rot);
+     206             : 
+     207             :       // Set new orientation
+     208           0 :       mapping_odom.pose.pose.orientation = new_orientation;
+     209             : 
+     210             : 
+     211             :       // Find corresponding local odom
+     212           0 :       double    odom_alt          = msg->pose.pose.position.z;  // start with newest msg
+     213           0 :       ros::Time dbg_timestamp_alt = msg->header.stamp;
+     214           0 :       for (size_t i = 0; i < vec_mapping_odom_alt_.size(); i++) {
+     215           0 :         if (mapping_odom.header.stamp < vec_mapping_odom_alt_.at(i).header.stamp) {
+     216             : 
+     217             :           // Choose orientation with closest timestamp
+     218           0 :           double time_diff      = std::fabs(vec_mapping_odom_alt_.at(i).header.stamp.toSec() - mapping_odom.header.stamp.toSec());
+     219           0 :           double time_diff_prev = std::numeric_limits<double>::max();
+     220           0 :           if (i > 0) {
+     221           0 :             time_diff_prev = std::fabs(vec_mapping_odom_alt_.at(i - 1).header.stamp.toSec() - mapping_odom.header.stamp.toSec());
+     222             :           }
+     223           0 :           if (time_diff_prev < time_diff && i > 0) {
+     224           0 :             i = i - 1;
+     225             :           }
+     226             :           // Cache is too small if it is full and its oldest element is used
+     227           0 :           if (clear_needed && i == 0) {
+     228           0 :             ROS_WARN_THROTTLE(1.0, "[%s] mapping orientation cache (for mapping tf) is too small.", getPrintName().c_str());
+     229             :           }
+     230           0 :           odom_alt          = vec_mapping_odom_alt_.at(i).pose.pose.position.z;
+     231           0 :           dbg_timestamp_alt = vec_mapping_odom_alt_.at(i).header.stamp;
+     232           0 :           break;
+     233             :         }
+     234             :       }
+     235             : 
+     236             :       // Set altitude
+     237           0 :       mapping_odom.pose.pose.position.z = odom_alt;
+     238             : 
+     239             :       // Get inverse transform
+     240           0 :       tf2::Transform      tf_mapping_inv   = Support::tf2FromPose(mapping_odom.pose.pose).inverse();
+     241           0 :       geometry_msgs::Pose pose_mapping_inv = Support::poseFromTf2(tf_mapping_inv);
+     242             : 
+     243           0 :       geometry_msgs::TransformStamped tf_mapping;
+     244           0 :       tf_mapping.header.stamp    = mapping_odom.header.stamp;
+     245           0 :       tf_mapping.header.frame_id = ch_->frames.ns_fcu;
+     246           0 :       if (custom_frame_id_enabled_) {
+     247           0 :         tf_mapping.child_frame_id = ch_->uav_name + "/" + custom_frame_id_;
+     248             :       } else {
+     249           0 :         tf_mapping.child_frame_id = mapping_odom.header.frame_id;
+     250             :       }
+     251           0 :       tf_mapping.transform.translation = Support::pointToVector3(pose_mapping_inv.position);
+     252           0 :       tf_mapping.transform.rotation    = pose_mapping_inv.orientation;
+     253             : 
+     254           0 :       if (Support::noNans(tf_mapping)) {
+     255             :         try {
+     256           0 :           broadcaster_->sendTransform(tf_mapping);
+     257             :         }
+     258           0 :         catch (...) {
+     259           0 :           ROS_ERROR("[%s]: Exception caught during publishing TF: %s - %s.", getPrintName().c_str(), tf_mapping.child_frame_id.c_str(),
+     260             :                     tf_mapping.header.frame_id.c_str());
+     261             :         }
+     262             :       } else {
+     263           0 :         ROS_WARN_THROTTLE(1.0, "[%s]: NaN detected in transform from %s to %s. Not publishing tf.", getPrintName().c_str(), tf_mapping.header.frame_id.c_str(),
+     264             :                           tf_mapping.child_frame_id.c_str());
+     265             :       }
+     266             : 
+     267             :       // debug timestamps: rot and alt timestamps should be as close as possible to lat_timestamp, the delay is the difference between current time and the time
+     268             :       // of acquisition of scan that was used to calculate the pose estimate
+     269           0 :       if (debug_prints_) {
+     270           0 :         ROS_INFO("[%s] lat timestamp: %.6f, rot stamp: %.6f (diff: %.6f),  alt stamp: %.6f (diff: %.6f), delay: %.6f", getPrintName().c_str(),
+     271             :                  mapping_odom.header.stamp.toSec(), dbg_timestamp_rot.toSec(), dbg_timestamp_rot.toSec() - mapping_odom.header.stamp.toSec(),
+     272             :                  dbg_timestamp_alt.toSec(), dbg_timestamp_alt.toSec() - mapping_odom.header.stamp.toSec(),
+     273             :                  ros::Time::now().toSec() - mapping_odom.header.stamp.toSec());
+     274             :       }
+     275             : 
+     276           0 :       mrs_msgs::Float64Stamped map_delay_msg;
+     277           0 :       map_delay_msg.header.stamp = ros::Time::now();
+     278           0 :       map_delay_msg.value        = ros::Time::now().toSec() - mapping_odom.header.stamp.toSec();
+     279           0 :       ph_map_delay_.publish(map_delay_msg);
+     280             :     }
+     281             : 
+     282             :     //}
+     283             :   }
+     284             :   /*//}*/
+     285             : 
+     286             :   std::string                                                 orientation_topic_;
+     287             :   mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped> sh_mapping_odom_rot_;
+     288             :   std::vector<geometry_msgs::QuaternionStamped>               vec_mapping_odom_rot_;
+     289             :   std::mutex                                                  mtx_mapping_odom_rot_;
+     290             :   std::atomic_bool                                            got_mapping_odom_rot_ = false;
+     291             : 
+     292             :   /*//{ callbackMappingOdomRot() */
+     293           0 :   void callbackMappingOdomRot(const geometry_msgs::QuaternionStamped::ConstPtr msg) {
+     294             : 
+     295           0 :     if (!is_initialized_) {
+     296           0 :       return;
+     297             :     }
+     298             : 
+     299           0 :     if (!got_mapping_odom_lat_) {
+     300           0 :       return;
+     301             :     }
+     302             : 
+     303           0 :     std::scoped_lock lock(mtx_mapping_odom_rot_);
+     304             : 
+     305             :     // Add new data
+     306           0 :     vec_mapping_odom_rot_.push_back(*msg);
+     307             : 
+     308             :     // Delete old data
+     309           0 :     size_t index_delete = 0;
+     310           0 :     bool   clear_needed = false;
+     311           0 :     for (size_t i = 0; i < vec_mapping_odom_rot_.size(); i++) {
+     312           0 :       if (timestamp_lat_ - vec_mapping_odom_rot_.at(i).header.stamp.toSec() > cache_duration_) {
+     313           0 :         index_delete = i;
+     314           0 :         clear_needed = true;
+     315             :       } else {
+     316           0 :         break;
+     317             :       }
+     318             :     }
+     319           0 :     if (clear_needed) {
+     320           0 :       for (int i = (int)index_delete; i >= 0; i--) {
+     321           0 :         vec_mapping_odom_rot_.erase(vec_mapping_odom_rot_.begin() + i);
+     322             :       }
+     323           0 :       clear_needed = false;
+     324             :     }
+     325             : 
+     326           0 :     if (!got_mapping_odom_rot_) {
+     327           0 :       got_mapping_odom_rot_ = true;
+     328             :     }
+     329             : 
+     330           0 :     if (debug_prints_) {
+     331           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: mapping odom rot cache size: %lu", getPrintName().c_str(), vec_mapping_odom_rot_.size());
+     332             :     }
+     333             :   }
+     334             :   /*//}*/
+     335             : 
+     336             :   std::string                                   altitude_topic_;
+     337             :   mrs_lib::SubscribeHandler<nav_msgs::Odometry> sh_mapping_odom_alt_;
+     338             :   std::vector<nav_msgs::Odometry>               vec_mapping_odom_alt_;
+     339             :   std::mutex                                    mtx_mapping_odom_alt_;
+     340             :   std::atomic_bool                              got_mapping_odom_alt_ = false;
+     341             : 
+     342             :   /*//{ callbackMappingOdomAlt() */
+     343           0 :   void callbackMappingOdomAlt(const nav_msgs::Odometry::ConstPtr msg) {
+     344             : 
+     345           0 :     if (!is_initialized_) {
+     346           0 :       return;
+     347             :     }
+     348             : 
+     349           0 :     if (!got_mapping_odom_lat_) {
+     350           0 :       return;
+     351             :     }
+     352             : 
+     353           0 :     std::scoped_lock lock(mtx_mapping_odom_alt_);
+     354             : 
+     355             :     // Add new data
+     356           0 :     vec_mapping_odom_alt_.push_back(*msg);
+     357             : 
+     358             :     // Delete old data
+     359           0 :     size_t index_delete = 0;
+     360           0 :     bool   clear_needed = false;
+     361           0 :     for (size_t i = 0; i < vec_mapping_odom_alt_.size(); i++) {
+     362           0 :       if (timestamp_lat_ - vec_mapping_odom_alt_.at(i).header.stamp.toSec() > cache_duration_) {
+     363           0 :         index_delete = i;
+     364           0 :         clear_needed = true;
+     365             :       } else {
+     366           0 :         break;
+     367             :       }
+     368             :     }
+     369           0 :     if (clear_needed) {
+     370           0 :       for (int i = (int)index_delete; i >= 0; i--) {
+     371           0 :         vec_mapping_odom_alt_.erase(vec_mapping_odom_alt_.begin() + i);
+     372             :       }
+     373           0 :       clear_needed = false;
+     374             :     }
+     375             : 
+     376           0 :     if (!got_mapping_odom_alt_) {
+     377           0 :       got_mapping_odom_alt_ = true;
+     378             :     }
+     379             : 
+     380           0 :     if (debug_prints_) {
+     381           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: mapping odom alt cache size: %lu", getPrintName().c_str(), vec_mapping_odom_alt_.size());
+     382             :     }
+     383             :   }
+     384             :   /*//}*/
+     385             : };
+     386             : /*//}*/
+     387             : 
+     388             : }  // namespace mrs_uav_managers
+     389             : 
+     390             : #endif
+
+
+
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+ + + diff --git a/mrs_uav_managers/include/transform_manager/tf_mapping_origin.h.gcov.overview.html b/mrs_uav_managers/include/transform_manager/tf_mapping_origin.h.gcov.overview.html new file mode 100644 index 0000000000..8218f6ae36 --- /dev/null +++ b/mrs_uav_managers/include/transform_manager/tf_mapping_origin.h.gcov.overview.html @@ -0,0 +1,118 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/transform_manager/tf_mapping_origin.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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+ + diff --git a/mrs_uav_managers/include/transform_manager/tf_mapping_origin.h.gcov.png b/mrs_uav_managers/include/transform_manager/tf_mapping_origin.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..e3d425e3e4319475911ce94a36b8a1ec26ea482f GIT binary patch literal 1536 zcmV+b2LJhqP)fFt&%}Y=;1N(Rt_>#|c)`|cl;5Az%*)9Km%cd5r zUFGeDo-=U20yZ*9J;hlZ%g6PN%&PDs(; zZQc_ql5}Li1&Wc7j2)Hi6v5(q4xMcKUGtTf7AM^CH`7`Hq6Oj%SYJ$l#Hs^eflJTm z6p`qXXZXg6UEq{=1lAoAtqYAy$_SbcWen$csNogxCj?gk&dhVSGAl{NP7wm29|q@Y zJs4C201!2gJu7X(j5MBlK)G+azz7s|2PmwkK%m&);SVZSo1!8DZ7cg4);@CJiEei| z@#X0H03yC>iXcB^isGE>I+Nt-zrYjN%B+1Rv4N zlHIWnIcxoG_QBZN1S=8k+u|La^#LJA-*Fo7%06O(&vKt-d2wQvr|baD(zTYWcZ@0& zP1W!{os`xbscoT+wK$x073aO#paFUR0W!q)WsE;mM%nOwSVkT#oz`@HFoZgGdiJF= z7Yv2+U}%3iS9nYnN!^h$cCCq?k^K=lkPbA+iVa1xc~1MdQV2#`S7!t7uGZCeW388E z#CoN>(6^^%oM_OURDjfKwBv1n6dPJ|uld@;H1_FdxxGX6cb)-=S)A0a$Y{1>js{mI zL)Gz4*s-1hyf*rvtm}qQ1dPNy&mvYQQ@^#7Xl5^5uId|p8ohg&dsTWvo$Go-Dzv0|7P7xJ!4NNnyJ3y7(SM_ z^0KpDSt+z2)$L?BzT?m5Z<6d&q;$uH%f1FiWfHNYEW+1yTb19^SF5b|`O^iyEt*yL zOSgNAo~ebsJDl*4Ct!cd^y71Oi?y($AuEu}=zl~RK57!!TQ?>6<6DMD6wPJ$KUdeh zxz?+zw!Nv{|5kO~AW2PUK)y{&|FoPEg2)(oe_G9(Z$1*qEu(GOW{kc?k!N763n#bLRnqN0) zx1>EhgkziLaw*D{3X&4MJaWlONLPEx0`s)C&V3E00k?sLLUCoJ=4s+YJYR$wu_qSU zaNhCJ(%yW;mV1N2g@;R@q?(7Thw2Z2Cmoh1B0tYGn@hh=eaE9kMmv7={(3|ccg5&V zlkK;X z!aARa46O0;V?gl)dc!TrW;}=UPO3YbiFpQqHxMJQGvMf)wA{LyfYvFOG2d3}jJvop z`5?wl2i-=$rVm$ajVH~;KD_ft5dnTUrBoF^bLBhSYoe!s9y~%vhu=$2EB?F=pslL2 z(tq&*mX1U%u*DJ{PNg)``koHp&pwy(?EoyS$ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/transform_manager/tf_source.h - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_managers/include/transform_manager - tf_source.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:18623778.5 %
Date:2023-12-14 21:42:20Functions:111478.6 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::TfSource::getIsUtmBased()0
mrs_uav_managers::TfSource::getIsUtmSource()0
mrs_uav_managers::TfSource::setIsUtmSource(bool)0
mrs_uav_managers::TfSource::setUtmOrigin(geometry_msgs::Point_<std::allocator<void> > const&)48
mrs_uav_managers::TfSource::publishLocalTf(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)48
mrs_uav_managers::TfSource::setWorldOrigin(geometry_msgs::Point_<std::allocator<void> > const&)48
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)48
mrs_uav_managers::TfSource::getName[abi:cxx11]()381
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> > >&)30300
mrs_uav_managers::TfSource::publishTfFromAtt(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const> const&)69789
mrs_uav_managers::TfSource::callbackTfSourceAtt(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>)69789
mrs_uav_managers::TfSource::publishTfFromOdom(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)72995
mrs_uav_managers::TfSource::callbackTfSourceOdom(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)72995
mrs_uav_managers::TfSource::getPrintName[abi:cxx11]()314940
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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:18623778.5 %
Date:2023-12-14 21:42:20Functions:111478.6 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::TfSource::getPrintName[abi:cxx11]()314940
mrs_uav_managers::TfSource::setUtmOrigin(geometry_msgs::Point_<std::allocator<void> > const&)48
mrs_uav_managers::TfSource::getIsUtmBased()0
mrs_uav_managers::TfSource::getIsUtmSource()0
mrs_uav_managers::TfSource::publishLocalTf(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)48
mrs_uav_managers::TfSource::setIsUtmSource(bool)0
mrs_uav_managers::TfSource::setWorldOrigin(geometry_msgs::Point_<std::allocator<void> > const&)48
mrs_uav_managers::TfSource::publishTfFromAtt(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const> const&)69789
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> > >&)30300
mrs_uav_managers::TfSource::publishTfFromOdom(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)72995
mrs_uav_managers::TfSource::callbackTfSourceAtt(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>)69789
mrs_uav_managers::TfSource::callbackTfSourceOdom(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)72995
mrs_uav_managers::TfSource::getName[abi:cxx11]()381
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)48
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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:18623778.5 %
Date:2023-12-14 21:42:20Functions:111478.6 %
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          48 :   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          48 :       : name_(name), nh_(nh), broadcaster_(broadcaster), ch_(ch), is_utm_source_(is_utm_source) {
+      42             : 
+      43          48 :     ROS_INFO("[%s]: initializing", getPrintName().c_str());
+      44             : 
+      45          48 :     if (name != "dummy") {
+      46             : 
+      47             :       /*//{ load parameters */
+      48             : 
+      49          96 :       const std::string yaml_prefix = "mrs_uav_managers/transform_manager/";
+      50             : 
+      51          96 :       std::string odom_topic, attitude_topic, ns;
+      52             : 
+      53          48 :       param_loader->loadParam(yaml_prefix + getName() + "/odom_topic", odom_topic);
+      54          48 :       param_loader->loadParam(yaml_prefix + getName() + "/custom_frame_id/enabled", custom_frame_id_enabled_, false);
+      55          48 :       if (custom_frame_id_enabled_) {
+      56           0 :         param_loader->loadParam(yaml_prefix + getName() + "/custom_frame_id/frame_id", custom_frame_id_);
+      57             :       }
+      58          48 :       param_loader->loadParam(yaml_prefix + getName() + "/tf_from_attitude/enabled", tf_from_attitude_enabled_);
+      59          48 :       if (tf_from_attitude_enabled_) {
+      60          45 :         param_loader->loadParam(yaml_prefix + getName() + "/tf_from_attitude/attitude_topic", attitude_topic);
+      61             :       }
+      62          48 :       param_loader->loadParam(yaml_prefix + getName() + "/namespace", ns);
+      63          48 :       full_topic_odom_     = "/" + ch_->uav_name + "/" + ns + "/" + odom_topic;
+      64          48 :       full_topic_attitude_ = "/" + ch_->uav_name + "/" + ns + "/" + attitude_topic;
+      65          48 :       param_loader->loadParam(yaml_prefix + getName() + "/inverted", is_inverted_);
+      66          48 :       param_loader->loadParam(yaml_prefix + getName() + "/republish_in_frames", republish_in_frames_);
+      67             : 
+      68             :       /* coordinate frames origins //{ */
+      69          48 :       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          48 :       if (is_utm_based_) {
+      74          90 :         std::string utm_origin_parent_frame_id;
+      75          45 :         param_loader->loadParam(yaml_prefix + "utm_origin_tf/parent", utm_origin_parent_frame_id);
+      76          45 :         ns_utm_origin_parent_frame_id_ = ch_->uav_name + "/" + utm_origin_parent_frame_id;
+      77             : 
+      78          45 :         std::string utm_origin_child_frame_id;
+      79          45 :         param_loader->loadParam(yaml_prefix + "utm_origin_tf/child", utm_origin_child_frame_id);
+      80          45 :         ns_utm_origin_child_frame_id_ = ch_->uav_name + "/" + utm_origin_child_frame_id;
+      81             :       }
+      82             :       /*//}*/
+      83             : 
+      84             :       /*//{ world source */
+      85          48 :       if (is_utm_based_) {
+      86          90 :         std::string world_origin_parent_frame_id;
+      87          45 :         param_loader->loadParam(yaml_prefix + "world_origin_tf/parent", world_origin_parent_frame_id);
+      88          45 :         ns_world_origin_parent_frame_id_ = ch_->uav_name + "/" + world_origin_parent_frame_id;
+      89             : 
+      90          45 :         std::string world_origin_child_frame_id;
+      91          45 :         param_loader->loadParam(yaml_prefix + "world_origin_tf/child", world_origin_child_frame_id);
+      92          45 :         ns_world_origin_child_frame_id_ = ch_->uav_name + "/" + world_origin_child_frame_id;
+      93             :       }
+      94             :       /*//}*/
+      95             : 
+      96             :       //}
+      97             : 
+      98          48 :       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          96 :       mrs_lib::SubscribeHandlerOptions shopts;
+     107          48 :       shopts.nh                 = nh_;
+     108          48 :       shopts.node_name          = getPrintName();
+     109          48 :       shopts.no_message_timeout = mrs_lib::no_timeout;
+     110          48 :       shopts.threadsafe         = true;
+     111          48 :       shopts.autostart          = true;
+     112          48 :       shopts.queue_size         = 10;
+     113          48 :       shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     114             : 
+     115          48 :       sh_tf_source_odom_ = mrs_lib::SubscribeHandler<nav_msgs::Odometry>(shopts, full_topic_odom_, &TfSource::callbackTfSourceOdom, this);
+     116          48 :       if (tf_from_attitude_enabled_) {
+     117          45 :         sh_tf_source_att_ = mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped>(shopts, full_topic_attitude_, &TfSource::callbackTfSourceAtt, this);
+     118             :       }
+     119             : 
+     120          48 :       if (is_utm_source_) {
+     121          45 :         sh_altitude_amsl_ = mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude>(shopts, "altitude_amsl_in");
+     122             :       }
+     123             : 
+     124             :     }
+     125             :     /*//}*/
+     126             : 
+     127          66 :     for (auto frame_id : republish_in_frames_) {
+     128          18 :       republishers_.push_back(
+     129          36 :           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          48 :     is_initialized_ = true;
+     132          48 :     ROS_INFO("[%s]: initialized", getPrintName().c_str());
+     133          48 :   }
+     134             :   /*//}*/
+     135             : 
+     136             :   /*//{ getName() */
+     137         381 :   std::string getName() {
+     138         381 :     return name_;
+     139             :   }
+     140             :   /*//}*/
+     141             : 
+     142             :   /*//{ getPrintName() */
+     143      314940 :   std::string getPrintName() {
+     144      630159 :     return ch_->nodelet_name + "/" + name_;
+     145             :   }
+     146             :   /*//}*/
+     147             : 
+     148             :   /*//{ getIsUtmBased() */
+     149           0 :   bool getIsUtmBased() {
+     150           0 :     return is_utm_based_;
+     151             :   }
+     152             :   /*//}*/
+     153             : 
+     154             :   /*//{ getIsUtmSource() */
+     155           0 :   bool getIsUtmSource() {
+     156           0 :     return is_utm_source_;
+     157             :   }
+     158             :   /*//}*/
+     159             : 
+     160             :   /*//{ setIsUtmSource() */
+     161           0 :   void setIsUtmSource(const bool is_utm_source) {
+     162           0 :     if (is_utm_source) {
+     163           0 :       mrs_lib::SubscribeHandlerOptions shopts;
+     164           0 :       shopts.nh                 = nh_;
+     165           0 :       shopts.node_name          = getPrintName();
+     166           0 :       shopts.no_message_timeout = mrs_lib::no_timeout;
+     167           0 :       shopts.threadsafe         = true;
+     168           0 :       shopts.autostart          = true;
+     169           0 :       shopts.queue_size         = 10;
+     170           0 :       shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     171           0 :       sh_altitude_amsl_ = mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude>(shopts, "altitude_amsl_in");
+     172             :     }
+     173           0 :     is_utm_source_ = is_utm_source;
+     174           0 :   }
+     175             :   /*//}*/
+     176             : 
+     177             :   /*//{ setUtmOrigin() */
+     178          48 :   void setUtmOrigin(const geometry_msgs::Point& pt) {
+     179             : 
+     180          48 :     if (is_utm_based_ && !is_utm_origin_set_) {
+     181          45 :       utm_origin_        = pt;
+     182          45 :       is_utm_origin_set_ = true;
+     183             :     }
+     184          48 :   }
+     185             :   /*//}*/
+     186             : 
+     187             :   /*//{ setWorldOrigin() */
+     188          48 :   void setWorldOrigin(const geometry_msgs::Point& pt) {
+     189             : 
+     190          48 :     if (is_utm_based_ && !is_world_origin_set_) {
+     191          45 :       world_origin_        = pt;
+     192          45 :       is_world_origin_set_ = true;
+     193             :     }
+     194          48 :   }
+     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       72995 :   void callbackTfSourceOdom(const nav_msgs::Odometry::ConstPtr msg) {
+     252             : 
+     253       72995 :     if (!is_initialized_) {
+     254           0 :       return;
+     255             :     }
+     256             : 
+     257      218985 :     mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer(getPrintName() + "::callbackTfSourceOdom", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     258             : 
+     259       72995 :     scope_timer.checkpoint("get msg");
+     260             : 
+     261       72995 :     if (!got_first_msg_) {
+     262          48 :       first_msg_     = msg;
+     263          48 :       got_first_msg_ = true;
+     264             :     }
+     265             : 
+     266       72995 :     publishTfFromOdom(msg);
+     267       72995 :     scope_timer.checkpoint("pub tf");
+     268             : 
+     269       72995 :     if (publish_local_tf_ && !is_local_static_tf_published_) {
+     270          48 :       publishLocalTf(msg->header.frame_id);
+     271          48 :       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      103295 :     for (auto republisher : republishers_) {
+     285       30300 :       republishInFrame(msg, ch_->uav_name + "/" + republisher.first, republisher.second);
+     286             :     }
+     287             :   }
+     288             :   /*//}*/
+     289             : 
+     290             :   /*//{ callbackTfSourceAtt()*/
+     291       69789 :   void callbackTfSourceAtt(const geometry_msgs::QuaternionStamped::ConstPtr msg) {
+     292             : 
+     293       69789 :     if (!is_initialized_) {
+     294           0 :       return;
+     295             :     }
+     296             : 
+     297      209367 :     mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer(getPrintName() + "::callbackTfSourceAtt", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     298             : 
+     299       69789 :     scope_timer.checkpoint("get msg");
+     300       69789 :     publishTfFromAtt(msg);
+     301             :   }
+     302             :   /*//}*/
+     303             : 
+     304             :   /* publishTfFromOdom() //{*/
+     305       72995 :   void publishTfFromOdom(const nav_msgs::OdometryConstPtr& odom) {
+     306             : 
+     307      145990 :     mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer(getPrintName() + "::publishTfFromOdom", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     308             : 
+     309       72995 :     const tf2::Transform      tf       = Support::tf2FromPose(odom->pose.pose);
+     310       72995 :     const tf2::Transform      tf_inv   = tf.inverse();
+     311       72995 :     const geometry_msgs::Pose pose_inv = Support::poseFromTf2(tf_inv);
+     312             : 
+     313             :     /*//{ tf source origin */
+     314       72995 :     geometry_msgs::TransformStamped tf_msg;
+     315       72995 :     tf_msg.header.stamp         = odom->header.stamp;
+     316       72995 :     std::string origin_frame_id = custom_frame_id_enabled_ ? ch_->uav_name + "/" + custom_frame_id_ : odom->header.frame_id;
+     317       72995 :     if (is_inverted_) {
+     318             : 
+     319       72995 :       tf_msg.header.frame_id       = ch_->frames.ns_fcu;
+     320       72995 :       tf_msg.child_frame_id        = origin_frame_id;
+     321       72995 :       tf_msg.transform.translation = Support::pointToVector3(pose_inv.position);
+     322       72995 :       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       72995 :     if (Support::noNans(tf_msg)) {
+     332             :       try {
+     333       72995 :         broadcaster_->sendTransform(tf_msg);
+     334             :       }
+     335           0 :       catch (...) {
+     336           0 :         ROS_ERROR("exception caught ");
+     337             :       }
+     338             : 
+     339       72995 :       if (tf_from_attitude_enabled_) {
+     340       68875 :         if (is_inverted_) {
+     341       68875 :           tf_msg.child_frame_id += "_att_only";
+     342             :         } else {
+     343           0 :           tf_msg.header.frame_id += "_att_only";
+     344             :         }
+     345             :         try {
+     346       68875 :           broadcaster_->sendTransform(tf_msg);
+     347             :         }
+     348           0 :         catch (...) {
+     349           0 :           ROS_ERROR("exception caught ");
+     350             :         }
+     351             :       }
+     352             :       /*//}*/
+     353             : 
+     354             :       /*//{ tf utm origin */
+     355             : 
+     356       72995 :       geometry_msgs::TransformStamped tf_utm_msg;
+     357       72995 :       if (is_utm_source_) {
+     358             :         
+     359       68875 :         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       68875 :         geometry_msgs::Pose pose_utm = odom->pose.pose;
+     365       68875 :         pose_utm.position.x += utm_origin_.x - first_msg_->pose.pose.position.x;
+     366       68875 :         pose_utm.position.y += utm_origin_.y - first_msg_->pose.pose.position.y;
+     367             : 
+     368       68875 :         if (sh_altitude_amsl_.hasMsg()) {
+     369       68875 :           pose_utm.position.z = sh_altitude_amsl_.getMsg()->amsl;
+     370             :         } else {
+     371           0 :           ROS_WARN_THROTTLE(5.0, "[%s]: AMSL altitude not available.", getPrintName().c_str());
+     372             :         }
+     373             : 
+     374       68875 :         tf_utm_msg.header.stamp    = odom->header.stamp;
+     375       68875 :         tf_utm_msg.header.frame_id = ns_utm_origin_parent_frame_id_;
+     376       68875 :         tf_utm_msg.child_frame_id  = ns_utm_origin_child_frame_id_;
+     377             : 
+     378       68875 :         tf2::Transform tf_utm;
+     379       68875 :         if (is_inverted_) {
+     380       68875 :           tf_utm = Support::tf2FromPose(pose_utm).inverse();
+     381             :         } else {
+     382           0 :           tf_utm = Support::tf2FromPose(pose_utm);
+     383             :         }
+     384       68875 :         tf_utm_msg.transform = Support::msgFromTf2(tf_utm);
+     385             : 
+     386             :         try {
+     387       68875 :           broadcaster_->sendTransform(tf_utm_msg);
+     388       68875 :           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       72995 :       if (is_utm_source_) {
+     398      137750 :         geometry_msgs::TransformStamped tf_world_msg;
+     399       68875 :         tf_world_msg.header.stamp    = odom->header.stamp;
+     400       68875 :         tf_world_msg.header.frame_id = ns_world_origin_parent_frame_id_;
+     401       68875 :         tf_world_msg.child_frame_id  = ns_world_origin_child_frame_id_;
+     402             : 
+     403       68875 :         tf2::Transform tf_world;
+     404       68875 :         tf_world.setOrigin(tf2::Vector3(world_origin_.x, world_origin_.y, world_origin_.z));
+     405       68875 :         tf_world.setRotation(tf2::Quaternion(0, 0, 0, 1));
+     406             : 
+     407       68875 :         geometry_msgs::Pose pose_utm = odom->pose.pose;
+     408       68875 :         pose_utm.position.x += utm_origin_.x - first_msg_->pose.pose.position.x;
+     409       68875 :         pose_utm.position.y += utm_origin_.y - first_msg_->pose.pose.position.y;
+     410             : 
+     411       68875 :         tf2::Transform tf_utm;
+     412       68875 :         if (is_inverted_) {
+     413       68875 :           tf_utm = Support::tf2FromPose(pose_utm).inverse();
+     414             :         } else {
+     415           0 :           tf_utm = Support::tf2FromPose(pose_utm);
+     416             :         }
+     417             : 
+     418       68875 :         tf_world_msg.transform          = Support::msgFromTf2(tf_utm * tf_world);
+     419       68875 :         tf_world_msg.transform.rotation = pose_inv.orientation;
+     420             : 
+     421             :         try {
+     422       68875 :           broadcaster_->sendTransform(tf_world_msg);
+     423       68875 :           ROS_INFO_ONCE("[%s]: publishing world_origin tf", getPrintName().c_str());
+     424             :         }
+     425           0 :         catch (...) {
+     426           0 :           ROS_ERROR("exception caught ");
+     427             :         }
+     428             :       }
+     429             : 
+     430             :       /*//}*/
+     431             : 
+     432             :     } else {
+     433           0 :       ROS_WARN_THROTTLE(1.0, "[%s]: NaN detected in transform from %s to %s. Not publishing tf.", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     434             :                         tf_msg.child_frame_id.c_str());
+     435             :     }
+     436       72995 :     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       69789 :   void publishTfFromAtt(const geometry_msgs::QuaternionStampedConstPtr& msg) {
+     443             : 
+     444      209367 :     mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer(getPrintName() + "::publishTfFromAtt", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     445             : 
+     446      139578 :     geometry_msgs::TransformStamped tf_msg;
+     447       69789 :     tf_msg.header.stamp = msg->header.stamp;
+     448             : 
+     449       69789 :     geometry_msgs::Pose pose;
+     450       69789 :     pose.position.x = 0.0;
+     451       69789 :     pose.position.y = 0.0;
+     452             :     pose.position.z = 0.0;
+     453       69789 :     pose.orientation = msg->quaternion;
+     454       69789 :     if (is_inverted_) {
+     455       69789 : 
+     456             :       const tf2::Transform      tf       = Support::tf2FromPose(pose);
+     457       69789 :       const tf2::Transform      tf_inv   = tf.inverse();
+     458       69789 :       const geometry_msgs::Pose pose_inv = Support::poseFromTf2(tf_inv);
+     459       69789 : 
+     460       69789 :       tf_msg.header.frame_id       = ch_->frames.ns_fcu;
+     461             :       tf_msg.child_frame_id        = msg->header.frame_id;
+     462             :       tf_msg.transform.translation = Support::pointToVector3(pose_inv.position);
+     463           0 :       tf_msg.transform.rotation    = pose_inv.orientation;
+     464           0 : 
+     465           0 :     } else {
+     466           0 :       tf_msg.header.frame_id       = msg->header.frame_id;
+     467             :       tf_msg.child_frame_id        = ch_->frames.ns_fcu;
+     468             :       tf_msg.transform.translation = Support::pointToVector3(pose.position);
+     469       69789 :       tf_msg.transform.rotation    = pose.orientation;
+     470             :     }
+     471       69789 : 
+     472       69789 :     if (Support::noNans(tf_msg)) {
+     473       69789 :       try {
+     474             :         scope_timer.checkpoint("before pub");
+     475           0 :         broadcaster_->sendTransform(tf_msg);
+     476           0 :         scope_timer.checkpoint("after pub");
+     477             :       }
+     478             :       catch (...) {
+     479           0 :         ROS_ERROR("exception caught ");
+     480             :       }
+     481             :     } else {
+     482       69789 :       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       69789 :     }
+     485             :     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             :   }
+     488          48 :   /*//}*/
+     489             : 
+     490         144 :   /* publishLocalTf() //{*/
+     491             :   void publishLocalTf(const std::string& frame_id) {
+     492          96 : 
+     493          48 :     mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer(getPrintName() + "::publishLocalTf", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     494             : 
+     495          48 :     geometry_msgs::TransformStamped tf_msg;
+     496          48 :     tf_msg.header.stamp = ros::Time::now();
+     497          48 : 
+     498          48 :     tf_msg.header.frame_id       = frame_id;
+     499             :     tf_msg.child_frame_id        = frame_id.substr(0, frame_id.find("_origin")) + "_local_origin";
+     500          48 :     tf_msg.transform.translation = Support::pointToVector3(first_msg_->pose.pose.position);
+     501             :     tf_msg.transform.rotation    = first_msg_->pose.pose.orientation;
+     502          48 : 
+     503             :     if (Support::noNans(tf_msg)) {
+     504           0 :       try {
+     505           0 :         static_broadcaster_.sendTransform(tf_msg);
+     506             :       }
+     507             :       catch (...) {
+     508           0 :         ROS_ERROR("exception caught ");
+     509             :       }
+     510             :     } else {
+     511          48 :       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          48 :     }
+     514          48 :     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             :     is_local_static_tf_published_ = true;
+     517             :   }
+     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       30300 :   /*//}*/
+     590             : 
+     591       60600 :   /* republishInFrame() //{*/
+     592             :   void republishInFrame(const nav_msgs::OdometryConstPtr& msg, const std::string& frame_id, mrs_lib::PublisherHandler<nav_msgs::Odometry>& ph) {
+     593       30300 : 
+     594       30300 :     mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer(getPrintName() + "::republishInFrame", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     595             : 
+     596       30300 :     nav_msgs::Odometry msg_out = *msg;
+     597       30300 :     msg_out.header.frame_id    = frame_id;
+     598       30300 : 
+     599             :     geometry_msgs::PoseStamped pose;
+     600       30300 :     pose.header = msg->header;
+     601       30300 :     pose.pose   = msg->pose.pose;
+     602       27932 : 
+     603       27932 :     auto res = ch_->transformer->transformSingle(pose, frame_id);
+     604             :     if (res) {
+     605        2368 :       msg_out.pose.pose = res->pose;
+     606        2368 :       ph.publish(msg_out);
+     607             :     } else {
+     608             :       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             :       return;
+     610             :     }
+     611             :   }
+     612             : 
+     613             :   /*//}*/
+     614             : };
+     615             : 
+     616             : /*//}*/
+     617             : 
+     618             : }  // namespace mrs_uav_managers
+     619             : 
+     620             : #endif
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_managers/include/transform_manager/tf_source.h.gcov.overview.html b/mrs_uav_managers/include/transform_manager/tf_source.h.gcov.overview.html new file mode 100644 index 0000000000..bceb06a24c --- /dev/null +++ b/mrs_uav_managers/include/transform_manager/tf_source.h.gcov.overview.html @@ -0,0 +1,175 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/transform_manager/tf_source.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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+ + diff --git a/mrs_uav_managers/include/transform_manager/tf_source.h.gcov.png b/mrs_uav_managers/include/transform_manager/tf_source.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..868e4ffb5a8a8c33f8c86be09515bcbf53d84a6a GIT binary patch literal 2293 zcmV4->0000OP)t-s|NsB0 zs;a7|?_FK${{R500003000620&P%hU00009a7bBm000ie000ie0hKEb8vp;H~H-zQm*GXHtUSi*Kop?fB-S=%-&Z-X(wE9DixQ*`CduW?~-TlA#n4Wx_ zR@b%!y}f*PXVlVfLf3}&0%qnRQ}K5QXs768_Vl(o&`2@aX0}+z z)K(|<4&>gkE<@{+dWGbQM+{57X43$J?16xbAxM6$!7LH za@04e=PsHs%A8*#k3G%tw=^>n?7A6y0MD7H9yd#GveXoa%$yNzBy|~hSTR#S?UN3GaW&|A0l<#+>ey#U;j4}d!7?~)iV5K%l~c$@J^}g z#s*R!bzy+iwTaJfliE${vNb8|PHL-DunNgjQd9!wo(@HukYWOgE=RkD6&V$HM2e!V zq^_I5NKrOE;jst<*ya>DsI$9 zD8`7DkMO6}7rAN_@zk{fv`#)gKUHX&23n?OnzNSSrYQ<Ak0kOpYQsFd=lU1S|T;KWF){BC$qN6j)9W{N_0hv zG7#BpsZb0e(4Ax}@Pzx8PBP6!96zPE`D~w%BH8d2>B_)!U8g57OeC?X)E7kxOW>hW zS5DbrPBjbm@W?2h6sDtVr0ygIA2}45-Wq{tD0T}&sE!e16eVW+dk{aL1qKvlV8UB~ zRf;lWOMEm)Fkg8b1rT4VT&A{?+8ZfqZfQC@Z|Mxs0><_Y~@p$HqG#d5*@PI(P zLBscu0Fdl`;2oa_0Um|o8zL^wGc~8EI~cGGx2z1bo%!(UIT{<9QQ<(5Pxm2ppX=hY zTx-{{9m9a7XFk$YTt33O*VjB*kI2!U2Y1@6NArf*Z80P{B8=)4L70{#Nf?V)P^nd~ z=#u)wGsrpQq$|jAyX>N$^&R@MG&B^dv4@y2*wBZ_1N>HBvT|g8B$=$ z#baQl7XPh9X^e~m7Vdp2hio3T@+`{=mSFD>%vUcU6pDC$Q0W?n zPOT_ylX_x>AvkHKmNDNsGu!$biqhiMCi$x|gc}_K@KAx~T5|~VtsH{8zNXA=Ozc>V zKBI=Qos+D~t{ct@MDcX3(0gO?-bm~vdE!P-mf91$`LMf55)XuHwd(3axQ4I^W8(KF zcICv-K-X)E^$j3S3i$gUm@wL9?MV-hSh6>SJvaVan_(#c2+@qkslOog-9bw2m%14Z zV~e^F_yNn5`XXfl7esP6_V3Re=_T=NB11@(!%`%MFG9u1CKg5Sp8@8Qw9uC^i#%f1$bJ zJs^;lPfTGb*n#xIpdh>tg^c1449#Ysx&6iPYWs`fS4^+pSuAK(uPeI%VF?1hDALyT zJBtO|y>hb(udjD?Wj|Uh@ZHyeN!Av{UH!7VF&;O$=&->aVzHpP*^KJpQJ^-kwNqi) z=4KW4_yx3coL0nRjPb&fdFEpdW=5R7SvkD!%MW^cwznk*Yc*kYHY<^T-&nv}-j_d4 P00000NkvXXu0mjfiWFKA literal 0 HcmV?d00001 diff --git a/mrs_uav_managers/src/constraint_manager.cpp.func-sort-c.html b/mrs_uav_managers/src/constraint_manager.cpp.func-sort-c.html new file mode 100644 index 0000000000..5e903bfa0e --- /dev/null +++ b/mrs_uav_managers/src/constraint_manager.cpp.func-sort-c.html @@ -0,0 +1,112 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/constraint_manager.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_managers/src - constraint_manager.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:14822765.2 %
Date:2023-12-14 21:42:20Functions:6875.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::constraint_manager::ConstraintManager::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()48
mrs_uav_managers::constraint_manager::ConstraintManager::setConstraints(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)48
mrs_uav_managers::constraint_manager::ConstraintManager::onInit()48
mrs_uav_managers::constraint_manager::ConstraintManager::timerDiagnostics(ros::TimerEvent const&)869
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&)1296
mrs_uav_managers::constraint_manager::ConstraintManager::timerConstraintManagement(ros::TimerEvent const&)8878
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+
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_managers/src/constraint_manager.cpp.func.html b/mrs_uav_managers/src/constraint_manager.cpp.func.html new file mode 100644 index 0000000000..3a00cf8f86 --- /dev/null +++ b/mrs_uav_managers/src/constraint_manager.cpp.func.html @@ -0,0 +1,112 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/constraint_manager.cpp - functions + + + + + + + + + + + + + + +
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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:14822765.2 %
Date:2023-12-14 21:42:20Functions:6875.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()48
mrs_uav_managers::constraint_manager::ConstraintManager::setConstraints(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)48
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&)1296
mrs_uav_managers::constraint_manager::ConstraintManager::timerDiagnostics(ros::TimerEvent const&)869
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&)8878
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()48
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_managers/src/constraint_manager.cpp.gcov.frameset.html b/mrs_uav_managers/src/constraint_manager.cpp.gcov.frameset.html new file mode 100644 index 0000000000..0360404b95 --- /dev/null +++ b/mrs_uav_managers/src/constraint_manager.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/constraint_manager.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_managers/src/constraint_manager.cpp.gcov.html b/mrs_uav_managers/src/constraint_manager.cpp.gcov.html new file mode 100644 index 0000000000..cce4b6cd06 --- /dev/null +++ b/mrs_uav_managers/src/constraint_manager.cpp.gcov.html @@ -0,0 +1,706 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/constraint_manager.cpp + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_managers/src - constraint_manager.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:14822765.2 %
Date:2023-12-14 21:42:20Functions:6875.0 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + +

+
          Line data    Source code
+
+       1             : /* includes //{ */
+       2             : 
+       3             : #include <ros/ros.h>
+       4             : #include <nodelet/nodelet.h>
+       5             : 
+       6             : #include <std_msgs/String.h>
+       7             : 
+       8             : #include <mrs_msgs/ConstraintManagerDiagnostics.h>
+       9             : #include <mrs_msgs/EstimationDiagnostics.h>
+      10             : #include <mrs_msgs/DynamicsConstraintsSrv.h>
+      11             : #include <mrs_msgs/DynamicsConstraintsSrvRequest.h>
+      12             : #include <mrs_msgs/String.h>
+      13             : #include <mrs_msgs/ConstraintsOverride.h>
+      14             : 
+      15             : #include <mrs_lib/profiler.h>
+      16             : #include <mrs_lib/scope_timer.h>
+      17             : #include <mrs_lib/param_loader.h>
+      18             : #include <mrs_lib/mutex.h>
+      19             : #include <mrs_lib/publisher_handler.h>
+      20             : #include <mrs_lib/service_client_handler.h>
+      21             : #include <mrs_lib/subscribe_handler.h>
+      22             : 
+      23             : #include <dynamic_reconfigure/ReconfigureRequest.h>
+      24             : #include <dynamic_reconfigure/Reconfigure.h>
+      25             : #include <dynamic_reconfigure/Config.h>
+      26             : 
+      27             : //}
+      28             : 
+      29             : namespace mrs_uav_managers
+      30             : {
+      31             : 
+      32             : namespace constraint_manager
+      33             : {
+      34             : 
+      35             : /* //{ class ConstraintManager */
+      36             : 
+      37             : class ConstraintManager : public nodelet::Nodelet {
+      38             : 
+      39             : public:
+      40             :   virtual void onInit();
+      41             : 
+      42             : private:
+      43             :   ros::NodeHandle nh_;
+      44             :   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          48 : void ConstraintManager::onInit() {
+     119             : 
+     120          48 :   nh_ = nodelet::Nodelet::getMTPrivateNodeHandle();
+     121             : 
+     122          48 :   ros::Time::waitForValid();
+     123             : 
+     124          48 :   ROS_INFO("[ConstraintManager]: initializing");
+     125             : 
+     126             :   // | ------------------------- params ------------------------- |
+     127             : 
+     128          96 :   mrs_lib::ParamLoader param_loader(nh_, "ConstraintManager");
+     129             : 
+     130          96 :   std::string custom_config_path;
+     131          96 :   std::string platform_config_path;
+     132             : 
+     133          48 :   param_loader.loadParam("custom_config", custom_config_path);
+     134          48 :   param_loader.loadParam("platform_config", platform_config_path);
+     135             : 
+     136          48 :   if (custom_config_path != "") {
+     137          48 :     param_loader.addYamlFile(custom_config_path);
+     138             :   }
+     139             : 
+     140          48 :   if (platform_config_path != "") {
+     141          48 :     param_loader.addYamlFile(platform_config_path);
+     142             :   }
+     143             : 
+     144          48 :   param_loader.addYamlFileFromParam("private_config");
+     145          48 :   param_loader.addYamlFileFromParam("public_config");
+     146          48 :   param_loader.addYamlFileFromParam("public_constraints");
+     147             : 
+     148          96 :   const std::string yaml_prefix = "mrs_uav_managers/constraint_manager/";
+     149             : 
+     150             :   // params passed from the launch file are not prefixed
+     151          48 :   param_loader.loadParam("enable_profiler", _profiler_enabled_);
+     152             : 
+     153          48 :   param_loader.loadParam(yaml_prefix + "constraints", _constraint_names_);
+     154             : 
+     155          48 :   param_loader.loadParam(yaml_prefix + "estimator_types", _estimator_type_names_);
+     156             : 
+     157          48 :   param_loader.loadParam(yaml_prefix + "rate", _constraint_management_rate_);
+     158          48 :   param_loader.loadParam(yaml_prefix + "diagnostics_rate", _diagnostics_rate_);
+     159             : 
+     160          48 :   std::vector<std::string>::iterator it;
+     161             : 
+     162             :   // loading constraint names
+     163         192 :   for (it = _constraint_names_.begin(); it != _constraint_names_.end(); ++it) {
+     164             : 
+     165         144 :     ROS_INFO_STREAM("[ConstraintManager]: loading constraints '" << *it << "'");
+     166             : 
+     167         144 :     mrs_msgs::DynamicsConstraintsSrvRequest new_constraints;
+     168             : 
+     169         144 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/speed", new_constraints.constraints.horizontal_speed);
+     170         144 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/acceleration", new_constraints.constraints.horizontal_acceleration);
+     171         144 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/jerk", new_constraints.constraints.horizontal_jerk);
+     172         144 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/snap", new_constraints.constraints.horizontal_snap);
+     173             : 
+     174         144 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/ascending/speed", new_constraints.constraints.vertical_ascending_speed);
+     175         144 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/ascending/acceleration", new_constraints.constraints.vertical_ascending_acceleration);
+     176         144 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/ascending/jerk", new_constraints.constraints.vertical_ascending_jerk);
+     177         144 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/ascending/snap", new_constraints.constraints.vertical_ascending_snap);
+     178             : 
+     179         144 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/descending/speed", new_constraints.constraints.vertical_descending_speed);
+     180         144 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/descending/acceleration", new_constraints.constraints.vertical_descending_acceleration);
+     181         144 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/descending/jerk", new_constraints.constraints.vertical_descending_jerk);
+     182         144 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/descending/snap", new_constraints.constraints.vertical_descending_snap);
+     183             : 
+     184         144 :     param_loader.loadParam(yaml_prefix + *it + "/heading/speed", new_constraints.constraints.heading_speed);
+     185         144 :     param_loader.loadParam(yaml_prefix + *it + "/heading/acceleration", new_constraints.constraints.heading_acceleration);
+     186         144 :     param_loader.loadParam(yaml_prefix + *it + "/heading/jerk", new_constraints.constraints.heading_jerk);
+     187         144 :     param_loader.loadParam(yaml_prefix + *it + "/heading/snap", new_constraints.constraints.heading_snap);
+     188             : 
+     189         144 :     param_loader.loadParam(yaml_prefix + *it + "/angular_speed/roll", new_constraints.constraints.roll_rate);
+     190         144 :     param_loader.loadParam(yaml_prefix + *it + "/angular_speed/pitch", new_constraints.constraints.pitch_rate);
+     191         144 :     param_loader.loadParam(yaml_prefix + *it + "/angular_speed/yaw", new_constraints.constraints.yaw_rate);
+     192             : 
+     193             :     double tilt_deg;
+     194             : 
+     195         144 :     param_loader.loadParam(yaml_prefix + *it + "/tilt", tilt_deg);
+     196             : 
+     197         144 :     new_constraints.constraints.tilt = M_PI * (tilt_deg / 180.0);
+     198             : 
+     199         144 :     _constraints_.insert(std::pair<std::string, mrs_msgs::DynamicsConstraintsSrvRequest>(*it, new_constraints));
+     200             :   }
+     201             : 
+     202             :   // loading the allowed constraints lists
+     203         384 :   for (it = _estimator_type_names_.begin(); it != _estimator_type_names_.end(); ++it) {
+     204             : 
+     205         336 :     std::vector<std::string> temp_vector;
+     206         336 :     param_loader.loadParam(yaml_prefix + "allowed_constraints/" + *it, temp_vector);
+     207             : 
+     208         336 :     std::vector<std::string>::iterator it2;
+     209        1248 :     for (it2 = temp_vector.begin(); it2 != temp_vector.end(); ++it2) {
+     210         912 :       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         336 :     _map_type_allowed_constraints_.insert(std::pair<std::string, std::vector<std::string>>(*it, temp_vector));
+     217             :   }
+     218             : 
+     219             :   // loading the default constraints
+     220         384 :   for (it = _estimator_type_names_.begin(); it != _estimator_type_names_.end(); ++it) {
+     221             : 
+     222         336 :     std::string temp_str;
+     223         336 :     param_loader.loadParam(yaml_prefix + "default_constraints/" + *it, temp_str);
+     224             : 
+     225         336 :     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         336 :     _map_type_default_constraints_.insert(std::pair<std::string, std::string>(*it, temp_str));
+     231             :   }
+     232             : 
+     233          48 :   ROS_INFO("[ConstraintManager]: done loading dynamical params");
+     234             : 
+     235          48 :   current_constraints_ = "";
+     236          48 :   last_estimator_name_ = "";
+     237             : 
+     238             :   // | ------------------------ services ------------------------ |
+     239             : 
+     240          48 :   service_server_set_constraints_ = nh_.advertiseService("set_constraints_in", &ConstraintManager::callbackSetConstraints, this);
+     241             : 
+     242          48 :   service_server_constraints_override_ = nh_.advertiseService("constraints_override_in", &ConstraintManager::callbackConstraintsOverride, this);
+     243             : 
+     244          48 :   sc_set_constraints_ = mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>(nh_, "set_constraints_out");
+     245             : 
+     246             :   // | ----------------------- subscribers ---------------------- |
+     247             : 
+     248          96 :   mrs_lib::SubscribeHandlerOptions shopts;
+     249          48 :   shopts.nh                 = nh_;
+     250          48 :   shopts.node_name          = "ConstraintManager";
+     251          48 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     252          48 :   shopts.threadsafe         = true;
+     253          48 :   shopts.autostart          = true;
+     254          48 :   shopts.queue_size         = 10;
+     255          48 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     256             : 
+     257          48 :   sh_estimation_diag_ = mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics>(shopts, "estimation_diagnostics_in");
+     258             : 
+     259             :   // | ----------------------- publishers ----------------------- |
+     260             : 
+     261          48 :   ph_diagnostics_ = mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics>(nh_, "diagnostics_out", 1);
+     262             : 
+     263             :   // | ------------------------- timers ------------------------- |
+     264             : 
+     265          48 :   timer_constraint_management_ = nh_.createTimer(ros::Rate(_constraint_management_rate_), &ConstraintManager::timerConstraintManagement, this);
+     266          48 :   timer_diagnostics_           = nh_.createTimer(ros::Rate(_diagnostics_rate_), &ConstraintManager::timerDiagnostics, this);
+     267             : 
+     268             :   // | ------------------------ profiler ------------------------ |
+     269             : 
+     270          48 :   profiler_ = mrs_lib::Profiler(nh_, "ConstraintManager", _profiler_enabled_);
+     271             : 
+     272             :   // | ------------------- scope timer logger ------------------- |
+     273             : 
+     274          48 :   param_loader.loadParam(yaml_prefix + "scope_timer/enabled", scope_timer_enabled_);
+     275         144 :   const std::string scope_timer_log_filename = param_loader.loadParam2("scope_timer/log_filename", std::string(""));
+     276          48 :   scope_timer_logger_                        = std::make_shared<mrs_lib::ScopeTimerLogger>(scope_timer_log_filename, scope_timer_enabled_);
+     277             : 
+     278             :   // | ----------------------- finish init ---------------------- |
+     279             : 
+     280          48 :   if (!param_loader.loadedSuccessfully()) {
+     281           0 :     ROS_ERROR("[ConstraintManager]: Could not load all parameters!");
+     282           0 :     ros::shutdown();
+     283             :   }
+     284             : 
+     285          48 :   is_initialized_ = true;
+     286             : 
+     287          48 :   ROS_INFO("[ConstraintManager]: initialized");
+     288             : 
+     289          48 :   ROS_DEBUG("[ConstraintManager]: debug output is enabled");
+     290          48 : }
+     291             : 
+     292             : //}
+     293             : 
+     294             : // --------------------------------------------------------------
+     295             : // |                           methods                          |
+     296             : // --------------------------------------------------------------
+     297             : 
+     298             : /* setConstraints() //{ */
+     299             : 
+     300          48 : bool ConstraintManager::setConstraints(std::string constraints_name) {
+     301             : 
+     302          48 :   std::map<std::string, mrs_msgs::DynamicsConstraintsSrvRequest>::iterator it;
+     303          48 :   it = _constraints_.find(constraints_name);
+     304             : 
+     305          48 :   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          96 :   mrs_msgs::DynamicsConstraintsSrv srv_call;
+     311             : 
+     312          48 :   srv_call.request = it->second;
+     313             : 
+     314          48 :   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          48 :   bool res = sc_set_constraints_.call(srv_call);
+     336             : 
+     337          48 :   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          48 :     if (srv_call.response.success) {
+     345             : 
+     346          48 :       mrs_lib::set_mutexed(mutex_current_constraints_, constraints_name, current_constraints_);
+     347          48 :       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        8878 : void ConstraintManager::timerConstraintManagement(const ros::TimerEvent& event) {
+     471             : 
+     472        8878 :   if (!is_initialized_) {
+     473        2524 :     return;
+     474             :   }
+     475             : 
+     476       17756 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerConstraintManagement", _constraint_management_rate_, 0.01, event);
+     477       17756 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ContraintManager::timerConstraintManagement", scope_timer_logger_, scope_timer_enabled_);
+     478             : 
+     479        8878 :   auto current_constraints = mrs_lib::get_mutexed(mutex_current_constraints_, current_constraints_);
+     480        8878 :   auto last_estimator_name = mrs_lib::get_mutexed(mutex_last_estimator_name_, last_estimator_name_);
+     481             : 
+     482        8878 :   if (!sh_estimation_diag_.hasMsg()) {
+     483        2524 :     return;
+     484             :   }
+     485             : 
+     486        6354 :   auto estimation_diagnostics = *sh_estimation_diag_.getMsg();
+     487             : 
+     488             :   // | --- automatically set constraints when the state estimator changes -- |
+     489        6354 :   if (estimation_diagnostics.current_state_estimator != last_estimator_name_) {
+     490             : 
+     491          48 :     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          48 :     std::map<std::string, std::string>::iterator it;
+     495          48 :     it = _map_type_default_constraints_.find(estimation_diagnostics.current_state_estimator);
+     496             : 
+     497          48 :     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          48 :       if (stringInVector(current_constraints, _map_type_allowed_constraints_.at(estimation_diagnostics.current_state_estimator))) {
+     506             : 
+     507           0 :         last_estimator_name = estimation_diagnostics.current_state_estimator;
+     508             : 
+     509             :         // else, try to set the initial constraints
+     510             :       } else {
+     511             : 
+     512          48 :         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          48 :         if (setConstraints(it->second)) {
+     516             : 
+     517          48 :           last_estimator_name = estimation_diagnostics.current_state_estimator;
+     518             : 
+     519          48 :           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        6354 :   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        6354 :   mrs_lib::set_mutexed(mutex_last_estimator_name_, last_estimator_name, last_estimator_name_);
+     544             : }
+     545             : 
+     546             : //}
+     547             : 
+     548             : /* timerDiagnostics() //{ */
+     549             : 
+     550         869 : void ConstraintManager::timerDiagnostics(const ros::TimerEvent& event) {
+     551             : 
+     552         869 :   if (!is_initialized_) {
+     553         249 :     return;
+     554             :   }
+     555             : 
+     556        1738 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerDiagnostics", _diagnostics_rate_, 0.01, event);
+     557        1738 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ContraintManager::timerDiagnostics", scope_timer_logger_, scope_timer_enabled_);
+     558             : 
+     559         869 :   if (!sh_estimation_diag_.hasMsg()) {
+     560         249 :     ROS_WARN_THROTTLE(10.0, "[ConstraintManager]: can not do constraint management, missing estimation diagnostics!");
+     561         249 :     return;
+     562             :   }
+     563             : 
+     564        1240 :   auto estimation_diagnostics = *sh_estimation_diag_.getMsg();
+     565             : 
+     566        1240 :   auto current_constraints = mrs_lib::get_mutexed(mutex_current_constraints_, current_constraints_);
+     567             : 
+     568        1240 :   mrs_msgs::ConstraintManagerDiagnostics diagnostics;
+     569             : 
+     570         620 :   diagnostics.stamp        = ros::Time::now();
+     571         620 :   diagnostics.current_name = current_constraints;
+     572         620 :   diagnostics.loaded       = _constraint_names_;
+     573             : 
+     574             :   // get the available constraints
+     575             :   {
+     576         620 :     std::map<std::string, std::vector<std::string>>::iterator it;
+     577         620 :     it = _map_type_allowed_constraints_.find(estimation_diagnostics.current_state_estimator);
+     578             : 
+     579         620 :     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         620 :       diagnostics.available = it->second;
+     584             :     }
+     585             :   }
+     586             : 
+     587             :   // get the current constraint values
+     588             :   {
+     589         620 :     std::map<std::string, mrs_msgs::DynamicsConstraintsSrvRequest>::iterator it;
+     590         620 :     it = _constraints_.find(current_constraints);
+     591             : 
+     592         620 :     diagnostics.current_values = it->second.constraints;
+     593             :   }
+     594             : 
+     595         620 :   ph_diagnostics_.publish(diagnostics);
+     596             : }
+     597             : 
+     598             : //}
+     599             : 
+     600             : // --------------------------------------------------------------
+     601             : // |                          routines                          |
+     602             : // --------------------------------------------------------------
+     603             : 
+     604             : /* stringInVector() //{ */
+     605             : 
+     606        1296 : bool ConstraintManager::stringInVector(const std::string& value, const std::vector<std::string>& vector) {
+     607             : 
+     608        1296 :   if (std::find(vector.begin(), vector.end(), value) == vector.end()) {
+     609          48 :     return false;
+     610             :   } else {
+     611        1248 :     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          48 : PLUGINLIB_EXPORT_CLASS(mrs_uav_managers::constraint_manager::ConstraintManager, nodelet::Nodelet)
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_managers/src/constraint_manager.cpp.gcov.overview.html b/mrs_uav_managers/src/constraint_manager.cpp.gcov.overview.html new file mode 100644 index 0000000000..9a046a2692 --- /dev/null +++ b/mrs_uav_managers/src/constraint_manager.cpp.gcov.overview.html @@ -0,0 +1,176 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/constraint_manager.cpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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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..9ae1d964f15f811ca5d79039c0f6b44997d706ce GIT binary patch literal 2171 zcmV->2!!{EP)!T1s;KO`*+mrIUdn^6rG`EmP#e05rgF98fy{m zr;)5{;LpV{WybbtU595vkTB%~d`dMOj~QYskKa>I99&a;jqf!KF2Z{fLifPBnO3#A zPDYGlgq`jPFWw;`>H`x7fSm7;egnBXKDDe?#r)iM%@ zX!*eI-KNLsj>UX|_I_2{pfIEVH?;{vya^)!FCytOqHINX)f@4rvkDu3s=Rl+1~St!^ZhlR_a3;XdmYz1hqOMon#q(a1IGArMa+0y8@F zdqQh00pTJ=jD)>}aRSK*MLaq_HH1BdIUzd>BUaDaQyBjs>3WqAhC!hr>}Hu&EX*P# zT$DUsX z)>A0?7!$@W*XWN`UAz8?z764udUI=EG|=J+QQQo)g0tA+eYOv7$N6PmKl>5iM1=1` zGlWNpAQ1LH{$x`CWYj<8xEzm9Ij$Y?0z#ybX2(U#8M(W$ST~b+*#{Dqy+`O}?;qhk z`KC*VaFJQ7Qhe4-iJ2hheliWN~*vL&oOBlR- zWp@@Mq9;T@lj=z{#1gI!k=^e}yS^oKh&OwC9yGUN%P4%(DcXudULp<~c(NG3nkGQ%d2BpG=P#AG3x_;yY zve;tr1FmsO5B~>1C`8or*sUl(+tE(E1E!>Er{I^QWxI~Ah`w8#!b|`Qn=AuDb^?IO z%{d)d!rjjYUzq@~McUNkkrqbPdPKC1S0I!k8inuCEXRjwgG}9a4&P~vecum6n7M@~ zL~Ib*Fam{yW=#?C2oaCuaSu-qq|K~)uyzXS!P@z#2uZro-iMIz2!!1f9ub8K@4g_t z%#bIh$j0HymI>4j*Jxk(xP#YAk00SgDr~31tE-JUg{J`|GofiV*w{@ebn4>>mr@Oo zvg`i(c?*s02=9&kz~Fk|M$TUoXl5bfqk$$aEyUHhRmF-U&b!;g*AKU@0I<5VuYyi~)dV#!XBJBXNg+ zI6@ubZ!sZM2hV~cYBuX|sPimD2C4UO3u2}B#POc35C7K*K+0qP#HT#2kD!U4Hm>gi zq~7ED2WB4~Hj*WAxM{yD4i_6c4uwoj^^p`DO@&qA(FMu;B{#^1bo}##!Zxs*4`JfE zUe$Q@T??k3_aL;O!i0a%hDLTf^iQ0e**3O+vG_QCaDHR4e}`M+Ux>`Px|l$ zY*V;lY&Ql+y70oO30}3Vt>#8I02cT25;o3#V_2}#EA+@5V5ilU*Kq+m1%Rfk$4yI# zt?E)jA>zBZXTRI0BZ}Idess9E=&H6y>!5R5K2I1^YZ;^#_Eh@N zWO0LClt4PprsSO!X(U394Ibki$0bou$-{MBCs(MLTN*;kVBXj&NY&g^(2vv7s`8%x zHcZDU4v76;oEz7Y81iCK*!kBE;}pxV&@w2MLi$Y9W41_&X>QvVNs`bwUamcvhDsME zdCu!8m~E`udWzf|{XXB9>nZ4#)bGlx6~*nzoU2zUAd}C)E24{TaQ(|?%EG9U3gn{x zG29;n*MWaa_VGj(mpAI7Xa%AHh&uR=n9LpK-Yi$-e_G+I%fT zDlAC5f5=XoOY8d}4&h!%KPzcxCyZ + + + + + + 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:21056337.3 %
Date:2023-12-14 21:42:20Functions:193161.3 %
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::RCChannelToRange(double, double, double)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::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&)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&)48
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&)464
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&)499
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&)505
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&)740
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&)963
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&)993
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&)2065
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&)3798
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&)3817
mrs_uav_managers::control_manager::initializeHwApiCmd(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> >&, double const&)4540
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&)4540
mrs_uav_managers::control_manager::getLowestOuput(mrs_uav_managers::control_manager::ControlOutputModalities_t const&)4785
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&)24588
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&)33707
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&)40677
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&)45727
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&)50276
mrs_uav_managers::control_manager::extractThrottle(mrs_uav_managers::Controller::ControlOutput const&)57527
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_managers/src/control_manager/common/common.cpp.func.html b/mrs_uav_managers/src/control_manager/common/common.cpp.func.html new file mode 100644 index 0000000000..56beaabe97 --- /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:21056337.3 %
Date:2023-12-14 21:42:20Functions:193161.3 %
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&)740
mrs_uav_managers::control_manager::getLowestOuput(mrs_uav_managers::control_manager::ControlOutputModalities_t const&)4785
mrs_uav_managers::control_manager::extractThrottle(mrs_uav_managers::Controller::ControlOutput const&)57527
mrs_uav_managers::control_manager::getHighestOuput(mrs_uav_managers::control_manager::ControlOutputModalities_t const&)0
mrs_uav_managers::control_manager::RCChannelToRange(double, double, double)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::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&)50276
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&)2065
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&)4540
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&)40677
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&)33707
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&)4540
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&)3817
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&)45727
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&)464
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&)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&)48
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&)499
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&)24588
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&)3798
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&)963
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&)505
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&)993
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_managers/src/control_manager/common/common.cpp.gcov.frameset.html b/mrs_uav_managers/src/control_manager/common/common.cpp.gcov.frameset.html new file mode 100644 index 0000000000..41b7eb37bb --- /dev/null +++ b/mrs_uav_managers/src/control_manager/common/common.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/control_manager/common/common.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_managers/src/control_manager/common/common.cpp.gcov.html b/mrs_uav_managers/src/control_manager/common/common.cpp.gcov.html new file mode 100644 index 0000000000..b1025b6909 --- /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:21056337.3 %
Date:2023-12-14 21:42:20Functions:193161.3 %
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         740 : std::optional<unsigned int> idxInVector(const std::string& str, const std::vector<std::string>& vec) {
+      12             : 
+      13        2094 :   for (unsigned int i = 0; i < vec.size(); i++) {
+      14        2094 :     if (str == vec[i]) {
+      15         740 :       return {i};
+      16             :     }
+      17             :   }
+      18             : 
+      19           0 :   return {};
+      20             : }
+      21             : 
+      22             : //}
+      23             : 
+      24             : /* validateTrackerCommand() //{ */
+      25             : 
+      26       33707 : bool validateTrackerCommand(const std::optional<mrs_msgs::TrackerCommand>& msg, const std::string& node_name, const std::string& var_name) {
+      27             : 
+      28       33707 :   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       33707 :   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       33707 :   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       33707 :   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       33707 :   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       33707 :   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       33707 :   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       33707 :   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       33707 :   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       33707 :   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       33707 :   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       33707 :   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       33707 :   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       33707 :   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       33707 :   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       33707 :   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       33707 :   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       33707 :   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       33707 :   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       33707 :   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       33707 :   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       33707 :   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       33707 :   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       33707 :   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       33707 :   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           0 : bool validateVelocityReference(const mrs_msgs::VelocityReference& msg, const std::string& node_name, const std::string& var_name) {
+     237             : 
+     238             :   // check velocity
+     239             : 
+     240           0 :   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           0 :   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           0 :   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           0 :   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           0 :   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           0 :   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           0 :   return true;
+     271             : }
+     272             : 
+     273             : //}
+     274             : 
+     275             : /* validateReference() //{ */
+     276             : 
+     277        2065 : bool validateReference(const mrs_msgs::Reference& msg, const std::string& node_name, const std::string& var_name) {
+     278             : 
+     279             :   // check position
+     280             : 
+     281        2065 :   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        2065 :   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        2065 :   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        2065 :   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        2065 :   return true;
+     304             : }
+     305             : 
+     306             : //}
+     307             : 
+     308             : /* validateUavState() //{ */
+     309             : 
+     310       50276 : bool validateUavState(const mrs_msgs::UavState& msg, const std::string& node_name, const std::string& var_name) {
+     311             : 
+     312             :   // check position
+     313             : 
+     314       50276 :   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       50276 :   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       50276 :   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       50276 :   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       50276 :   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       50276 :   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       50276 :   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       50276 :   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       50276 :   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       50276 :   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       50276 :   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       50276 :   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       50276 :   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       50276 :   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       50276 :   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       50276 :   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       50276 :   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       50276 :   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       50276 :   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       50276 :   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       50276 :   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       50276 :   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       50276 :   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       50276 :   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       50276 :   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       50276 :   return true;
+     454             : }
+     455             : 
+     456             : //}
+     457             : 
+     458             : /* RCChannelToRange() //{ */
+     459             : 
+     460           0 : double RCChannelToRange(double rc_value, double range, double deadband) {
+     461             : 
+     462           0 :   double tmp_neg1_to_1 = (rc_value - 0.5) * 2.0;
+     463             : 
+     464           0 :   if (tmp_neg1_to_1 > 1.0) {
+     465           0 :     tmp_neg1_to_1 = 1.0;
+     466           0 :   } else if (tmp_neg1_to_1 < -1.0) {
+     467           0 :     tmp_neg1_to_1 = -1.0;
+     468             :   }
+     469             : 
+     470             :   // check the deadband
+     471           0 :   if (tmp_neg1_to_1 < deadband && tmp_neg1_to_1 > -deadband) {
+     472           0 :     return 0.0;
+     473             :   }
+     474             : 
+     475           0 :   if (tmp_neg1_to_1 > 0) {
+     476             : 
+     477           0 :     double tmp = (tmp_neg1_to_1 - deadband) / (1.0 - deadband);
+     478             : 
+     479           0 :     return range * tmp;
+     480             : 
+     481             :   } else {
+     482             : 
+     483           0 :     double tmp = (-tmp_neg1_to_1 - deadband) / (1.0 - deadband);
+     484             : 
+     485           0 :     return -range * tmp;
+     486             :   }
+     487             : 
+     488             :   return 0.0;
+     489             : }
+     490             : 
+     491             : //}
+     492             : 
+     493             : /* loadDetailedUavModelParams() //{ */
+     494             : 
+     495          48 : 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          96 :   mrs_lib::ParamLoader param_loader(nh, node_name);
+     499             : 
+     500          48 :   if (custom_config != "") {
+     501          48 :     param_loader.addYamlFile(custom_config);
+     502             :   }
+     503             : 
+     504          48 :   if (platform_config != "") {
+     505          48 :     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          48 :   param_loader.loadParam("uav_mass", mass);
+     518             : 
+     519          48 :   param_loader.loadParam("model_params/arm_length", arm_length);
+     520          48 :   param_loader.loadParam("model_params/body_height", body_height);
+     521             : 
+     522          48 :   param_loader.loadParam("model_params/propulsion/force_constant", force_constant);
+     523          48 :   param_loader.loadParam("model_params/propulsion/torque_constant", torque_constant);
+     524          48 :   param_loader.loadParam("model_params/propulsion/prop_radius", prop_radius);
+     525          48 :   param_loader.loadParam("model_params/propulsion/rpm/min", rpm_min);
+     526          48 :   param_loader.loadParam("model_params/propulsion/rpm/max", rpm_max);
+     527             : 
+     528         144 :   Eigen::MatrixXd allocation_matrix = param_loader.loadMatrixDynamic2("model_params/propulsion/allocation_matrix", 4, -1);
+     529             : 
+     530          48 :   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          48 :   int n_motors = allocation_matrix.cols();
+     536             : 
+     537          96 :   DetailedModelParams_t model_params;
+     538             : 
+     539          48 :   model_params.arm_length  = arm_length;
+     540          48 :   model_params.body_height = body_height;
+     541          48 :   model_params.prop_radius = prop_radius;
+     542             : 
+     543         144 :   Eigen::MatrixXd inertia_matrix = param_loader.loadMatrixDynamic2("model_params/inertia_matrix", 3, 3);
+     544             : 
+     545          48 :   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          48 :     model_params.inertia       = Eigen::Matrix3d::Zero();
+     555          48 :     model_params.inertia(0, 0) = mass * (3.0 * arm_length * arm_length + body_height * body_height) / 12.0;
+     556          48 :     model_params.inertia(1, 1) = mass * (3.0 * arm_length * arm_length + body_height * body_height) / 12.0;
+     557          48 :     model_params.inertia(2, 2) = (mass * arm_length * arm_length) / 2.0;
+     558             : 
+     559          48 :     ROS_INFO("[%s]: inertia computed form parameters:", node_name.c_str());
+     560          48 :     ROS_INFO_STREAM(model_params.inertia);
+     561             :   }
+     562             : 
+     563             :   // create the force-torque allocation matrix
+     564          48 :   model_params.force_torque_mixer = allocation_matrix;
+     565          48 :   model_params.force_torque_mixer.row(0) *= arm_length * force_constant;
+     566          48 :   model_params.force_torque_mixer.row(1) *= arm_length * force_constant;
+     567          48 :   model_params.force_torque_mixer.row(2) *= torque_constant * (3.0 * prop_radius) * force_constant;
+     568          48 :   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          96 :       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         240 :   for (int i = 0; i < n_motors; i++) {
+     581         192 :     alloc_tmp.block(i, 0, 1, 2).normalize();
+     582             :   }
+     583             : 
+     584             :   // the 3rd column (yaw)
+     585         240 :   for (int i = 0; i < n_motors; i++) {
+     586         192 :     if (alloc_tmp(i, 2) > 1e-2) {
+     587          96 :       alloc_tmp(i, 2) = 1.0;
+     588          96 :     } else if (alloc_tmp(i, 2) < -1e-2) {
+     589          96 :       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         240 :   for (int i = 0; i < n_motors; i++) {
+     597         192 :     alloc_tmp(i, 3) = 1.0;
+     598             :   }
+     599             : 
+     600          48 :   std::cout << "Control group mixer: " << std::endl << alloc_tmp << std::endl;
+     601             : 
+     602          48 :   model_params.control_group_mixer = alloc_tmp;
+     603             : 
+     604          48 :   return model_params;
+     605             : }
+     606             : 
+     607             : //}
+     608             : 
+     609             : /* getLowestOutput() //{ */
+     610             : 
+     611        4785 : CONTROL_OUTPUT getLowestOuput(const ControlOutputModalities_t& outputs) {
+     612             : 
+     613        4785 :   if (outputs.actuators) {
+     614          16 :     return ACTUATORS_CMD;
+     615             :   }
+     616             : 
+     617        4769 :   if (outputs.control_group) {
+     618          16 :     return CONTROL_GROUP;
+     619             :   }
+     620             : 
+     621        4753 :   if (outputs.attitude_rate) {
+     622        4687 :     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       57527 : std::optional<double> extractThrottle(const Controller::ControlOutput& control_output) {
+     696             : 
+     697       57527 :   if (!control_output.control_output) {
+     698        5047 :     return {};
+     699             :   }
+     700             : 
+     701      104960 :   return std::visit(HwApiCmdExtractThrottleVisitor(), control_output.control_output.value());
+     702             : }
+     703             : 
+     704             : //}
+     705             : 
+     706             : // | -------------- validation of HW api commands ------------- |
+     707             : 
+     708             : /* validateControlOutput() //{ */
+     709             : 
+     710       40677 : 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       40677 :   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       40677 :   std::variant<ControlOutputModalities_t> output_modalities_var{output_modalities};
+     719       81354 :   std::variant<std::string>               node_name_var{node_name};
+     720       40677 :   std::variant<std::string>               var_name_var{var_name};
+     721             : 
+     722       40677 :   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        3817 : bool validateHwApiActuatorCmd(const mrs_msgs::HwApiActuatorCmd& msg, const std::string& node_name, const std::string& var_name) {
+     730             : 
+     731       19085 :   for (size_t i = 0; i < msg.motors.size(); i++) {
+     732       15268 :     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        3817 :   return true;
+     739             : }
+     740             : 
+     741             : //}
+     742             : 
+     743             : /* validateHwApiControlGroupCmd() //{ */
+     744             : 
+     745        3798 : bool validateHwApiControlGroupCmd(const mrs_msgs::HwApiControlGroupCmd& msg, const std::string& node_name, const std::string& var_name) {
+     746             : 
+     747        3798 :   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        3798 :   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        3798 :   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        3798 :   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        3798 :   return true;
+     768             : }
+     769             : 
+     770             : //}
+     771             : 
+     772             : /* validateHwApiAttitudeCmd() //{ */
+     773             : 
+     774       45727 : bool validateHwApiAttitudeCmd(const mrs_msgs::HwApiAttitudeCmd& msg, const std::string& node_name, const std::string& var_name) {
+     775             : 
+     776             :   // check the orientation
+     777             : 
+     778       45727 :   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       45727 :   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       45727 :   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       45727 :   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       45727 :   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       45727 :   return true;
+     806             : }
+     807             : 
+     808             : //}
+     809             : 
+     810             : /* validateHwApiAttitudeRateCmd() //{ */
+     811             : 
+     812       24588 : 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       24588 :   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       24588 :   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       24588 :   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       24588 :   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       24588 :   return true;
+     839             : }
+     840             : 
+     841             : //}
+     842             : 
+     843             : /* validateHwApiAccelerationHdgRateCmd() //{ */
+     844             : 
+     845         993 : bool validateHwApiAccelerationHdgRateCmd(const mrs_msgs::HwApiAccelerationHdgRateCmd& msg, const std::string& node_name, const std::string& var_name) {
+     846             : 
+     847             :   // | ----------------- check the acceleration ----------------- |
+     848             : 
+     849         993 :   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         993 :   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         993 :   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         993 :   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         993 :   return true;
+     872             : }
+     873             : 
+     874             : //}
+     875             : 
+     876             : /* validateHwApiAccelerationHdgCmd() //{ */
+     877             : 
+     878         963 : bool validateHwApiAccelerationHdgCmd(const mrs_msgs::HwApiAccelerationHdgCmd& msg, const std::string& node_name, const std::string& var_name) {
+     879             : 
+     880             :   // | ----------------- check the acceleration ----------------- |
+     881             : 
+     882         963 :   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         963 :   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         963 :   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         963 :   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         963 :   return true;
+     905             : }
+     906             : 
+     907             : //}
+     908             : 
+     909             : /* validateHwApiVelocityHdgRateCmd() //{ */
+     910             : 
+     911         505 : bool validateHwApiVelocityHdgRateCmd(const mrs_msgs::HwApiVelocityHdgRateCmd& msg, const std::string& node_name, const std::string& var_name) {
+     912             : 
+     913             :   // | ----------------- check the velocity ----------------- |
+     914             : 
+     915         505 :   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         505 :   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         505 :   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         505 :   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         505 :   return true;
+     938             : }
+     939             : 
+     940             : //}
+     941             : 
+     942             : /* validateHwApiVelocityHdgCmd() //{ */
+     943             : 
+     944         499 : bool validateHwApiVelocityHdgCmd(const mrs_msgs::HwApiVelocityHdgCmd& msg, const std::string& node_name, const std::string& var_name) {
+     945             : 
+     946             :   // | ----------------- check the velocity ----------------- |
+     947             : 
+     948         499 :   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         499 :   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         499 :   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         499 :   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         499 :   return true;
+     971             : }
+     972             : 
+     973             : //}
+     974             : 
+     975             : /* validateHwApiPositionHdgCmd() //{ */
+     976             : 
+     977         464 : bool validateHwApiPositionCmd(const mrs_msgs::HwApiPositionCmd& msg, const std::string& node_name, const std::string& var_name) {
+     978             : 
+     979             :   // | ----------------- check the position ----------------- |
+     980             : 
+     981         464 :   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         464 :   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         464 :   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         464 :   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         464 :   return true;
+    1004             : }
+    1005             : 
+    1006             : //}
+    1007             : 
+    1008             : // | ------------ initialization of HW api commands ----------- |
+    1009             : 
+    1010             : /* initializeDefaultOutput() //{ */
+    1011             : 
+    1012        4540 : 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        4540 :   CONTROL_OUTPUT lowest_output = getLowestOuput(possible_outputs);
+    1016             : 
+    1017        4540 :   Controller::HwApiOutputVariant output;
+    1018             : 
+    1019        4540 :   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        4540 :     case ATTITUDE_RATE: {
+    1029        4540 :       output = mrs_msgs::HwApiAttitudeRateCmd();
+    1030        4540 :       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        9080 :   std::variant<mrs_msgs::UavState> uav_state_var{uav_state};
+    1059        4540 :   std::variant<double>             min_throttle_var{min_throttle};
+    1060        4540 :   std::variant<double>             n_motors_var{n_motors};
+    1061             : 
+    1062        4540 :   std::visit(HwApiInitializeVisitor(), output, uav_state_var, min_throttle_var, n_motors_var);
+    1063             : 
+    1064        9080 :   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        4540 : void initializeHwApiCmd(mrs_msgs::HwApiAttitudeRateCmd& msg, const double& min_throttle) {
+    1099             : 
+    1100        4540 :   msg.stamp = ros::Time::now();
+    1101             : 
+    1102        4540 :   msg.body_rate.x = 0;
+    1103        4540 :   msg.body_rate.y = 0;
+    1104        4540 :   msg.body_rate.z = 0;
+    1105        4540 :   msg.throttle    = min_throttle;
+    1106        4540 : }
+    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
+
+
+
+ + + + +
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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..9eaf8cc56523f1d184a9864c7c027b3c88cf58af GIT binary patch literal 2419 zcmV-(35@oMP)B{)Z4aydC zZU@sO7(G;Y79A=ebJ-?3qzbJnr#`= zeI)!QQ9XF~N>$JL+qULw!zcg?3~gzDU)-mbk_+cqR?WAe&D`sGbg{gZToO-hFg1je_Ad$2m54LL#i-%(iOYumDgtkp1W_HgGDbwLp`^cbq zX8gmXo)b={eq$vLUl4D?9y^#?!F*vOr{xXWzJwesRv=~Y$%>z!Gl}djyoe| zpu3c@(+@kxkZG2SxbZawOFagc_ymwCFN{iB@`T1FRiFh^j6#4}EbQDs_%|ycOykJy zH9|<__}IG2A)&%@*>{+E|4*;^wG-<@fqoQ(GEGfL93Is zk;{0jQ?PL7T*N+eG-HZAvs)mq+hYWEn}QJ%JM0wH25d-3kBmnl3&{8&55CE(BbqSA z6A*@ZrdAzy#zev>8ND2vdOEm)Gzwx{pEuJIzXlr&1HAYqj!5T?q=Y^Isb488D9<_Kr(dJu`488lom8-dg>VL~iT8zu&}tc~9$$mp<4{9Fp3yTJc01W*)XE?RV;6E%sioPck9-cP)=H$dhSQrWf`?}0jTXGq zoTiB}nbz8uYy)U#Vly->m#~O)4H89A9VuWYg@pz3EE}VkRNV3sGUFs7?4ev8j(%N9 zj{Yh&;ahcGOL*;LBczSF3Z-@*w1)=fHOclEX_zweYthC+KE?wrGv6sQxH6xST_%D$ zfulXU@({MQU6AX|07}g!%G>InrTd;6hIZM@%jnglBV(ZIZzMOs zHR;Ic*JN24+whsdAp}d0Uq18EhK!_|Tggu`=wrCUQ_Yn4l>6fPTJ|~DY)!U~^R7$# z3Z5(oa@<4USZ>^NC^qy)#ytaAO;r}AFWy`-vs{+us(Zq8&RjFIa|KvtM6ddKR*sL@ zpsL}eZP;o!w%=?MD!j;dQ9||Asa39^kc~JOaD^-ri-U5Q`$?F6>f0~jt1oACkru45 z>*9Nx7VYr0B#isQFPFJ*dPqB$MG~Bq+vMpHfPV#vWM#{*kN6Xpnn+;Qs=#;`a!Fv| z(V_~#wEkj{+XksRJ56u{qF_RhX5S#v!E`WR07JfqbY4BZSAc}%@;`^J+8#^3cdy+y z7foO&ZThvCiruw?sTB+eq?ukEji?7d zh1`OAZXQUlZg!!86d9!UK$^`SJD57bfIyn?qa^k87YIN?a_NE8%$3fE(VM;Rql2jx zOdpX(z}z^HUO#+=M9t$?TI$YO52PJTdtmyAGy67tLO-UIm_L(yGXZ-yu zj6LqRZd@Y~I$@6%&5(O>rZ)$l(=GT3|EKl%uH?^PaV_;?>6Ac1~{2iU#M*Yvi=+Qv($+Xio)GgXIskdlOv z&Z~JdJ7Z)KGt)-a%`8etmGMDcPL>09M~TNmAF#iz&6UNwOaiKoar_^1h3;H{V{8&o zkTBwet()07BMX`tFtWzXEH>3FK}eOc$M7&mD&aq#bN$-6EF@ncq{`TxE6kBfnBTdc lBEhFRC6R%@!_nLK{Q(xD{iqz!q?-T$002ovPDHLkV1lk`lZ*fW 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..b060a5b74d --- /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:21056337.3 %
Date:2023-12-14 21:42:20Functions:193161.3 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
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37.3%37.3%
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<unnamed>37.3 %210 / 56361.3 %19 / 31
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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:21056337.3 %
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Current view:top level - mrs_uav_managers/src/control_manager/commonHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:21056337.3 %
Date:2023-12-14 21:42:20Functions:193161.3 %
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Generated by: LCOV version 1.14
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Current view:top level - mrs_uav_managers/src/control_manager/commonHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:21056337.3 %
Date:2023-12-14 21:42:20Functions:193161.3 %
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Current view:top level - mrs_uav_managers/src/control_manager/commonHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:21056337.3 %
Date:2023-12-14 21:42:20Functions:193161.3 %
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Current view:top level - mrs_uav_managers/src/control_manager/commonHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:21056337.3 %
Date:2023-12-14 21:42:20Functions:193161.3 %
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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:1865366650.9 %
Date:2023-12-14 21:42:20Functions:6211155.9 %
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::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::escalatingFailsafe[abi:cxx11]()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::gotoTrajectoryStart[abi:cxx11]()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::setVelocityReference[abi:cxx11](mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const&)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::getNextEscFailsafeState()0
mrs_uav_managers::control_manager::ControlManager::startTrajectoryTracking[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::callbackEmergencyReference(mrs_msgs::ReferenceStampedSrvRequest_<std::allocator<void> >&, mrs_msgs::ReferenceStampedSrvResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackFailsafeEscalating(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<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::callbackGotoTrajectoryStart(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::velocityReferenceToReference(mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const&)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::callbackStartTrajectoryTracking(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)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::callbackVelocityReferenceService(mrs_msgs::VelocityReferenceStampedSrvRequest_<std::allocator<void> >&, mrs_msgs::VelocityReferenceStampedSrvResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::hover[abi:cxx11]()0
mrs_uav_managers::control_manager::ControlManager::ehover[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::setTrajectoryReference[abi:cxx11](mrs_msgs::TrajectoryReference_<std::allocator<void> >)1
mrs_uav_managers::control_manager::ControlManager::callbackTrajectoryReferenceService(mrs_msgs::TrajectoryReferenceSrvRequest_<std::allocator<void> >&, mrs_msgs::TrajectoryReferenceSrvResponse_<std::allocator<void> >&)1
mrs_uav_managers::control_manager::ControlManager::callbackArm(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)2
mrs_uav_managers::control_manager::ControlManager::setCallbacks(bool)2
mrs_uav_managers::control_manager::ControlManager::callbackEnableCallbacks(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)2
mrs_uav_managers::control_manager::ControlManager::callbackGotoRelative(mrs_msgs::Vec4Request_<std::allocator<void> >&, mrs_msgs::Vec4Response_<std::allocator<void> >&)3
mrs_uav_managers::control_manager::ControlManager::eland[abi:cxx11]()3
mrs_uav_managers::control_manager::ControlManager::elandSrv()3
mrs_uav_managers::control_manager::ControlManager::callbackFailsafe(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)4
mrs_uav_managers::control_manager::ControlManager::failsafe[abi:cxx11]()5
mrs_uav_managers::control_manager::ControlManager::changeLandingState(mrs_uav_managers::control_manager::LandingStates_t)6
mrs_uav_managers::control_manager::ControlManager::odometryCallbacksSrv(bool)8
mrs_uav_managers::control_manager::ControlManager::isOffboard()10
mrs_uav_managers::control_manager::ControlManager::arming[abi:cxx11](bool)10
mrs_uav_managers::control_manager::ControlManager::shutdown()13
mrs_uav_managers::control_manager::ControlManager::callbackGoto(mrs_msgs::Vec4Request_<std::allocator<void> >&, mrs_msgs::Vec4Response_<std::allocator<void> >&)27
mrs_uav_managers::control_manager::ControlManager::setReference[abi:cxx11](mrs_msgs::ReferenceStamped_<std::allocator<void> >)30
mrs_uav_managers::control_manager::ControlManager::isPathToPointInSafetyArea3d(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&, mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)30
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::callbackToggleOutput(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)45
(anonymous namespace)::ProxyExec0::ProxyExec0()48
mrs_uav_managers::control_manager::ControlManager::initialize()48
mrs_uav_managers::control_manager::ControlManager::preinitialize()48
mrs_uav_managers::control_manager::ControlManager::setConstraints(mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const&)48
mrs_uav_managers::control_manager::ControlManager::callbackSetConstraints(mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> >&, mrs_msgs::DynamicsConstraintsSrvResponse_<std::allocator<void> >&)48
mrs_uav_managers::control_manager::ControlManager::onInit()48
mrs_uav_managers::control_manager::ControlManager::toggleOutput(bool const&)58
mrs_uav_managers::control_manager::ControlManager::timerHwApiCapabilities(ros::TimerEvent const&)82
mrs_uav_managers::control_manager::ControlManager::callbackSwitchController(mrs_msgs::StringRequest_<std::allocator<void> >&, mrs_msgs::StringResponse_<std::allocator<void> >&)92
mrs_uav_managers::control_manager::ControlManager::callbackSwitchTracker(mrs_msgs::StringRequest_<std::allocator<void> >&, mrs_msgs::StringResponse_<std::allocator<void> >&)94
mrs_uav_managers::control_manager::ControlManager::initializeControlOutput()103
mrs_uav_managers::control_manager::ControlManager::switchController(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)105
mrs_uav_managers::control_manager::ControlManager::switchTracker(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)107
mrs_uav_managers::control_manager::ControlManager::isPointInSafetyArea3d(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)126
mrs_uav_managers::control_manager::ControlManager::setConstraintsToTrackers(mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const&)147
mrs_uav_managers::control_manager::ControlManager::setConstraintsToControllers(mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const&)188
mrs_uav_managers::control_manager::ControlManager::timerEland(ros::TimerEvent const&)235
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)240
mrs_uav_managers::control_manager::ControlManager::getMass()248
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)289
mrs_uav_managers::control_manager::ControlManager::ungripSrv()311
mrs_uav_managers::control_manager::ControlManager::callbackValidateReference2d(mrs_msgs::ValidateReferenceRequest_<std::allocator<void> >&, mrs_msgs::ValidateReferenceResponse_<std::allocator<void> >&)1995
mrs_uav_managers::control_manager::ControlManager::isPointInSafetyArea2d(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)2102
mrs_uav_managers::control_manager::ControlManager::getMaxZ(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)4814
mrs_uav_managers::control_manager::ControlManager::timerStatus(ros::TimerEvent const&)6341
mrs_uav_managers::control_manager::ControlManager::isFlyingNormally()6386
mrs_uav_managers::control_manager::ControlManager::publishDiagnostics()6386
mrs_uav_managers::control_manager::ControlManager::timerFailsafe(ros::TimerEvent const&)6970
mrs_uav_managers::control_manager::ControlManager::callbackRC(boost::shared_ptr<mrs_msgs::HwApiRcChannels_<std::allocator<void> > const>)7228
mrs_uav_managers::control_manager::ControlManager::timerJoystick(ros::TimerEvent const&)23970
mrs_uav_managers::control_manager::ControlManager::getMinZ(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)34356
mrs_uav_managers::control_manager::ControlManager::callbackGNSS(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)38210
mrs_uav_managers::control_manager::ControlManager::enforceControllersConstraints(mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const&)43075
mrs_uav_managers::control_manager::ControlManager::updateTrackers()43352
mrs_uav_managers::control_manager::ControlManager::asyncControl()49992
mrs_uav_managers::control_manager::ControlManager::updateControllers(mrs_msgs::UavState_<std::allocator<void> > const&)50322
mrs_uav_managers::control_manager::ControlManager::publishControlReferenceOdom(std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&, mrs_uav_managers::Controller::ControlOutput const&)50322
mrs_uav_managers::control_manager::ControlManager::publish()50322
mrs_uav_managers::control_manager::ControlManager::callbackUavState(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>)66186
mrs_uav_managers::control_manager::ControlManager::timerSafety(ros::TimerEvent const&)119598
mrs_uav_managers::control_manager::ControlManager::callbackHwApiStatus(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const>)194287
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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..e375771824 --- /dev/null +++ b/mrs_uav_managers/src/control_manager/control_manager.cpp.func.html @@ -0,0 +1,524 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/control_manager/control_manager.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_managers/src/control_manager - control_manager.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1865366650.9 %
Date:2023-12-14 21:42:20Functions:6211155.9 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()48
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)289
mrs_uav_managers::control_manager::ControlManager::callbackRC(boost::shared_ptr<mrs_msgs::HwApiRcChannels_<std::allocator<void> > const>)7228
mrs_uav_managers::control_manager::ControlManager::initialize()48
mrs_uav_managers::control_manager::ControlManager::isOffboard()10
mrs_uav_managers::control_manager::ControlManager::timerEland(ros::TimerEvent const&)235
mrs_uav_managers::control_manager::ControlManager::callbackArm(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)2
mrs_uav_managers::control_manager::ControlManager::timerBumper(ros::TimerEvent const&)0
mrs_uav_managers::control_manager::ControlManager::timerSafety(ros::TimerEvent const&)119598
mrs_uav_managers::control_manager::ControlManager::timerStatus(ros::TimerEvent const&)6341
mrs_uav_managers::control_manager::ControlManager::asyncControl()49992
mrs_uav_managers::control_manager::ControlManager::callbackGNSS(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)38210
mrs_uav_managers::control_manager::ControlManager::callbackGoto(mrs_msgs::Vec4Request_<std::allocator<void> >&, mrs_msgs::Vec4Response_<std::allocator<void> >&)27
mrs_uav_managers::control_manager::ControlManager::parachuteSrv()0
mrs_uav_managers::control_manager::ControlManager::setCallbacks(bool)2
mrs_uav_managers::control_manager::ControlManager::setReference[abi:cxx11](mrs_msgs::ReferenceStamped_<std::allocator<void> >)30
mrs_uav_managers::control_manager::ControlManager::toggleOutput(bool const&)58
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()48
mrs_uav_managers::control_manager::ControlManager::switchTracker(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)107
mrs_uav_managers::control_manager::ControlManager::timerFailsafe(ros::TimerEvent const&)6970
mrs_uav_managers::control_manager::ControlManager::timerJoystick(ros::TimerEvent const&)23970
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&)48
mrs_uav_managers::control_manager::ControlManager::timerPirouette(ros::TimerEvent const&)0
mrs_uav_managers::control_manager::ControlManager::updateTrackers()43352
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>)66186
mrs_uav_managers::control_manager::ControlManager::isFlyingNormally()6386
mrs_uav_managers::control_manager::ControlManager::switchController(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)105
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&)50322
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)6
mrs_uav_managers::control_manager::ControlManager::escalatingFailsafe[abi:cxx11]()0
mrs_uav_managers::control_manager::ControlManager::publishDiagnostics()6386
mrs_uav_managers::control_manager::ControlManager::callbackHwApiStatus(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const>)194287
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]()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::callbackGotoRelative(mrs_msgs::Vec4Request_<std::allocator<void> >&, mrs_msgs::Vec4Response_<std::allocator<void> >&)3
mrs_uav_managers::control_manager::ControlManager::callbackToggleOutput(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)45
mrs_uav_managers::control_manager::ControlManager::odometryCallbacksSrv(bool)8
mrs_uav_managers::control_manager::ControlManager::setVelocityReference[abi:cxx11](mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const&)0
mrs_uav_managers::control_manager::ControlManager::callbackSwitchTracker(mrs_msgs::StringRequest_<std::allocator<void> >&, mrs_msgs::StringResponse_<std::allocator<void> >&)94
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&)2102
mrs_uav_managers::control_manager::ControlManager::isPointInSafetyArea3d(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)126
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> >&)48
mrs_uav_managers::control_manager::ControlManager::setTrajectoryReference[abi:cxx11](mrs_msgs::TrajectoryReference_<std::allocator<void> >)1
mrs_uav_managers::control_manager::ControlManager::stopTrajectoryTracking[abi:cxx11]()0
mrs_uav_managers::control_manager::ControlManager::timerHwApiCapabilities(ros::TimerEvent const&)82
mrs_uav_managers::control_manager::ControlManager::callbackEnableCallbacks(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)2
mrs_uav_managers::control_manager::ControlManager::getNextEscFailsafeState()0
mrs_uav_managers::control_manager::ControlManager::initializeControlOutput()103
mrs_uav_managers::control_manager::ControlManager::startTrajectoryTracking[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::callbackSwitchController(mrs_msgs::StringRequest_<std::allocator<void> >&, mrs_msgs::StringResponse_<std::allocator<void> >&)92
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&)147
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> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackFailsafeEscalating(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<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::callbackGotoTrajectoryStart(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackValidateReference2d(mrs_msgs::ValidateReferenceRequest_<std::allocator<void> >&, mrs_msgs::ValidateReferenceResponse_<std::allocator<void> >&)1995
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&)30
mrs_uav_managers::control_manager::ControlManager::publishControlReferenceOdom(std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&, mrs_uav_managers::Controller::ControlOutput const&)50322
mrs_uav_managers::control_manager::ControlManager::setConstraintsToControllers(mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const&)188
mrs_uav_managers::control_manager::ControlManager::velocityReferenceToReference(mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const&)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::enforceControllersConstraints(mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const&)43075
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> >&)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::callbackVelocityReferenceService(mrs_msgs::VelocityReferenceStampedSrvRequest_<std::allocator<void> >&, mrs_msgs::VelocityReferenceStampedSrvResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackTrajectoryReferenceService(mrs_msgs::TrajectoryReferenceSrvRequest_<std::allocator<void> >&, mrs_msgs::TrajectoryReferenceSrvResponse_<std::allocator<void> >&)1
mrs_uav_managers::control_manager::ControlManager::eland[abi:cxx11]()3
mrs_uav_managers::control_manager::ControlManager::hover[abi:cxx11]()0
mrs_uav_managers::control_manager::ControlManager::arming[abi:cxx11](bool)10
mrs_uav_managers::control_manager::ControlManager::ehover[abi:cxx11]()0
mrs_uav_managers::control_manager::ControlManager::onInit()48
mrs_uav_managers::control_manager::ControlManager::getMass()248
mrs_uav_managers::control_manager::ControlManager::getMaxZ(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)4814
mrs_uav_managers::control_manager::ControlManager::getMinZ(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)34356
mrs_uav_managers::control_manager::ControlManager::publish()50322
mrs_uav_managers::control_manager::ControlManager::elandSrv()3
mrs_uav_managers::control_manager::ControlManager::failsafe[abi:cxx11]()5
mrs_uav_managers::control_manager::ControlManager::shutdown()13
mrs_uav_managers::control_manager::ControlManager::ungripSrv()311
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)240
+
+
+ + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_managers/src/control_manager/control_manager.cpp.gcov.frameset.html b/mrs_uav_managers/src/control_manager/control_manager.cpp.gcov.frameset.html new file mode 100644 index 0000000000..34fe5178be --- /dev/null +++ b/mrs_uav_managers/src/control_manager/control_manager.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/control_manager/control_manager.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_managers/src/control_manager/control_manager.cpp.gcov.html b/mrs_uav_managers/src/control_manager/control_manager.cpp.gcov.html new file mode 100644 index 0000000000..f5e341058f --- /dev/null +++ b/mrs_uav_managers/src/control_manager/control_manager.cpp.gcov.html @@ -0,0 +1,8834 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/control_manager/control_manager.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_managers/src/control_manager - control_manager.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1865366650.9 %
Date:2023-12-14 21:42:20Functions:6211155.9 %
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         240 : ControllerParams::ControllerParams(std::string address, std::string name_space, double eland_threshold, double failsafe_threshold,
+     207         240 :                                    double odometry_innovation_threshold, bool human_switchable) {
+     208             : 
+     209         240 :   this->eland_threshold               = eland_threshold;
+     210         240 :   this->odometry_innovation_threshold = odometry_innovation_threshold;
+     211         240 :   this->failsafe_threshold            = failsafe_threshold;
+     212         240 :   this->address                       = address;
+     213         240 :   this->name_space                    = name_space;
+     214         240 :   this->human_switchable              = human_switchable;
+     215         240 : }
+     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         289 : TrackerParams::TrackerParams(std::string address, std::string name_space, bool human_switchable) {
+     233             : 
+     234         289 :   this->address          = address;
+     235         289 :   this->name_space       = name_space;
+     236         289 :   this->human_switchable = human_switchable;
+     237         289 : }
+     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             :   // automatic pc shutdown (DARPA specific)
+     769             :   bool _automatic_pc_shutdown_enabled_ = false;
+     770             : 
+     771             :   // diagnostics publishing
+     772             :   void       publishDiagnostics(void);
+     773             :   std::mutex mutex_diagnostics_;
+     774             : 
+     775             :   void                                             ungripSrv(void);
+     776             :   mrs_lib::ServiceClientHandler<std_srvs::Trigger> sch_ungrip_;
+     777             : 
+     778             :   bool isFlyingNormally(void);
+     779             : 
+     780             :   // | ------------------------ pirouette ----------------------- |
+     781             : 
+     782             :   bool       _pirouette_enabled_ = false;
+     783             :   double     _pirouette_speed_;
+     784             :   double     _pirouette_timer_rate_;
+     785             :   std::mutex mutex_pirouette_;
+     786             :   double     pirouette_initial_heading_;
+     787             :   double     pirouette_iterator_;
+     788             :   bool       callbackPirouette(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     789             : 
+     790             :   // | -------------------- joystick control -------------------- |
+     791             : 
+     792             :   mrs_lib::SubscribeHandler<sensor_msgs::Joy> sh_joystick_;
+     793             : 
+     794             :   void callbackJoystick(const sensor_msgs::Joy::ConstPtr msg);
+     795             :   bool callbackUseJoystick([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     796             : 
+     797             :   // joystick buttons mappings
+     798             :   int _channel_A_, _channel_B_, _channel_X_, _channel_Y_, _channel_start_, _channel_back_, _channel_LT_, _channel_RT_, _channel_L_joy_, _channel_R_joy_;
+     799             : 
+     800             :   // channel numbers and channel multipliers
+     801             :   int    _channel_pitch_, _channel_roll_, _channel_heading_, _channel_throttle_;
+     802             :   double _channel_mult_pitch_, _channel_mult_roll_, _channel_mult_heading_, _channel_mult_throttle_;
+     803             : 
+     804             :   ros::Timer timer_joystick_;
+     805             :   void       timerJoystick(const ros::TimerEvent& event);
+     806             :   double     _joystick_timer_rate_ = 0;
+     807             : 
+     808             :   double _joystick_carrot_distance_ = 0;
+     809             : 
+     810             :   ros::Time joystick_start_press_time_;
+     811             :   bool      joystick_start_pressed_ = false;
+     812             : 
+     813             :   ros::Time joystick_back_press_time_;
+     814             :   bool      joystick_back_pressed_ = false;
+     815             :   bool      joystick_goto_enabled_ = false;
+     816             : 
+     817             :   bool      joystick_failsafe_pressed_ = false;
+     818             :   ros::Time joystick_failsafe_press_time_;
+     819             : 
+     820             :   bool      joystick_eland_pressed_ = false;
+     821             :   ros::Time joystick_eland_press_time_;
+     822             : 
+     823             :   // | ------------------- RC joystick control ------------------ |
+     824             : 
+     825             :   // listening to the RC channels as told by pixhawk
+     826             :   mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels> sh_hw_api_rc_;
+     827             : 
+     828             :   // the RC channel mapping of the main 4 control signals
+     829             :   double _rc_channel_pitch_, _rc_channel_roll_, _rc_channel_heading_, _rc_channel_throttle_;
+     830             : 
+     831             :   bool              _rc_goto_enabled_               = false;
+     832             :   std::atomic<bool> rc_goto_active_                 = false;
+     833             :   double            rc_joystick_channel_last_value_ = 0.5;
+     834             :   bool              rc_joystick_channel_was_low_    = false;
+     835             :   int               _rc_joystick_channel_           = 0;
+     836             : 
+     837             :   double _rc_horizontal_speed_ = 0;
+     838             :   double _rc_vertical_speed_   = 0;
+     839             :   double _rc_heading_rate_     = 0;
+     840             : 
+     841             :   // | ------------------- trajectory loading ------------------- |
+     842             : 
+     843             :   mrs_lib::PublisherHandler<geometry_msgs::PoseArray>        pub_debug_original_trajectory_poses_;
+     844             :   mrs_lib::PublisherHandler<visualization_msgs::MarkerArray> pub_debug_original_trajectory_markers_;
+     845             : 
+     846             :   // | --------------------- other routines --------------------- |
+     847             : 
+     848             :   // this is called to update the trackers and to receive position control command from the active one
+     849             :   void updateTrackers(void);
+     850             : 
+     851             :   // this is called to update the controllers and to receive attitude control command from the active one
+     852             :   void updateControllers(const mrs_msgs::UavState& uav_state);
+     853             : 
+     854             :   // sets the reference to the active tracker
+     855             :   std::tuple<bool, std::string> setReference(const mrs_msgs::ReferenceStamped reference_in);
+     856             : 
+     857             :   // sets the velocity reference to the active tracker
+     858             :   std::tuple<bool, std::string> setVelocityReference(const mrs_msgs::VelocityReferenceStamped& reference_in);
+     859             : 
+     860             :   // sets the reference trajectory to the active tracker
+     861             :   std::tuple<bool, std::string, bool, std::vector<std::string>, std::vector<bool>, std::vector<std::string>> setTrajectoryReference(
+     862             :       const mrs_msgs::TrajectoryReference trajectory_in);
+     863             : 
+     864             :   // publishes
+     865             :   void publish(void);
+     866             : 
+     867             :   bool loadConfigFile(const std::string& file_path, const std::string ns);
+     868             : 
+     869             :   double getMass(void);
+     870             : 
+     871             :   // publishes rviz-visualizable control reference
+     872             :   void publishControlReferenceOdom(const std::optional<mrs_msgs::TrackerCommand>& tracker_command, const Controller::ControlOutput& control_output);
+     873             : 
+     874             :   void initializeControlOutput(void);
+     875             : 
+     876             :   // tell the mrs_odometry to disable its callbacks
+     877             :   void odometryCallbacksSrv(const bool input);
+     878             : 
+     879             :   mrs_msgs::ReferenceStamped velocityReferenceToReference(const mrs_msgs::VelocityReferenceStamped& vel_reference);
+     880             : 
+     881             :   void                          shutdown();
+     882             :   void                          setCallbacks(bool in);
+     883             :   bool                          isOffboard(void);
+     884             :   bool                          elandSrv(void);
+     885             :   std::tuple<bool, std::string> arming(const bool input);
+     886             : 
+     887             :   // safety functions impl
+     888             :   std::tuple<bool, std::string> ehover(void);
+     889             :   std::tuple<bool, std::string> hover(void);
+     890             :   std::tuple<bool, std::string> startTrajectoryTracking(void);
+     891             :   std::tuple<bool, std::string> stopTrajectoryTracking(void);
+     892             :   std::tuple<bool, std::string> resumeTrajectoryTracking(void);
+     893             :   std::tuple<bool, std::string> gotoTrajectoryStart(void);
+     894             :   std::tuple<bool, std::string> eland(void);
+     895             :   std::tuple<bool, std::string> failsafe(void);
+     896             :   std::tuple<bool, std::string> escalatingFailsafe(void);
+     897             : 
+     898             :   EscalatingFailsafeStates_t getNextEscFailsafeState(void);
+     899             : };
+     900             : 
+     901             : //}
+     902             : 
+     903             : /* //{ onInit() */
+     904             : 
+     905          48 : void ControlManager::onInit() {
+     906          48 :   preinitialize();
+     907          48 : }
+     908             : 
+     909             : //}
+     910             : 
+     911             : /* preinitialize() //{ */
+     912             : 
+     913          48 : void ControlManager::preinitialize(void) {
+     914             : 
+     915          48 :   nh_ = nodelet::Nodelet::getMTPrivateNodeHandle();
+     916             : 
+     917          48 :   ros::Time::waitForValid();
+     918             : 
+     919          48 :   mrs_lib::SubscribeHandlerOptions shopts;
+     920          48 :   shopts.nh                 = nh_;
+     921          48 :   shopts.node_name          = "ControlManager";
+     922          48 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     923          48 :   shopts.threadsafe         = true;
+     924          48 :   shopts.autostart          = true;
+     925          48 :   shopts.queue_size         = 10;
+     926          48 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     927             : 
+     928          48 :   sh_hw_api_capabilities_ = mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities>(shopts, "hw_api_capabilities_in");
+     929             : 
+     930          48 :   timer_hw_api_capabilities_ = nh_.createTimer(ros::Rate(1.0), &ControlManager::timerHwApiCapabilities, this);
+     931          48 : }
+     932             : 
+     933             : //}
+     934             : 
+     935             : /* initialize() //{ */
+     936             : 
+     937          48 : void ControlManager::initialize(void) {
+     938             : 
+     939          48 :   joystick_start_press_time_      = ros::Time(0);
+     940          48 :   joystick_failsafe_press_time_   = ros::Time(0);
+     941          48 :   joystick_eland_press_time_      = ros::Time(0);
+     942          48 :   escalating_failsafe_time_       = ros::Time(0);
+     943          48 :   controller_tracker_switch_time_ = ros::Time(0);
+     944             : 
+     945          48 :   ROS_INFO("[ControlManager]: initializing");
+     946             : 
+     947             :   // --------------------------------------------------------------
+     948             :   // |         common handler for trackers and controllers        |
+     949             :   // --------------------------------------------------------------
+     950             : 
+     951          48 :   common_handlers_ = std::make_shared<mrs_uav_managers::control_manager::CommonHandlers_t>();
+     952             : 
+     953             :   // --------------------------------------------------------------
+     954             :   // |                           params                           |
+     955             :   // --------------------------------------------------------------
+     956             : 
+     957          96 :   mrs_lib::ParamLoader param_loader(nh_, "ControlManager");
+     958             : 
+     959          48 :   param_loader.loadParam("custom_config", _custom_config_);
+     960          48 :   param_loader.loadParam("platform_config", _platform_config_);
+     961          48 :   param_loader.loadParam("world_config", _world_config_);
+     962          48 :   param_loader.loadParam("network_config", _network_config_);
+     963             : 
+     964          48 :   if (_custom_config_ != "") {
+     965          48 :     param_loader.addYamlFile(_custom_config_);
+     966             :   }
+     967             : 
+     968          48 :   if (_platform_config_ != "") {
+     969          48 :     param_loader.addYamlFile(_platform_config_);
+     970             :   }
+     971             : 
+     972          48 :   if (_world_config_ != "") {
+     973          48 :     param_loader.addYamlFile(_world_config_);
+     974             :   }
+     975             : 
+     976          48 :   if (_network_config_ != "") {
+     977          48 :     param_loader.addYamlFile(_network_config_);
+     978             :   }
+     979             : 
+     980          48 :   param_loader.addYamlFileFromParam("private_config");
+     981          48 :   param_loader.addYamlFileFromParam("public_config");
+     982          48 :   param_loader.addYamlFileFromParam("private_trackers");
+     983          48 :   param_loader.addYamlFileFromParam("private_controllers");
+     984          48 :   param_loader.addYamlFileFromParam("public_controllers");
+     985             : 
+     986             :   // params passed from the launch file are not prefixed
+     987          48 :   param_loader.loadParam("uav_name", _uav_name_);
+     988          48 :   param_loader.loadParam("body_frame", _body_frame_);
+     989          48 :   param_loader.loadParam("enable_profiler", _profiler_enabled_);
+     990          48 :   param_loader.loadParam("uav_mass", _uav_mass_);
+     991          48 :   param_loader.loadParam("body_disturbance_x", _initial_body_disturbance_x_);
+     992          48 :   param_loader.loadParam("body_disturbance_y", _initial_body_disturbance_y_);
+     993          48 :   param_loader.loadParam("g", common_handlers_->g);
+     994             : 
+     995             :   // motor params are also not prefixed, since they are common to more nodes
+     996          48 :   param_loader.loadParam("motor_params/a", common_handlers_->throttle_model.A);
+     997          48 :   param_loader.loadParam("motor_params/b", common_handlers_->throttle_model.B);
+     998          48 :   param_loader.loadParam("motor_params/n_motors", common_handlers_->throttle_model.n_motors);
+     999             : 
+    1000             :   // | ----------------------- safety area ---------------------- |
+    1001             : 
+    1002             :   bool use_safety_area;
+    1003          48 :   param_loader.loadParam("safety_area/enabled", use_safety_area);
+    1004          48 :   use_safety_area_ = use_safety_area;
+    1005             : 
+    1006          48 :   param_loader.loadParam("safety_area/horizontal/frame_name", _safety_area_horizontal_frame_);
+    1007             : 
+    1008          48 :   param_loader.loadParam("safety_area/vertical/frame_name", _safety_area_vertical_frame_);
+    1009          48 :   param_loader.loadParam("safety_area/vertical/min_z", _safety_area_min_z_);
+    1010          48 :   param_loader.loadParam("safety_area/vertical/max_z", _safety_area_max_z_);
+    1011             : 
+    1012          48 :   if (use_safety_area_) {
+    1013             : 
+    1014         135 :     Eigen::MatrixXd border_points = param_loader.loadMatrixDynamic2("safety_area/horizontal/points", -1, 2);
+    1015             : 
+    1016             :     try {
+    1017             : 
+    1018          90 :       std::vector<Eigen::MatrixXd> polygon_obstacle_points;
+    1019          45 :       std::vector<Eigen::MatrixXd> point_obstacle_points;
+    1020             : 
+    1021          45 :       safety_zone_ = std::make_unique<mrs_lib::SafetyZone>(border_points);
+    1022             :     }
+    1023             : 
+    1024           0 :     catch (mrs_lib::SafetyZone::BorderError& e) {
+    1025           0 :       ROS_ERROR("[ControlManager]: SafetyArea: wrong configruation for the safety zone border polygon");
+    1026           0 :       ros::shutdown();
+    1027             :     }
+    1028           0 :     catch (...) {
+    1029           0 :       ROS_ERROR("[ControlManager]: SafetyArea: unhandled exception!");
+    1030           0 :       ros::shutdown();
+    1031             :     }
+    1032             : 
+    1033          45 :     ROS_INFO("[ControlManager]: safety area initialized");
+    1034             :   }
+    1035             : 
+    1036          48 :   param_loader.setPrefix("mrs_uav_managers/control_manager/");
+    1037             : 
+    1038          48 :   param_loader.loadParam("state_input", _state_input_);
+    1039             : 
+    1040          48 :   if (!(_state_input_ == INPUT_UAV_STATE || _state_input_ == INPUT_ODOMETRY)) {
+    1041           0 :     ROS_ERROR("[ControlManager]: the state_input parameter has to be in {0, 1}");
+    1042           0 :     ros::shutdown();
+    1043             :   }
+    1044             : 
+    1045          48 :   param_loader.loadParam("safety/min_throttle_null_tracker", _min_throttle_null_tracker_);
+    1046          48 :   param_loader.loadParam("safety/ehover_tracker", _ehover_tracker_name_);
+    1047          48 :   param_loader.loadParam("safety/failsafe_controller", _failsafe_controller_name_);
+    1048             : 
+    1049          48 :   param_loader.loadParam("safety/eland/controller", _eland_controller_name_);
+    1050          48 :   param_loader.loadParam("safety/eland/cutoff_mass_factor", _elanding_cutoff_mass_factor_);
+    1051          48 :   param_loader.loadParam("safety/eland/cutoff_timeout", _elanding_cutoff_timeout_);
+    1052          48 :   param_loader.loadParam("safety/eland/timer_rate", _elanding_timer_rate_);
+    1053          48 :   param_loader.loadParam("safety/eland/disarm", _eland_disarm_enabled_);
+    1054             : 
+    1055          48 :   param_loader.loadParam("safety/escalating_failsafe/service/enabled", _service_escalating_failsafe_enabled_);
+    1056          48 :   param_loader.loadParam("safety/escalating_failsafe/rc/enabled", _rc_escalating_failsafe_enabled_);
+    1057          48 :   param_loader.loadParam("safety/escalating_failsafe/rc/channel_number", _rc_escalating_failsafe_channel_);
+    1058          48 :   param_loader.loadParam("safety/escalating_failsafe/rc/threshold", _rc_escalating_failsafe_threshold_);
+    1059          48 :   param_loader.loadParam("safety/escalating_failsafe/timeout", _escalating_failsafe_timeout_);
+    1060          48 :   param_loader.loadParam("safety/escalating_failsafe/ehover", _escalating_failsafe_ehover_);
+    1061          48 :   param_loader.loadParam("safety/escalating_failsafe/eland", _escalating_failsafe_eland_);
+    1062          48 :   param_loader.loadParam("safety/escalating_failsafe/failsafe", _escalating_failsafe_failsafe_);
+    1063             : 
+    1064          48 :   param_loader.loadParam("safety/tilt_limit/eland/enabled", _tilt_limit_eland_enabled_);
+    1065          48 :   param_loader.loadParam("safety/tilt_limit/eland/limit", _tilt_limit_eland_);
+    1066             : 
+    1067          48 :   _tilt_limit_eland_ = M_PI * (_tilt_limit_eland_ / 180.0);
+    1068             : 
+    1069          48 :   if (_tilt_limit_eland_enabled_ && fabs(_tilt_limit_eland_) < 1e-3) {
+    1070           0 :     ROS_ERROR("[ControlManager]: safety/tilt_limit/eland/enabled = 'TRUE' but the limit is too low");
+    1071           0 :     ros::shutdown();
+    1072             :   }
+    1073             : 
+    1074          48 :   param_loader.loadParam("safety/tilt_limit/disarm/enabled", _tilt_limit_disarm_enabled_);
+    1075          48 :   param_loader.loadParam("safety/tilt_limit/disarm/limit", _tilt_limit_disarm_);
+    1076             : 
+    1077          48 :   _tilt_limit_disarm_ = M_PI * (_tilt_limit_disarm_ / 180.0);
+    1078             : 
+    1079          48 :   if (_tilt_limit_disarm_enabled_ && fabs(_tilt_limit_disarm_) < 1e-3) {
+    1080           0 :     ROS_ERROR("[ControlManager]: safety/tilt_limit/disarm/enabled = 'TRUE' but the limit is too low");
+    1081           0 :     ros::shutdown();
+    1082             :   }
+    1083             : 
+    1084          48 :   param_loader.loadParam("safety/yaw_error_eland/enabled", _yaw_error_eland_enabled_);
+    1085          48 :   param_loader.loadParam("safety/yaw_error_eland/limit", _yaw_error_eland_);
+    1086             : 
+    1087          48 :   _yaw_error_eland_ = M_PI * (_yaw_error_eland_ / 180.0);
+    1088             : 
+    1089          48 :   if (_yaw_error_eland_enabled_ && fabs(_yaw_error_eland_) < 1e-3) {
+    1090           0 :     ROS_ERROR("[ControlManager]: safety/yaw_error_eland/enabled = 'TRUE' but the limit is too low");
+    1091           0 :     ros::shutdown();
+    1092             :   }
+    1093             : 
+    1094          48 :   param_loader.loadParam("status_timer_rate", _status_timer_rate_);
+    1095          48 :   param_loader.loadParam("safety/safety_timer_rate", _safety_timer_rate_);
+    1096          48 :   param_loader.loadParam("safety/failsafe_timer_rate", _failsafe_timer_rate_);
+    1097          48 :   param_loader.loadParam("safety/rc_emergency_handoff/enabled", _rc_emergency_handoff_);
+    1098             : 
+    1099          48 :   param_loader.loadParam("safety/odometry_max_missing_time", _uav_state_max_missing_time_);
+    1100          48 :   param_loader.loadParam("safety/odometry_innovation_eland/enabled", _odometry_innovation_check_enabled_);
+    1101             : 
+    1102          48 :   param_loader.loadParam("safety/tilt_error_disarm/enabled", _tilt_error_disarm_enabled_);
+    1103          48 :   param_loader.loadParam("safety/tilt_error_disarm/timeout", _tilt_error_disarm_timeout_);
+    1104          48 :   param_loader.loadParam("safety/tilt_error_disarm/error_threshold", _tilt_error_disarm_threshold_);
+    1105             : 
+    1106          48 :   _tilt_error_disarm_threshold_ = M_PI * (_tilt_error_disarm_threshold_ / 180.0);
+    1107             : 
+    1108          48 :   if (_tilt_error_disarm_enabled_ && fabs(_tilt_error_disarm_threshold_) < 1e-3) {
+    1109           0 :     ROS_ERROR("[ControlManager]: safety/tilt_error_disarm/enabled = 'TRUE' but the limit is too low");
+    1110           0 :     ros::shutdown();
+    1111             :   }
+    1112             : 
+    1113             :   // default constraints
+    1114             : 
+    1115          48 :   param_loader.loadParam("default_constraints/horizontal/speed", current_constraints_.constraints.horizontal_speed);
+    1116          48 :   param_loader.loadParam("default_constraints/horizontal/acceleration", current_constraints_.constraints.horizontal_acceleration);
+    1117          48 :   param_loader.loadParam("default_constraints/horizontal/jerk", current_constraints_.constraints.horizontal_jerk);
+    1118          48 :   param_loader.loadParam("default_constraints/horizontal/snap", current_constraints_.constraints.horizontal_snap);
+    1119             : 
+    1120          48 :   param_loader.loadParam("default_constraints/vertical/ascending/speed", current_constraints_.constraints.vertical_ascending_speed);
+    1121          48 :   param_loader.loadParam("default_constraints/vertical/ascending/acceleration", current_constraints_.constraints.vertical_ascending_acceleration);
+    1122          48 :   param_loader.loadParam("default_constraints/vertical/ascending/jerk", current_constraints_.constraints.vertical_ascending_jerk);
+    1123          48 :   param_loader.loadParam("default_constraints/vertical/ascending/snap", current_constraints_.constraints.vertical_ascending_snap);
+    1124             : 
+    1125          48 :   param_loader.loadParam("default_constraints/vertical/descending/speed", current_constraints_.constraints.vertical_descending_speed);
+    1126          48 :   param_loader.loadParam("default_constraints/vertical/descending/acceleration", current_constraints_.constraints.vertical_descending_acceleration);
+    1127          48 :   param_loader.loadParam("default_constraints/vertical/descending/jerk", current_constraints_.constraints.vertical_descending_jerk);
+    1128          48 :   param_loader.loadParam("default_constraints/vertical/descending/snap", current_constraints_.constraints.vertical_descending_snap);
+    1129             : 
+    1130          48 :   param_loader.loadParam("default_constraints/heading/speed", current_constraints_.constraints.heading_speed);
+    1131          48 :   param_loader.loadParam("default_constraints/heading/acceleration", current_constraints_.constraints.heading_acceleration);
+    1132          48 :   param_loader.loadParam("default_constraints/heading/jerk", current_constraints_.constraints.heading_jerk);
+    1133          48 :   param_loader.loadParam("default_constraints/heading/snap", current_constraints_.constraints.heading_snap);
+    1134             : 
+    1135          48 :   param_loader.loadParam("default_constraints/angular_speed/roll", current_constraints_.constraints.roll_rate);
+    1136          48 :   param_loader.loadParam("default_constraints/angular_speed/pitch", current_constraints_.constraints.pitch_rate);
+    1137          48 :   param_loader.loadParam("default_constraints/angular_speed/yaw", current_constraints_.constraints.yaw_rate);
+    1138             : 
+    1139          48 :   param_loader.loadParam("default_constraints/tilt", current_constraints_.constraints.tilt);
+    1140             : 
+    1141          48 :   current_constraints_.constraints.tilt = M_PI * (current_constraints_.constraints.tilt / 180.0);
+    1142             : 
+    1143             :   // joystick
+    1144             : 
+    1145          48 :   param_loader.loadParam("joystick/enabled", _joystick_enabled_);
+    1146          48 :   param_loader.loadParam("joystick/mode", _joystick_mode_);
+    1147          48 :   param_loader.loadParam("joystick/carrot_distance", _joystick_carrot_distance_);
+    1148          48 :   param_loader.loadParam("joystick/joystick_timer_rate", _joystick_timer_rate_);
+    1149          48 :   param_loader.loadParam("joystick/attitude_control/tracker", _joystick_tracker_name_);
+    1150          48 :   param_loader.loadParam("joystick/attitude_control/controller", _joystick_controller_name_);
+    1151          48 :   param_loader.loadParam("joystick/attitude_control/fallback/tracker", _joystick_fallback_tracker_name_);
+    1152          48 :   param_loader.loadParam("joystick/attitude_control/fallback/controller", _joystick_fallback_controller_name_);
+    1153             : 
+    1154          48 :   param_loader.loadParam("joystick/channels/A", _channel_A_);
+    1155          48 :   param_loader.loadParam("joystick/channels/B", _channel_B_);
+    1156          48 :   param_loader.loadParam("joystick/channels/X", _channel_X_);
+    1157          48 :   param_loader.loadParam("joystick/channels/Y", _channel_Y_);
+    1158          48 :   param_loader.loadParam("joystick/channels/start", _channel_start_);
+    1159          48 :   param_loader.loadParam("joystick/channels/back", _channel_back_);
+    1160          48 :   param_loader.loadParam("joystick/channels/LT", _channel_LT_);
+    1161          48 :   param_loader.loadParam("joystick/channels/RT", _channel_RT_);
+    1162          48 :   param_loader.loadParam("joystick/channels/L_joy", _channel_L_joy_);
+    1163          48 :   param_loader.loadParam("joystick/channels/R_joy", _channel_R_joy_);
+    1164             : 
+    1165             :   // load channels
+    1166          48 :   param_loader.loadParam("joystick/channels/pitch", _channel_pitch_);
+    1167          48 :   param_loader.loadParam("joystick/channels/roll", _channel_roll_);
+    1168          48 :   param_loader.loadParam("joystick/channels/heading", _channel_heading_);
+    1169          48 :   param_loader.loadParam("joystick/channels/throttle", _channel_throttle_);
+    1170             : 
+    1171             :   // load channel multipliers
+    1172          48 :   param_loader.loadParam("joystick/channel_multipliers/pitch", _channel_mult_pitch_);
+    1173          48 :   param_loader.loadParam("joystick/channel_multipliers/roll", _channel_mult_roll_);
+    1174          48 :   param_loader.loadParam("joystick/channel_multipliers/heading", _channel_mult_heading_);
+    1175          48 :   param_loader.loadParam("joystick/channel_multipliers/throttle", _channel_mult_throttle_);
+    1176             : 
+    1177             :   bool bumper_enabled;
+    1178          48 :   param_loader.loadParam("obstacle_bumper/enabled", bumper_enabled);
+    1179          48 :   bumper_enabled_ = bumper_enabled;
+    1180             : 
+    1181          48 :   param_loader.loadParam("obstacle_bumper/switch_tracker", _bumper_switch_tracker_);
+    1182          48 :   param_loader.loadParam("obstacle_bumper/switch_controller", _bumper_switch_controller_);
+    1183          48 :   param_loader.loadParam("obstacle_bumper/tracker", _bumper_tracker_name_);
+    1184          48 :   param_loader.loadParam("obstacle_bumper/controller", _bumper_controller_name_);
+    1185          48 :   param_loader.loadParam("obstacle_bumper/timer_rate", _bumper_timer_rate_);
+    1186             : 
+    1187          48 :   param_loader.loadParam("obstacle_bumper/horizontal/threshold_distance", _bumper_horizontal_distance_);
+    1188          48 :   param_loader.loadParam("obstacle_bumper/vertical/threshold_distance", _bumper_vertical_distance_);
+    1189             : 
+    1190          48 :   param_loader.loadParam("obstacle_bumper/horizontal/overshoot", _bumper_horizontal_overshoot_);
+    1191          48 :   param_loader.loadParam("obstacle_bumper/vertical/overshoot", _bumper_vertical_overshoot_);
+    1192             : 
+    1193          48 :   param_loader.loadParam("safety/tracker_error_action", _tracker_error_action_);
+    1194             : 
+    1195          48 :   param_loader.loadParam("trajectory_tracking/snap_to_safety_area", _snap_trajectory_to_safety_area_);
+    1196             : 
+    1197             :   // check the values of tracker error action
+    1198          48 :   if (_tracker_error_action_ != ELAND_STR && _tracker_error_action_ != EHOVER_STR) {
+    1199           0 :     ROS_ERROR("[ControlManager]: the tracker_error_action parameter (%s) is not correct, requires {%s, %s}", _tracker_error_action_.c_str(), ELAND_STR,
+    1200             :               EHOVER_STR);
+    1201           0 :     ros::shutdown();
+    1202             :   }
+    1203             : 
+    1204          48 :   param_loader.loadParam("rc_joystick/enabled", _rc_goto_enabled_);
+    1205          48 :   param_loader.loadParam("rc_joystick/channel_number", _rc_joystick_channel_);
+    1206          48 :   param_loader.loadParam("rc_joystick/horizontal_speed", _rc_horizontal_speed_);
+    1207          48 :   param_loader.loadParam("rc_joystick/vertical_speed", _rc_vertical_speed_);
+    1208          48 :   param_loader.loadParam("rc_joystick/heading_rate", _rc_heading_rate_);
+    1209             : 
+    1210          48 :   param_loader.loadParam("rc_joystick/channels/pitch", _rc_channel_pitch_);
+    1211          48 :   param_loader.loadParam("rc_joystick/channels/roll", _rc_channel_roll_);
+    1212          48 :   param_loader.loadParam("rc_joystick/channels/heading", _rc_channel_heading_);
+    1213          48 :   param_loader.loadParam("rc_joystick/channels/throttle", _rc_channel_throttle_);
+    1214             : 
+    1215          48 :   param_loader.loadParam("automatic_pc_shutdown/enabled", _automatic_pc_shutdown_enabled_);
+    1216             : 
+    1217          48 :   param_loader.loadParam("pirouette/speed", _pirouette_speed_);
+    1218          48 :   param_loader.loadParam("pirouette/timer_rate", _pirouette_timer_rate_);
+    1219             : 
+    1220          48 :   param_loader.loadParam("safety/parachute/enabled", _parachute_enabled_);
+    1221             : 
+    1222             :   // --------------------------------------------------------------
+    1223             :   // |             initialize the last control output             |
+    1224             :   // --------------------------------------------------------------
+    1225             : 
+    1226          48 :   initializeControlOutput();
+    1227             : 
+    1228             :   // | --------------------- tf transformer --------------------- |
+    1229             : 
+    1230          48 :   transformer_ = std::make_shared<mrs_lib::Transformer>(nh_, "ControlManager");
+    1231          48 :   transformer_->setDefaultPrefix(_uav_name_);
+    1232          48 :   transformer_->retryLookupNewest(true);
+    1233             : 
+    1234             :   // | ------------------- scope timer logger ------------------- |
+    1235             : 
+    1236          48 :   param_loader.loadParam("scope_timer/enabled", scope_timer_enabled_);
+    1237         144 :   const std::string scope_timer_log_filename = param_loader.loadParam2("scope_timer/log_filename", std::string(""));
+    1238          48 :   scope_timer_logger_                        = std::make_shared<mrs_lib::ScopeTimerLogger>(scope_timer_log_filename, scope_timer_enabled_);
+    1239             : 
+    1240             :   // bind transformer to trackers and controllers for use
+    1241          48 :   common_handlers_->transformer = transformer_;
+    1242             : 
+    1243             :   // bind scope timer to trackers and controllers for use
+    1244          48 :   common_handlers_->scope_timer.enabled = scope_timer_enabled_;
+    1245          48 :   common_handlers_->scope_timer.logger  = scope_timer_logger_;
+    1246             : 
+    1247          48 :   common_handlers_->safety_area.use_safety_area       = use_safety_area_;
+    1248          48 :   common_handlers_->safety_area.isPointInSafetyArea2d = boost::bind(&ControlManager::isPointInSafetyArea2d, this, _1);
+    1249          48 :   common_handlers_->safety_area.isPointInSafetyArea3d = boost::bind(&ControlManager::isPointInSafetyArea3d, this, _1);
+    1250          48 :   common_handlers_->safety_area.getMinZ               = boost::bind(&ControlManager::getMinZ, this, _1);
+    1251          48 :   common_handlers_->safety_area.getMaxZ               = boost::bind(&ControlManager::getMaxZ, this, _1);
+    1252             : 
+    1253          48 :   common_handlers_->getMass = boost::bind(&ControlManager::getMass, this);
+    1254             : 
+    1255          48 :   common_handlers_->detailed_model_params = loadDetailedUavModelParams(nh_, "ControlManager", _platform_config_, _custom_config_);
+    1256             : 
+    1257          48 :   common_handlers_->control_output_modalities = _hw_api_inputs_;
+    1258             : 
+    1259          48 :   common_handlers_->uav_name = _uav_name_;
+    1260             : 
+    1261          48 :   common_handlers_->parent_nh = nh_;
+    1262             : 
+    1263             :   // --------------------------------------------------------------
+    1264             :   // |                        load trackers                       |
+    1265             :   // --------------------------------------------------------------
+    1266             : 
+    1267          96 :   std::vector<std::string> custom_trackers;
+    1268             : 
+    1269          48 :   param_loader.loadParam("mrs_trackers", _tracker_names_);
+    1270          48 :   param_loader.loadParam("trackers", custom_trackers);
+    1271             : 
+    1272          48 :   if (!custom_trackers.empty()) {
+    1273           1 :     _tracker_names_.insert(_tracker_names_.end(), custom_trackers.begin(), custom_trackers.end());
+    1274             :   }
+    1275             : 
+    1276          48 :   param_loader.loadParam("null_tracker", _null_tracker_name_);
+    1277          48 :   param_loader.loadParam("landing_takeoff_tracker", _landoff_tracker_name_);
+    1278             : 
+    1279          48 :   tracker_loader_ = std::make_unique<pluginlib::ClassLoader<mrs_uav_managers::Tracker>>("mrs_uav_managers", "mrs_uav_managers::Tracker");
+    1280             : 
+    1281         337 :   for (int i = 0; i < int(_tracker_names_.size()); i++) {
+    1282             : 
+    1283         578 :     std::string tracker_name = _tracker_names_[i];
+    1284             : 
+    1285             :     // load the controller parameters
+    1286         578 :     std::string address;
+    1287         578 :     std::string name_space;
+    1288             :     bool        human_switchable;
+    1289             : 
+    1290         289 :     param_loader.loadParam(tracker_name + "/address", address);
+    1291         289 :     param_loader.loadParam(tracker_name + "/namespace", name_space);
+    1292         289 :     param_loader.loadParam(tracker_name + "/human_switchable", human_switchable, false);
+    1293             : 
+    1294         867 :     TrackerParams new_tracker(address, name_space, human_switchable);
+    1295         289 :     trackers_.insert(std::pair<std::string, TrackerParams>(tracker_name, new_tracker));
+    1296             : 
+    1297             :     try {
+    1298         289 :       ROS_INFO("[ControlManager]: loading the tracker '%s'", new_tracker.address.c_str());
+    1299         289 :       tracker_list_.push_back(tracker_loader_->createInstance(new_tracker.address.c_str()));
+    1300             :     }
+    1301           0 :     catch (pluginlib::CreateClassException& ex1) {
+    1302           0 :       ROS_ERROR("[ControlManager]: CreateClassException for the tracker '%s'", new_tracker.address.c_str());
+    1303           0 :       ROS_ERROR("[ControlManager]: Error: %s", ex1.what());
+    1304           0 :       ros::shutdown();
+    1305             :     }
+    1306           0 :     catch (pluginlib::PluginlibException& ex) {
+    1307           0 :       ROS_ERROR("[ControlManager]: PluginlibException for the tracker '%s'", new_tracker.address.c_str());
+    1308           0 :       ROS_ERROR("[ControlManager]: Error: %s", ex.what());
+    1309           0 :       ros::shutdown();
+    1310             :     }
+    1311             :   }
+    1312             : 
+    1313          48 :   ROS_INFO("[ControlManager]: trackers were loaded");
+    1314             : 
+    1315         337 :   for (int i = 0; i < int(tracker_list_.size()); i++) {
+    1316             : 
+    1317         289 :     std::map<std::string, TrackerParams>::iterator it;
+    1318         289 :     it = trackers_.find(_tracker_names_[i]);
+    1319             : 
+    1320             :     // create private handlers
+    1321             :     std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers =
+    1322         578 :         std::make_shared<mrs_uav_managers::control_manager::PrivateHandlers_t>();
+    1323             : 
+    1324         289 :     private_handlers->loadConfigFile = boost::bind(&ControlManager::loadConfigFile, this, _1, it->second.name_space);
+    1325         289 :     private_handlers->name_space     = it->second.name_space;
+    1326         289 :     private_handlers->runtime_name   = _tracker_names_[i];
+    1327         289 :     private_handlers->param_loader   = std::make_unique<mrs_lib::ParamLoader>(ros::NodeHandle(nh_, it->second.name_space), _tracker_names_[i]);
+    1328             : 
+    1329         289 :     if (_custom_config_ != "") {
+    1330         289 :       private_handlers->param_loader->addYamlFile(_custom_config_);
+    1331             :     }
+    1332             : 
+    1333         289 :     if (_platform_config_ != "") {
+    1334         289 :       private_handlers->param_loader->addYamlFile(_platform_config_);
+    1335             :     }
+    1336             : 
+    1337         289 :     if (_world_config_ != "") {
+    1338         289 :       private_handlers->param_loader->addYamlFile(_world_config_);
+    1339             :     }
+    1340             : 
+    1341         289 :     if (_network_config_ != "") {
+    1342         289 :       private_handlers->param_loader->addYamlFile(_network_config_);
+    1343             :     }
+    1344             : 
+    1345         289 :     bool success = false;
+    1346             : 
+    1347             :     try {
+    1348         289 :       ROS_INFO("[ControlManager]: initializing the tracker '%s'", it->second.address.c_str());
+    1349         289 :       success = tracker_list_[i]->initialize(ros::NodeHandle(nh_, it->second.name_space), common_handlers_, private_handlers);
+    1350             :     }
+    1351           0 :     catch (std::runtime_error& ex) {
+    1352           0 :       ROS_ERROR("[ControlManager]: exception caught during tracker initialization: '%s'", ex.what());
+    1353             :     }
+    1354             : 
+    1355         289 :     if (!success) {
+    1356           0 :       ROS_ERROR("[ControlManager]: failed to initialize the tracker '%s'", it->second.address.c_str());
+    1357           0 :       ros::shutdown();
+    1358             :     }
+    1359             :   }
+    1360             : 
+    1361          48 :   ROS_INFO("[ControlManager]: trackers were initialized");
+    1362             : 
+    1363             :   // --------------------------------------------------------------
+    1364             :   // |           check the existance of selected trackers         |
+    1365             :   // --------------------------------------------------------------
+    1366             : 
+    1367             :   // | ------ check for the existance of the hover tracker ------ |
+    1368             : 
+    1369             :   // check if the hover_tracker is within the loaded trackers
+    1370             :   {
+    1371          48 :     auto idx = idxInVector(_ehover_tracker_name_, _tracker_names_);
+    1372             : 
+    1373          48 :     if (idx) {
+    1374          48 :       _ehover_tracker_idx_ = idx.value();
+    1375             :     } else {
+    1376           0 :       ROS_ERROR("[ControlManager]: the safety/hover_tracker (%s) is not within the loaded trackers", _ehover_tracker_name_.c_str());
+    1377           0 :       ros::shutdown();
+    1378             :     }
+    1379             :   }
+    1380             : 
+    1381             :   // | ----- check for the existence of the landoff tracker ----- |
+    1382             : 
+    1383             :   {
+    1384          48 :     auto idx = idxInVector(_landoff_tracker_name_, _tracker_names_);
+    1385             : 
+    1386          48 :     if (idx) {
+    1387          48 :       _landoff_tracker_idx_ = idx.value();
+    1388             :     } else {
+    1389           0 :       ROS_ERROR("[ControlManager]: the landoff tracker (%s) is not within the loaded trackers", _landoff_tracker_name_.c_str());
+    1390           0 :       ros::shutdown();
+    1391             :     }
+    1392             :   }
+    1393             : 
+    1394             :   // | ------- check for the existence of the null tracker ------ |
+    1395             : 
+    1396             :   {
+    1397          48 :     auto idx = idxInVector(_null_tracker_name_, _tracker_names_);
+    1398             : 
+    1399          48 :     if (idx) {
+    1400          48 :       _null_tracker_idx_ = idx.value();
+    1401             :     } else {
+    1402           0 :       ROS_ERROR("[ControlManager]: the null tracker (%s) is not within the loaded trackers", _null_tracker_name_.c_str());
+    1403           0 :       ros::shutdown();
+    1404             :     }
+    1405             :   }
+    1406             : 
+    1407             :   // --------------------------------------------------------------
+    1408             :   // |         check existance of trackers for joystick           |
+    1409             :   // --------------------------------------------------------------
+    1410             : 
+    1411          48 :   if (_joystick_enabled_) {
+    1412             : 
+    1413          48 :     auto idx = idxInVector(_joystick_tracker_name_, _tracker_names_);
+    1414             : 
+    1415          48 :     if (idx) {
+    1416          48 :       _joystick_tracker_idx_ = idx.value();
+    1417             :     } else {
+    1418           0 :       ROS_ERROR("[ControlManager]: the joystick tracker (%s) is not within the loaded trackers", _joystick_tracker_name_.c_str());
+    1419           0 :       ros::shutdown();
+    1420             :     }
+    1421             :   }
+    1422             : 
+    1423          48 :   if (_bumper_switch_tracker_) {
+    1424             : 
+    1425          48 :     auto idx = idxInVector(_bumper_tracker_name_, _tracker_names_);
+    1426             : 
+    1427          48 :     if (!idx) {
+    1428           0 :       ROS_ERROR("[ControlManager]: the bumper tracker (%s) is not within the loaded trackers", _bumper_tracker_name_.c_str());
+    1429           0 :       ros::shutdown();
+    1430             :     }
+    1431             :   }
+    1432             : 
+    1433             :   {
+    1434          48 :     auto idx = idxInVector(_joystick_fallback_tracker_name_, _tracker_names_);
+    1435             : 
+    1436          48 :     if (idx) {
+    1437          48 :       _joystick_fallback_tracker_idx_ = idx.value();
+    1438             :     } else {
+    1439           0 :       ROS_ERROR("[ControlManager]: the joystick fallback tracker (%s) is not within the loaded trackers", _joystick_fallback_tracker_name_.c_str());
+    1440           0 :       ros::shutdown();
+    1441             :     }
+    1442             :   }
+    1443             : 
+    1444             :   // --------------------------------------------------------------
+    1445             :   // |                    load the controllers                    |
+    1446             :   // --------------------------------------------------------------
+    1447             : 
+    1448          96 :   std::vector<std::string> custom_controllers;
+    1449             : 
+    1450          48 :   param_loader.loadParam("mrs_controllers", _controller_names_);
+    1451          48 :   param_loader.loadParam("controllers", custom_controllers);
+    1452             : 
+    1453          48 :   if (!custom_controllers.empty()) {
+    1454           0 :     _controller_names_.insert(_controller_names_.end(), custom_controllers.begin(), custom_controllers.end());
+    1455             :   }
+    1456             : 
+    1457          48 :   controller_loader_ = std::make_unique<pluginlib::ClassLoader<mrs_uav_managers::Controller>>("mrs_uav_managers", "mrs_uav_managers::Controller");
+    1458             : 
+    1459             :   // for each controller in the list
+    1460         288 :   for (int i = 0; i < int(_controller_names_.size()); i++) {
+    1461             : 
+    1462         480 :     std::string controller_name = _controller_names_[i];
+    1463             : 
+    1464             :     // load the controller parameters
+    1465         480 :     std::string address;
+    1466         480 :     std::string name_space;
+    1467             :     double      eland_threshold, failsafe_threshold, odometry_innovation_threshold;
+    1468             :     bool        human_switchable;
+    1469         240 :     param_loader.loadParam(controller_name + "/address", address);
+    1470         240 :     param_loader.loadParam(controller_name + "/namespace", name_space);
+    1471         240 :     param_loader.loadParam(controller_name + "/eland_threshold", eland_threshold);
+    1472         240 :     param_loader.loadParam(controller_name + "/failsafe_threshold", failsafe_threshold);
+    1473         240 :     param_loader.loadParam(controller_name + "/odometry_innovation_threshold", odometry_innovation_threshold);
+    1474         240 :     param_loader.loadParam(controller_name + "/human_switchable", human_switchable, false);
+    1475             : 
+    1476             :     // check if the controller can output some of the required outputs
+    1477             :     {
+    1478             : 
+    1479         240 :       ControlOutputModalities_t outputs;
+    1480         240 :       param_loader.loadParam(controller_name + "/outputs/actuators", outputs.actuators, false);
+    1481         240 :       param_loader.loadParam(controller_name + "/outputs/control_group", outputs.control_group, false);
+    1482         240 :       param_loader.loadParam(controller_name + "/outputs/attitude_rate", outputs.attitude_rate, false);
+    1483         240 :       param_loader.loadParam(controller_name + "/outputs/attitude", outputs.attitude, false);
+    1484         240 :       param_loader.loadParam(controller_name + "/outputs/acceleration_hdg_rate", outputs.acceleration_hdg_rate, false);
+    1485         240 :       param_loader.loadParam(controller_name + "/outputs/acceleration_hdg", outputs.acceleration_hdg, false);
+    1486         240 :       param_loader.loadParam(controller_name + "/outputs/velocity_hdg_rate", outputs.velocity_hdg_rate, false);
+    1487         240 :       param_loader.loadParam(controller_name + "/outputs/velocity_hdg", outputs.velocity_hdg, false);
+    1488         240 :       param_loader.loadParam(controller_name + "/outputs/position", outputs.position, false);
+    1489             : 
+    1490         240 :       bool meets_actuators             = (_hw_api_inputs_.actuators && outputs.actuators);
+    1491         240 :       bool meets_control_group         = (_hw_api_inputs_.control_group && outputs.control_group);
+    1492         240 :       bool meets_attitude_rate         = (_hw_api_inputs_.attitude_rate && outputs.attitude_rate);
+    1493         240 :       bool meets_attitude              = (_hw_api_inputs_.attitude && outputs.attitude);
+    1494         240 :       bool meets_acceleration_hdg_rate = (_hw_api_inputs_.acceleration_hdg_rate && outputs.acceleration_hdg_rate);
+    1495         240 :       bool meets_acceleration_hdg      = (_hw_api_inputs_.acceleration_hdg && outputs.acceleration_hdg);
+    1496         240 :       bool meets_velocity_hdg_rate     = (_hw_api_inputs_.velocity_hdg_rate && outputs.velocity_hdg_rate);
+    1497         240 :       bool meets_velocity_hdg          = (_hw_api_inputs_.velocity_hdg && outputs.velocity_hdg);
+    1498         240 :       bool meets_position              = (_hw_api_inputs_.position && outputs.position);
+    1499             : 
+    1500         225 :       bool meets_requirements = meets_actuators || meets_control_group || meets_attitude_rate || meets_attitude || meets_acceleration_hdg_rate ||
+    1501         465 :                                 meets_acceleration_hdg || meets_velocity_hdg_rate || meets_velocity_hdg || meets_position;
+    1502             : 
+    1503         240 :       if (!meets_requirements) {
+    1504             : 
+    1505           0 :         ROS_ERROR("[ControlManager]: the controller '%s' does not meet the control output requirements, which are some of the following",
+    1506             :                   controller_name.c_str());
+    1507             : 
+    1508           0 :         if (_hw_api_inputs_.actuators) {
+    1509           0 :           ROS_ERROR("[ControlManager]: - actuators");
+    1510             :         }
+    1511             : 
+    1512           0 :         if (_hw_api_inputs_.control_group) {
+    1513           0 :           ROS_ERROR("[ControlManager]: - control group");
+    1514             :         }
+    1515             : 
+    1516           0 :         if (_hw_api_inputs_.attitude_rate) {
+    1517           0 :           ROS_ERROR("[ControlManager]: - attitude rate");
+    1518             :         }
+    1519             : 
+    1520           0 :         if (_hw_api_inputs_.attitude) {
+    1521           0 :           ROS_ERROR("[ControlManager]: - attitude");
+    1522             :         }
+    1523             : 
+    1524           0 :         if (_hw_api_inputs_.acceleration_hdg_rate) {
+    1525           0 :           ROS_ERROR("[ControlManager]: - acceleration+hdg rate");
+    1526             :         }
+    1527             : 
+    1528           0 :         if (_hw_api_inputs_.acceleration_hdg) {
+    1529           0 :           ROS_ERROR("[ControlManager]: - acceleration+hdg");
+    1530             :         }
+    1531             : 
+    1532           0 :         if (_hw_api_inputs_.velocity_hdg_rate) {
+    1533           0 :           ROS_ERROR("[ControlManager]: - velocity+hdg rate");
+    1534             :         }
+    1535             : 
+    1536           0 :         if (_hw_api_inputs_.velocity_hdg) {
+    1537           0 :           ROS_ERROR("[ControlManager]: - velocity+hdg");
+    1538             :         }
+    1539             : 
+    1540           0 :         if (_hw_api_inputs_.position) {
+    1541           0 :           ROS_ERROR("[ControlManager]: - position");
+    1542             :         }
+    1543             : 
+    1544           0 :         ros::shutdown();
+    1545             :       }
+    1546             : 
+    1547         240 :       if ((_hw_api_inputs_.actuators || _hw_api_inputs_.control_group) && !common_handlers_->detailed_model_params) {
+    1548           0 :         ROS_ERROR(
+    1549             :             "[ControlManager]: the HW API supports 'actuators' or 'control_group' input, but the 'detailed uav model params' were not loaded sucessfully");
+    1550           0 :         ros::shutdown();
+    1551             :       }
+    1552             :     }
+    1553             : 
+    1554             :     // | --- alter the timer rates based on the hw capabilities --- |
+    1555             : 
+    1556         240 :     CONTROL_OUTPUT lowest_output = getLowestOuput(_hw_api_inputs_);
+    1557             : 
+    1558         240 :     if (lowest_output == ACTUATORS_CMD || lowest_output == CONTROL_GROUP) {
+    1559          30 :       _safety_timer_rate_     = 200.0;
+    1560          30 :       desired_uav_state_rate_ = 250.0;
+    1561         210 :     } else if (lowest_output == ATTITUDE_RATE || lowest_output == ATTITUDE) {
+    1562         160 :       _safety_timer_rate_     = 100.0;
+    1563         160 :       desired_uav_state_rate_ = 100.0;
+    1564          50 :     } else if (lowest_output == ACCELERATION_HDG_RATE || lowest_output == ACCELERATION_HDG) {
+    1565          20 :       _safety_timer_rate_     = 30.0;
+    1566          20 :       _status_timer_rate_     = 1.0;
+    1567          20 :       desired_uav_state_rate_ = 40.0;
+    1568             : 
+    1569          20 :       if (_uav_state_max_missing_time_ < 0.2) {
+    1570           4 :         _uav_state_max_missing_time_ = 0.2;
+    1571             :       }
+    1572          30 :     } else if (lowest_output >= VELOCITY_HDG_RATE) {
+    1573          30 :       _safety_timer_rate_     = 20.0;
+    1574          30 :       _status_timer_rate_     = 1.0;
+    1575          30 :       desired_uav_state_rate_ = 20.0;
+    1576             : 
+    1577          30 :       if (_uav_state_max_missing_time_ < 1.0) {
+    1578           6 :         _uav_state_max_missing_time_ = 1.0;
+    1579             :       }
+    1580             :     }
+    1581             : 
+    1582         240 :     if (eland_threshold == 0) {
+    1583          49 :       eland_threshold = 1e6;
+    1584             :     }
+    1585             : 
+    1586         240 :     if (failsafe_threshold == 0) {
+    1587          49 :       failsafe_threshold = 1e6;
+    1588             :     }
+    1589             : 
+    1590         240 :     if (odometry_innovation_threshold == 0) {
+    1591          50 :       odometry_innovation_threshold = 1e6;
+    1592             :     }
+    1593             : 
+    1594         720 :     ControllerParams new_controller(address, name_space, eland_threshold, failsafe_threshold, odometry_innovation_threshold, human_switchable);
+    1595         240 :     controllers_.insert(std::pair<std::string, ControllerParams>(controller_name, new_controller));
+    1596             : 
+    1597             :     try {
+    1598         240 :       ROS_INFO("[ControlManager]: loading the controller '%s'", new_controller.address.c_str());
+    1599         240 :       controller_list_.push_back(controller_loader_->createInstance(new_controller.address.c_str()));
+    1600             :     }
+    1601           0 :     catch (pluginlib::CreateClassException& ex1) {
+    1602           0 :       ROS_ERROR("[ControlManager]: CreateClassException for the controller '%s'", new_controller.address.c_str());
+    1603           0 :       ROS_ERROR("[ControlManager]: Error: %s", ex1.what());
+    1604           0 :       ros::shutdown();
+    1605             :     }
+    1606           0 :     catch (pluginlib::PluginlibException& ex) {
+    1607           0 :       ROS_ERROR("[ControlManager]: PluginlibException for the controller '%s'", new_controller.address.c_str());
+    1608           0 :       ROS_ERROR("[ControlManager]: Error: %s", ex.what());
+    1609           0 :       ros::shutdown();
+    1610             :     }
+    1611             :   }
+    1612             : 
+    1613          48 :   ROS_INFO("[ControlManager]: controllers were loaded");
+    1614             : 
+    1615         288 :   for (int i = 0; i < int(controller_list_.size()); i++) {
+    1616             : 
+    1617         240 :     std::map<std::string, ControllerParams>::iterator it;
+    1618         240 :     it = controllers_.find(_controller_names_[i]);
+    1619             : 
+    1620             :     // create private handlers
+    1621             :     std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers =
+    1622         480 :         std::make_shared<mrs_uav_managers::control_manager::PrivateHandlers_t>();
+    1623             : 
+    1624         240 :     private_handlers->loadConfigFile = boost::bind(&ControlManager::loadConfigFile, this, _1, it->second.name_space);
+    1625         240 :     private_handlers->name_space     = it->second.name_space;
+    1626         240 :     private_handlers->runtime_name   = _controller_names_[i];
+    1627         240 :     private_handlers->param_loader   = std::make_unique<mrs_lib::ParamLoader>(ros::NodeHandle(nh_, it->second.name_space), _controller_names_[i]);
+    1628             : 
+    1629         240 :     if (_custom_config_ != "") {
+    1630         240 :       private_handlers->param_loader->addYamlFile(_custom_config_);
+    1631             :     }
+    1632             : 
+    1633         240 :     if (_platform_config_ != "") {
+    1634         240 :       private_handlers->param_loader->addYamlFile(_platform_config_);
+    1635             :     }
+    1636             : 
+    1637         240 :     if (_world_config_ != "") {
+    1638         240 :       private_handlers->param_loader->addYamlFile(_world_config_);
+    1639             :     }
+    1640             : 
+    1641         240 :     if (_network_config_ != "") {
+    1642         240 :       private_handlers->param_loader->addYamlFile(_network_config_);
+    1643             :     }
+    1644             : 
+    1645         240 :     bool success = false;
+    1646             : 
+    1647             :     try {
+    1648             : 
+    1649         240 :       ROS_INFO("[ControlManager]: initializing the controller '%s'", it->second.address.c_str());
+    1650         240 :       success = controller_list_[i]->initialize(ros::NodeHandle(nh_, it->second.name_space), common_handlers_, private_handlers);
+    1651             :     }
+    1652           0 :     catch (std::runtime_error& ex) {
+    1653           0 :       ROS_ERROR("[ControlManager]: exception caught during controller initialization: '%s'", ex.what());
+    1654             :     }
+    1655             : 
+    1656         240 :     if (!success) {
+    1657           0 :       ROS_ERROR("[ControlManager]: failed to initialize the controller '%s'", it->second.address.c_str());
+    1658           0 :       ros::shutdown();
+    1659             :     }
+    1660             :   }
+    1661             : 
+    1662          48 :   ROS_INFO("[ControlManager]: controllers were initialized");
+    1663             : 
+    1664             :   {
+    1665          48 :     auto idx = idxInVector(_failsafe_controller_name_, _controller_names_);
+    1666             : 
+    1667          48 :     if (idx) {
+    1668          48 :       _failsafe_controller_idx_ = idx.value();
+    1669             :     } else {
+    1670           0 :       ROS_ERROR("[ControlManager]: the failsafe controller (%s) is not within the loaded controllers", _failsafe_controller_name_.c_str());
+    1671           0 :       ros::shutdown();
+    1672             :     }
+    1673             :   }
+    1674             : 
+    1675             :   {
+    1676          48 :     auto idx = idxInVector(_eland_controller_name_, _controller_names_);
+    1677             : 
+    1678          48 :     if (idx) {
+    1679          48 :       _eland_controller_idx_ = idx.value();
+    1680             :     } else {
+    1681           0 :       ROS_ERROR("[ControlManager]: the eland controller (%s) is not within the loaded controllers", _eland_controller_name_.c_str());
+    1682           0 :       ros::shutdown();
+    1683             :     }
+    1684             :   }
+    1685             : 
+    1686             :   {
+    1687          48 :     auto idx = idxInVector(_joystick_controller_name_, _controller_names_);
+    1688             : 
+    1689          48 :     if (idx) {
+    1690          48 :       _joystick_controller_idx_ = idx.value();
+    1691             :     } else {
+    1692           0 :       ROS_ERROR("[ControlManager]: the joystick controller (%s) is not within the loaded controllers", _joystick_controller_name_.c_str());
+    1693           0 :       ros::shutdown();
+    1694             :     }
+    1695             :   }
+    1696             : 
+    1697          48 :   if (_bumper_switch_controller_) {
+    1698             : 
+    1699          48 :     auto idx = idxInVector(_bumper_controller_name_, _controller_names_);
+    1700             : 
+    1701          48 :     if (!idx) {
+    1702           0 :       ROS_ERROR("[ControlManager]: the bumper controller (%s) is not within the loaded controllers", _bumper_controller_name_.c_str());
+    1703           0 :       ros::shutdown();
+    1704             :     }
+    1705             :   }
+    1706             : 
+    1707             :   {
+    1708          48 :     auto idx = idxInVector(_joystick_fallback_controller_name_, _controller_names_);
+    1709             : 
+    1710          48 :     if (idx) {
+    1711          48 :       _joystick_fallback_controller_idx_ = idx.value();
+    1712             :     } else {
+    1713           0 :       ROS_ERROR("[ControlManager]: the joystick fallback controller (%s) is not within the loaded controllers", _joystick_fallback_controller_name_.c_str());
+    1714           0 :       ros::shutdown();
+    1715             :     }
+    1716             :   }
+    1717             : 
+    1718             :   // --------------------------------------------------------------
+    1719             :   // |                  activate the NullTracker                  |
+    1720             :   // --------------------------------------------------------------
+    1721             : 
+    1722          48 :   ROS_INFO("[ControlManager]: activating the null tracker");
+    1723             : 
+    1724          48 :   tracker_list_[_null_tracker_idx_]->activate(last_tracker_cmd_);
+    1725          48 :   active_tracker_idx_ = _null_tracker_idx_;
+    1726             : 
+    1727             :   // --------------------------------------------------------------
+    1728             :   // |    activate the eland controller as the first controller   |
+    1729             :   // --------------------------------------------------------------
+    1730             : 
+    1731          48 :   ROS_INFO("[ControlManager]: activating the the eland controller (%s) as the first controller", _controller_names_[_eland_controller_idx_].c_str());
+    1732             : 
+    1733          48 :   controller_list_[_eland_controller_idx_]->activate(last_control_output_);
+    1734          48 :   active_controller_idx_ = _eland_controller_idx_;
+    1735             : 
+    1736             :   // update the time
+    1737             :   {
+    1738          96 :     std::scoped_lock lock(mutex_controller_tracker_switch_time_);
+    1739             : 
+    1740          48 :     controller_tracker_switch_time_ = ros::Time::now();
+    1741             :   }
+    1742             : 
+    1743          48 :   output_enabled_ = false;
+    1744             : 
+    1745             :   // | --------------- set the default constraints -------------- |
+    1746             : 
+    1747          48 :   sanitized_constraints_ = current_constraints_;
+    1748          48 :   setConstraints(current_constraints_);
+    1749             : 
+    1750             :   // | ------------------------ profiler ------------------------ |
+    1751             : 
+    1752          48 :   profiler_ = mrs_lib::Profiler(nh_, "ControlManager", _profiler_enabled_);
+    1753             : 
+    1754             :   // | ----------------------- publishers ----------------------- |
+    1755             : 
+    1756          48 :   control_output_publisher_ = OutputPublisher(nh_);
+    1757             : 
+    1758          48 :   ph_controller_diagnostics_             = mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics>(nh_, "controller_diagnostics_out", 1);
+    1759          48 :   ph_tracker_cmd_                        = mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand>(nh_, "tracker_cmd_out", 1);
+    1760          48 :   ph_mrs_odom_input_                     = mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput>(nh_, "estimator_input_out", 1);
+    1761          48 :   ph_control_reference_odom_             = mrs_lib::PublisherHandler<nav_msgs::Odometry>(nh_, "control_reference_out", 1);
+    1762          48 :   ph_diagnostics_                        = mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics>(nh_, "diagnostics_out", 1);
+    1763          48 :   ph_offboard_on_                        = mrs_lib::PublisherHandler<std_msgs::Empty>(nh_, "offboard_on_out", 1);
+    1764          48 :   ph_tilt_error_                         = mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>(nh_, "tilt_error_out", 1);
+    1765          48 :   ph_mass_estimate_                      = mrs_lib::PublisherHandler<std_msgs::Float64>(nh_, "mass_estimate_out", 1, false, 10.0);
+    1766          48 :   ph_throttle_                           = mrs_lib::PublisherHandler<std_msgs::Float64>(nh_, "throttle_out", 1, false, 10.0);
+    1767          48 :   ph_thrust_                             = mrs_lib::PublisherHandler<std_msgs::Float64>(nh_, "thrust_out", 1, false, 100.0);
+    1768          48 :   ph_control_error_                      = mrs_lib::PublisherHandler<mrs_msgs::ControlError>(nh_, "control_error_out", 1);
+    1769          48 :   ph_safety_area_markers_                = mrs_lib::PublisherHandler<visualization_msgs::MarkerArray>(nh_, "safety_area_markers_out", 1, true, 1.0);
+    1770          48 :   ph_safety_area_coordinates_markers_    = mrs_lib::PublisherHandler<visualization_msgs::MarkerArray>(nh_, "safety_area_coordinates_markers_out", 1, true, 1.0);
+    1771          48 :   ph_disturbances_markers_               = mrs_lib::PublisherHandler<visualization_msgs::MarkerArray>(nh_, "disturbances_markers_out", 1, false, 10.0);
+    1772          48 :   ph_bumper_status_                      = mrs_lib::PublisherHandler<mrs_msgs::BumperStatus>(nh_, "bumper_status_out", 1);
+    1773          48 :   ph_current_constraints_                = mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints>(nh_, "current_constraints_out", 1);
+    1774          48 :   ph_heading_                            = mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>(nh_, "heading_out", 1);
+    1775          48 :   ph_speed_                              = mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>(nh_, "speed_out", 1, false, 10.0);
+    1776          48 :   pub_debug_original_trajectory_poses_   = mrs_lib::PublisherHandler<geometry_msgs::PoseArray>(nh_, "trajectory_original/poses_out", 1, true);
+    1777          48 :   pub_debug_original_trajectory_markers_ = mrs_lib::PublisherHandler<visualization_msgs::MarkerArray>(nh_, "trajectory_original/markers_out", 1, true);
+    1778             : 
+    1779             :   // | ----------------------- subscribers ---------------------- |
+    1780             : 
+    1781          96 :   mrs_lib::SubscribeHandlerOptions shopts;
+    1782          48 :   shopts.nh                 = nh_;
+    1783          48 :   shopts.node_name          = "ControlManager";
+    1784          48 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+    1785          48 :   shopts.threadsafe         = true;
+    1786          48 :   shopts.autostart          = true;
+    1787          48 :   shopts.queue_size         = 10;
+    1788          48 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+    1789             : 
+    1790          48 :   if (_state_input_ == INPUT_UAV_STATE) {
+    1791          48 :     sh_uav_state_ = mrs_lib::SubscribeHandler<mrs_msgs::UavState>(shopts, "uav_state_in", &ControlManager::callbackUavState, this);
+    1792           0 :   } else if (_state_input_ == INPUT_ODOMETRY) {
+    1793           0 :     sh_odometry_ = mrs_lib::SubscribeHandler<nav_msgs::Odometry>(shopts, "odometry_in", &ControlManager::callbackOdometry, this);
+    1794             :   }
+    1795             : 
+    1796          48 :   if (_odometry_innovation_check_enabled_) {
+    1797          48 :     sh_odometry_innovation_ = mrs_lib::SubscribeHandler<nav_msgs::Odometry>(shopts, "odometry_innovation_in");
+    1798             :   }
+    1799             : 
+    1800          48 :   sh_bumper_    = mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors>(shopts, "bumper_sectors_in");
+    1801          48 :   sh_max_z_     = mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped>(shopts, "max_z_in");
+    1802          48 :   sh_joystick_  = mrs_lib::SubscribeHandler<sensor_msgs::Joy>(shopts, "joystick_in", &ControlManager::callbackJoystick, this);
+    1803          48 :   sh_gnss_      = mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix>(shopts, "gnss_in", &ControlManager::callbackGNSS, this);
+    1804          48 :   sh_hw_api_rc_ = mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels>(shopts, "hw_api_rc_in", &ControlManager::callbackRC, this);
+    1805             : 
+    1806          48 :   sh_hw_api_status_ = mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus>(shopts, "hw_api_status_in", &ControlManager::callbackHwApiStatus, this);
+    1807             : 
+    1808             :   // | -------------------- general services -------------------- |
+    1809             : 
+    1810          48 :   service_server_switch_tracker_             = nh_.advertiseService("switch_tracker_in", &ControlManager::callbackSwitchTracker, this);
+    1811          48 :   service_server_switch_controller_          = nh_.advertiseService("switch_controller_in", &ControlManager::callbackSwitchController, this);
+    1812          48 :   service_server_reset_tracker_              = nh_.advertiseService("tracker_reset_static_in", &ControlManager::callbackTrackerResetStatic, this);
+    1813          48 :   service_server_hover_                      = nh_.advertiseService("hover_in", &ControlManager::callbackHover, this);
+    1814          48 :   service_server_ehover_                     = nh_.advertiseService("ehover_in", &ControlManager::callbackEHover, this);
+    1815          48 :   service_server_failsafe_                   = nh_.advertiseService("failsafe_in", &ControlManager::callbackFailsafe, this);
+    1816          48 :   service_server_failsafe_escalating_        = nh_.advertiseService("failsafe_escalating_in", &ControlManager::callbackFailsafeEscalating, this);
+    1817          48 :   service_server_toggle_output_              = nh_.advertiseService("toggle_output_in", &ControlManager::callbackToggleOutput, this);
+    1818          48 :   service_server_arm_                        = nh_.advertiseService("arm_in", &ControlManager::callbackArm, this);
+    1819          48 :   service_server_enable_callbacks_           = nh_.advertiseService("enable_callbacks_in", &ControlManager::callbackEnableCallbacks, this);
+    1820          48 :   service_server_set_constraints_            = nh_.advertiseService("set_constraints_in", &ControlManager::callbackSetConstraints, this);
+    1821          48 :   service_server_use_joystick_               = nh_.advertiseService("use_joystick_in", &ControlManager::callbackUseJoystick, this);
+    1822          48 :   service_server_use_safety_area_            = nh_.advertiseService("use_safety_area_in", &ControlManager::callbackUseSafetyArea, this);
+    1823          48 :   service_server_eland_                      = nh_.advertiseService("eland_in", &ControlManager::callbackEland, this);
+    1824          48 :   service_server_parachute_                  = nh_.advertiseService("parachute_in", &ControlManager::callbackParachute, this);
+    1825          48 :   service_server_transform_reference_        = nh_.advertiseService("transform_reference_in", &ControlManager::callbackTransformReference, this);
+    1826          48 :   service_server_transform_pose_             = nh_.advertiseService("transform_pose_in", &ControlManager::callbackTransformPose, this);
+    1827          48 :   service_server_transform_vector3_          = nh_.advertiseService("transform_vector3_in", &ControlManager::callbackTransformVector3, this);
+    1828          48 :   service_server_bumper_enabler_             = nh_.advertiseService("bumper_in", &ControlManager::callbackEnableBumper, this);
+    1829          48 :   service_server_get_min_z_                  = nh_.advertiseService("get_min_z_in", &ControlManager::callbackGetMinZ, this);
+    1830          48 :   service_server_validate_reference_         = nh_.advertiseService("validate_reference_in", &ControlManager::callbackValidateReference, this);
+    1831          48 :   service_server_validate_reference_2d_      = nh_.advertiseService("validate_reference_2d_in", &ControlManager::callbackValidateReference2d, this);
+    1832          48 :   service_server_validate_reference_list_    = nh_.advertiseService("validate_reference_list_in", &ControlManager::callbackValidateReferenceList, this);
+    1833          48 :   service_server_start_trajectory_tracking_  = nh_.advertiseService("start_trajectory_tracking_in", &ControlManager::callbackStartTrajectoryTracking, this);
+    1834          48 :   service_server_stop_trajectory_tracking_   = nh_.advertiseService("stop_trajectory_tracking_in", &ControlManager::callbackStopTrajectoryTracking, this);
+    1835          48 :   service_server_resume_trajectory_tracking_ = nh_.advertiseService("resume_trajectory_tracking_in", &ControlManager::callbackResumeTrajectoryTracking, this);
+    1836          48 :   service_server_goto_trajectory_start_      = nh_.advertiseService("goto_trajectory_start_in", &ControlManager::callbackGotoTrajectoryStart, this);
+    1837             : 
+    1838          48 :   sch_arming_                 = mrs_lib::ServiceClientHandler<std_srvs::SetBool>(nh_, "hw_api_arming_out");
+    1839          48 :   sch_eland_                  = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "eland_out");
+    1840          48 :   sch_shutdown_               = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "shutdown_out");
+    1841          48 :   sch_set_odometry_callbacks_ = mrs_lib::ServiceClientHandler<std_srvs::SetBool>(nh_, "set_odometry_callbacks_out");
+    1842          48 :   sch_ungrip_                 = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "ungrip_out");
+    1843          48 :   sch_parachute_              = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "parachute_out");
+    1844             : 
+    1845             :   // | ---------------- setpoint command services --------------- |
+    1846             : 
+    1847             :   // human callable
+    1848          48 :   service_server_goto_                 = nh_.advertiseService("goto_in", &ControlManager::callbackGoto, this);
+    1849          48 :   service_server_goto_fcu_             = nh_.advertiseService("goto_fcu_in", &ControlManager::callbackGotoFcu, this);
+    1850          48 :   service_server_goto_relative_        = nh_.advertiseService("goto_relative_in", &ControlManager::callbackGotoRelative, this);
+    1851          48 :   service_server_goto_altitude_        = nh_.advertiseService("goto_altitude_in", &ControlManager::callbackGotoAltitude, this);
+    1852          48 :   service_server_set_heading_          = nh_.advertiseService("set_heading_in", &ControlManager::callbackSetHeading, this);
+    1853          48 :   service_server_set_heading_relative_ = nh_.advertiseService("set_heading_relative_in", &ControlManager::callbackSetHeadingRelative, this);
+    1854             : 
+    1855          48 :   service_server_reference_ = nh_.advertiseService("reference_in", &ControlManager::callbackReferenceService, this);
+    1856          48 :   sh_reference_             = mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped>(shopts, "reference_in", &ControlManager::callbackReferenceTopic, this);
+    1857             : 
+    1858          48 :   service_server_velocity_reference_ = nh_.advertiseService("velocity_reference_in", &ControlManager::callbackVelocityReferenceService, this);
+    1859             :   sh_velocity_reference_ =
+    1860          48 :       mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped>(shopts, "velocity_reference_in", &ControlManager::callbackVelocityReferenceTopic, this);
+    1861             : 
+    1862          48 :   service_server_trajectory_reference_ = nh_.advertiseService("trajectory_reference_in", &ControlManager::callbackTrajectoryReferenceService, this);
+    1863             :   sh_trajectory_reference_ =
+    1864          48 :       mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference>(shopts, "trajectory_reference_in", &ControlManager::callbackTrajectoryReferenceTopic, this);
+    1865             : 
+    1866             :   // | --------------------- other services --------------------- |
+    1867             : 
+    1868          48 :   service_server_emergency_reference_ = nh_.advertiseService("emergency_reference_in", &ControlManager::callbackEmergencyReference, this);
+    1869          48 :   service_server_pirouette_           = nh_.advertiseService("pirouette_in", &ControlManager::callbackPirouette, this);
+    1870             : 
+    1871             :   // | ------------------------- timers ------------------------- |
+    1872             : 
+    1873          48 :   timer_status_    = nh_.createTimer(ros::Rate(_status_timer_rate_), &ControlManager::timerStatus, this);
+    1874          48 :   timer_safety_    = nh_.createTimer(ros::Rate(_safety_timer_rate_), &ControlManager::timerSafety, this);
+    1875          48 :   timer_bumper_    = nh_.createTimer(ros::Rate(_bumper_timer_rate_), &ControlManager::timerBumper, this, false, bumper_enabled_);
+    1876          48 :   timer_eland_     = nh_.createTimer(ros::Rate(_elanding_timer_rate_), &ControlManager::timerEland, this, false, false);
+    1877          48 :   timer_failsafe_  = nh_.createTimer(ros::Rate(_failsafe_timer_rate_), &ControlManager::timerFailsafe, this, false, false);
+    1878          48 :   timer_pirouette_ = nh_.createTimer(ros::Rate(_pirouette_timer_rate_), &ControlManager::timerPirouette, this, false, false);
+    1879          48 :   timer_joystick_  = nh_.createTimer(ros::Rate(_joystick_timer_rate_), &ControlManager::timerJoystick, this);
+    1880             : 
+    1881             :   // | ----------------------- finish init ---------------------- |
+    1882             : 
+    1883          48 :   if (!param_loader.loadedSuccessfully()) {
+    1884           0 :     ROS_ERROR("[ControlManager]: could not load all parameters!");
+    1885           0 :     ros::shutdown();
+    1886             :   }
+    1887             : 
+    1888          48 :   is_initialized_ = true;
+    1889             : 
+    1890          48 :   ROS_INFO("[ControlManager]: initialized");
+    1891          48 : }
+    1892             : 
+    1893             : //}
+    1894             : 
+    1895             : // --------------------------------------------------------------
+    1896             : // |                           timers                           |
+    1897             : // --------------------------------------------------------------
+    1898             : 
+    1899             : /* timerHwApiCapabilities() //{ */
+    1900             : 
+    1901          82 : void ControlManager::timerHwApiCapabilities(const ros::TimerEvent& event) {
+    1902             : 
+    1903         164 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerHwApiCapabilities", _status_timer_rate_, 1.0, event);
+    1904         164 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::timerHwApiCapabilities", scope_timer_logger_, scope_timer_enabled_);
+    1905             : 
+    1906          82 :   if (!sh_hw_api_capabilities_.hasMsg()) {
+    1907          34 :     ROS_INFO_THROTTLE(1.0, "[ControlManager]: waiting for HW API capabilities");
+    1908          34 :     return;
+    1909             :   }
+    1910             : 
+    1911          96 :   auto hw_ap_capabilities = sh_hw_api_capabilities_.getMsg();
+    1912             : 
+    1913          48 :   ROS_INFO("[ControlManager]: got HW API capabilities, the possible control modes are:");
+    1914             : 
+    1915          48 :   if (hw_ap_capabilities->accepts_actuator_cmd) {
+    1916           3 :     ROS_INFO("[ControlManager]: - actuator command");
+    1917           3 :     _hw_api_inputs_.actuators = true;
+    1918             :   }
+    1919             : 
+    1920          48 :   if (hw_ap_capabilities->accepts_control_group_cmd) {
+    1921           3 :     ROS_INFO("[ControlManager]: - control group command");
+    1922           3 :     _hw_api_inputs_.control_group = true;
+    1923             :   }
+    1924             : 
+    1925          48 :   if (hw_ap_capabilities->accepts_attitude_rate_cmd) {
+    1926          29 :     ROS_INFO("[ControlManager]: - attitude rate command");
+    1927          29 :     _hw_api_inputs_.attitude_rate = true;
+    1928             :   }
+    1929             : 
+    1930          48 :   if (hw_ap_capabilities->accepts_attitude_cmd) {
+    1931          29 :     ROS_INFO("[ControlManager]: - attitude command");
+    1932          29 :     _hw_api_inputs_.attitude = true;
+    1933             :   }
+    1934             : 
+    1935          48 :   if (hw_ap_capabilities->accepts_acceleration_hdg_rate_cmd) {
+    1936           2 :     ROS_INFO("[ControlManager]: - acceleration+hdg rate command");
+    1937           2 :     _hw_api_inputs_.acceleration_hdg_rate = true;
+    1938             :   }
+    1939             : 
+    1940          48 :   if (hw_ap_capabilities->accepts_acceleration_hdg_cmd) {
+    1941           2 :     ROS_INFO("[ControlManager]: - acceleration+hdg command");
+    1942           2 :     _hw_api_inputs_.acceleration_hdg = true;
+    1943             :   }
+    1944             : 
+    1945          48 :   if (hw_ap_capabilities->accepts_velocity_hdg_rate_cmd) {
+    1946           2 :     ROS_INFO("[ControlManager]: - velocityhdg rate command");
+    1947           2 :     _hw_api_inputs_.velocity_hdg_rate = true;
+    1948             :   }
+    1949             : 
+    1950          48 :   if (hw_ap_capabilities->accepts_velocity_hdg_cmd) {
+    1951           2 :     ROS_INFO("[ControlManager]: - velocityhdg command");
+    1952           2 :     _hw_api_inputs_.velocity_hdg = true;
+    1953             :   }
+    1954             : 
+    1955          48 :   if (hw_ap_capabilities->accepts_position_cmd) {
+    1956           2 :     ROS_INFO("[ControlManager]: - position command");
+    1957           2 :     _hw_api_inputs_.position = true;
+    1958             :   }
+    1959             : 
+    1960          48 :   initialize();
+    1961             : 
+    1962          48 :   timer_hw_api_capabilities_.stop();
+    1963             : }
+    1964             : 
+    1965             : //}
+    1966             : 
+    1967             : /* //{ timerStatus() */
+    1968             : 
+    1969        6341 : void ControlManager::timerStatus(const ros::TimerEvent& event) {
+    1970             : 
+    1971        6341 :   if (!is_initialized_)
+    1972           0 :     return;
+    1973             : 
+    1974       19023 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerStatus", _status_timer_rate_, 0.1, event);
+    1975       19023 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::timerStatus", scope_timer_logger_, scope_timer_enabled_);
+    1976             : 
+    1977             :   // copy member variables
+    1978       12682 :   auto uav_state             = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    1979       12682 :   auto last_control_output   = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    1980       12682 :   auto last_tracker_cmd      = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    1981        6341 :   auto yaw_error             = mrs_lib::get_mutexed(mutex_attitude_error_, yaw_error_);
+    1982        6341 :   auto position_error        = mrs_lib::get_mutexed(mutex_position_error_, position_error_);
+    1983        6341 :   auto active_controller_idx = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    1984        6341 :   auto active_tracker_idx    = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    1985             : 
+    1986             :   double uav_x, uav_y, uav_z;
+    1987        6341 :   uav_x = uav_state.pose.position.x;
+    1988        6341 :   uav_y = uav_state.pose.position.y;
+    1989        6341 :   uav_z = uav_state.pose.position.z;
+    1990             : 
+    1991             :   // --------------------------------------------------------------
+    1992             :   // |                      print the status                      |
+    1993             :   // --------------------------------------------------------------
+    1994             : 
+    1995             :   {
+    1996       12682 :     std::string controller = _controller_names_[active_controller_idx];
+    1997       12682 :     std::string tracker    = _tracker_names_[active_tracker_idx];
+    1998        6341 :     double      mass       = last_control_output.diagnostics.total_mass;
+    1999        6341 :     double      bx_b       = last_control_output.diagnostics.disturbance_bx_b;
+    2000        6341 :     double      by_b       = last_control_output.diagnostics.disturbance_by_b;
+    2001        6341 :     double      wx_w       = last_control_output.diagnostics.disturbance_wx_w;
+    2002        6341 :     double      wy_w       = last_control_output.diagnostics.disturbance_wy_w;
+    2003             : 
+    2004        6341 :     ROS_INFO_THROTTLE(5.0, "[ControlManager]: tracker: '%s', controller: '%s', mass: '%.2f kg', disturbances: body [%.2f, %.2f] N, world [%.2f, %.2f] N",
+    2005             :                       tracker.c_str(), controller.c_str(), mass, bx_b, by_b, wx_w, wy_w);
+    2006             :   }
+    2007             : 
+    2008             :   // --------------------------------------------------------------
+    2009             :   // |                   publish the diagnostics                  |
+    2010             :   // --------------------------------------------------------------
+    2011             : 
+    2012        6341 :   publishDiagnostics();
+    2013             : 
+    2014             :   // --------------------------------------------------------------
+    2015             :   // |                publish if the offboard is on               |
+    2016             :   // --------------------------------------------------------------
+    2017             : 
+    2018        6341 :   if (offboard_mode_) {
+    2019             : 
+    2020        4467 :     std_msgs::Empty offboard_on_out;
+    2021             : 
+    2022        4467 :     ph_offboard_on_.publish(offboard_on_out);
+    2023             :   }
+    2024             : 
+    2025             :   // --------------------------------------------------------------
+    2026             :   // |                   publish the tilt error                   |
+    2027             :   // --------------------------------------------------------------
+    2028             :   {
+    2029       12682 :     std::scoped_lock lock(mutex_attitude_error_);
+    2030             : 
+    2031        6341 :     if (tilt_error_) {
+    2032             : 
+    2033       12682 :       mrs_msgs::Float64Stamped tilt_error_out;
+    2034        6341 :       tilt_error_out.header.stamp    = ros::Time::now();
+    2035        6341 :       tilt_error_out.header.frame_id = uav_state.header.frame_id;
+    2036        6341 :       tilt_error_out.value           = (180.0 / M_PI) * tilt_error_.value();
+    2037             : 
+    2038        6341 :       ph_tilt_error_.publish(tilt_error_out);
+    2039             :     }
+    2040             :   }
+    2041             : 
+    2042             :   // --------------------------------------------------------------
+    2043             :   // |                  publish the control error                 |
+    2044             :   // --------------------------------------------------------------
+    2045             : 
+    2046        6341 :   if (position_error) {
+    2047             : 
+    2048        4049 :     Eigen::Vector3d pos_error_value = position_error.value();
+    2049             : 
+    2050        8098 :     mrs_msgs::ControlError msg_out;
+    2051             : 
+    2052        4049 :     msg_out.header.stamp    = ros::Time::now();
+    2053        4049 :     msg_out.header.frame_id = uav_state.header.frame_id;
+    2054             : 
+    2055        4049 :     msg_out.position_errors.x    = pos_error_value[0];
+    2056        4049 :     msg_out.position_errors.y    = pos_error_value[1];
+    2057        4049 :     msg_out.position_errors.z    = pos_error_value[2];
+    2058        4049 :     msg_out.total_position_error = pos_error_value.norm();
+    2059             : 
+    2060        4049 :     if (yaw_error_) {
+    2061        4049 :       msg_out.yaw_error = yaw_error.value();
+    2062             :     }
+    2063             : 
+    2064        4049 :     std::map<std::string, ControllerParams>::iterator it;
+    2065             : 
+    2066        4049 :     it = controllers_.find(_controller_names_[active_controller_idx]);
+    2067             : 
+    2068        4049 :     msg_out.position_eland_threshold    = it->second.eland_threshold;
+    2069        4049 :     msg_out.position_failsafe_threshold = it->second.failsafe_threshold;
+    2070             : 
+    2071        4049 :     ph_control_error_.publish(msg_out);
+    2072             :   }
+    2073             : 
+    2074             :   // --------------------------------------------------------------
+    2075             :   // |                  publish the mass estimate                 |
+    2076             :   // --------------------------------------------------------------
+    2077             : 
+    2078        6341 :   if (last_control_output.diagnostics.mass_estimator) {
+    2079             : 
+    2080        3206 :     std_msgs::Float64 mass_estimate_out;
+    2081        3206 :     mass_estimate_out.data = _uav_mass_ + last_control_output.diagnostics.mass_difference;
+    2082             : 
+    2083        3206 :     ph_mass_estimate_.publish(mass_estimate_out);
+    2084             :   }
+    2085             : 
+    2086             :   // --------------------------------------------------------------
+    2087             :   // |                 publish the current heading                |
+    2088             :   // --------------------------------------------------------------
+    2089             : 
+    2090        6341 :   if (_state_input_ == INPUT_UAV_STATE && sh_uav_state_.hasMsg()) {
+    2091             : 
+    2092             :     try {
+    2093             : 
+    2094             :       double heading;
+    2095             : 
+    2096        5102 :       heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+    2097             : 
+    2098       10204 :       mrs_msgs::Float64Stamped heading_out;
+    2099        5102 :       heading_out.header = uav_state.header;
+    2100        5102 :       heading_out.value  = heading;
+    2101             : 
+    2102        5102 :       ph_heading_.publish(heading_out);
+    2103             :     }
+    2104           0 :     catch (...) {
+    2105           0 :       ROS_ERROR_THROTTLE(1.0, "exception caught, could not transform heading");
+    2106             :     }
+    2107             :   }
+    2108             : 
+    2109             :   // --------------------------------------------------------------
+    2110             :   // |                  publish the current speed                 |
+    2111             :   // --------------------------------------------------------------
+    2112             : 
+    2113        6341 :   if (_state_input_ == INPUT_UAV_STATE && sh_uav_state_.hasMsg()) {
+    2114             : 
+    2115        5102 :     double speed = sqrt(pow(uav_state.velocity.linear.x, 2) + pow(uav_state.velocity.linear.y, 2) + pow(uav_state.velocity.linear.z, 2));
+    2116             : 
+    2117       10204 :     mrs_msgs::Float64Stamped speed_out;
+    2118        5102 :     speed_out.header = uav_state.header;
+    2119        5102 :     speed_out.value  = speed;
+    2120             : 
+    2121        5102 :     ph_speed_.publish(speed_out);
+    2122             :   }
+    2123             : 
+    2124             :   // --------------------------------------------------------------
+    2125             :   // |               publish the safety area markers              |
+    2126             :   // --------------------------------------------------------------
+    2127             : 
+    2128        6341 :   if (use_safety_area_) {
+    2129             : 
+    2130       11800 :     mrs_msgs::ReferenceStamped temp_ref;
+    2131        5900 :     temp_ref.header.frame_id = _safety_area_horizontal_frame_;
+    2132             : 
+    2133       11800 :     geometry_msgs::TransformStamped tf;
+    2134             : 
+    2135       17700 :     auto ret = transformer_->getTransform(_safety_area_horizontal_frame_, "local_origin", ros::Time(0));
+    2136             : 
+    2137        5900 :     if (ret) {
+    2138             : 
+    2139        4689 :       ROS_INFO_ONCE("[ControlManager]: got TFs, publishing safety area markers");
+    2140             : 
+    2141        9378 :       visualization_msgs::MarkerArray safety_area_marker_array;
+    2142        9378 :       visualization_msgs::MarkerArray safety_area_coordinates_marker_array;
+    2143             : 
+    2144        9378 :       mrs_lib::Polygon border = safety_zone_->getBorder();
+    2145             : 
+    2146        9378 :       std::vector<geometry_msgs::Point> border_points_bot_original = border.getPointMessageVector(getMinZ(_safety_area_horizontal_frame_));
+    2147        9378 :       std::vector<geometry_msgs::Point> border_points_top_original = border.getPointMessageVector(getMaxZ(_safety_area_horizontal_frame_));
+    2148             : 
+    2149        9378 :       std::vector<geometry_msgs::Point> border_points_bot_transformed = border_points_bot_original;
+    2150        9378 :       std::vector<geometry_msgs::Point> border_points_top_transformed = border_points_bot_original;
+    2151             : 
+    2152             :       // if we fail in transforming the area at some point
+    2153             :       // do not publish it at all
+    2154        4689 :       bool tf_success = true;
+    2155             : 
+    2156        9378 :       geometry_msgs::TransformStamped tf = ret.value();
+    2157             : 
+    2158             :       /* transform area points to local origin //{ */
+    2159             : 
+    2160             :       // transform border bottom points to local origin
+    2161       23445 :       for (size_t i = 0; i < border_points_bot_original.size(); i++) {
+    2162             : 
+    2163       18756 :         temp_ref.header.frame_id      = _safety_area_horizontal_frame_;
+    2164       18756 :         temp_ref.header.stamp         = ros::Time(0);
+    2165       18756 :         temp_ref.reference.position.x = border_points_bot_original[i].x;
+    2166       18756 :         temp_ref.reference.position.y = border_points_bot_original[i].y;
+    2167       18756 :         temp_ref.reference.position.z = border_points_bot_original[i].z;
+    2168             : 
+    2169       37512 :         if (auto ret = transformer_->transform(temp_ref, tf)) {
+    2170             : 
+    2171       18756 :           temp_ref = ret.value();
+    2172             : 
+    2173       18756 :           border_points_bot_transformed[i].x = temp_ref.reference.position.x;
+    2174       18756 :           border_points_bot_transformed[i].y = temp_ref.reference.position.y;
+    2175       18756 :           border_points_bot_transformed[i].z = temp_ref.reference.position.z;
+    2176             : 
+    2177             :         } else {
+    2178           0 :           tf_success = false;
+    2179             :         }
+    2180             :       }
+    2181             : 
+    2182             :       // transform border top points to local origin
+    2183       23445 :       for (size_t i = 0; i < border_points_top_original.size(); i++) {
+    2184             : 
+    2185       18756 :         temp_ref.header.frame_id      = _safety_area_horizontal_frame_;
+    2186       18756 :         temp_ref.header.stamp         = ros::Time(0);
+    2187       18756 :         temp_ref.reference.position.x = border_points_top_original[i].x;
+    2188       18756 :         temp_ref.reference.position.y = border_points_top_original[i].y;
+    2189       18756 :         temp_ref.reference.position.z = border_points_top_original[i].z;
+    2190             : 
+    2191       37512 :         if (auto ret = transformer_->transform(temp_ref, tf)) {
+    2192             : 
+    2193       18756 :           temp_ref = ret.value();
+    2194             : 
+    2195       18756 :           border_points_top_transformed[i].x = temp_ref.reference.position.x;
+    2196       18756 :           border_points_top_transformed[i].y = temp_ref.reference.position.y;
+    2197       18756 :           border_points_top_transformed[i].z = temp_ref.reference.position.z;
+    2198             : 
+    2199             :         } else {
+    2200           0 :           tf_success = false;
+    2201             :         }
+    2202             :       }
+    2203             : 
+    2204             :       //}
+    2205             : 
+    2206        9378 :       visualization_msgs::Marker safety_area_marker;
+    2207             : 
+    2208        4689 :       safety_area_marker.header.frame_id = _uav_name_ + "/local_origin";
+    2209        4689 :       safety_area_marker.type            = visualization_msgs::Marker::LINE_LIST;
+    2210        4689 :       safety_area_marker.color.a         = 0.15;
+    2211        4689 :       safety_area_marker.scale.x         = 0.2;
+    2212        4689 :       safety_area_marker.color.r         = 1;
+    2213        4689 :       safety_area_marker.color.g         = 0;
+    2214        4689 :       safety_area_marker.color.b         = 0;
+    2215             : 
+    2216        4689 :       safety_area_marker.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    2217             : 
+    2218        9378 :       visualization_msgs::Marker safety_area_coordinates_marker;
+    2219             : 
+    2220        4689 :       safety_area_coordinates_marker.header.frame_id = _uav_name_ + "/local_origin";
+    2221        4689 :       safety_area_coordinates_marker.type            = visualization_msgs::Marker::TEXT_VIEW_FACING;
+    2222        4689 :       safety_area_coordinates_marker.color.a         = 1;
+    2223        4689 :       safety_area_coordinates_marker.scale.z         = 1.0;
+    2224        4689 :       safety_area_coordinates_marker.color.r         = 0;
+    2225        4689 :       safety_area_coordinates_marker.color.g         = 0;
+    2226        4689 :       safety_area_coordinates_marker.color.b         = 0;
+    2227             : 
+    2228        4689 :       safety_area_coordinates_marker.id = 0;
+    2229             : 
+    2230        4689 :       safety_area_coordinates_marker.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    2231             : 
+    2232             :       /* adding safety area points //{ */
+    2233             : 
+    2234             :       // bottom border
+    2235       23445 :       for (size_t i = 0; i < border_points_bot_transformed.size(); i++) {
+    2236             : 
+    2237       18756 :         safety_area_marker.points.push_back(border_points_bot_transformed[i]);
+    2238       18756 :         safety_area_marker.points.push_back(border_points_bot_transformed[(i + 1) % border_points_bot_transformed.size()]);
+    2239             : 
+    2240       37512 :         std::stringstream ss;
+    2241             : 
+    2242       18756 :         if (_safety_area_horizontal_frame_ == "latlon_origin") {
+    2243           0 :           ss << "idx: " << i << std::endl
+    2244           0 :              << std::setprecision(6) << std::fixed << "lat: " << border_points_bot_original[i].x << std::endl
+    2245           0 :              << "lon: " << border_points_bot_original[i].y;
+    2246             :         } else {
+    2247       18756 :           ss << "idx: " << i << std::endl
+    2248       18756 :              << std::setprecision(1) << std::fixed << "x: " << border_points_bot_original[i].x << std::endl
+    2249       18756 :              << "y: " << border_points_bot_original[i].y;
+    2250             :         }
+    2251             : 
+    2252       18756 :         safety_area_coordinates_marker.color.r = 0;
+    2253       18756 :         safety_area_coordinates_marker.color.g = 0;
+    2254       18756 :         safety_area_coordinates_marker.color.b = 0;
+    2255             : 
+    2256       18756 :         safety_area_coordinates_marker.pose.position = border_points_bot_transformed[i];
+    2257       18756 :         safety_area_coordinates_marker.text          = ss.str();
+    2258       18756 :         safety_area_coordinates_marker.id++;
+    2259             : 
+    2260       18756 :         safety_area_coordinates_marker_array.markers.push_back(safety_area_coordinates_marker);
+    2261             :       }
+    2262             : 
+    2263             :       // top border + top/bot edges
+    2264       23445 :       for (size_t i = 0; i < border_points_top_transformed.size(); i++) {
+    2265             : 
+    2266       18756 :         safety_area_marker.points.push_back(border_points_top_transformed[i]);
+    2267       18756 :         safety_area_marker.points.push_back(border_points_top_transformed[(i + 1) % border_points_top_transformed.size()]);
+    2268             : 
+    2269       18756 :         safety_area_marker.points.push_back(border_points_bot_transformed[i]);
+    2270       18756 :         safety_area_marker.points.push_back(border_points_top_transformed[i]);
+    2271             : 
+    2272       37512 :         std::stringstream ss;
+    2273             : 
+    2274       18756 :         if (_safety_area_horizontal_frame_ == "latlon_origin") {
+    2275           0 :           ss << "idx: " << i << std::endl
+    2276           0 :              << std::setprecision(6) << std::fixed << "lat: " << border_points_bot_original[i].x << std::endl
+    2277           0 :              << "lon: " << border_points_bot_original[i].y;
+    2278             :         } else {
+    2279       18756 :           ss << "idx: " << i << std::endl
+    2280       18756 :              << std::setprecision(1) << std::fixed << "x: " << border_points_bot_original[i].x << std::endl
+    2281       18756 :              << "y: " << border_points_bot_original[i].y;
+    2282             :         }
+    2283             : 
+    2284       18756 :         safety_area_coordinates_marker.color.r = 1;
+    2285       18756 :         safety_area_coordinates_marker.color.g = 1;
+    2286       18756 :         safety_area_coordinates_marker.color.b = 1;
+    2287             : 
+    2288       18756 :         safety_area_coordinates_marker.pose.position = border_points_top_transformed[i];
+    2289       18756 :         safety_area_coordinates_marker.text          = ss.str();
+    2290       18756 :         safety_area_coordinates_marker.id++;
+    2291             : 
+    2292       18756 :         safety_area_coordinates_marker_array.markers.push_back(safety_area_coordinates_marker);
+    2293             :       }
+    2294             : 
+    2295             :       //}
+    2296             : 
+    2297        4689 :       if (tf_success) {
+    2298             : 
+    2299        4689 :         safety_area_marker_array.markers.push_back(safety_area_marker);
+    2300             : 
+    2301        4689 :         ph_safety_area_markers_.publish(safety_area_marker_array);
+    2302             : 
+    2303        4689 :         ph_safety_area_coordinates_markers_.publish(safety_area_coordinates_marker_array);
+    2304             :       }
+    2305             : 
+    2306             :     } else {
+    2307        1211 :       ROS_WARN_ONCE("[ControlManager]: missing TFs, can not publish safety area markers");
+    2308             :     }
+    2309             :   }
+    2310             : 
+    2311             :   // --------------------------------------------------------------
+    2312             :   // |              publish the disturbances markers              |
+    2313             :   // --------------------------------------------------------------
+    2314             : 
+    2315        6341 :   if (last_control_output.diagnostics.disturbance_estimator && got_uav_state_) {
+    2316             : 
+    2317        6510 :     visualization_msgs::MarkerArray msg_out;
+    2318             : 
+    2319        3255 :     double id = 0;
+    2320             : 
+    2321        3255 :     double multiplier = 1.0;
+    2322             : 
+    2323        3255 :     Eigen::Quaterniond quat_eigen = mrs_lib::AttitudeConverter(uav_state.pose.orientation);
+    2324             : 
+    2325        3255 :     Eigen::Vector3d      vec3d;
+    2326        3255 :     geometry_msgs::Point point;
+    2327             : 
+    2328             :     /* world disturbance //{ */
+    2329             :     {
+    2330             : 
+    2331        6510 :       visualization_msgs::Marker marker;
+    2332             : 
+    2333        3255 :       marker.header.frame_id = uav_state.header.frame_id;
+    2334        3255 :       marker.header.stamp    = ros::Time::now();
+    2335        3255 :       marker.ns              = "control_manager";
+    2336        3255 :       marker.id              = id++;
+    2337        3255 :       marker.type            = visualization_msgs::Marker::ARROW;
+    2338        3255 :       marker.action          = visualization_msgs::Marker::ADD;
+    2339             : 
+    2340             :       /* position //{ */
+    2341             : 
+    2342        3255 :       marker.pose.position.x = 0.0;
+    2343        3255 :       marker.pose.position.y = 0.0;
+    2344        3255 :       marker.pose.position.z = 0.0;
+    2345             : 
+    2346             :       //}
+    2347             : 
+    2348             :       /* orientation //{ */
+    2349             : 
+    2350        3255 :       marker.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    2351             : 
+    2352             :       //}
+    2353             : 
+    2354             :       /* origin //{ */
+    2355        3255 :       point.x = uav_x;
+    2356        3255 :       point.y = uav_y;
+    2357        3255 :       point.z = uav_z;
+    2358             : 
+    2359        3255 :       marker.points.push_back(point);
+    2360             : 
+    2361             :       //}
+    2362             : 
+    2363             :       /* tip //{ */
+    2364             : 
+    2365        3255 :       point.x = uav_x + multiplier * last_control_output.diagnostics.disturbance_wx_w;
+    2366        3255 :       point.y = uav_y + multiplier * last_control_output.diagnostics.disturbance_wy_w;
+    2367        3255 :       point.z = uav_z;
+    2368             : 
+    2369        3255 :       marker.points.push_back(point);
+    2370             : 
+    2371             :       //}
+    2372             : 
+    2373        3255 :       marker.scale.x = 0.05;
+    2374        3255 :       marker.scale.y = 0.05;
+    2375        3255 :       marker.scale.z = 0.05;
+    2376             : 
+    2377        3255 :       marker.color.a = 0.5;
+    2378        3255 :       marker.color.r = 1.0;
+    2379        3255 :       marker.color.g = 0.0;
+    2380        3255 :       marker.color.b = 0.0;
+    2381             : 
+    2382        3255 :       marker.mesh_resource = "package://pr2_description/meshes/base_v0/base.dae";
+    2383             : 
+    2384        3255 :       msg_out.markers.push_back(marker);
+    2385             :     }
+    2386             : 
+    2387             :     //}
+    2388             : 
+    2389             :     /* body disturbance //{ */
+    2390             :     {
+    2391             : 
+    2392        6510 :       visualization_msgs::Marker marker;
+    2393             : 
+    2394        3255 :       marker.header.frame_id = uav_state.header.frame_id;
+    2395        3255 :       marker.header.stamp    = ros::Time::now();
+    2396        3255 :       marker.ns              = "control_manager";
+    2397        3255 :       marker.id              = id++;
+    2398        3255 :       marker.type            = visualization_msgs::Marker::ARROW;
+    2399        3255 :       marker.action          = visualization_msgs::Marker::ADD;
+    2400             : 
+    2401             :       /* position //{ */
+    2402             : 
+    2403        3255 :       marker.pose.position.x = 0.0;
+    2404        3255 :       marker.pose.position.y = 0.0;
+    2405        3255 :       marker.pose.position.z = 0.0;
+    2406             : 
+    2407             :       //}
+    2408             : 
+    2409             :       /* orientation //{ */
+    2410             : 
+    2411        3255 :       marker.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    2412             : 
+    2413             :       //}
+    2414             : 
+    2415             :       /* origin //{ */
+    2416             : 
+    2417        3255 :       point.x = uav_x;
+    2418        3255 :       point.y = uav_y;
+    2419        3255 :       point.z = uav_z;
+    2420             : 
+    2421        3255 :       marker.points.push_back(point);
+    2422             : 
+    2423             :       //}
+    2424             : 
+    2425             :       /* tip //{ */
+    2426             : 
+    2427        3255 :       vec3d << multiplier * last_control_output.diagnostics.disturbance_bx_b, multiplier * last_control_output.diagnostics.disturbance_by_b, 0;
+    2428        3255 :       vec3d = quat_eigen * vec3d;
+    2429             : 
+    2430        3255 :       point.x = uav_x + vec3d[0];
+    2431        3255 :       point.y = uav_y + vec3d[1];
+    2432        3255 :       point.z = uav_z + vec3d[2];
+    2433             : 
+    2434        3255 :       marker.points.push_back(point);
+    2435             : 
+    2436             :       //}
+    2437             : 
+    2438        3255 :       marker.scale.x = 0.05;
+    2439        3255 :       marker.scale.y = 0.05;
+    2440        3255 :       marker.scale.z = 0.05;
+    2441             : 
+    2442        3255 :       marker.color.a = 0.5;
+    2443        3255 :       marker.color.r = 0.0;
+    2444        3255 :       marker.color.g = 1.0;
+    2445        3255 :       marker.color.b = 0.0;
+    2446             : 
+    2447        3255 :       marker.mesh_resource = "package://pr2_description/meshes/base_v0/base.dae";
+    2448             : 
+    2449        3255 :       msg_out.markers.push_back(marker);
+    2450             :     }
+    2451             : 
+    2452             :     //}
+    2453             : 
+    2454        3255 :     ph_disturbances_markers_.publish(msg_out);
+    2455             :   }
+    2456             : 
+    2457             :   // --------------------------------------------------------------
+    2458             :   // |               publish the current constraints              |
+    2459             :   // --------------------------------------------------------------
+    2460             : 
+    2461        6341 :   if (got_constraints_) {
+    2462             : 
+    2463        5066 :     auto sanitized_constraints = mrs_lib::get_mutexed(mutex_constraints_, sanitized_constraints_);
+    2464             : 
+    2465        5066 :     mrs_msgs::DynamicsConstraints constraints = sanitized_constraints.constraints;
+    2466             : 
+    2467        5066 :     ph_current_constraints_.publish(constraints);
+    2468             :   }
+    2469             : }
+    2470             : 
+    2471             : //}
+    2472             : 
+    2473             : /* //{ timerSafety() */
+    2474             : 
+    2475      119598 : void ControlManager::timerSafety(const ros::TimerEvent& event) {
+    2476             : 
+    2477      119598 :   mrs_lib::AtomicScopeFlag unset_running(running_safety_timer_);
+    2478             : 
+    2479      119598 :   if (!is_initialized_)
+    2480           0 :     return;
+    2481             : 
+    2482      239196 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerSafety", _safety_timer_rate_, 0.05, event);
+    2483      239196 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::timerSafety", scope_timer_logger_, scope_timer_enabled_);
+    2484             : 
+    2485             :   // copy member variables
+    2486      119598 :   auto last_control_output   = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    2487      119598 :   auto last_tracker_cmd      = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    2488      119598 :   auto [uav_state, uav_yaw]  = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_, uav_yaw_);
+    2489      119598 :   auto active_controller_idx = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    2490      119598 :   auto active_tracker_idx    = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    2491             : 
+    2492      224308 :   if (!got_uav_state_ || (_state_input_ == INPUT_UAV_STATE && _odometry_innovation_check_enabled_ && !sh_odometry_innovation_.hasMsg()) ||
+    2493      104710 :       active_tracker_idx == _null_tracker_idx_) {
+    2494       35840 :     return;
+    2495             :   }
+    2496             : 
+    2497       83758 :   if (odometry_switch_in_progress_) {
+    2498           0 :     ROS_WARN("[ControlManager]: timerSafety tried to run while odometry switch in progress");
+    2499           0 :     return;
+    2500             :   }
+    2501             : 
+    2502             :   // | ------------------------ timeouts ------------------------ |
+    2503             : 
+    2504       83758 :   if (_state_input_ == INPUT_UAV_STATE && sh_uav_state_.hasMsg()) {
+    2505       83758 :     double missing_for = (ros::Time::now() - sh_uav_state_.lastMsgTime()).toSec();
+    2506             : 
+    2507       83758 :     if (missing_for > _uav_state_max_missing_time_) {
+    2508           0 :       timeoutUavState(missing_for);
+    2509             :     }
+    2510             :   }
+    2511             : 
+    2512       83758 :   if (_state_input_ == INPUT_ODOMETRY && sh_odometry_.hasMsg()) {
+    2513           0 :     double missing_for = (ros::Time::now() - sh_odometry_.lastMsgTime()).toSec();
+    2514             : 
+    2515           0 :     if (missing_for > _uav_state_max_missing_time_) {
+    2516           0 :       timeoutUavState(missing_for);
+    2517             :     }
+    2518             :   }
+    2519             : 
+    2520             :   // | -------------- eland and failsafe thresholds ------------- |
+    2521             : 
+    2522       83758 :   std::map<std::string, ControllerParams>::iterator it;
+    2523       83758 :   it = controllers_.find(_controller_names_[active_controller_idx]);
+    2524             : 
+    2525       83758 :   _eland_threshold_               = it->second.eland_threshold;
+    2526       83758 :   _failsafe_threshold_            = it->second.failsafe_threshold;
+    2527       83758 :   _odometry_innovation_threshold_ = it->second.odometry_innovation_threshold;
+    2528             : 
+    2529             :   // | --------- calculate control errors and tilt angle -------- |
+    2530             : 
+    2531             :   // This means that the timerFailsafe only does its work when Controllers and Trackers produce valid output.
+    2532             :   // Cases when the commands are not valid should be handle in updateControllers() and updateTrackers() methods.
+    2533       83758 :   if (!last_tracker_cmd || !last_control_output.control_output) {
+    2534          90 :     return;
+    2535             :   }
+    2536             : 
+    2537             :   {
+    2538       83668 :     std::scoped_lock lock(mutex_attitude_error_);
+    2539             : 
+    2540       83668 :     tilt_error_ = 0;
+    2541       83668 :     yaw_error_  = 0;
+    2542             :   }
+    2543             : 
+    2544             :   {
+    2545             :     // TODO this whole scope is very clumsy
+    2546             : 
+    2547       83668 :     position_error_ = {};
+    2548             : 
+    2549       83668 :     if (last_tracker_cmd->use_position_horizontal && !std::holds_alternative<mrs_msgs::HwApiPositionCmd>(last_control_output.control_output.value())) {
+    2550             : 
+    2551       82692 :       std::scoped_lock lock(mutex_position_error_);
+    2552             : 
+    2553       82693 :       if (!position_error_) {
+    2554       82679 :         position_error_ = Eigen::Vector3d::Zero(3);
+    2555             :       }
+    2556             : 
+    2557       82693 :       position_error_.value()[0] = last_tracker_cmd->position.x - uav_state.pose.position.x;
+    2558       82693 :       position_error_.value()[1] = last_tracker_cmd->position.y - uav_state.pose.position.y;
+    2559             :     }
+    2560             : 
+    2561       83668 :     if (last_tracker_cmd->use_position_vertical && !std::holds_alternative<mrs_msgs::HwApiPositionCmd>(last_control_output.control_output.value())) {
+    2562             : 
+    2563       82693 :       std::scoped_lock lock(mutex_position_error_);
+    2564             : 
+    2565       82693 :       if (!position_error_) {
+    2566           1 :         position_error_ = Eigen::Vector3d::Zero(3);
+    2567             :       }
+    2568             : 
+    2569       82693 :       position_error_.value()[2] = last_tracker_cmd->position.z - uav_state.pose.position.z;
+    2570             :     }
+    2571             :   }
+    2572             : 
+    2573             :   // rotate the drone's z axis
+    2574       83668 :   tf2::Transform uav_state_transform = mrs_lib::AttitudeConverter(uav_state.pose.orientation);
+    2575       83668 :   tf2::Vector3   uav_z_in_world      = uav_state_transform * tf2::Vector3(0, 0, 1);
+    2576             : 
+    2577             :   // calculate the angle between the drone's z axis and the world's z axis
+    2578       83668 :   double tilt_angle = acos(uav_z_in_world.dot(tf2::Vector3(0, 0, 1)));
+    2579             : 
+    2580             :   // | ------------ calculate the tilt and yaw error ------------ |
+    2581             : 
+    2582             :   // | --------------------- the tilt error --------------------- |
+    2583             : 
+    2584       83668 :   if (last_control_output.desired_orientation) {
+    2585             : 
+    2586             :     // calculate the desired drone's z axis in the world frame
+    2587       67008 :     tf2::Transform attitude_cmd_transform = mrs_lib::AttitudeConverter(last_control_output.desired_orientation.value());
+    2588       67008 :     tf2::Vector3   uav_z_in_world_desired = attitude_cmd_transform * tf2::Vector3(0, 0, 1);
+    2589             : 
+    2590             :     {
+    2591       67008 :       std::scoped_lock lock(mutex_attitude_error_);
+    2592             : 
+    2593             :       // calculate the angle between the drone's z axis and the world's z axis
+    2594       67008 :       tilt_error_ = acos(uav_z_in_world.dot(uav_z_in_world_desired));
+    2595             : 
+    2596             :       // calculate the yaw error
+    2597       67008 :       double cmd_yaw = mrs_lib::AttitudeConverter(last_control_output.desired_orientation.value()).getYaw();
+    2598       67008 :       yaw_error_     = fabs(radians::diff(cmd_yaw, uav_yaw));
+    2599             :     }
+    2600             :   }
+    2601             : 
+    2602       83668 :   auto position_error          = mrs_lib::get_mutexed(mutex_position_error_, position_error_);
+    2603       83668 :   auto [tilt_error, yaw_error] = mrs_lib::get_mutexed(mutex_attitude_error_, tilt_error_, yaw_error_);
+    2604             : 
+    2605             :   // --------------------------------------------------------------
+    2606             :   // |   activate the failsafe controller in case of large error  |
+    2607             :   // --------------------------------------------------------------
+    2608             : 
+    2609       83668 :   if (position_error) {
+    2610             : 
+    2611       82693 :     if (position_error->norm() > _failsafe_threshold_ && !failsafe_triggered_) {
+    2612             : 
+    2613           1 :       auto controller_tracker_switch_time = mrs_lib::get_mutexed(mutex_controller_tracker_switch_time_, controller_tracker_switch_time_);
+    2614             : 
+    2615           1 :       if ((ros::Time::now() - controller_tracker_switch_time).toSec() > 1.0) {
+    2616             : 
+    2617           1 :         if (!failsafe_triggered_) {
+    2618             : 
+    2619           1 :           ROS_ERROR("[ControlManager]: activating failsafe land: control_error=%.2f/%.2f m (x: %.2f, y: %.2f, z: %.2f)", position_error->norm(),
+    2620             :                     _failsafe_threshold_, position_error.value()[0], position_error.value()[1], position_error.value()[2]);
+    2621             : 
+    2622           1 :           failsafe();
+    2623             :         }
+    2624             :       }
+    2625             :     }
+    2626             :   }
+    2627             : 
+    2628             :   // --------------------------------------------------------------
+    2629             :   // |     activate emergency land in case of large innovation    |
+    2630             :   // --------------------------------------------------------------
+    2631             : 
+    2632       83668 :   if (_odometry_innovation_check_enabled_) {
+    2633             :     {
+    2634       83668 :       auto [x, y, z] = mrs_lib::getPosition(sh_odometry_innovation_.getMsg());
+    2635             : 
+    2636       83667 :       double heading = 0;
+    2637             :       try {
+    2638       83667 :         heading = mrs_lib::getHeading(sh_odometry_innovation_.getMsg());
+    2639             :       }
+    2640           0 :       catch (mrs_lib::AttitudeConverter::GetHeadingException& e) {
+    2641           0 :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: exception caught: '%s'", e.what());
+    2642             :       }
+    2643             : 
+    2644       83667 :       double last_innovation = mrs_lib::geometry::dist(vec3_t(x, y, z), vec3_t(0, 0, 0));
+    2645             : 
+    2646       83668 :       if (last_innovation > _odometry_innovation_threshold_ || radians::diff(heading, 0) > M_PI_2) {
+    2647             : 
+    2648          69 :         auto controller_tracker_switch_time = mrs_lib::get_mutexed(mutex_controller_tracker_switch_time_, controller_tracker_switch_time_);
+    2649             : 
+    2650          69 :         if ((ros::Time::now() - controller_tracker_switch_time).toSec() > 1.0) {
+    2651             : 
+    2652          51 :           if (!failsafe_triggered_ && !eland_triggered_) {
+    2653             : 
+    2654           1 :             ROS_ERROR("[ControlManager]: activating emergency land: odometry innovation too large: %.2f/%.2f (x: %.2f, y: %.2f, z: %.2f, heading: %.2f)",
+    2655             :                       last_innovation, _odometry_innovation_threshold_, x, y, z, heading);
+    2656             : 
+    2657           1 :             eland();
+    2658             :           }
+    2659             :         }
+    2660             :       }
+    2661             :     }
+    2662             :   }
+    2663             : 
+    2664             :   // --------------------------------------------------------------
+    2665             :   // |   activate emergency land in case of medium control error  |
+    2666             :   // --------------------------------------------------------------
+    2667             : 
+    2668             :   // | ------------------- tilt control error ------------------- |
+    2669             : 
+    2670       83666 :   if (_tilt_limit_eland_enabled_ && tilt_angle > _tilt_limit_eland_) {
+    2671             : 
+    2672           0 :     auto controller_tracker_switch_time = mrs_lib::get_mutexed(mutex_controller_tracker_switch_time_, controller_tracker_switch_time_);
+    2673             : 
+    2674           0 :     if ((ros::Time::now() - controller_tracker_switch_time).toSec() > 1.0) {
+    2675             : 
+    2676           0 :       if (!failsafe_triggered_ && !eland_triggered_) {
+    2677             : 
+    2678           0 :         ROS_ERROR("[ControlManager]: activating emergency land: tilt angle too large (%.2f/%.2f deg)", (180.0 / M_PI) * tilt_angle,
+    2679             :                   (180.0 / M_PI) * _tilt_limit_eland_);
+    2680             : 
+    2681           0 :         eland();
+    2682             :       }
+    2683             :     }
+    2684             :   }
+    2685             : 
+    2686             :   // | ----------------- position control error ----------------- |
+    2687             : 
+    2688       83666 :   if (position_error) {
+    2689             : 
+    2690       82693 :     double error_size = position_error->norm();
+    2691             : 
+    2692       82693 :     if (error_size > _eland_threshold_ / 2.0) {
+    2693             : 
+    2694         244 :       auto controller_tracker_switch_time = mrs_lib::get_mutexed(mutex_controller_tracker_switch_time_, controller_tracker_switch_time_);
+    2695             : 
+    2696         244 :       if ((ros::Time::now() - controller_tracker_switch_time).toSec() > 1.0) {
+    2697             : 
+    2698         230 :         if (!failsafe_triggered_ && !eland_triggered_) {
+    2699             : 
+    2700         188 :           ROS_DEBUG_THROTTLE(1.0, "[ControlManager]: releasing payload due to large position error");
+    2701             : 
+    2702         188 :           ungripSrv();
+    2703             :         }
+    2704             :       }
+    2705             :     }
+    2706             : 
+    2707       82693 :     if (error_size > _eland_threshold_) {
+    2708             : 
+    2709          52 :       auto controller_tracker_switch_time = mrs_lib::get_mutexed(mutex_controller_tracker_switch_time_, controller_tracker_switch_time_);
+    2710             : 
+    2711          52 :       if ((ros::Time::now() - controller_tracker_switch_time).toSec() > 1.0) {
+    2712             : 
+    2713          43 :         if (!failsafe_triggered_ && !eland_triggered_) {
+    2714             : 
+    2715           1 :           ROS_ERROR("[ControlManager]: activating emergency land: position error %.2f/%.2f m (error x: %.2f, y: %.2f, z: %.2f)", error_size, _eland_threshold_,
+    2716             :                     position_error.value()[0], position_error.value()[1], position_error.value()[2]);
+    2717             : 
+    2718           1 :           eland();
+    2719             :         }
+    2720             :       }
+    2721             :     }
+    2722             :   }
+    2723             : 
+    2724             :   // | -------------------- yaw control error ------------------- |
+    2725             :   // do not have to mutex the yaw_error_ here since I am filling it in this function
+    2726             : 
+    2727       83667 :   if (_yaw_error_eland_enabled_ && yaw_error) {
+    2728             : 
+    2729       83667 :     if (yaw_error.value() > (_yaw_error_eland_ / 2.0)) {
+    2730             : 
+    2731         123 :       auto controller_tracker_switch_time = mrs_lib::get_mutexed(mutex_controller_tracker_switch_time_, controller_tracker_switch_time_);
+    2732             : 
+    2733         123 :       if ((ros::Time::now() - controller_tracker_switch_time).toSec() > 1.0) {
+    2734             : 
+    2735         123 :         if (!failsafe_triggered_ && !eland_triggered_) {
+    2736             : 
+    2737         123 :           ROS_DEBUG_THROTTLE(1.0, "[ControlManager]: releasing payload: yaw error %.2f/%.2f deg", (180.0 / M_PI) * yaw_error.value(),
+    2738             :                              (180.0 / M_PI) * _yaw_error_eland_ / 2.0);
+    2739             : 
+    2740         123 :           ungripSrv();
+    2741             :         }
+    2742             :       }
+    2743             :     }
+    2744             : 
+    2745       83666 :     if (yaw_error.value() > _yaw_error_eland_) {
+    2746             : 
+    2747           0 :       auto controller_tracker_switch_time = mrs_lib::get_mutexed(mutex_controller_tracker_switch_time_, controller_tracker_switch_time_);
+    2748             : 
+    2749           0 :       if ((ros::Time::now() - controller_tracker_switch_time).toSec() > 1.0) {
+    2750             : 
+    2751           0 :         if (!failsafe_triggered_ && !eland_triggered_) {
+    2752             : 
+    2753           0 :           ROS_ERROR("[ControlManager]: activating emergency land: yaw error %.2f/%.2f deg", (180.0 / M_PI) * yaw_error.value(),
+    2754             :                     (180.0 / M_PI) * _yaw_error_eland_);
+    2755             : 
+    2756           0 :           eland();
+    2757             :         }
+    2758             :       }
+    2759             :     }
+    2760             :   }
+    2761             : 
+    2762             :   // --------------------------------------------------------------
+    2763             :   // |      disarm the drone when the tilt exceeds the limit      |
+    2764             :   // --------------------------------------------------------------
+    2765       83667 :   if (_tilt_limit_disarm_enabled_ && tilt_angle > _tilt_limit_disarm_) {
+    2766             : 
+    2767           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_);
+    2768             : 
+    2769           0 :     arming(false);
+    2770             :   }
+    2771             : 
+    2772             :   // --------------------------------------------------------------
+    2773             :   // |     disarm the drone when tilt error exceeds the limit     |
+    2774             :   // --------------------------------------------------------------
+    2775             : 
+    2776       83667 :   if (_tilt_error_disarm_enabled_ && tilt_error) {
+    2777             : 
+    2778       83666 :     auto controller_tracker_switch_time = mrs_lib::get_mutexed(mutex_controller_tracker_switch_time_, controller_tracker_switch_time_);
+    2779             : 
+    2780             :     // the time from the last controller/tracker switch
+    2781             :     // fyi: we should not
+    2782       83668 :     double time_from_ctrl_tracker_switch = (ros::Time::now() - controller_tracker_switch_time).toSec();
+    2783             : 
+    2784             :     // if the tile error is over the threshold
+    2785             :     // && we are not ramping up during takeoff
+    2786       83667 :     if (fabs(tilt_error.value()) > _tilt_error_disarm_threshold_ && !last_control_output.diagnostics.ramping_up) {
+    2787             : 
+    2788             :       // only account for the error if some time passed from the last tracker/controller switch
+    2789           0 :       if (time_from_ctrl_tracker_switch > 1.0) {
+    2790             : 
+    2791             :         // if the threshold was not exceeded before
+    2792           0 :         if (!tilt_error_disarm_over_thr_) {
+    2793             : 
+    2794           0 :           tilt_error_disarm_over_thr_ = true;
+    2795           0 :           tilt_error_disarm_time_     = ros::Time::now();
+    2796             : 
+    2797           0 :           ROS_WARN("[ControlManager]: tilt error exceeded threshold (%.2f/%.2f deg)", (180.0 / M_PI) * tilt_error.value(),
+    2798             :                    (180.0 / M_PI) * _tilt_error_disarm_threshold_);
+    2799             : 
+    2800             :           // if it was exceeded before, just keep it
+    2801             :         } else {
+    2802             : 
+    2803           0 :           ROS_WARN_THROTTLE(0.1, "[ControlManager]: tilt error (%.2f deg) over threshold for %.2f s", (180.0 / M_PI) * tilt_error.value(),
+    2804             :                             (ros::Time::now() - tilt_error_disarm_time_).toSec());
+    2805             :         }
+    2806             : 
+    2807             :         // if the tile error is bad, but the controller just switched,
+    2808             :         // don't think its bad anymore
+    2809             :       } else {
+    2810             : 
+    2811           0 :         tilt_error_disarm_over_thr_ = false;
+    2812           0 :         tilt_error_disarm_time_     = ros::Time::now();
+    2813             :       }
+    2814             : 
+    2815             :       // if the tilt error is fine
+    2816             :     } else {
+    2817             : 
+    2818             :       // make it fine
+    2819       83667 :       tilt_error_disarm_over_thr_ = false;
+    2820       83667 :       tilt_error_disarm_time_     = ros::Time::now();
+    2821             :     }
+    2822             : 
+    2823             :     // calculate the time over the threshold
+    2824       83667 :     double tot = (ros::Time::now() - tilt_error_disarm_time_).toSec();
+    2825             : 
+    2826             :     // if the tot exceeds the limit (and if we are actually over the threshold)
+    2827       83668 :     if (tilt_error_disarm_over_thr_ && (tot > _tilt_error_disarm_timeout_)) {
+    2828             : 
+    2829           0 :       bool is_flying = offboard_mode_ && active_tracker_idx != _null_tracker_idx_;
+    2830             : 
+    2831             :       // only when flying and not in failsafe
+    2832           0 :       if (is_flying) {
+    2833             : 
+    2834           0 :         ROS_ERROR("[ControlManager]: tilt error too large for %.2f s, disarming", tot);
+    2835             : 
+    2836           0 :         toggleOutput(false);
+    2837           0 :         arming(false);
+    2838             :       }
+    2839             :     }
+    2840             :   }
+    2841             : 
+    2842             :   // | --------- dropping out of OFFBOARD in mid flight --------- |
+    2843             : 
+    2844             :   // if we are not in offboard and the drone is in mid air (NullTracker is not active)
+    2845       83670 :   if (offboard_mode_was_true_ && !offboard_mode_ && active_tracker_idx != _null_tracker_idx_) {
+    2846             : 
+    2847           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: we fell out of OFFBOARD in mid air, disabling output");
+    2848             : 
+    2849           0 :     toggleOutput(false);
+    2850             :   }
+    2851             : }  // namespace control_manager
+    2852             : 
+    2853             : //}
+    2854             : 
+    2855             : /* //{ timerEland() */
+    2856             : 
+    2857         235 : void ControlManager::timerEland(const ros::TimerEvent& event) {
+    2858             : 
+    2859         235 :   if (!is_initialized_)
+    2860           0 :     return;
+    2861             : 
+    2862         470 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerEland", _elanding_timer_rate_, 0.01, event);
+    2863         470 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::timerEland", scope_timer_logger_, scope_timer_enabled_);
+    2864             : 
+    2865             :   // copy member variables
+    2866         235 :   auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    2867             : 
+    2868         235 :   if (!last_control_output.control_output) {
+    2869           0 :     return;
+    2870             :   }
+    2871             : 
+    2872         235 :   auto throttle = extractThrottle(last_control_output);
+    2873             : 
+    2874         235 :   if (!throttle) {
+    2875           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: TODO: implement landing detection mechanism for the current control modality");
+    2876           0 :     return;
+    2877             :   }
+    2878             : 
+    2879         235 :   if (current_state_landing_ == IDLE_STATE) {
+    2880             : 
+    2881           0 :     return;
+    2882             : 
+    2883         235 :   } else if (current_state_landing_ == LANDING_STATE) {
+    2884             : 
+    2885             :     // --------------------------------------------------------------
+    2886             :     // |                            TODO                            |
+    2887             :     // This section needs work. The throttle landing detection      |
+    2888             :     // mechanism should be extracted and other mechanisms, such     |
+    2889             :     // as velocity-based detection should be used for high          |
+    2890             :     // modalities                                                   |
+    2891             :     // --------------------------------------------------------------
+    2892             : 
+    2893         235 :     if (!last_control_output.control_output) {
+    2894           0 :       ROS_WARN_THROTTLE(1.0, "[ControlManager]: timerEland: last_control_output has not been initialized, returning");
+    2895           0 :       ROS_WARN_THROTTLE(1.0, "[ControlManager]: tip: the RC eland is probably triggered");
+    2896           0 :       return;
+    2897             :     }
+    2898             : 
+    2899             :     // recalculate the mass based on the throttle
+    2900         235 :     throttle_mass_estimate_ = mrs_lib::quadratic_throttle_model::throttleToForce(common_handlers_->throttle_model, throttle.value()) / common_handlers_->g;
+    2901         235 :     ROS_INFO_THROTTLE(1.0, "[ControlManager]: landing: initial mass: %.2f throttle_mass_estimate: %.2f", landing_uav_mass_, throttle_mass_estimate_);
+    2902             : 
+    2903             :     // condition for automatic motor turn off
+    2904         235 :     if (((throttle_mass_estimate_ < _elanding_cutoff_mass_factor_ * landing_uav_mass_) || throttle < 0.01)) {
+    2905          66 :       if (!throttle_under_threshold_) {
+    2906             : 
+    2907           3 :         throttle_mass_estimate_first_time_ = ros::Time::now();
+    2908           3 :         throttle_under_threshold_          = true;
+    2909             :       }
+    2910             : 
+    2911          66 :       ROS_INFO_THROTTLE(0.1, "[ControlManager]: throttle is under cutoff factor for %.2f s", (ros::Time::now() - throttle_mass_estimate_first_time_).toSec());
+    2912             : 
+    2913             :     } else {
+    2914         169 :       throttle_mass_estimate_first_time_ = ros::Time::now();
+    2915         169 :       throttle_under_threshold_          = false;
+    2916             :     }
+    2917             : 
+    2918         235 :     if (throttle_under_threshold_ && ((ros::Time::now() - throttle_mass_estimate_first_time_).toSec() > _elanding_cutoff_timeout_)) {
+    2919             :       // enable callbacks? ... NO
+    2920             : 
+    2921           3 :       ROS_INFO("[ControlManager]: reached cutoff throttle, disabling output");
+    2922           3 :       toggleOutput(false);
+    2923             : 
+    2924             :       // disarm the drone
+    2925           3 :       if (_eland_disarm_enabled_) {
+    2926             : 
+    2927           3 :         ROS_INFO("[ControlManager]: calling for disarm");
+    2928           3 :         arming(false);
+    2929             :       }
+    2930             : 
+    2931           3 :       shutdown();
+    2932             : 
+    2933           3 :       changeLandingState(IDLE_STATE);
+    2934             : 
+    2935           3 :       ROS_WARN("[ControlManager]: emergency landing finished");
+    2936             : 
+    2937           3 :       ROS_DEBUG("[ControlManager]: stopping eland timer");
+    2938           3 :       timer_eland_.stop();
+    2939           3 :       ROS_DEBUG("[ControlManager]: eland timer stopped");
+    2940             : 
+    2941             :       // we should NOT set eland_triggered_=true
+    2942             :     }
+    2943             :   }
+    2944             : }
+    2945             : 
+    2946             : //}
+    2947             : 
+    2948             : /* //{ timerFailsafe() */
+    2949             : 
+    2950        6970 : void ControlManager::timerFailsafe(const ros::TimerEvent& event) {
+    2951             : 
+    2952        6970 :   if (!is_initialized_) {
+    2953           0 :     return;
+    2954             :   }
+    2955             : 
+    2956        6970 :   ROS_INFO_ONCE("[ControlManager]: timerFailsafe() spinning");
+    2957             : 
+    2958       13940 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerFailsafe", _failsafe_timer_rate_, 0.01, event);
+    2959       13940 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::timerFailsafe", scope_timer_logger_, scope_timer_enabled_);
+    2960             : 
+    2961             :   // copy member variables
+    2962        6970 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    2963             : 
+    2964        6970 :   updateControllers(uav_state);
+    2965             : 
+    2966        6970 :   publish();
+    2967             : 
+    2968        6970 :   auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    2969             : 
+    2970        6970 :   if (!last_control_output.control_output) {
+    2971           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: timerFailsafe: the control output produced by the failsafe controller is empty!");
+    2972           0 :     return;
+    2973             :   }
+    2974             : 
+    2975        6970 :   auto throttle = extractThrottle(last_control_output);
+    2976             : 
+    2977        6970 :   if (!throttle) {
+    2978           0 :     ROS_DEBUG_THROTTLE(1.0, "[ControlManager]: FailsafeTimer: could not extract throttle out of the last control output");
+    2979           0 :     return;
+    2980             :   }
+    2981             : 
+    2982             :   // --------------------------------------------------------------
+    2983             :   // |                            TODO                            |
+    2984             :   // This section needs work. The throttle landing detection      |
+    2985             :   // mechanism should be extracted and other mechanisms, such     |
+    2986             :   // as velocity-based detection should be used for high          |
+    2987             :   // modalities                                                   |
+    2988             :   // --------------------------------------------------------------
+    2989             : 
+    2990        6970 :   double throttle_mass_estimate_ = mrs_lib::quadratic_throttle_model::throttleToForce(common_handlers_->throttle_model, throttle.value()) / common_handlers_->g;
+    2991        6970 :   ROS_INFO_THROTTLE(1.0, "[ControlManager]: failsafe: initial mass: %.2f throttle_mass_estimate: %.2f", landing_uav_mass_, throttle_mass_estimate_);
+    2992             : 
+    2993             :   // condition for automatic motor turn off
+    2994        6970 :   if (((throttle_mass_estimate_ < _elanding_cutoff_mass_factor_ * landing_uav_mass_))) {
+    2995             : 
+    2996        1010 :     if (!throttle_under_threshold_) {
+    2997             : 
+    2998           5 :       throttle_mass_estimate_first_time_ = ros::Time::now();
+    2999           5 :       throttle_under_threshold_          = true;
+    3000             :     }
+    3001             : 
+    3002        1010 :     ROS_INFO_THROTTLE(0.1, "[ControlManager]: throttle is under cutoff factor for %.2f s", (ros::Time::now() - throttle_mass_estimate_first_time_).toSec());
+    3003             : 
+    3004             :   } else {
+    3005             : 
+    3006        5960 :     throttle_mass_estimate_first_time_ = ros::Time::now();
+    3007        5960 :     throttle_under_threshold_          = false;
+    3008             :   }
+    3009             : 
+    3010             :   // condition for automatic motor turn off
+    3011        6970 :   if (throttle_under_threshold_ && ((ros::Time::now() - throttle_mass_estimate_first_time_).toSec() > _elanding_cutoff_timeout_)) {
+    3012             : 
+    3013           5 :     ROS_INFO_THROTTLE(1.0, "[ControlManager]: detecting zero throttle, disarming");
+    3014             : 
+    3015           5 :     arming(false);
+    3016             :   }
+    3017             : }
+    3018             : 
+    3019             : //}
+    3020             : 
+    3021             : /* //{ timerJoystick() */
+    3022             : 
+    3023       23970 : void ControlManager::timerJoystick(const ros::TimerEvent& event) {
+    3024             : 
+    3025       23970 :   if (!is_initialized_) {
+    3026           0 :     return;
+    3027             :   }
+    3028             : 
+    3029       71910 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerJoystick", _status_timer_rate_, 0.05, event);
+    3030       71910 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::timerJoystick", scope_timer_logger_, scope_timer_enabled_);
+    3031             : 
+    3032       47940 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    3033             : 
+    3034             :   // if start was pressed and held for > 3.0 s
+    3035       23970 :   if (joystick_start_pressed_ && joystick_start_press_time_ != ros::Time(0) && (ros::Time::now() - joystick_start_press_time_).toSec() > 3.0) {
+    3036             : 
+    3037           0 :     joystick_start_press_time_ = ros::Time(0);
+    3038             : 
+    3039           0 :     ROS_INFO("[ControlManager]: transitioning to joystick control: activating '%s' and '%s'", _joystick_tracker_name_.c_str(),
+    3040             :              _joystick_controller_name_.c_str());
+    3041             : 
+    3042           0 :     joystick_start_pressed_ = false;
+    3043             : 
+    3044           0 :     switchTracker(_joystick_tracker_name_);
+    3045           0 :     switchController(_joystick_controller_name_);
+    3046             :   }
+    3047             : 
+    3048             :   // if RT+LT were pressed and held for > 0.1 s
+    3049       23970 :   if (joystick_failsafe_pressed_ && joystick_failsafe_press_time_ != ros::Time(0) && (ros::Time::now() - joystick_failsafe_press_time_).toSec() > 0.1) {
+    3050             : 
+    3051           0 :     joystick_failsafe_press_time_ = ros::Time(0);
+    3052             : 
+    3053           0 :     ROS_INFO("[ControlManager]: activating failsafe by joystick");
+    3054             : 
+    3055           0 :     joystick_failsafe_pressed_ = false;
+    3056             : 
+    3057           0 :     failsafe();
+    3058             :   }
+    3059             : 
+    3060             :   // if joypads were pressed and held for > 0.1 s
+    3061       23970 :   if (joystick_eland_pressed_ && joystick_eland_press_time_ != ros::Time(0) && (ros::Time::now() - joystick_eland_press_time_).toSec() > 0.1) {
+    3062             : 
+    3063           0 :     joystick_eland_press_time_ = ros::Time(0);
+    3064             : 
+    3065           0 :     ROS_INFO("[ControlManager]: activating eland by joystick");
+    3066             : 
+    3067           0 :     joystick_failsafe_pressed_ = false;
+    3068             : 
+    3069           0 :     eland();
+    3070             :   }
+    3071             : 
+    3072             :   // if back was pressed and held for > 0.1 s
+    3073       23970 :   if (joystick_back_pressed_ && joystick_back_press_time_ != ros::Time(0) && (ros::Time::now() - joystick_back_press_time_).toSec() > 0.1) {
+    3074             : 
+    3075           0 :     joystick_back_press_time_ = ros::Time(0);
+    3076             : 
+    3077             :     // activate/deactivate the joystick goto functionality
+    3078           0 :     joystick_goto_enabled_ = !joystick_goto_enabled_;
+    3079             : 
+    3080           0 :     ROS_INFO("[ControlManager]: joystick control %s", joystick_goto_enabled_ ? "activated" : "deactivated");
+    3081             :   }
+    3082             : 
+    3083             :   // if the GOTO functionality is enabled...
+    3084       23970 :   if (joystick_goto_enabled_ && sh_joystick_.hasMsg()) {
+    3085             : 
+    3086           0 :     auto joystick_data = sh_joystick_.getMsg();
+    3087             : 
+    3088             :     // create the reference
+    3089             : 
+    3090           0 :     mrs_msgs::Vec4::Request request;
+    3091             : 
+    3092           0 :     if (fabs(joystick_data->axes[_channel_pitch_]) >= 0.05 || fabs(joystick_data->axes[_channel_roll_]) >= 0.05 ||
+    3093           0 :         fabs(joystick_data->axes[_channel_heading_]) >= 0.05 || fabs(joystick_data->axes[_channel_throttle_]) >= 0.05) {
+    3094             : 
+    3095           0 :       if (_joystick_mode_ == 0) {
+    3096             : 
+    3097           0 :         request.goal[REF_X]       = _channel_mult_pitch_ * joystick_data->axes[_channel_pitch_] * _joystick_carrot_distance_;
+    3098           0 :         request.goal[REF_Y]       = _channel_mult_roll_ * joystick_data->axes[_channel_roll_] * _joystick_carrot_distance_;
+    3099           0 :         request.goal[REF_Z]       = _channel_mult_throttle_ * joystick_data->axes[_channel_throttle_];
+    3100           0 :         request.goal[REF_HEADING] = _channel_mult_heading_ * joystick_data->axes[_channel_heading_];
+    3101             : 
+    3102           0 :         mrs_msgs::Vec4::Response response;
+    3103             : 
+    3104           0 :         callbackGotoFcu(request, response);
+    3105             : 
+    3106           0 :       } else if (_joystick_mode_ == 1) {
+    3107             : 
+    3108           0 :         mrs_msgs::TrajectoryReference trajectory;
+    3109             : 
+    3110           0 :         double dt = 0.2;
+    3111             : 
+    3112           0 :         trajectory.fly_now         = true;
+    3113           0 :         trajectory.header.frame_id = "fcu_untilted";
+    3114           0 :         trajectory.use_heading     = true;
+    3115           0 :         trajectory.dt              = dt;
+    3116             : 
+    3117           0 :         mrs_msgs::Reference point;
+    3118           0 :         point.position.x = 0;
+    3119           0 :         point.position.y = 0;
+    3120           0 :         point.position.z = 0;
+    3121           0 :         point.heading    = 0;
+    3122             : 
+    3123           0 :         trajectory.points.push_back(point);
+    3124             : 
+    3125           0 :         double speed = 1.0;
+    3126             : 
+    3127           0 :         for (int i = 0; i < 50; i++) {
+    3128             : 
+    3129           0 :           point.position.x += _channel_mult_pitch_ * joystick_data->axes[_channel_pitch_] * (speed * dt);
+    3130           0 :           point.position.y += _channel_mult_roll_ * joystick_data->axes[_channel_roll_] * (speed * dt);
+    3131           0 :           point.position.z += _channel_mult_throttle_ * joystick_data->axes[_channel_throttle_] * (speed * dt);
+    3132           0 :           point.heading = _channel_mult_heading_ * joystick_data->axes[_channel_heading_];
+    3133             : 
+    3134           0 :           trajectory.points.push_back(point);
+    3135             :         }
+    3136             : 
+    3137           0 :         setTrajectoryReference(trajectory);
+    3138             :       }
+    3139             :     }
+    3140             :   }
+    3141             : 
+    3142       23970 :   if (rc_goto_active_ && last_tracker_cmd && sh_hw_api_rc_.hasMsg()) {
+    3143             : 
+    3144             :     // create the reference
+    3145           0 :     mrs_msgs::VelocityReferenceStampedSrv::Request request;
+    3146             : 
+    3147           0 :     double des_x       = 0;
+    3148           0 :     double des_y       = 0;
+    3149           0 :     double des_z       = 0;
+    3150           0 :     double des_heading = 0;
+    3151             : 
+    3152           0 :     bool nothing_to_do = true;
+    3153             : 
+    3154             :     // copy member variables
+    3155           0 :     mrs_msgs::HwApiRcChannelsConstPtr rc_channels = sh_hw_api_rc_.getMsg();
+    3156             : 
+    3157           0 :     if (rc_channels->channels.size() < 4) {
+    3158             : 
+    3159           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: RC control channel numbers are out of range (the # of channels in rc/in topic is %d)",
+    3160             :                          int(rc_channels->channels.size()));
+    3161           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: tip: this could be caused by the RC failsafe not being configured!");
+    3162             : 
+    3163             :     } else {
+    3164             : 
+    3165           0 :       double tmp_x       = RCChannelToRange(rc_channels->channels[_rc_channel_pitch_], _rc_horizontal_speed_, 0.1);
+    3166           0 :       double tmp_y       = -RCChannelToRange(rc_channels->channels[_rc_channel_roll_], _rc_horizontal_speed_, 0.1);
+    3167           0 :       double tmp_z       = RCChannelToRange(rc_channels->channels[_rc_channel_throttle_], _rc_vertical_speed_, 0.3);
+    3168           0 :       double tmp_heading = -RCChannelToRange(rc_channels->channels[_rc_channel_heading_], _rc_heading_rate_, 0.1);
+    3169             : 
+    3170           0 :       if (abs(tmp_x) > 1e-3) {
+    3171           0 :         des_x         = tmp_x;
+    3172           0 :         nothing_to_do = false;
+    3173             :       }
+    3174             : 
+    3175           0 :       if (abs(tmp_y) > 1e-3) {
+    3176           0 :         des_y         = tmp_y;
+    3177           0 :         nothing_to_do = false;
+    3178             :       }
+    3179             : 
+    3180           0 :       if (abs(tmp_z) > 1e-3) {
+    3181           0 :         des_z         = tmp_z;
+    3182           0 :         nothing_to_do = false;
+    3183             :       }
+    3184             : 
+    3185           0 :       if (abs(tmp_heading) > 1e-3) {
+    3186           0 :         des_heading   = tmp_heading;
+    3187           0 :         nothing_to_do = false;
+    3188             :       }
+    3189             :     }
+    3190             : 
+    3191           0 :     if (!nothing_to_do) {
+    3192             : 
+    3193           0 :       request.reference.header.frame_id = "fcu_untilted";
+    3194             : 
+    3195           0 :       request.reference.reference.use_heading_rate = true;
+    3196             : 
+    3197           0 :       request.reference.reference.velocity.x   = des_x;
+    3198           0 :       request.reference.reference.velocity.y   = des_y;
+    3199           0 :       request.reference.reference.velocity.z   = des_z;
+    3200           0 :       request.reference.reference.heading_rate = des_heading;
+    3201             : 
+    3202           0 :       mrs_msgs::VelocityReferenceStampedSrv::Response response;
+    3203             : 
+    3204             :       // disable callbacks of all trackers
+    3205           0 :       std_srvs::SetBoolRequest req_enable_callbacks;
+    3206             : 
+    3207             :       // enable the callbacks for the active tracker
+    3208           0 :       req_enable_callbacks.data = true;
+    3209             :       {
+    3210           0 :         std::scoped_lock lock(mutex_tracker_list_);
+    3211             : 
+    3212           0 :         tracker_list_[active_tracker_idx_]->enableCallbacks(
+    3213           0 :             std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    3214             :       }
+    3215             : 
+    3216           0 :       callbacks_enabled_ = true;
+    3217             : 
+    3218           0 :       callbackVelocityReferenceService(request, response);
+    3219             : 
+    3220           0 :       callbacks_enabled_ = false;
+    3221             : 
+    3222           0 :       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);
+    3223             : 
+    3224             :       // disable the callbacks back again
+    3225           0 :       req_enable_callbacks.data = false;
+    3226             :       {
+    3227           0 :         std::scoped_lock lock(mutex_tracker_list_);
+    3228             : 
+    3229           0 :         tracker_list_[active_tracker_idx_]->enableCallbacks(
+    3230           0 :             std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    3231             :       }
+    3232             :     }
+    3233             :   }
+    3234             : }
+    3235             : 
+    3236             : //}
+    3237             : 
+    3238             : /* //{ timerBumper() */
+    3239             : 
+    3240           0 : void ControlManager::timerBumper(const ros::TimerEvent& event) {
+    3241             : 
+    3242           0 :   if (!is_initialized_)
+    3243           0 :     return;
+    3244             : 
+    3245           0 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerBumper", _bumper_timer_rate_, 0.05, event);
+    3246           0 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::timerBumper", scope_timer_logger_, scope_timer_enabled_);
+    3247             : 
+    3248           0 :   if (!bumper_enabled_) {
+    3249           0 :     return;
+    3250             :   }
+    3251             : 
+    3252           0 :   if (!isFlyingNormally()) {
+    3253           0 :     return;
+    3254             :   }
+    3255             : 
+    3256           0 :   if (!got_uav_state_) {
+    3257           0 :     return;
+    3258             :   }
+    3259             : 
+    3260           0 :   if ((ros::Time::now() - sh_bumper_.lastMsgTime()).toSec() > 1.0) {
+    3261           0 :     return;
+    3262             :   }
+    3263             : 
+    3264             :   // --------------------------------------------------------------
+    3265             :   // |                      bumper repulsion                      |
+    3266             :   // --------------------------------------------------------------
+    3267             : 
+    3268           0 :   bumperPushFromObstacle();
+    3269             : }
+    3270             : 
+    3271             : //}
+    3272             : 
+    3273             : /* //{ timerPirouette() */
+    3274             : 
+    3275           0 : void ControlManager::timerPirouette(const ros::TimerEvent& event) {
+    3276             : 
+    3277           0 :   if (!is_initialized_)
+    3278           0 :     return;
+    3279             : 
+    3280           0 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerPirouette", _pirouette_timer_rate_, 0.01, event);
+    3281           0 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::timerPirouette", scope_timer_logger_, scope_timer_enabled_);
+    3282             : 
+    3283           0 :   pirouette_iterator_++;
+    3284             : 
+    3285           0 :   double pirouette_duration  = (2 * M_PI) / _pirouette_speed_;
+    3286           0 :   double pirouette_n_steps   = pirouette_duration * _pirouette_timer_rate_;
+    3287           0 :   double pirouette_step_size = (2 * M_PI) / pirouette_n_steps;
+    3288             : 
+    3289           0 :   if (rc_escalating_failsafe_triggered_ || failsafe_triggered_ || eland_triggered_ || (pirouette_iterator_ > pirouette_duration * _pirouette_timer_rate_)) {
+    3290             : 
+    3291           0 :     _pirouette_enabled_ = false;
+    3292           0 :     timer_pirouette_.stop();
+    3293             : 
+    3294           0 :     setCallbacks(true);
+    3295             : 
+    3296           0 :     return;
+    3297             :   }
+    3298             : 
+    3299             :   // set the reference
+    3300           0 :   mrs_msgs::ReferenceStamped reference_request;
+    3301             : 
+    3302           0 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    3303             : 
+    3304           0 :   reference_request.header.frame_id      = "";
+    3305           0 :   reference_request.header.stamp         = ros::Time(0);
+    3306           0 :   reference_request.reference.position.x = last_tracker_cmd->position.x;
+    3307           0 :   reference_request.reference.position.y = last_tracker_cmd->position.y;
+    3308           0 :   reference_request.reference.position.z = last_tracker_cmd->position.z;
+    3309           0 :   reference_request.reference.heading    = pirouette_initial_heading_ + pirouette_iterator_ * pirouette_step_size;
+    3310             : 
+    3311             :   // enable the callbacks for the active tracker
+    3312             :   {
+    3313           0 :     std::scoped_lock lock(mutex_tracker_list_);
+    3314             : 
+    3315           0 :     std_srvs::SetBoolRequest req_enable_callbacks;
+    3316           0 :     req_enable_callbacks.data = true;
+    3317             : 
+    3318           0 :     tracker_list_[active_tracker_idx_]->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    3319             : 
+    3320           0 :     callbacks_enabled_ = true;
+    3321             :   }
+    3322             : 
+    3323           0 :   setReference(reference_request);
+    3324             : 
+    3325             :   {
+    3326           0 :     std::scoped_lock lock(mutex_tracker_list_);
+    3327             : 
+    3328             :     // disable the callbacks for the active tracker
+    3329           0 :     std_srvs::SetBoolRequest req_enable_callbacks;
+    3330           0 :     req_enable_callbacks.data = false;
+    3331             : 
+    3332           0 :     tracker_list_[active_tracker_idx_]->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    3333             : 
+    3334           0 :     callbacks_enabled_ = false;
+    3335             :   }
+    3336             : }
+    3337             : 
+    3338             : //}
+    3339             : 
+    3340             : // --------------------------------------------------------------
+    3341             : // |                           asyncs                           |
+    3342             : // --------------------------------------------------------------
+    3343             : 
+    3344             : /* asyncControl() //{ */
+    3345             : 
+    3346       49992 : void ControlManager::asyncControl(void) {
+    3347             : 
+    3348       49992 :   if (!is_initialized_)
+    3349           0 :     return;
+    3350             : 
+    3351       99984 :   mrs_lib::AtomicScopeFlag unset_running(running_async_control_);
+    3352             : 
+    3353      149976 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("asyncControl");
+    3354      149976 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::asyncControl", scope_timer_logger_, scope_timer_enabled_);
+    3355             : 
+    3356             :   // copy member variables
+    3357       99984 :   auto uav_state           = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    3358       49992 :   auto current_constraints = mrs_lib::get_mutexed(mutex_constraints_, current_constraints_);
+    3359             : 
+    3360       49992 :   if (!failsafe_triggered_) {  // when failsafe is triggered, updateControllers() and publish() is called in timerFailsafe()
+    3361             : 
+    3362             :     // run the safety timer
+    3363             :     // in the case of large control errors, the safety mechanisms will be triggered before the controllers and trackers are updated...
+    3364       43354 :     while (running_safety_timer_) {
+    3365             : 
+    3366         338 :       ROS_DEBUG("[ControlManager]: waiting for safety timer to finish");
+    3367         338 :       ros::Duration wait(0.001);
+    3368         338 :       wait.sleep();
+    3369             : 
+    3370         338 :       if (!running_safety_timer_) {
+    3371         336 :         ROS_DEBUG("[ControlManager]: safety timer finished");
+    3372         336 :         break;
+    3373             :       }
+    3374             :     }
+    3375             : 
+    3376       43352 :     ros::TimerEvent safety_timer_event;
+    3377       43352 :     timerSafety(safety_timer_event);
+    3378             : 
+    3379       43352 :     updateTrackers();
+    3380             : 
+    3381       43352 :     updateControllers(uav_state);
+    3382             : 
+    3383       43352 :     if (got_constraints_) {
+    3384             : 
+    3385             :       // update the constraints to trackers, if need to
+    3386       43027 :       auto enforce = enforceControllersConstraints(current_constraints);
+    3387             : 
+    3388       43027 :       if (enforce && !constraints_being_enforced_) {
+    3389             : 
+    3390          26 :         setConstraintsToTrackers(enforce.value());
+    3391          26 :         mrs_lib::set_mutexed(mutex_constraints_, enforce.value(), sanitized_constraints_);
+    3392             : 
+    3393          26 :         constraints_being_enforced_ = true;
+    3394             : 
+    3395          26 :         auto active_controller_idx = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    3396             : 
+    3397          26 :         ROS_WARN_THROTTLE(1.0, "[ControlManager]: the controller '%s' is enforcing constraints over the ConstraintManager",
+    3398             :                           _controller_names_[active_controller_idx].c_str());
+    3399             : 
+    3400       43001 :       } else if (!enforce && constraints_being_enforced_) {
+    3401             : 
+    3402          25 :         ROS_INFO_THROTTLE(1.0, "[ControlManager]: constraint values returned to original values");
+    3403             : 
+    3404          25 :         constraints_being_enforced_ = false;
+    3405             : 
+    3406          25 :         mrs_lib::set_mutexed(mutex_constraints_, current_constraints, sanitized_constraints_);
+    3407             : 
+    3408          25 :         setConstraintsToTrackers(current_constraints);
+    3409             :       }
+    3410             :     }
+    3411             : 
+    3412       43352 :     publish();
+    3413             :   }
+    3414             : 
+    3415             :   // if odometry switch happened, we finish it here and turn the safety timer back on
+    3416       49992 :   if (odometry_switch_in_progress_) {
+    3417             : 
+    3418           0 :     ROS_DEBUG("[ControlManager]: starting safety timer");
+    3419           0 :     timer_safety_.start();
+    3420           0 :     ROS_DEBUG("[ControlManager]: safety timer started");
+    3421           0 :     odometry_switch_in_progress_ = false;
+    3422             : 
+    3423             :     {
+    3424           0 :       std::scoped_lock lock(mutex_uav_state_);
+    3425             : 
+    3426           0 :       ROS_INFO("[ControlManager]: odometry after switch: x=%.2f, y=%.2f, z=%.2f, heading=%.2f", uav_state.pose.position.x, uav_state.pose.position.y,
+    3427             :                uav_state.pose.position.z, uav_heading_);
+    3428             :     }
+    3429             :   }
+    3430             : }
+    3431             : 
+    3432             : //}
+    3433             : 
+    3434             : // --------------------------------------------------------------
+    3435             : // |                          callbacks                         |
+    3436             : // --------------------------------------------------------------
+    3437             : 
+    3438             : // | --------------------- topic callbacks -------------------- |
+    3439             : 
+    3440             : /* //{ callbackOdometry() */
+    3441             : 
+    3442           0 : void ControlManager::callbackOdometry(const nav_msgs::Odometry::ConstPtr msg) {
+    3443             : 
+    3444           0 :   if (!is_initialized_)
+    3445           0 :     return;
+    3446             : 
+    3447           0 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackOdometry");
+    3448           0 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackOdometry", scope_timer_logger_, scope_timer_enabled_);
+    3449             : 
+    3450           0 :   nav_msgs::OdometryConstPtr odom = msg;
+    3451             : 
+    3452             :   // | ------------------ check for time stamp ------------------ |
+    3453             : 
+    3454             :   {
+    3455           0 :     std::scoped_lock lock(mutex_uav_state_);
+    3456             : 
+    3457           0 :     if (uav_state_.header.stamp == odom->header.stamp) {
+    3458           0 :       return;
+    3459             :     }
+    3460             :   }
+    3461             : 
+    3462             :   // | --------------------- check for nans --------------------- |
+    3463             : 
+    3464           0 :   if (!validateOdometry(*odom, "ControlManager", "odometry")) {
+    3465           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: incoming 'odometry' contains invalid values, throwing it away");
+    3466           0 :     return;
+    3467             :   }
+    3468             : 
+    3469             :   // | ---------------------- frame switch ---------------------- |
+    3470             : 
+    3471             :   /* Odometry frame switch //{ */
+    3472             : 
+    3473             :   // | -- prepare an OdometryConstPtr for trackers & controllers -- |
+    3474             : 
+    3475           0 :   mrs_msgs::UavState uav_state_odom;
+    3476             : 
+    3477           0 :   uav_state_odom.header   = odom->header;
+    3478           0 :   uav_state_odom.pose     = odom->pose.pose;
+    3479           0 :   uav_state_odom.velocity = odom->twist.twist;
+    3480             : 
+    3481             :   // | ----- check for change in odometry frame of reference ---- |
+    3482             : 
+    3483           0 :   if (got_uav_state_) {
+    3484             : 
+    3485           0 :     if (odom->header.frame_id != uav_state_.header.frame_id) {
+    3486             : 
+    3487           0 :       ROS_INFO("[ControlManager]: detecting switch of odometry frame");
+    3488             :       {
+    3489           0 :         std::scoped_lock lock(mutex_uav_state_);
+    3490             : 
+    3491           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,
+    3492             :                  uav_state_.pose.position.z, uav_heading_);
+    3493             :       }
+    3494             : 
+    3495           0 :       odometry_switch_in_progress_ = true;
+    3496             : 
+    3497             :       // we have to stop safety timer, otherwise it will interfere
+    3498           0 :       ROS_DEBUG("[ControlManager]: stopping the safety timer");
+    3499           0 :       timer_safety_.stop();
+    3500           0 :       ROS_DEBUG("[ControlManager]: safety timer stopped");
+    3501             : 
+    3502             :       // wait for the safety timer to stop if its running
+    3503           0 :       while (running_safety_timer_) {
+    3504             : 
+    3505           0 :         ROS_DEBUG("[ControlManager]: waiting for safety timer to finish");
+    3506           0 :         ros::Duration wait(0.001);
+    3507           0 :         wait.sleep();
+    3508             : 
+    3509           0 :         if (!running_safety_timer_) {
+    3510           0 :           ROS_DEBUG("[ControlManager]: safety timer finished");
+    3511           0 :           break;
+    3512             :         }
+    3513             :       }
+    3514             : 
+    3515             :       // we have to also for the oneshot control timer to finish
+    3516           0 :       while (running_async_control_) {
+    3517             : 
+    3518           0 :         ROS_DEBUG("[ControlManager]: waiting for control timer to finish");
+    3519           0 :         ros::Duration wait(0.001);
+    3520           0 :         wait.sleep();
+    3521             : 
+    3522           0 :         if (!running_async_control_) {
+    3523           0 :           ROS_DEBUG("[ControlManager]: control timer finished");
+    3524           0 :           break;
+    3525             :         }
+    3526             :       }
+    3527             : 
+    3528             :       {
+    3529           0 :         std::scoped_lock lock(mutex_controller_list_, mutex_tracker_list_);
+    3530             : 
+    3531           0 :         tracker_list_[active_tracker_idx_]->switchOdometrySource(uav_state_odom);
+    3532           0 :         controller_list_[active_controller_idx_]->switchOdometrySource(uav_state_odom);
+    3533             :       }
+    3534             :     }
+    3535             :   }
+    3536             : 
+    3537             :   //}
+    3538             : 
+    3539             :   // | ----------- copy the odometry to the uav_state ----------- |
+    3540             : 
+    3541             :   {
+    3542           0 :     std::scoped_lock lock(mutex_uav_state_);
+    3543             : 
+    3544           0 :     previous_uav_state_ = uav_state_;
+    3545             : 
+    3546           0 :     uav_state_ = mrs_msgs::UavState();
+    3547             : 
+    3548           0 :     uav_state_.header           = odom->header;
+    3549           0 :     uav_state_.pose             = odom->pose.pose;
+    3550           0 :     uav_state_.velocity.angular = odom->twist.twist.angular;
+    3551             : 
+    3552             :     // transform the twist into the header's frame
+    3553             :     {
+    3554             :       // the velocity from the odometry
+    3555           0 :       geometry_msgs::Vector3Stamped speed_child_frame;
+    3556           0 :       speed_child_frame.header.frame_id = odom->child_frame_id;
+    3557           0 :       speed_child_frame.header.stamp    = odom->header.stamp;
+    3558           0 :       speed_child_frame.vector.x        = odom->twist.twist.linear.x;
+    3559           0 :       speed_child_frame.vector.y        = odom->twist.twist.linear.y;
+    3560           0 :       speed_child_frame.vector.z        = odom->twist.twist.linear.z;
+    3561             : 
+    3562           0 :       auto res = transformer_->transformSingle(speed_child_frame, odom->header.frame_id);
+    3563             : 
+    3564           0 :       if (res) {
+    3565           0 :         uav_state_.velocity.linear.x = res.value().vector.x;
+    3566           0 :         uav_state_.velocity.linear.y = res.value().vector.y;
+    3567           0 :         uav_state_.velocity.linear.z = res.value().vector.z;
+    3568             :       } else {
+    3569           0 :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: could not transform the odometry speed from '%s' to '%s'", odom->child_frame_id.c_str(),
+    3570             :                            odom->header.frame_id.c_str());
+    3571           0 :         return;
+    3572             :       }
+    3573             :     }
+    3574             : 
+    3575             :     // calculate the euler angles
+    3576           0 :     std::tie(uav_roll_, uav_pitch_, uav_yaw_) = mrs_lib::AttitudeConverter(odom->pose.pose.orientation);
+    3577             : 
+    3578             :     try {
+    3579           0 :       uav_heading_ = mrs_lib::AttitudeConverter(odom->pose.pose.orientation).getHeading();
+    3580             :     }
+    3581           0 :     catch (...) {
+    3582           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: could not calculate UAV heading");
+    3583             :     }
+    3584             : 
+    3585           0 :     transformer_->setDefaultFrame(odom->header.frame_id);
+    3586             : 
+    3587           0 :     got_uav_state_ = true;
+    3588             :   }
+    3589             : 
+    3590             :   // run the control loop asynchronously in an OneShotTimer
+    3591             :   // but only if its not already running
+    3592           0 :   if (!running_async_control_) {
+    3593             : 
+    3594           0 :     running_async_control_ = true;
+    3595             : 
+    3596           0 :     async_control_result_ = std::async(std::launch::async, &ControlManager::asyncControl, this);
+    3597             :   }
+    3598             : }
+    3599             : 
+    3600             : //}
+    3601             : 
+    3602             : /* //{ callbackUavState() */
+    3603             : 
+    3604       66186 : void ControlManager::callbackUavState(const mrs_msgs::UavState::ConstPtr msg) {
+    3605             : 
+    3606       66186 :   if (!is_initialized_)
+    3607       15910 :     return;
+    3608             : 
+    3609      132372 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackUavState");
+    3610      132372 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackUavState", scope_timer_logger_, scope_timer_enabled_);
+    3611             : 
+    3612       66186 :   mrs_msgs::UavStateConstPtr uav_state = msg;
+    3613             : 
+    3614             :   // | ------------------ check for time stamp ------------------ |
+    3615             : 
+    3616             :   {
+    3617       66186 :     std::scoped_lock lock(mutex_uav_state_);
+    3618             : 
+    3619       66186 :     if (uav_state_.header.stamp == uav_state->header.stamp) {
+    3620       15910 :       return;
+    3621             :     }
+    3622             :   }
+    3623             : 
+    3624             :   // | --------------------- check for nans --------------------- |
+    3625             : 
+    3626       50276 :   if (!validateUavState(*uav_state, "ControlManager", "uav_state")) {
+    3627           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: incoming 'uav_state' contains invalid values, throwing it away");
+    3628           0 :     return;
+    3629             :   }
+    3630             : 
+    3631             :   // | -------------------- check for hiccups ------------------- |
+    3632             : 
+    3633             :   /* hickup detection //{ */
+    3634             : 
+    3635       50276 :   double alpha               = 0.99;
+    3636       50276 :   double alpha2              = 0.666;
+    3637       50276 :   double uav_state_count_lim = 1000;
+    3638             : 
+    3639       50276 :   double uav_state_dt = (ros::Time::now() - previous_uav_state_.header.stamp).toSec();
+    3640             : 
+    3641             :   // belive only reasonable numbers
+    3642       50276 :   if (uav_state_dt <= 1.0) {
+    3643             : 
+    3644       50180 :     uav_state_avg_dt_ = alpha * uav_state_avg_dt_ + (1 - alpha) * uav_state_dt;
+    3645             : 
+    3646       50180 :     if (uav_state_count_ < uav_state_count_lim) {
+    3647       39145 :       uav_state_count_++;
+    3648             :     }
+    3649             :   }
+    3650             : 
+    3651       50276 :   if (uav_state_count_ == uav_state_count_lim) {
+    3652             : 
+    3653             :     /* ROS_INFO_STREAM("[ControlManager]: uav_state_dt = " << uav_state_dt); */
+    3654             : 
+    3655       11064 :     if (uav_state_dt < uav_state_avg_dt_ && uav_state_dt > 0.0001) {
+    3656             : 
+    3657        6433 :       uav_state_hiccup_factor_ = alpha2 * uav_state_hiccup_factor_ + (1 - alpha2) * (uav_state_avg_dt_ / uav_state_dt);
+    3658             : 
+    3659        4631 :     } else if (uav_state_avg_dt_ > 0.0001) {
+    3660             : 
+    3661        4631 :       uav_state_hiccup_factor_ = alpha2 * uav_state_hiccup_factor_ + (1 - alpha2) * (uav_state_dt / uav_state_avg_dt_);
+    3662             :     }
+    3663             : 
+    3664       11064 :     if (uav_state_hiccup_factor_ > 3.141592653) {
+    3665             : 
+    3666             :       /* ROS_ERROR_STREAM_THROTTLE(0.1, "[ControlManager]: hiccup factor = " << uav_state_hiccup_factor_); */
+    3667             : 
+    3668           0 :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: ");
+    3669           0 :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: // | ------------------------- WARNING ------------------------ |");
+    3670           0 :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: // |                                                            |");
+    3671           0 :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: // |            UAV_STATE has a large hiccup factor!            |");
+    3672           0 :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: // |           hint, hint: you are probably rosbagging          |");
+    3673           0 :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: // |           lot of data or publishing lot of large           |");
+    3674           0 :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: // |          messages without mutual nodelet managers.         |");
+    3675           0 :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: // |                                                            |");
+    3676           0 :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: // | ------------------------- WARNING ------------------------ |");
+    3677           0 :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: ");
+    3678             :     }
+    3679             :   }
+    3680             : 
+    3681             :   //}
+    3682             : 
+    3683             :   // | ---------------------- frame switch ---------------------- |
+    3684             : 
+    3685             :   /* frame switch //{ */
+    3686             : 
+    3687             :   // | ----- check for change in odometry frame of reference ---- |
+    3688             : 
+    3689       50276 :   if (got_uav_state_) {
+    3690             : 
+    3691       50228 :     if (uav_state->estimator_iteration != uav_state_.estimator_iteration) {
+    3692             : 
+    3693           0 :       ROS_INFO("[ControlManager]: detecting switch of odometry frame");
+    3694             :       {
+    3695           0 :         std::scoped_lock lock(mutex_uav_state_);
+    3696             : 
+    3697           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,
+    3698             :                  uav_state_.pose.position.z, uav_heading_);
+    3699             :       }
+    3700             : 
+    3701           0 :       odometry_switch_in_progress_ = true;
+    3702             : 
+    3703             :       // we have to stop safety timer, otherwise it will interfere
+    3704           0 :       ROS_DEBUG("[ControlManager]: stopping the safety timer");
+    3705           0 :       timer_safety_.stop();
+    3706           0 :       ROS_DEBUG("[ControlManager]: safety timer stopped");
+    3707             : 
+    3708             :       // wait for the safety timer to stop if its running
+    3709           0 :       while (running_safety_timer_) {
+    3710             : 
+    3711           0 :         ROS_DEBUG("[ControlManager]: waiting for safety timer to finish");
+    3712           0 :         ros::Duration wait(0.001);
+    3713           0 :         wait.sleep();
+    3714             : 
+    3715           0 :         if (!running_safety_timer_) {
+    3716           0 :           ROS_DEBUG("[ControlManager]: safety timer finished");
+    3717           0 :           break;
+    3718             :         }
+    3719             :       }
+    3720             : 
+    3721             :       // we have to also for the oneshot control timer to finish
+    3722           0 :       while (running_async_control_) {
+    3723             : 
+    3724           0 :         ROS_DEBUG("[ControlManager]: waiting for control timer to finish");
+    3725           0 :         ros::Duration wait(0.001);
+    3726           0 :         wait.sleep();
+    3727             : 
+    3728           0 :         if (!running_async_control_) {
+    3729           0 :           ROS_DEBUG("[ControlManager]: control timer finished");
+    3730           0 :           break;
+    3731             :         }
+    3732             :       }
+    3733             : 
+    3734             :       {
+    3735           0 :         std::scoped_lock lock(mutex_controller_list_, mutex_tracker_list_);
+    3736             : 
+    3737           0 :         tracker_list_[active_tracker_idx_]->switchOdometrySource(*uav_state);
+    3738           0 :         controller_list_[active_controller_idx_]->switchOdometrySource(*uav_state);
+    3739             :       }
+    3740             :     }
+    3741             :   }
+    3742             : 
+    3743             :   //}
+    3744             : 
+    3745             :   // --------------------------------------------------------------
+    3746             :   // |           copy the UavState message for later use          |
+    3747             :   // --------------------------------------------------------------
+    3748             : 
+    3749             :   {
+    3750       50276 :     std::scoped_lock lock(mutex_uav_state_);
+    3751             : 
+    3752       50276 :     previous_uav_state_ = uav_state_;
+    3753             : 
+    3754       50276 :     uav_state_ = *uav_state;
+    3755             : 
+    3756       50276 :     std::tie(uav_roll_, uav_pitch_, uav_yaw_) = mrs_lib::AttitudeConverter(uav_state_.pose.orientation);
+    3757             : 
+    3758             :     try {
+    3759       50276 :       uav_heading_ = mrs_lib::AttitudeConverter(uav_state_.pose.orientation).getHeading();
+    3760             :     }
+    3761           0 :     catch (...) {
+    3762           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: could not calculate UAV heading, not updating it");
+    3763             :     }
+    3764             : 
+    3765       50276 :     transformer_->setDefaultFrame(uav_state->header.frame_id);
+    3766             : 
+    3767       50276 :     got_uav_state_ = true;
+    3768             :   }
+    3769             : 
+    3770             :   // run the control loop asynchronously in an OneShotTimer
+    3771             :   // but only if its not already running
+    3772       50276 :   if (!running_async_control_) {
+    3773             : 
+    3774       49992 :     running_async_control_ = true;
+    3775             : 
+    3776       49992 :     async_control_result_ = std::async(std::launch::async, &ControlManager::asyncControl, this);
+    3777             :   }
+    3778             : }
+    3779             : 
+    3780             : //}
+    3781             : 
+    3782             : /* //{ callbackGNSS() */
+    3783             : 
+    3784       38210 : void ControlManager::callbackGNSS(const sensor_msgs::NavSatFix::ConstPtr msg) {
+    3785             : 
+    3786       38210 :   if (!is_initialized_)
+    3787          56 :     return;
+    3788             : 
+    3789      114462 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackGNSS");
+    3790      114462 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackGNSS", scope_timer_logger_, scope_timer_enabled_);
+    3791             : 
+    3792       38154 :   transformer_->setLatLon(msg->latitude, msg->longitude);
+    3793             : }
+    3794             : 
+    3795             : //}
+    3796             : 
+    3797             : /* callbackJoystick() //{ */
+    3798             : 
+    3799           0 : void ControlManager::callbackJoystick(const sensor_msgs::Joy::ConstPtr msg) {
+    3800             : 
+    3801           0 :   if (!is_initialized_)
+    3802           0 :     return;
+    3803             : 
+    3804           0 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackJoystick");
+    3805           0 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackJoystick", scope_timer_logger_, scope_timer_enabled_);
+    3806             : 
+    3807             :   // copy member variables
+    3808           0 :   auto active_tracker_idx    = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    3809           0 :   auto active_controller_idx = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    3810             : 
+    3811           0 :   sensor_msgs::JoyConstPtr joystick_data = msg;
+    3812             : 
+    3813             :   // TODO check if the array is smaller than the largest idx
+    3814           0 :   if (joystick_data->buttons.size() == 0 || joystick_data->axes.size() == 0) {
+    3815           0 :     return;
+    3816             :   }
+    3817             : 
+    3818             :   // | ---- switching back to fallback tracker and controller --- |
+    3819             : 
+    3820             :   // if any of the A, B, X, Y buttons are pressed when flying with joystick, switch back to fallback controller and tracker
+    3821           0 :   if ((joystick_data->buttons[_channel_A_] == 1 || joystick_data->buttons[_channel_B_] == 1 || joystick_data->buttons[_channel_X_] == 1 ||
+    3822           0 :        joystick_data->buttons[_channel_Y_] == 1) &&
+    3823           0 :       active_tracker_idx == _joystick_tracker_idx_ && active_controller_idx == _joystick_controller_idx_) {
+    3824             : 
+    3825           0 :     ROS_INFO("[ControlManager]: switching from joystick to normal control");
+    3826             : 
+    3827           0 :     switchTracker(_joystick_fallback_tracker_name_);
+    3828           0 :     switchController(_joystick_fallback_controller_name_);
+    3829             : 
+    3830           0 :     joystick_goto_enabled_ = false;
+    3831             :   }
+    3832             : 
+    3833             :   // | ------- joystick control activation ------- |
+    3834             : 
+    3835             :   // if start button was pressed
+    3836           0 :   if (joystick_data->buttons[_channel_start_] == 1) {
+    3837             : 
+    3838           0 :     if (!joystick_start_pressed_) {
+    3839             : 
+    3840           0 :       ROS_INFO("[ControlManager]: joystick start button pressed");
+    3841             : 
+    3842           0 :       joystick_start_pressed_    = true;
+    3843           0 :       joystick_start_press_time_ = ros::Time::now();
+    3844             :     }
+    3845             : 
+    3846           0 :   } else if (joystick_start_pressed_) {
+    3847             : 
+    3848           0 :     ROS_INFO("[ControlManager]: joystick start button released");
+    3849             : 
+    3850           0 :     joystick_start_pressed_    = false;
+    3851           0 :     joystick_start_press_time_ = ros::Time(0);
+    3852             :   }
+    3853             : 
+    3854             :   // | ---------------- Joystick goto activation ---------------- |
+    3855             : 
+    3856             :   // if back button was pressed
+    3857           0 :   if (joystick_data->buttons[_channel_back_] == 1) {
+    3858             : 
+    3859           0 :     if (!joystick_back_pressed_) {
+    3860             : 
+    3861           0 :       ROS_INFO("[ControlManager]: joystick back button pressed");
+    3862             : 
+    3863           0 :       joystick_back_pressed_    = true;
+    3864           0 :       joystick_back_press_time_ = ros::Time::now();
+    3865             :     }
+    3866             : 
+    3867           0 :   } else if (joystick_back_pressed_) {
+    3868             : 
+    3869           0 :     ROS_INFO("[ControlManager]: joystick back button released");
+    3870             : 
+    3871           0 :     joystick_back_pressed_    = false;
+    3872           0 :     joystick_back_press_time_ = ros::Time(0);
+    3873             :   }
+    3874             : 
+    3875             :   // | ------------------------ Failsafes ----------------------- |
+    3876             : 
+    3877             :   // if LT and RT buttons are both pressed down
+    3878           0 :   if (joystick_data->axes[_channel_LT_] < -0.99 && joystick_data->axes[_channel_RT_] < -0.99) {
+    3879             : 
+    3880           0 :     if (!joystick_failsafe_pressed_) {
+    3881             : 
+    3882           0 :       ROS_INFO("[ControlManager]: joystick Failsafe pressed");
+    3883             : 
+    3884           0 :       joystick_failsafe_pressed_    = true;
+    3885           0 :       joystick_failsafe_press_time_ = ros::Time::now();
+    3886             :     }
+    3887             : 
+    3888           0 :   } else if (joystick_failsafe_pressed_) {
+    3889             : 
+    3890           0 :     ROS_INFO("[ControlManager]: joystick Failsafe released");
+    3891             : 
+    3892           0 :     joystick_failsafe_pressed_    = false;
+    3893           0 :     joystick_failsafe_press_time_ = ros::Time(0);
+    3894             :   }
+    3895             : 
+    3896             :   // if left and right joypads are both pressed down
+    3897           0 :   if (joystick_data->buttons[_channel_L_joy_] == 1 && joystick_data->buttons[_channel_R_joy_] == 1) {
+    3898             : 
+    3899           0 :     if (!joystick_eland_pressed_) {
+    3900             : 
+    3901           0 :       ROS_INFO("[ControlManager]: joystick eland pressed");
+    3902             : 
+    3903           0 :       joystick_eland_pressed_    = true;
+    3904           0 :       joystick_eland_press_time_ = ros::Time::now();
+    3905             :     }
+    3906             : 
+    3907           0 :   } else if (joystick_eland_pressed_) {
+    3908             : 
+    3909           0 :     ROS_INFO("[ControlManager]: joystick eland released");
+    3910             : 
+    3911           0 :     joystick_eland_pressed_    = false;
+    3912           0 :     joystick_eland_press_time_ = ros::Time(0);
+    3913             :   }
+    3914             : }
+    3915             : 
+    3916             : //}
+    3917             : 
+    3918             : /* //{ callbackHwApiStatus() */
+    3919             : 
+    3920      194287 : void ControlManager::callbackHwApiStatus(const mrs_msgs::HwApiStatus::ConstPtr msg) {
+    3921             : 
+    3922      194287 :   if (!is_initialized_)
+    3923         215 :     return;
+    3924             : 
+    3925      582216 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackHwApiStatus");
+    3926      582216 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackHwApiStatus", scope_timer_logger_, scope_timer_enabled_);
+    3927             : 
+    3928      388144 :   mrs_msgs::HwApiStatusConstPtr state = msg;
+    3929             : 
+    3930             :   // | ------ detect and print the changes in offboard mode ----- |
+    3931      194072 :   if (state->offboard) {
+    3932             : 
+    3933      138975 :     if (!offboard_mode_) {
+    3934          45 :       offboard_mode_          = true;
+    3935          45 :       offboard_mode_was_true_ = true;
+    3936          45 :       ROS_INFO("[ControlManager]: detected: OFFBOARD mode ON");
+    3937             :     }
+    3938             : 
+    3939             :   } else {
+    3940             : 
+    3941       55097 :     if (offboard_mode_) {
+    3942           0 :       offboard_mode_ = false;
+    3943           0 :       ROS_INFO("[ControlManager]: detected: OFFBOARD mode OFF");
+    3944             :     }
+    3945             :   }
+    3946             : 
+    3947             :   // | --------- detect and print the changes in arming --------- |
+    3948      194072 :   if (state->armed == true) {
+    3949             : 
+    3950      142952 :     if (!armed_) {
+    3951          48 :       armed_ = true;
+    3952          48 :       ROS_INFO("[ControlManager]: detected: vehicle ARMED");
+    3953             :     }
+    3954             : 
+    3955             :   } else {
+    3956             : 
+    3957       51120 :     if (armed_) {
+    3958          13 :       armed_ = false;
+    3959          13 :       ROS_INFO("[ControlManager]: detected: vehicle DISARMED");
+    3960             :     }
+    3961             :   }
+    3962             : }
+    3963             : 
+    3964             : //}
+    3965             : 
+    3966             : /* //{ callbackRC() */
+    3967             : 
+    3968        7228 : void ControlManager::callbackRC(const mrs_msgs::HwApiRcChannels::ConstPtr msg) {
+    3969             : 
+    3970        7228 :   if (!is_initialized_)
+    3971           0 :     return;
+    3972             : 
+    3973       21684 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackRC");
+    3974       21684 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackRC", scope_timer_logger_, scope_timer_enabled_);
+    3975             : 
+    3976       14456 :   mrs_msgs::HwApiRcChannelsConstPtr rc = msg;
+    3977             : 
+    3978        7228 :   ROS_INFO_ONCE("[ControlManager]: getting RC channels");
+    3979             : 
+    3980             :   // | ------------------- rc joystic control ------------------- |
+    3981             : 
+    3982             :   // when the switch change its position
+    3983        7228 :   if (_rc_goto_enabled_) {
+    3984             : 
+    3985        7228 :     if (_rc_joystick_channel_ >= int(rc->channels.size())) {
+    3986             : 
+    3987           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: RC joystick activation channel number (%d) is out of range [0-%d]", _rc_joystick_channel_,
+    3988             :                          int(rc->channels.size()));
+    3989             : 
+    3990             :     } else {
+    3991             : 
+    3992        7228 :       bool channel_low  = rc->channels[_rc_joystick_channel_] < (0.5 - RC_DEADBAND) ? true : false;
+    3993        7228 :       bool channel_high = rc->channels[_rc_joystick_channel_] > (0.5 + RC_DEADBAND) ? true : false;
+    3994             : 
+    3995        7228 :       if (channel_low) {
+    3996        7228 :         rc_joystick_channel_was_low_ = true;
+    3997             :       }
+    3998             : 
+    3999             :       // rc control activation
+    4000        7228 :       if (!rc_goto_active_) {
+    4001             : 
+    4002        7228 :         if (rc_joystick_channel_last_value_ < (0.5 - RC_DEADBAND) && channel_high) {
+    4003             : 
+    4004           0 :           if (isFlyingNormally()) {
+    4005             : 
+    4006           0 :             ROS_INFO_THROTTLE(1.0, "[ControlManager]: activating RC joystick");
+    4007             : 
+    4008           0 :             callbacks_enabled_ = false;
+    4009             : 
+    4010           0 :             std_srvs::SetBoolRequest req_goto_out;
+    4011           0 :             req_goto_out.data = false;
+    4012             : 
+    4013           0 :             std_srvs::SetBoolRequest req_enable_callbacks;
+    4014           0 :             req_enable_callbacks.data = callbacks_enabled_;
+    4015             : 
+    4016             :             {
+    4017           0 :               std::scoped_lock lock(mutex_tracker_list_);
+    4018             : 
+    4019             :               // disable callbacks of all trackers
+    4020           0 :               for (int i = 0; i < int(tracker_list_.size()); i++) {
+    4021           0 :                 tracker_list_[i]->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    4022             :               }
+    4023             :             }
+    4024             : 
+    4025           0 :             rc_goto_active_ = true;
+    4026             : 
+    4027             :           } else {
+    4028             : 
+    4029           0 :             ROS_WARN_THROTTLE(1.0, "[ControlManager]: can not activate RC joystick, not flying normally");
+    4030           0 :           }
+    4031             : 
+    4032        7228 :         } else if (channel_high && !rc_joystick_channel_was_low_) {
+    4033             : 
+    4034           0 :           ROS_WARN_THROTTLE(1.0, "[ControlManager]: can not activate RC joystick, the switch is ON from the beginning");
+    4035             :         }
+    4036             :       }
+    4037             : 
+    4038             :       // rc control deactivation
+    4039        7228 :       if (rc_goto_active_ && channel_low) {
+    4040             : 
+    4041           0 :         ROS_INFO("[ControlManager]: deactivating RC joystick");
+    4042             : 
+    4043           0 :         callbacks_enabled_ = true;
+    4044             : 
+    4045           0 :         std_srvs::SetBoolRequest req_goto_out;
+    4046           0 :         req_goto_out.data = true;
+    4047             : 
+    4048           0 :         std_srvs::SetBoolRequest req_enable_callbacks;
+    4049           0 :         req_enable_callbacks.data = callbacks_enabled_;
+    4050             : 
+    4051             :         {
+    4052           0 :           std::scoped_lock lock(mutex_tracker_list_);
+    4053             : 
+    4054             :           // enable callbacks of all trackers
+    4055           0 :           for (int i = 0; i < int(tracker_list_.size()); i++) {
+    4056           0 :             tracker_list_[i]->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    4057             :           }
+    4058             :         }
+    4059             : 
+    4060           0 :         rc_goto_active_ = false;
+    4061             :       }
+    4062             : 
+    4063             :       // do not forget to update the last... variable
+    4064             :       // only do that if its out of the deadband
+    4065        7228 :       if (channel_high || channel_low) {
+    4066        7228 :         rc_joystick_channel_last_value_ = rc->channels[_rc_joystick_channel_];
+    4067             :       }
+    4068             :     }
+    4069             :   }
+    4070             : 
+    4071             :   // | ------------------------ rc eland ------------------------ |
+    4072        7228 :   if (_rc_escalating_failsafe_enabled_) {
+    4073             : 
+    4074        7228 :     if (_rc_escalating_failsafe_channel_ >= int(rc->channels.size())) {
+    4075             : 
+    4076           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: RC eland channel number (%d) is out of range [0-%d]", _rc_escalating_failsafe_channel_,
+    4077             :                          int(rc->channels.size()));
+    4078             : 
+    4079             :     } else {
+    4080             : 
+    4081        7228 :       if (rc->channels[_rc_escalating_failsafe_channel_] >= _rc_escalating_failsafe_threshold_) {
+    4082             : 
+    4083           0 :         ROS_WARN_THROTTLE(1.0, "[ControlManager]: triggering escalating failsafe by RC");
+    4084             : 
+    4085           0 :         auto [success, message] = escalatingFailsafe();
+    4086             : 
+    4087           0 :         if (success) {
+    4088           0 :           rc_escalating_failsafe_triggered_ = true;
+    4089             :         }
+    4090             :       }
+    4091             :     }
+    4092             :   }
+    4093             : }
+    4094             : 
+    4095             : //}
+    4096             : 
+    4097             : // | --------------------- topic timeouts --------------------- |
+    4098             : 
+    4099             : /* timeoutUavState() //{ */
+    4100             : 
+    4101           0 : void ControlManager::timeoutUavState(const double& missing_for) {
+    4102             : 
+    4103           0 :   auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    4104             : 
+    4105           0 :   if (output_enabled_ && last_control_output.control_output && !failsafe_triggered_) {
+    4106             : 
+    4107             :     // We need to fire up timerFailsafe, which will regularly trigger the controllers
+    4108             :     // in place of the callbackUavState/callbackOdometry().
+    4109             : 
+    4110           0 :     ROS_ERROR_THROTTLE(0.1, "[ControlManager]: not receiving uav_state/odometry for %.3f s, initiating failsafe land", missing_for);
+    4111             : 
+    4112           0 :     failsafe();
+    4113             :   }
+    4114           0 : }
+    4115             : 
+    4116             : //}
+    4117             : 
+    4118             : // | -------------------- service callbacks ------------------- |
+    4119             : 
+    4120             : /* //{ callbackSwitchTracker() */
+    4121             : 
+    4122          94 : bool ControlManager::callbackSwitchTracker(mrs_msgs::String::Request& req, mrs_msgs::String::Response& res) {
+    4123             : 
+    4124          94 :   if (!is_initialized_)
+    4125           0 :     return false;
+    4126             : 
+    4127          94 :   if (failsafe_triggered_ || eland_triggered_) {
+    4128             : 
+    4129           0 :     std::stringstream ss;
+    4130           0 :     ss << "can not switch tracker, eland or failsafe active";
+    4131             : 
+    4132           0 :     res.message = ss.str();
+    4133           0 :     res.success = false;
+    4134             : 
+    4135           0 :     ROS_WARN_STREAM("[ControlManager]: " << ss.str());
+    4136             : 
+    4137           0 :     return true;
+    4138             :   }
+    4139             : 
+    4140          94 :   auto [success, response] = switchTracker(req.value);
+    4141             : 
+    4142          94 :   res.success = success;
+    4143          94 :   res.message = response;
+    4144             : 
+    4145          94 :   return true;
+    4146             : }
+    4147             : 
+    4148             : //}
+    4149             : 
+    4150             : /* callbackSwitchController() //{ */
+    4151             : 
+    4152          92 : bool ControlManager::callbackSwitchController(mrs_msgs::String::Request& req, mrs_msgs::String::Response& res) {
+    4153             : 
+    4154          92 :   if (!is_initialized_)
+    4155           0 :     return false;
+    4156             : 
+    4157          92 :   if (failsafe_triggered_ || eland_triggered_) {
+    4158             : 
+    4159           0 :     std::stringstream ss;
+    4160           0 :     ss << "can not switch controller, eland or failsafe active";
+    4161             : 
+    4162           0 :     res.message = ss.str();
+    4163           0 :     res.success = false;
+    4164             : 
+    4165           0 :     ROS_WARN_STREAM("[ControlManager]: " << ss.str());
+    4166             : 
+    4167           0 :     return true;
+    4168             :   }
+    4169             : 
+    4170          92 :   auto [success, response] = switchController(req.value);
+    4171             : 
+    4172          92 :   res.success = success;
+    4173          92 :   res.message = response;
+    4174             : 
+    4175          92 :   return true;
+    4176             : }
+    4177             : 
+    4178             : //}
+    4179             : 
+    4180             : /* //{ callbackSwitchTracker() */
+    4181             : 
+    4182           0 : bool ControlManager::callbackTrackerResetStatic([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4183             : 
+    4184           0 :   if (!is_initialized_)
+    4185           0 :     return false;
+    4186             : 
+    4187           0 :   std::stringstream message;
+    4188             : 
+    4189           0 :   if (failsafe_triggered_ || eland_triggered_) {
+    4190             : 
+    4191           0 :     message << "can not reset tracker, eland or failsafe active";
+    4192             : 
+    4193           0 :     res.message = message.str();
+    4194           0 :     res.success = false;
+    4195             : 
+    4196           0 :     ROS_WARN_STREAM("[ControlManager]: " << message.str());
+    4197             : 
+    4198           0 :     return true;
+    4199             :   }
+    4200             : 
+    4201             :   // reactivate the current tracker
+    4202             :   {
+    4203           0 :     std::scoped_lock lock(mutex_tracker_list_);
+    4204             : 
+    4205           0 :     std::string tracker_name = _tracker_names_[active_tracker_idx_];
+    4206             : 
+    4207           0 :     bool succ = tracker_list_[active_tracker_idx_]->resetStatic();
+    4208             : 
+    4209           0 :     if (succ) {
+    4210           0 :       message << "the tracker '" << tracker_name << "' was reset";
+    4211           0 :       ROS_INFO_STREAM("[ControlManager]: " << message.str());
+    4212             :     } else {
+    4213           0 :       message << "the tracker '" << tracker_name << "' reset failed!";
+    4214           0 :       ROS_ERROR_STREAM("[ControlManager]: " << message.str());
+    4215             :     }
+    4216             :   }
+    4217             : 
+    4218           0 :   res.message = message.str();
+    4219           0 :   res.success = true;
+    4220             : 
+    4221           0 :   return true;
+    4222             : }
+    4223             : 
+    4224             : //}
+    4225             : 
+    4226             : /* //{ callbackEHover() */
+    4227             : 
+    4228           0 : bool ControlManager::callbackEHover([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4229             : 
+    4230           0 :   if (!is_initialized_)
+    4231           0 :     return false;
+    4232             : 
+    4233           0 :   if (failsafe_triggered_ || eland_triggered_) {
+    4234             : 
+    4235           0 :     std::stringstream ss;
+    4236           0 :     ss << "can not switch controller, eland or failsafe active";
+    4237             : 
+    4238           0 :     res.message = ss.str();
+    4239           0 :     res.success = false;
+    4240             : 
+    4241           0 :     ROS_WARN_STREAM("[ControlManager]: " << ss.str());
+    4242             : 
+    4243           0 :     return true;
+    4244             :   }
+    4245             : 
+    4246           0 :   ROS_WARN_THROTTLE(1.0, "[ControlManager]: ehover trigger by callback");
+    4247             : 
+    4248           0 :   auto [success, message] = ehover();
+    4249             : 
+    4250           0 :   res.success = success;
+    4251           0 :   res.message = message;
+    4252             : 
+    4253           0 :   return true;
+    4254             : }
+    4255             : 
+    4256             : //}
+    4257             : 
+    4258             : /* callbackFailsafe() //{ */
+    4259             : 
+    4260           4 : bool ControlManager::callbackFailsafe([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4261             : 
+    4262           4 :   if (!is_initialized_)
+    4263           0 :     return false;
+    4264             : 
+    4265           4 :   if (failsafe_triggered_) {
+    4266             : 
+    4267           0 :     std::stringstream ss;
+    4268           0 :     ss << "can not activate failsafe, it is already active";
+    4269             : 
+    4270           0 :     res.message = ss.str();
+    4271           0 :     res.success = false;
+    4272             : 
+    4273           0 :     ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    4274             : 
+    4275           0 :     return true;
+    4276             :   }
+    4277             : 
+    4278           4 :   ROS_WARN_THROTTLE(1.0, "[ControlManager]: failsafe triggered by callback");
+    4279             : 
+    4280           4 :   auto [success, message] = failsafe();
+    4281             : 
+    4282           4 :   res.success = success;
+    4283           4 :   res.message = message;
+    4284             : 
+    4285           4 :   return true;
+    4286             : }
+    4287             : 
+    4288             : //}
+    4289             : 
+    4290             : /* callbackFailsafeEscalating() //{ */
+    4291             : 
+    4292           0 : bool ControlManager::callbackFailsafeEscalating([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4293             : 
+    4294           0 :   if (!is_initialized_)
+    4295           0 :     return false;
+    4296             : 
+    4297           0 :   if (_service_escalating_failsafe_enabled_) {
+    4298             : 
+    4299           0 :     ROS_WARN_THROTTLE(1.0, "[ControlManager]: escalating failsafe triggered by callback");
+    4300             : 
+    4301           0 :     auto [success, message] = escalatingFailsafe();
+    4302             : 
+    4303           0 :     res.success = success;
+    4304           0 :     res.message = message;
+    4305             : 
+    4306             :   } else {
+    4307             : 
+    4308           0 :     std::stringstream ss;
+    4309           0 :     ss << "escalating failsafe is disabled";
+    4310             : 
+    4311           0 :     res.success = false;
+    4312           0 :     res.message = ss.str();
+    4313             : 
+    4314           0 :     ROS_WARN_THROTTLE(1.0, "[ControlManager]: %s", ss.str().c_str());
+    4315             :   }
+    4316             : 
+    4317           0 :   return true;
+    4318             : }
+    4319             : 
+    4320             : //}
+    4321             : 
+    4322             : /* //{ callbackELand() */
+    4323             : 
+    4324           1 : bool ControlManager::callbackEland([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4325             : 
+    4326           1 :   if (!is_initialized_)
+    4327           0 :     return false;
+    4328             : 
+    4329           1 :   ROS_WARN_THROTTLE(1.0, "[ControlManager]: eland triggered by callback");
+    4330             : 
+    4331           1 :   auto [success, message] = eland();
+    4332             : 
+    4333           1 :   res.success = success;
+    4334           1 :   res.message = message;
+    4335             : 
+    4336           1 :   return true;
+    4337             : }
+    4338             : 
+    4339             : //}
+    4340             : 
+    4341             : /* //{ callbackParachute() */
+    4342             : 
+    4343           0 : bool ControlManager::callbackParachute([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4344             : 
+    4345           0 :   if (!is_initialized_)
+    4346           0 :     return false;
+    4347             : 
+    4348           0 :   if (!_parachute_enabled_) {
+    4349             : 
+    4350           0 :     std::stringstream ss;
+    4351           0 :     ss << "parachute disabled";
+    4352           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    4353           0 :     res.message = ss.str();
+    4354           0 :     res.success = false;
+    4355             :   }
+    4356             : 
+    4357           0 :   ROS_WARN_THROTTLE(1.0, "[ControlManager]: parachute triggered by callback");
+    4358             : 
+    4359           0 :   auto [success, message] = deployParachute();
+    4360             : 
+    4361           0 :   res.success = success;
+    4362           0 :   res.message = message;
+    4363             : 
+    4364           0 :   return true;
+    4365             : }
+    4366             : 
+    4367             : //}
+    4368             : 
+    4369             : /* //{ callbackToggleOutput() */
+    4370             : 
+    4371          45 : bool ControlManager::callbackToggleOutput(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res) {
+    4372             : 
+    4373          45 :   if (!is_initialized_)
+    4374           0 :     return false;
+    4375             : 
+    4376          45 :   ROS_INFO("[ControlManager]: toggling output by service");
+    4377             : 
+    4378             :   // copy member variables
+    4379          90 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    4380             : 
+    4381          90 :   std::stringstream ss;
+    4382             : 
+    4383          45 :   bool prereq_check = true;
+    4384             : 
+    4385             :   {
+    4386          90 :     mrs_msgs::ReferenceStamped current_coord;
+    4387          45 :     current_coord.header.frame_id      = uav_state.header.frame_id;
+    4388          45 :     current_coord.reference.position.x = uav_state.pose.position.x;
+    4389          45 :     current_coord.reference.position.y = uav_state.pose.position.y;
+    4390             : 
+    4391          45 :     if (!isPointInSafetyArea2d(current_coord)) {
+    4392           0 :       ss << "cannot toggle output, the UAV is outside of the safety area!";
+    4393           0 :       prereq_check = false;
+    4394             :     }
+    4395             :   }
+    4396             : 
+    4397          45 :   if (req.data && (failsafe_triggered_ || eland_triggered_ || rc_escalating_failsafe_triggered_)) {
+    4398           0 :     ss << "cannot toggle output ON, we landed in emergency";
+    4399           0 :     prereq_check = false;
+    4400             :   }
+    4401             : 
+    4402          45 :   if (!sh_hw_api_status_.hasMsg() || (ros::Time::now() - sh_hw_api_status_.lastMsgTime()).toSec() > 1.0) {
+    4403           0 :     ss << "cannot toggle output ON, missing HW API status!";
+    4404           0 :     prereq_check = false;
+    4405             :   }
+    4406             : 
+    4407          45 :   if (bumper_enabled_ && !sh_bumper_.hasMsg()) {
+    4408           0 :     ss << "cannot toggle output ON, missing bumper data!";
+    4409           0 :     prereq_check = false;
+    4410             :   }
+    4411             : 
+    4412          45 :   if (!prereq_check) {
+    4413             : 
+    4414           0 :     res.message = ss.str();
+    4415           0 :     res.success = false;
+    4416             : 
+    4417           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    4418             : 
+    4419           0 :     return false;
+    4420             : 
+    4421             :   } else {
+    4422             : 
+    4423          45 :     toggleOutput(req.data);
+    4424             : 
+    4425          45 :     ss << "Output: " << (output_enabled_ ? "ON" : "OFF");
+    4426          45 :     res.message = ss.str();
+    4427          45 :     res.success = true;
+    4428             : 
+    4429          45 :     ROS_INFO_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    4430             : 
+    4431          45 :     publishDiagnostics();
+    4432             : 
+    4433          45 :     return true;
+    4434             :   }
+    4435             : }
+    4436             : 
+    4437             : //}
+    4438             : 
+    4439             : /* callbackArm() //{ */
+    4440             : 
+    4441           2 : bool ControlManager::callbackArm(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res) {
+    4442             : 
+    4443           2 :   if (!is_initialized_)
+    4444           0 :     return false;
+    4445             : 
+    4446           2 :   ROS_INFO("[ControlManager]: arming by service");
+    4447             : 
+    4448           4 :   std::stringstream ss;
+    4449             : 
+    4450           2 :   if (failsafe_triggered_ || eland_triggered_) {
+    4451             : 
+    4452           0 :     ss << "can not " << (req.data ? "arm" : "disarm") << ", eland or failsafe active";
+    4453             : 
+    4454           0 :     res.message = ss.str();
+    4455           0 :     res.success = false;
+    4456             : 
+    4457           0 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    4458             : 
+    4459           0 :     return true;
+    4460             :   }
+    4461             : 
+    4462           2 :   if (req.data) {
+    4463             : 
+    4464           0 :     ss << "this service is not allowed to arm the UAV";
+    4465           0 :     res.success = false;
+    4466           0 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    4467             : 
+    4468             :   } else {
+    4469             : 
+    4470           4 :     auto [success, message] = arming(false);
+    4471             : 
+    4472           2 :     if (success) {
+    4473             : 
+    4474           2 :       ss << "disarmed";
+    4475           2 :       res.success = true;
+    4476           2 :       ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    4477             : 
+    4478             :     } else {
+    4479             : 
+    4480           0 :       ss << "could not disarm: " << message;
+    4481           0 :       res.success = false;
+    4482           0 :       ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    4483             :     }
+    4484             :   }
+    4485             : 
+    4486           2 :   res.message = ss.str();
+    4487             : 
+    4488           2 :   return true;
+    4489             : }
+    4490             : 
+    4491             : //}
+    4492             : 
+    4493             : /* //{ callbackEnableCallbacks() */
+    4494             : 
+    4495           2 : bool ControlManager::callbackEnableCallbacks(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res) {
+    4496             : 
+    4497           2 :   if (!is_initialized_)
+    4498           0 :     return false;
+    4499             : 
+    4500           2 :   setCallbacks(req.data);
+    4501             : 
+    4502           2 :   std::stringstream ss;
+    4503             : 
+    4504           2 :   ss << "callbacks " << (callbacks_enabled_ ? "enabled" : "disabled");
+    4505             : 
+    4506           2 :   res.message = ss.str();
+    4507           2 :   res.success = true;
+    4508             : 
+    4509           2 :   ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    4510             : 
+    4511           2 :   return true;
+    4512             : }
+    4513             : 
+    4514             : //}
+    4515             : 
+    4516             : /* callbackSetConstraints() //{ */
+    4517             : 
+    4518          48 : bool ControlManager::callbackSetConstraints(mrs_msgs::DynamicsConstraintsSrv::Request& req, mrs_msgs::DynamicsConstraintsSrv::Response& res) {
+    4519             : 
+    4520          48 :   if (!is_initialized_) {
+    4521           0 :     res.message = "not initialized";
+    4522           0 :     res.success = false;
+    4523           0 :     return true;
+    4524             :   }
+    4525             : 
+    4526             :   {
+    4527          96 :     std::scoped_lock lock(mutex_constraints_);
+    4528             : 
+    4529          48 :     current_constraints_ = req;
+    4530             : 
+    4531          48 :     auto enforced = enforceControllersConstraints(current_constraints_);
+    4532             : 
+    4533          48 :     if (enforced) {
+    4534           0 :       sanitized_constraints_      = enforced.value();
+    4535           0 :       constraints_being_enforced_ = true;
+    4536             :     } else {
+    4537          48 :       sanitized_constraints_      = req;
+    4538          48 :       constraints_being_enforced_ = false;
+    4539             :     }
+    4540             : 
+    4541          48 :     got_constraints_ = true;
+    4542             : 
+    4543          48 :     setConstraintsToControllers(current_constraints_);
+    4544          48 :     setConstraintsToTrackers(sanitized_constraints_);
+    4545             :   }
+    4546             : 
+    4547          48 :   res.message = "setting constraints";
+    4548          48 :   res.success = true;
+    4549             : 
+    4550          48 :   return true;
+    4551             : }
+    4552             : 
+    4553             : //}
+    4554             : 
+    4555             : /* //{ callbackEmergencyReference() */
+    4556             : 
+    4557           0 : bool ControlManager::callbackEmergencyReference(mrs_msgs::ReferenceStampedSrv::Request& req, mrs_msgs::ReferenceStampedSrv::Response& res) {
+    4558             : 
+    4559           0 :   if (!is_initialized_)
+    4560           0 :     return false;
+    4561             : 
+    4562           0 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    4563             : 
+    4564           0 :   callbacks_enabled_ = false;
+    4565             : 
+    4566           0 :   mrs_msgs::ReferenceSrvResponse::ConstPtr tracker_response;
+    4567             : 
+    4568           0 :   std::stringstream ss;
+    4569             : 
+    4570             :   // transform the reference to the current frame
+    4571           0 :   mrs_msgs::ReferenceStamped original_reference;
+    4572           0 :   original_reference.header    = req.header;
+    4573           0 :   original_reference.reference = req.reference;
+    4574             : 
+    4575           0 :   auto ret = transformer_->transformSingle(original_reference, uav_state.header.frame_id);
+    4576             : 
+    4577           0 :   if (!ret) {
+    4578             : 
+    4579           0 :     ss << "the emergency reference could not be transformed";
+    4580             : 
+    4581           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    4582           0 :     res.message = ss.str();
+    4583           0 :     res.success = false;
+    4584           0 :     return true;
+    4585             :   }
+    4586             : 
+    4587           0 :   mrs_msgs::ReferenceStamped transformed_reference = ret.value();
+    4588             : 
+    4589           0 :   std_srvs::SetBoolRequest req_enable_callbacks;
+    4590             : 
+    4591           0 :   mrs_msgs::ReferenceSrvRequest req_goto_out;
+    4592           0 :   req_goto_out.reference = transformed_reference.reference;
+    4593             : 
+    4594             :   {
+    4595           0 :     std::scoped_lock lock(mutex_tracker_list_);
+    4596             : 
+    4597             :     // disable callbacks of all trackers
+    4598           0 :     req_enable_callbacks.data = false;
+    4599           0 :     for (int i = 0; i < int(tracker_list_.size()); i++) {
+    4600           0 :       tracker_list_[i]->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    4601             :     }
+    4602             : 
+    4603             :     // enable the callbacks for the active tracker
+    4604           0 :     req_enable_callbacks.data = true;
+    4605           0 :     tracker_list_[active_tracker_idx_]->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    4606             : 
+    4607             :     // call the setReference()
+    4608           0 :     tracker_response = tracker_list_[active_tracker_idx_]->setReference(
+    4609           0 :         mrs_msgs::ReferenceSrvRequest::ConstPtr(std::make_unique<mrs_msgs::ReferenceSrvRequest>(req_goto_out)));
+    4610             : 
+    4611             :     // disable the callbacks back again
+    4612           0 :     req_enable_callbacks.data = false;
+    4613           0 :     tracker_list_[active_tracker_idx_]->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    4614             : 
+    4615           0 :     if (tracker_response != mrs_msgs::ReferenceSrvResponse::Ptr()) {
+    4616           0 :       res.message = tracker_response->message;
+    4617           0 :       res.success = tracker_response->success;
+    4618             :     } else {
+    4619           0 :       ss << "the tracker '" << _tracker_names_[active_tracker_idx_] << "' does not implement the 'setReference()' function!";
+    4620           0 :       res.message = ss.str();
+    4621           0 :       res.success = false;
+    4622             :     }
+    4623             :   }
+    4624             : 
+    4625           0 :   return true;
+    4626             : }
+    4627             : 
+    4628             : //}
+    4629             : 
+    4630             : /* callbackPirouette() //{ */
+    4631             : 
+    4632           0 : bool ControlManager::callbackPirouette([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4633             : 
+    4634           0 :   if (!is_initialized_)
+    4635           0 :     return false;
+    4636             : 
+    4637             :   // copy member variables
+    4638           0 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    4639             : 
+    4640             :   double uav_heading;
+    4641             :   try {
+    4642           0 :     uav_heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+    4643             :   }
+    4644           0 :   catch (...) {
+    4645           0 :     std::stringstream ss;
+    4646           0 :     ss << "could not calculate the UAV heading to initialize the pirouette";
+    4647             : 
+    4648           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    4649             : 
+    4650           0 :     res.message = ss.str();
+    4651           0 :     res.success = false;
+    4652             : 
+    4653           0 :     return false;
+    4654             :   }
+    4655             : 
+    4656           0 :   if (_pirouette_enabled_) {
+    4657           0 :     res.success = false;
+    4658           0 :     res.message = "already active";
+    4659           0 :     return true;
+    4660             :   }
+    4661             : 
+    4662           0 :   if (failsafe_triggered_ || eland_triggered_ || rc_escalating_failsafe_triggered_) {
+    4663             : 
+    4664           0 :     std::stringstream ss;
+    4665           0 :     ss << "can not activate the pirouette, eland or failsafe active";
+    4666             : 
+    4667           0 :     res.message = ss.str();
+    4668           0 :     res.success = false;
+    4669             : 
+    4670           0 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    4671             : 
+    4672           0 :     return true;
+    4673             :   }
+    4674             : 
+    4675           0 :   _pirouette_enabled_ = true;
+    4676             : 
+    4677           0 :   setCallbacks(false);
+    4678             : 
+    4679           0 :   pirouette_initial_heading_ = uav_heading;
+    4680           0 :   pirouette_iterator_        = 0;
+    4681           0 :   timer_pirouette_.start();
+    4682             : 
+    4683           0 :   res.success = true;
+    4684           0 :   res.message = "activated";
+    4685             : 
+    4686           0 :   return true;
+    4687             : }
+    4688             : 
+    4689             : //}
+    4690             : 
+    4691             : /* callbackUseJoystick() //{ */
+    4692             : 
+    4693           0 : bool ControlManager::callbackUseJoystick([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4694             : 
+    4695           0 :   if (!is_initialized_) {
+    4696           0 :     return false;
+    4697             :   }
+    4698             : 
+    4699           0 :   std::stringstream ss;
+    4700             : 
+    4701             :   {
+    4702           0 :     auto [success, response] = switchTracker(_joystick_tracker_name_);
+    4703             : 
+    4704           0 :     if (!success) {
+    4705             : 
+    4706           0 :       ss << "switching to '" << _joystick_tracker_name_ << "' was unsuccessfull: '" << response << "'";
+    4707           0 :       ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    4708             : 
+    4709           0 :       res.success = false;
+    4710           0 :       res.message = ss.str();
+    4711             : 
+    4712           0 :       return true;
+    4713             :     }
+    4714             :   }
+    4715             : 
+    4716           0 :   auto [success, response] = switchController(_joystick_controller_name_);
+    4717             : 
+    4718           0 :   if (!success) {
+    4719             : 
+    4720           0 :     ss << "switching to '" << _joystick_controller_name_ << "' was unsuccessfull: '" << response << "'";
+    4721           0 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    4722             : 
+    4723           0 :     res.success = false;
+    4724           0 :     res.message = ss.str();
+    4725             : 
+    4726             :     // switch back to hover tracker
+    4727           0 :     switchTracker(_ehover_tracker_name_);
+    4728             : 
+    4729             :     // switch back to safety controller
+    4730           0 :     switchController(_eland_controller_name_);
+    4731             : 
+    4732           0 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    4733             : 
+    4734           0 :     return true;
+    4735             :   }
+    4736             : 
+    4737           0 :   ss << "switched to joystick control";
+    4738             : 
+    4739           0 :   res.success = true;
+    4740           0 :   res.message = ss.str();
+    4741             : 
+    4742           0 :   ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    4743             : 
+    4744           0 :   return true;
+    4745             : }
+    4746             : 
+    4747             : //}
+    4748             : 
+    4749             : /* //{ callbackHover() */
+    4750             : 
+    4751           0 : bool ControlManager::callbackHover([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4752             : 
+    4753           0 :   if (!is_initialized_)
+    4754           0 :     return false;
+    4755             : 
+    4756           0 :   auto [success, message] = hover();
+    4757             : 
+    4758           0 :   res.success = success;
+    4759           0 :   res.message = message;
+    4760             : 
+    4761           0 :   return true;
+    4762             : }
+    4763             : 
+    4764             : //}
+    4765             : 
+    4766             : /* //{ callbackStartTrajectoryTracking() */
+    4767             : 
+    4768           0 : bool ControlManager::callbackStartTrajectoryTracking([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4769             : 
+    4770           0 :   if (!is_initialized_)
+    4771           0 :     return false;
+    4772             : 
+    4773           0 :   auto [success, message] = startTrajectoryTracking();
+    4774             : 
+    4775           0 :   res.success = success;
+    4776           0 :   res.message = message;
+    4777             : 
+    4778           0 :   return true;
+    4779             : }
+    4780             : 
+    4781             : //}
+    4782             : 
+    4783             : /* //{ callbackStopTrajectoryTracking() */
+    4784             : 
+    4785           0 : bool ControlManager::callbackStopTrajectoryTracking([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4786             : 
+    4787           0 :   if (!is_initialized_)
+    4788           0 :     return false;
+    4789             : 
+    4790           0 :   auto [success, message] = stopTrajectoryTracking();
+    4791             : 
+    4792           0 :   res.success = success;
+    4793           0 :   res.message = message;
+    4794             : 
+    4795           0 :   return true;
+    4796             : }
+    4797             : 
+    4798             : //}
+    4799             : 
+    4800             : /* //{ callbackResumeTrajectoryTracking() */
+    4801             : 
+    4802           0 : bool ControlManager::callbackResumeTrajectoryTracking([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4803             : 
+    4804           0 :   if (!is_initialized_)
+    4805           0 :     return false;
+    4806             : 
+    4807           0 :   auto [success, message] = resumeTrajectoryTracking();
+    4808             : 
+    4809           0 :   res.success = success;
+    4810           0 :   res.message = message;
+    4811             : 
+    4812           0 :   return true;
+    4813             : }
+    4814             : 
+    4815             : //}
+    4816             : 
+    4817             : /* //{ callbackGotoTrajectoryStart() */
+    4818             : 
+    4819           0 : bool ControlManager::callbackGotoTrajectoryStart([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4820             : 
+    4821           0 :   if (!is_initialized_)
+    4822           0 :     return false;
+    4823             : 
+    4824           0 :   auto [success, message] = gotoTrajectoryStart();
+    4825             : 
+    4826           0 :   res.success = success;
+    4827           0 :   res.message = message;
+    4828             : 
+    4829           0 :   return true;
+    4830             : }
+    4831             : 
+    4832             : //}
+    4833             : 
+    4834             : /* //{ callbackTransformReference() */
+    4835             : 
+    4836           0 : bool ControlManager::callbackTransformReference(mrs_msgs::TransformReferenceSrv::Request& req, mrs_msgs::TransformReferenceSrv::Response& res) {
+    4837             : 
+    4838           0 :   if (!is_initialized_)
+    4839           0 :     return false;
+    4840             : 
+    4841             :   // transform the reference to the current frame
+    4842           0 :   mrs_msgs::ReferenceStamped transformed_reference = req.reference;
+    4843             : 
+    4844           0 :   if (auto ret = transformer_->transformSingle(transformed_reference, req.frame_id)) {
+    4845             : 
+    4846           0 :     res.reference = ret.value();
+    4847           0 :     res.message   = "transformation successful";
+    4848           0 :     res.success   = true;
+    4849           0 :     return true;
+    4850             : 
+    4851             :   } else {
+    4852             : 
+    4853           0 :     res.message = "the reference could not be transformed";
+    4854           0 :     res.success = false;
+    4855           0 :     return true;
+    4856             :   }
+    4857             : 
+    4858             :   return true;
+    4859             : }
+    4860             : 
+    4861             : //}
+    4862             : 
+    4863             : /* //{ callbackTransformPose() */
+    4864             : 
+    4865           0 : bool ControlManager::callbackTransformPose(mrs_msgs::TransformPoseSrv::Request& req, mrs_msgs::TransformPoseSrv::Response& res) {
+    4866             : 
+    4867           0 :   if (!is_initialized_)
+    4868           0 :     return false;
+    4869             : 
+    4870             :   // transform the reference to the current frame
+    4871           0 :   geometry_msgs::PoseStamped transformed_pose = req.pose;
+    4872             : 
+    4873           0 :   if (auto ret = transformer_->transformSingle(transformed_pose, req.frame_id)) {
+    4874             : 
+    4875           0 :     res.pose    = ret.value();
+    4876           0 :     res.message = "transformation successful";
+    4877           0 :     res.success = true;
+    4878           0 :     return true;
+    4879             : 
+    4880             :   } else {
+    4881             : 
+    4882           0 :     res.message = "the pose could not be transformed";
+    4883           0 :     res.success = false;
+    4884           0 :     return true;
+    4885             :   }
+    4886             : 
+    4887             :   return true;
+    4888             : }
+    4889             : 
+    4890             : //}
+    4891             : 
+    4892             : /* //{ callbackTransformVector3() */
+    4893             : 
+    4894           0 : bool ControlManager::callbackTransformVector3(mrs_msgs::TransformVector3Srv::Request& req, mrs_msgs::TransformVector3Srv::Response& res) {
+    4895             : 
+    4896           0 :   if (!is_initialized_)
+    4897           0 :     return false;
+    4898             : 
+    4899             :   // transform the reference to the current frame
+    4900           0 :   geometry_msgs::Vector3Stamped transformed_vector3 = req.vector;
+    4901             : 
+    4902           0 :   if (auto ret = transformer_->transformSingle(transformed_vector3, req.frame_id)) {
+    4903             : 
+    4904           0 :     res.vector  = ret.value();
+    4905           0 :     res.message = "transformation successful";
+    4906           0 :     res.success = true;
+    4907           0 :     return true;
+    4908             : 
+    4909             :   } else {
+    4910             : 
+    4911           0 :     res.message = "the twist could not be transformed";
+    4912           0 :     res.success = false;
+    4913           0 :     return true;
+    4914             :   }
+    4915             : 
+    4916             :   return true;
+    4917             : }
+    4918             : 
+    4919             : //}
+    4920             : 
+    4921             : /* //{ callbackEnableBumper() */
+    4922             : 
+    4923           0 : bool ControlManager::callbackEnableBumper(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res) {
+    4924             : 
+    4925           0 :   if (!is_initialized_)
+    4926           0 :     return false;
+    4927             : 
+    4928           0 :   bumper_enabled_ = req.data;
+    4929             : 
+    4930           0 :   std::stringstream ss;
+    4931             : 
+    4932           0 :   ss << "bumper " << (bumper_enabled_ ? "enalbed" : "disabled");
+    4933             : 
+    4934           0 :   ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    4935             : 
+    4936           0 :   res.success = true;
+    4937           0 :   res.message = ss.str();
+    4938             : 
+    4939           0 :   return true;
+    4940             : }
+    4941             : 
+    4942             : //}
+    4943             : 
+    4944             : /* //{ callbackUseSafetyArea() */
+    4945             : 
+    4946           0 : bool ControlManager::callbackUseSafetyArea(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res) {
+    4947             : 
+    4948           0 :   if (!is_initialized_)
+    4949           0 :     return false;
+    4950             : 
+    4951           0 :   use_safety_area_ = req.data;
+    4952             : 
+    4953           0 :   std::stringstream ss;
+    4954             : 
+    4955           0 :   ss << "safety area " << (use_safety_area_ ? "enabled" : "disabled");
+    4956             : 
+    4957           0 :   ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    4958             : 
+    4959           0 :   res.success = true;
+    4960           0 :   res.message = ss.str();
+    4961             : 
+    4962           0 :   return true;
+    4963             : }
+    4964             : 
+    4965             : //}
+    4966             : 
+    4967             : /* //{ callbackGetMinZ() */
+    4968             : 
+    4969           0 : bool ControlManager::callbackGetMinZ([[maybe_unused]] mrs_msgs::GetFloat64::Request& req, mrs_msgs::GetFloat64::Response& res) {
+    4970             : 
+    4971           0 :   if (!is_initialized_) {
+    4972           0 :     return false;
+    4973             :   }
+    4974             : 
+    4975           0 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    4976             : 
+    4977           0 :   res.success = true;
+    4978           0 :   res.value   = getMinZ(uav_state.header.frame_id);
+    4979             : 
+    4980           0 :   return true;
+    4981             : }
+    4982             : 
+    4983             : //}
+    4984             : 
+    4985             : /* //{ callbackValidateReference() */
+    4986             : 
+    4987           0 : bool ControlManager::callbackValidateReference(mrs_msgs::ValidateReference::Request& req, mrs_msgs::ValidateReference::Response& res) {
+    4988             : 
+    4989           0 :   if (!is_initialized_) {
+    4990           0 :     res.message = "not initialized";
+    4991           0 :     res.success = false;
+    4992           0 :     return true;
+    4993             :   }
+    4994             : 
+    4995           0 :   if (!validateReference(req.reference.reference, "ControlManager", "reference_for_validation")) {
+    4996           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: NaN detected in variable 'req.reference'!!!");
+    4997           0 :     res.message = "NaNs/infs in input!";
+    4998           0 :     res.success = false;
+    4999           0 :     return true;
+    5000             :   }
+    5001             : 
+    5002             :   // copy member variables
+    5003           0 :   auto uav_state        = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    5004           0 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5005             : 
+    5006             :   // transform the reference to the current frame
+    5007           0 :   mrs_msgs::ReferenceStamped original_reference;
+    5008           0 :   original_reference.header    = req.reference.header;
+    5009           0 :   original_reference.reference = req.reference.reference;
+    5010             : 
+    5011           0 :   auto ret = transformer_->transformSingle(original_reference, uav_state.header.frame_id);
+    5012             : 
+    5013           0 :   if (!ret) {
+    5014             : 
+    5015           0 :     ROS_WARN_THROTTLE(1.0, "[ControlManager]: the reference could not be transformed");
+    5016           0 :     res.message = "the reference could not be transformed";
+    5017           0 :     res.success = false;
+    5018           0 :     return true;
+    5019             :   }
+    5020             : 
+    5021           0 :   mrs_msgs::ReferenceStamped transformed_reference = ret.value();
+    5022             : 
+    5023           0 :   if (!isPointInSafetyArea3d(transformed_reference)) {
+    5024           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: reference validation failed, the point is outside of the safety area!");
+    5025           0 :     res.message = "the point is outside of the safety area";
+    5026           0 :     res.success = false;
+    5027           0 :     return true;
+    5028             :   }
+    5029             : 
+    5030           0 :   if (last_tracker_cmd) {
+    5031             : 
+    5032           0 :     mrs_msgs::ReferenceStamped from_point;
+    5033           0 :     from_point.header.frame_id      = uav_state.header.frame_id;
+    5034           0 :     from_point.reference.position.x = last_tracker_cmd->position.x;
+    5035           0 :     from_point.reference.position.y = last_tracker_cmd->position.y;
+    5036           0 :     from_point.reference.position.z = last_tracker_cmd->position.z;
+    5037             : 
+    5038           0 :     if (!isPathToPointInSafetyArea3d(from_point, transformed_reference)) {
+    5039           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: reference validation failed, the path is going outside the safety area!");
+    5040           0 :       res.message = "the path is going outside the safety area";
+    5041           0 :       res.success = false;
+    5042           0 :       return true;
+    5043             :     }
+    5044             :   }
+    5045             : 
+    5046           0 :   res.message = "the reference is ok";
+    5047           0 :   res.success = true;
+    5048           0 :   return true;
+    5049             : }
+    5050             : 
+    5051             : //}
+    5052             : 
+    5053             : /* //{ callbackValidateReference2d() */
+    5054             : 
+    5055        1995 : bool ControlManager::callbackValidateReference2d(mrs_msgs::ValidateReference::Request& req, mrs_msgs::ValidateReference::Response& res) {
+    5056             : 
+    5057        1995 :   if (!is_initialized_) {
+    5058           0 :     res.message = "not initialized";
+    5059           0 :     res.success = false;
+    5060           0 :     return true;
+    5061             :   }
+    5062             : 
+    5063        1995 :   if (!validateReference(req.reference.reference, "ControlManager", "reference_for_validation")) {
+    5064           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: NaN detected in variable 'req.reference'!!!");
+    5065           0 :     res.message = "NaNs/infs in input!";
+    5066           0 :     res.success = false;
+    5067           0 :     return true;
+    5068             :   }
+    5069             : 
+    5070             :   // copy member variables
+    5071        3990 :   auto uav_state        = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    5072        3990 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5073             : 
+    5074             :   // transform the reference to the current frame
+    5075        3990 :   mrs_msgs::ReferenceStamped original_reference;
+    5076        1995 :   original_reference.header    = req.reference.header;
+    5077        1995 :   original_reference.reference = req.reference.reference;
+    5078             : 
+    5079        3990 :   auto ret = transformer_->transformSingle(original_reference, uav_state.header.frame_id);
+    5080             : 
+    5081        1995 :   if (!ret) {
+    5082             : 
+    5083           0 :     ROS_WARN_THROTTLE(1.0, "[ControlManager]: the reference could not be transformed");
+    5084           0 :     res.message = "the reference could not be transformed";
+    5085           0 :     res.success = false;
+    5086           0 :     return true;
+    5087             :   }
+    5088             : 
+    5089        3990 :   mrs_msgs::ReferenceStamped transformed_reference = ret.value();
+    5090             : 
+    5091        1995 :   if (!isPointInSafetyArea2d(transformed_reference)) {
+    5092          76 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: reference validation failed, the point is outside of the safety area!");
+    5093          76 :     res.message = "the point is outside of the safety area";
+    5094          76 :     res.success = false;
+    5095          76 :     return true;
+    5096             :   }
+    5097             : 
+    5098        1919 :   if (last_tracker_cmd) {
+    5099             : 
+    5100          31 :     mrs_msgs::ReferenceStamped from_point;
+    5101          31 :     from_point.header.frame_id      = uav_state.header.frame_id;
+    5102          31 :     from_point.reference.position.x = last_tracker_cmd->position.x;
+    5103          31 :     from_point.reference.position.y = last_tracker_cmd->position.y;
+    5104          31 :     from_point.reference.position.z = last_tracker_cmd->position.z;
+    5105             : 
+    5106          31 :     if (!isPathToPointInSafetyArea2d(from_point, transformed_reference)) {
+    5107           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: reference validation failed, the path is going outside the safety area!");
+    5108           0 :       res.message = "the path is going outside the safety area";
+    5109           0 :       res.success = false;
+    5110           0 :       return true;
+    5111             :     }
+    5112             :   }
+    5113             : 
+    5114        1919 :   res.message = "the reference is ok";
+    5115        1919 :   res.success = true;
+    5116        1919 :   return true;
+    5117             : }
+    5118             : 
+    5119             : //}
+    5120             : 
+    5121             : /* //{ callbackValidateReferenceList() */
+    5122             : 
+    5123           0 : bool ControlManager::callbackValidateReferenceList(mrs_msgs::ValidateReferenceList::Request& req, mrs_msgs::ValidateReferenceList::Response& res) {
+    5124             : 
+    5125           0 :   if (!is_initialized_) {
+    5126           0 :     res.message = "not initialized";
+    5127           0 :     return false;
+    5128             :   }
+    5129             : 
+    5130             :   // copy member variables
+    5131           0 :   auto uav_state        = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    5132           0 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5133             : 
+    5134             :   // get the transformer
+    5135           0 :   auto ret = transformer_->getTransform(uav_state.header.frame_id, req.list.header.frame_id, req.list.header.stamp);
+    5136             : 
+    5137           0 :   if (!ret) {
+    5138             : 
+    5139           0 :     ROS_DEBUG("[ControlManager]: could not find transform for the reference");
+    5140           0 :     res.message = "could not find transform";
+    5141           0 :     return false;
+    5142             :   }
+    5143             : 
+    5144           0 :   geometry_msgs::TransformStamped tf = ret.value();
+    5145             : 
+    5146           0 :   for (int i = 0; i < int(req.list.list.size()); i++) {
+    5147             : 
+    5148           0 :     res.success.push_back(true);
+    5149             : 
+    5150           0 :     mrs_msgs::ReferenceStamped original_reference;
+    5151           0 :     original_reference.header    = req.list.header;
+    5152           0 :     original_reference.reference = req.list.list[i];
+    5153             : 
+    5154           0 :     res.success[i] = validateReference(original_reference.reference, "ControlManager", "reference_list");
+    5155             : 
+    5156           0 :     auto ret = transformer_->transformSingle(original_reference, uav_state.header.frame_id);
+    5157             : 
+    5158           0 :     if (!ret) {
+    5159             : 
+    5160           0 :       ROS_DEBUG("[ControlManager]: the reference could not be transformed");
+    5161           0 :       res.success[i] = false;
+    5162             :     }
+    5163             : 
+    5164           0 :     mrs_msgs::ReferenceStamped transformed_reference = ret.value();
+    5165             : 
+    5166           0 :     if (!isPointInSafetyArea3d(transformed_reference)) {
+    5167           0 :       res.success[i] = false;
+    5168             :     }
+    5169             : 
+    5170           0 :     if (last_tracker_cmd) {
+    5171             : 
+    5172           0 :       mrs_msgs::ReferenceStamped from_point;
+    5173           0 :       from_point.header.frame_id      = uav_state.header.frame_id;
+    5174           0 :       from_point.reference.position.x = last_tracker_cmd->position.x;
+    5175           0 :       from_point.reference.position.y = last_tracker_cmd->position.y;
+    5176           0 :       from_point.reference.position.z = last_tracker_cmd->position.z;
+    5177             : 
+    5178           0 :       if (!isPathToPointInSafetyArea3d(from_point, transformed_reference)) {
+    5179           0 :         res.success[i] = false;
+    5180             :       }
+    5181             :     }
+    5182             :   }
+    5183             : 
+    5184           0 :   res.message = "references were checked";
+    5185           0 :   return true;
+    5186             : }
+    5187             : 
+    5188             : //}
+    5189             : 
+    5190             : // | -------------- setpoint topics and services -------------- |
+    5191             : 
+    5192             : /* //{ callbackReferenceService() */
+    5193             : 
+    5194           0 : bool ControlManager::callbackReferenceService(mrs_msgs::ReferenceStampedSrv::Request& req, mrs_msgs::ReferenceStampedSrv::Response& res) {
+    5195             : 
+    5196           0 :   if (!is_initialized_) {
+    5197           0 :     res.message = "not initialized";
+    5198           0 :     res.success = false;
+    5199           0 :     return true;
+    5200             :   }
+    5201             : 
+    5202           0 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackReferenceService");
+    5203           0 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackReferenceService", scope_timer_logger_, scope_timer_enabled_);
+    5204             : 
+    5205           0 :   mrs_msgs::ReferenceStamped des_reference;
+    5206           0 :   des_reference.header    = req.header;
+    5207           0 :   des_reference.reference = req.reference;
+    5208             : 
+    5209           0 :   auto [success, message] = setReference(des_reference);
+    5210             : 
+    5211           0 :   res.success = success;
+    5212           0 :   res.message = message;
+    5213             : 
+    5214           0 :   return true;
+    5215             : }
+    5216             : 
+    5217             : //}
+    5218             : 
+    5219             : /* //{ callbackReferenceTopic() */
+    5220             : 
+    5221           0 : void ControlManager::callbackReferenceTopic(const mrs_msgs::ReferenceStamped::ConstPtr msg) {
+    5222             : 
+    5223           0 :   if (!is_initialized_)
+    5224           0 :     return;
+    5225             : 
+    5226           0 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackReferenceTopic");
+    5227           0 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackReferenceTopic", scope_timer_logger_, scope_timer_enabled_);
+    5228             : 
+    5229           0 :   setReference(*msg);
+    5230             : }
+    5231             : 
+    5232             : //}
+    5233             : 
+    5234             : /* //{ callbackVelocityReferenceService() */
+    5235             : 
+    5236           0 : bool ControlManager::callbackVelocityReferenceService(mrs_msgs::VelocityReferenceStampedSrv::Request&  req,
+    5237             :                                                       mrs_msgs::VelocityReferenceStampedSrv::Response& res) {
+    5238             : 
+    5239           0 :   if (!is_initialized_) {
+    5240           0 :     res.message = "not initialized";
+    5241           0 :     res.success = false;
+    5242           0 :     return true;
+    5243             :   }
+    5244             : 
+    5245           0 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackVelocityReferenceService");
+    5246           0 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackVelocityReferenceService", scope_timer_logger_, scope_timer_enabled_);
+    5247             : 
+    5248           0 :   mrs_msgs::VelocityReferenceStamped des_reference;
+    5249           0 :   des_reference = req.reference;
+    5250             : 
+    5251           0 :   auto [success, message] = setVelocityReference(des_reference);
+    5252             : 
+    5253           0 :   res.success = success;
+    5254           0 :   res.message = message;
+    5255             : 
+    5256           0 :   return true;
+    5257             : }
+    5258             : 
+    5259             : //}
+    5260             : 
+    5261             : /* //{ callbackVelocityReferenceTopic() */
+    5262             : 
+    5263           0 : void ControlManager::callbackVelocityReferenceTopic(const mrs_msgs::VelocityReferenceStamped::ConstPtr msg) {
+    5264             : 
+    5265           0 :   if (!is_initialized_)
+    5266           0 :     return;
+    5267             : 
+    5268           0 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackVelocityReferenceTopic");
+    5269           0 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackVelocityReferenceTopic", scope_timer_logger_, scope_timer_enabled_);
+    5270             : 
+    5271           0 :   setVelocityReference(*msg);
+    5272             : }
+    5273             : 
+    5274             : //}
+    5275             : 
+    5276             : /* //{ callbackTrajectoryReferenceService() */
+    5277             : 
+    5278           1 : bool ControlManager::callbackTrajectoryReferenceService(mrs_msgs::TrajectoryReferenceSrv::Request& req, mrs_msgs::TrajectoryReferenceSrv::Response& res) {
+    5279             : 
+    5280           1 :   if (!is_initialized_) {
+    5281           0 :     res.message = "not initialized";
+    5282           0 :     res.success = false;
+    5283           0 :     return true;
+    5284             :   }
+    5285             : 
+    5286           3 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackTrajectoryReferenceService");
+    5287           3 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackTrajectoryReferenceService", scope_timer_logger_, scope_timer_enabled_);
+    5288             : 
+    5289           2 :   auto [success, message, modified, tracker_names, tracker_successes, tracker_messages] = setTrajectoryReference(req.trajectory);
+    5290             : 
+    5291           1 :   res.success          = success;
+    5292           1 :   res.message          = message;
+    5293           1 :   res.modified         = modified;
+    5294           1 :   res.tracker_names    = tracker_names;
+    5295           1 :   res.tracker_messages = tracker_messages;
+    5296             : 
+    5297           7 :   for (size_t i = 0; i < tracker_successes.size(); i++) {
+    5298           6 :     res.tracker_successes.push_back(tracker_successes[i]);
+    5299             :   }
+    5300             : 
+    5301           1 :   return true;
+    5302             : }
+    5303             : 
+    5304             : //}
+    5305             : 
+    5306             : /* //{ callbackTrajectoryReferenceTopic() */
+    5307             : 
+    5308           0 : void ControlManager::callbackTrajectoryReferenceTopic(const mrs_msgs::TrajectoryReference::ConstPtr msg) {
+    5309             : 
+    5310           0 :   if (!is_initialized_)
+    5311           0 :     return;
+    5312             : 
+    5313           0 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackTrajectoryReferenceTopic");
+    5314           0 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackTrajectoryReferenceTopic", scope_timer_logger_, scope_timer_enabled_);
+    5315             : 
+    5316           0 :   setTrajectoryReference(*msg);
+    5317             : }
+    5318             : 
+    5319             : //}
+    5320             : 
+    5321             : // | ------------- human-callable "goto" services ------------- |
+    5322             : 
+    5323             : /* //{ callbackGoto() */
+    5324             : 
+    5325          27 : bool ControlManager::callbackGoto(mrs_msgs::Vec4::Request& req, mrs_msgs::Vec4::Response& res) {
+    5326             : 
+    5327          27 :   if (!is_initialized_) {
+    5328           0 :     res.message = "not initialized";
+    5329           0 :     res.success = false;
+    5330           0 :     return true;
+    5331             :   }
+    5332             : 
+    5333          81 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackGoto");
+    5334          81 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackGoto", scope_timer_logger_, scope_timer_enabled_);
+    5335             : 
+    5336          54 :   mrs_msgs::ReferenceStamped des_reference;
+    5337          27 :   des_reference.header.frame_id      = "";
+    5338          27 :   des_reference.header.stamp         = ros::Time(0);
+    5339          27 :   des_reference.reference.position.x = req.goal[REF_X];
+    5340          27 :   des_reference.reference.position.y = req.goal[REF_Y];
+    5341          27 :   des_reference.reference.position.z = req.goal[REF_Z];
+    5342          27 :   des_reference.reference.heading    = req.goal[REF_HEADING];
+    5343             : 
+    5344          54 :   auto [success, message] = setReference(des_reference);
+    5345             : 
+    5346          27 :   res.success = success;
+    5347          27 :   res.message = message;
+    5348             : 
+    5349          27 :   return true;
+    5350             : }
+    5351             : 
+    5352             : //}
+    5353             : 
+    5354             : /* //{ callbackGotoFcu() */
+    5355             : 
+    5356           0 : bool ControlManager::callbackGotoFcu(mrs_msgs::Vec4::Request& req, mrs_msgs::Vec4::Response& res) {
+    5357             : 
+    5358           0 :   if (!is_initialized_) {
+    5359           0 :     res.message = "not initialized";
+    5360           0 :     res.success = false;
+    5361           0 :     return true;
+    5362             :   }
+    5363             : 
+    5364           0 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackGotoFcu");
+    5365           0 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackGotoFcu", scope_timer_logger_, scope_timer_enabled_);
+    5366             : 
+    5367           0 :   mrs_msgs::ReferenceStamped des_reference;
+    5368           0 :   des_reference.header.frame_id      = "fcu_untilted";
+    5369           0 :   des_reference.header.stamp         = ros::Time(0);
+    5370           0 :   des_reference.reference.position.x = req.goal[REF_X];
+    5371           0 :   des_reference.reference.position.y = req.goal[REF_Y];
+    5372           0 :   des_reference.reference.position.z = req.goal[REF_Z];
+    5373           0 :   des_reference.reference.heading    = req.goal[REF_HEADING];
+    5374             : 
+    5375           0 :   auto [success, message] = setReference(des_reference);
+    5376             : 
+    5377           0 :   res.success = success;
+    5378           0 :   res.message = message;
+    5379             : 
+    5380           0 :   return true;
+    5381             : }
+    5382             : 
+    5383             : //}
+    5384             : 
+    5385             : /* //{ callbackGotoRelative() */
+    5386             : 
+    5387           3 : bool ControlManager::callbackGotoRelative(mrs_msgs::Vec4::Request& req, mrs_msgs::Vec4::Response& res) {
+    5388             : 
+    5389           3 :   if (!is_initialized_) {
+    5390           0 :     res.message = "not initialized";
+    5391           0 :     res.success = false;
+    5392           0 :     return true;
+    5393             :   }
+    5394             : 
+    5395           9 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackGotoRelative");
+    5396           9 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackGotoRelative", scope_timer_logger_, scope_timer_enabled_);
+    5397             : 
+    5398           6 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5399             : 
+    5400           3 :   if (!last_tracker_cmd) {
+    5401           0 :     res.message = "not flying";
+    5402           0 :     res.success = false;
+    5403           0 :     return true;
+    5404             :   }
+    5405             : 
+    5406           6 :   mrs_msgs::ReferenceStamped des_reference;
+    5407           3 :   des_reference.header.frame_id      = "";
+    5408           3 :   des_reference.header.stamp         = ros::Time(0);
+    5409           3 :   des_reference.reference.position.x = last_tracker_cmd->position.x + req.goal[REF_X];
+    5410           3 :   des_reference.reference.position.y = last_tracker_cmd->position.y + req.goal[REF_Y];
+    5411           3 :   des_reference.reference.position.z = last_tracker_cmd->position.z + req.goal[REF_Z];
+    5412           3 :   des_reference.reference.heading    = last_tracker_cmd->heading + req.goal[REF_HEADING];
+    5413             : 
+    5414           6 :   auto [success, message] = setReference(des_reference);
+    5415             : 
+    5416           3 :   res.success = success;
+    5417           3 :   res.message = message;
+    5418             : 
+    5419           3 :   return true;
+    5420             : }
+    5421             : 
+    5422             : //}
+    5423             : 
+    5424             : /* //{ callbackGotoAltitude() */
+    5425             : 
+    5426           0 : bool ControlManager::callbackGotoAltitude(mrs_msgs::Vec1::Request& req, mrs_msgs::Vec1::Response& res) {
+    5427             : 
+    5428           0 :   if (!is_initialized_) {
+    5429           0 :     res.message = "not initialized";
+    5430           0 :     res.success = false;
+    5431           0 :     return true;
+    5432             :   }
+    5433             : 
+    5434           0 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackGotoAltitude");
+    5435           0 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackGotoAltitude", scope_timer_logger_, scope_timer_enabled_);
+    5436             : 
+    5437           0 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5438             : 
+    5439           0 :   if (!last_tracker_cmd) {
+    5440           0 :     res.message = "not flying";
+    5441           0 :     res.success = false;
+    5442           0 :     return true;
+    5443             :   }
+    5444             : 
+    5445           0 :   mrs_msgs::ReferenceStamped des_reference;
+    5446           0 :   des_reference.header.frame_id      = "";
+    5447           0 :   des_reference.header.stamp         = ros::Time(0);
+    5448           0 :   des_reference.reference.position.x = last_tracker_cmd->position.x;
+    5449           0 :   des_reference.reference.position.y = last_tracker_cmd->position.y;
+    5450           0 :   des_reference.reference.position.z = req.goal;
+    5451           0 :   des_reference.reference.heading    = last_tracker_cmd->heading;
+    5452             : 
+    5453           0 :   auto [success, message] = setReference(des_reference);
+    5454             : 
+    5455           0 :   res.success = success;
+    5456           0 :   res.message = message;
+    5457             : 
+    5458           0 :   return true;
+    5459             : }
+    5460             : 
+    5461             : //}
+    5462             : 
+    5463             : /* //{ callbackSetHeading() */
+    5464             : 
+    5465           0 : bool ControlManager::callbackSetHeading(mrs_msgs::Vec1::Request& req, mrs_msgs::Vec1::Response& res) {
+    5466             : 
+    5467           0 :   if (!is_initialized_) {
+    5468           0 :     res.message = "not initialized";
+    5469           0 :     res.success = false;
+    5470           0 :     return true;
+    5471             :   }
+    5472             : 
+    5473           0 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackSetHeading");
+    5474           0 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackSetHeading", scope_timer_logger_, scope_timer_enabled_);
+    5475             : 
+    5476           0 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5477             : 
+    5478           0 :   if (!last_tracker_cmd) {
+    5479           0 :     res.message = "not flying";
+    5480           0 :     res.success = false;
+    5481           0 :     return true;
+    5482             :   }
+    5483             : 
+    5484           0 :   mrs_msgs::ReferenceStamped des_reference;
+    5485           0 :   des_reference.header.frame_id      = "";
+    5486           0 :   des_reference.header.stamp         = ros::Time(0);
+    5487           0 :   des_reference.reference.position.x = last_tracker_cmd->position.x;
+    5488           0 :   des_reference.reference.position.y = last_tracker_cmd->position.y;
+    5489           0 :   des_reference.reference.position.z = last_tracker_cmd->position.z;
+    5490           0 :   des_reference.reference.heading    = req.goal;
+    5491             : 
+    5492           0 :   auto [success, message] = setReference(des_reference);
+    5493             : 
+    5494           0 :   res.success = success;
+    5495           0 :   res.message = message;
+    5496             : 
+    5497           0 :   return true;
+    5498             : }
+    5499             : 
+    5500             : //}
+    5501             : 
+    5502             : /* //{ callbackSetHeadingRelative() */
+    5503             : 
+    5504           0 : bool ControlManager::callbackSetHeadingRelative(mrs_msgs::Vec1::Request& req, mrs_msgs::Vec1::Response& res) {
+    5505             : 
+    5506           0 :   if (!is_initialized_) {
+    5507           0 :     res.message = "not initialized";
+    5508           0 :     res.success = false;
+    5509           0 :     return true;
+    5510             :   }
+    5511             : 
+    5512           0 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackSetHeadingRelative");
+    5513           0 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackSetHeadingRelative", scope_timer_logger_, scope_timer_enabled_);
+    5514             : 
+    5515           0 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5516             : 
+    5517           0 :   if (!last_tracker_cmd) {
+    5518           0 :     res.message = "not flying";
+    5519           0 :     res.success = false;
+    5520           0 :     return true;
+    5521             :   }
+    5522             : 
+    5523           0 :   mrs_msgs::ReferenceStamped des_reference;
+    5524           0 :   des_reference.header.frame_id      = "";
+    5525           0 :   des_reference.header.stamp         = ros::Time(0);
+    5526           0 :   des_reference.reference.position.x = last_tracker_cmd->position.x;
+    5527           0 :   des_reference.reference.position.y = last_tracker_cmd->position.y;
+    5528           0 :   des_reference.reference.position.z = last_tracker_cmd->position.z;
+    5529           0 :   des_reference.reference.heading    = last_tracker_cmd->heading + req.goal;
+    5530             : 
+    5531           0 :   auto [success, message] = setReference(des_reference);
+    5532             : 
+    5533           0 :   res.success = success;
+    5534           0 :   res.message = message;
+    5535             : 
+    5536           0 :   return true;
+    5537             : }
+    5538             : 
+    5539             : //}
+    5540             : 
+    5541             : // --------------------------------------------------------------
+    5542             : // |                          routines                          |
+    5543             : // --------------------------------------------------------------
+    5544             : 
+    5545             : /* setReference() //{ */
+    5546             : 
+    5547          30 : std::tuple<bool, std::string> ControlManager::setReference(const mrs_msgs::ReferenceStamped reference_in) {
+    5548             : 
+    5549          60 :   std::stringstream ss;
+    5550             : 
+    5551          30 :   if (!callbacks_enabled_) {
+    5552           0 :     ss << "can not set the reference, the callbacks are disabled";
+    5553           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5554           0 :     return std::tuple(false, ss.str());
+    5555             :   }
+    5556             : 
+    5557          30 :   if (!validateReference(reference_in.reference, "ControlManager", "reference")) {
+    5558           0 :     ss << "incoming reference is not finite!!!";
+    5559           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5560           0 :     return std::tuple(false, ss.str());
+    5561             :   }
+    5562             : 
+    5563             :   // copy member variables
+    5564          60 :   auto uav_state        = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    5565          60 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5566             : 
+    5567             :   // transform the reference to the current frame
+    5568          60 :   auto ret = transformer_->transformSingle(reference_in, uav_state.header.frame_id);
+    5569             : 
+    5570          30 :   if (!ret) {
+    5571             : 
+    5572           0 :     ss << "the reference could not be transformed";
+    5573           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5574           0 :     return std::tuple(false, ss.str());
+    5575             :   }
+    5576             : 
+    5577          60 :   mrs_msgs::ReferenceStamped transformed_reference = ret.value();
+    5578             : 
+    5579             :   // safety area check
+    5580          30 :   if (!isPointInSafetyArea3d(transformed_reference)) {
+    5581           0 :     ss << "failed to set the reference, the point is outside of the safety area!";
+    5582           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5583           0 :     return std::tuple(false, ss.str());
+    5584             :   }
+    5585             : 
+    5586          30 :   if (last_tracker_cmd) {
+    5587             : 
+    5588          30 :     mrs_msgs::ReferenceStamped from_point;
+    5589          30 :     from_point.header.frame_id      = uav_state.header.frame_id;
+    5590          30 :     from_point.reference.position.x = last_tracker_cmd->position.x;
+    5591          30 :     from_point.reference.position.y = last_tracker_cmd->position.y;
+    5592          30 :     from_point.reference.position.z = last_tracker_cmd->position.z;
+    5593             : 
+    5594          30 :     if (!isPathToPointInSafetyArea3d(from_point, transformed_reference)) {
+    5595           0 :       ss << "failed to set the reference, the path is going outside the safety area!";
+    5596           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5597           0 :       return std::tuple(false, ss.str());
+    5598             :     }
+    5599             :   }
+    5600             : 
+    5601          30 :   mrs_msgs::ReferenceSrvResponse::ConstPtr tracker_response;
+    5602             : 
+    5603             :   // prepare the message for current tracker
+    5604          30 :   mrs_msgs::ReferenceSrvRequest reference_request;
+    5605          30 :   reference_request.reference = transformed_reference.reference;
+    5606             : 
+    5607             :   {
+    5608          60 :     std::scoped_lock lock(mutex_tracker_list_);
+    5609             : 
+    5610          90 :     tracker_response = tracker_list_[active_tracker_idx_]->setReference(
+    5611          90 :         mrs_msgs::ReferenceSrvRequest::ConstPtr(std::make_unique<mrs_msgs::ReferenceSrvRequest>(reference_request)));
+    5612             : 
+    5613          30 :     if (tracker_response != mrs_msgs::ReferenceSrvResponse::Ptr()) {
+    5614             : 
+    5615          60 :       return std::tuple(tracker_response->success, tracker_response->message);
+    5616             : 
+    5617             :     } else {
+    5618             : 
+    5619           0 :       ss << "the tracker '" << _tracker_names_[active_tracker_idx_] << "' does not implement the 'setReference()' function!";
+    5620           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: failed to set the reference: " << ss.str());
+    5621           0 :       return std::tuple(false, ss.str());
+    5622             :     }
+    5623             :   }
+    5624             : }
+    5625             : 
+    5626             : //}
+    5627             : 
+    5628             : /* setVelocityReference() //{ */
+    5629             : 
+    5630           0 : std::tuple<bool, std::string> ControlManager::setVelocityReference(const mrs_msgs::VelocityReferenceStamped& reference_in) {
+    5631             : 
+    5632           0 :   std::stringstream ss;
+    5633             : 
+    5634           0 :   if (!callbacks_enabled_) {
+    5635           0 :     ss << "can not set the reference, the callbacks are disabled";
+    5636           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5637           0 :     return std::tuple(false, ss.str());
+    5638             :   }
+    5639             : 
+    5640           0 :   if (!validateVelocityReference(reference_in.reference, "ControlManager", "velocity_reference")) {
+    5641           0 :     ss << "velocity command is not valid!";
+    5642           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5643           0 :     return std::tuple(false, ss.str());
+    5644             :   }
+    5645             : 
+    5646             :   {
+    5647           0 :     std::scoped_lock lock(mutex_last_tracker_cmd_);
+    5648             : 
+    5649           0 :     if (!last_tracker_cmd_) {
+    5650           0 :       ss << "could not set velocity command, not flying!";
+    5651           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5652           0 :       return std::tuple(false, ss.str());
+    5653             :     }
+    5654             :   }
+    5655             : 
+    5656             :   // copy member variables
+    5657           0 :   auto uav_state        = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    5658           0 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5659             : 
+    5660             :   // | -- transform the velocity reference to the current frame - |
+    5661             : 
+    5662           0 :   mrs_msgs::VelocityReferenceStamped transformed_reference = reference_in;
+    5663             : 
+    5664           0 :   auto ret = transformer_->getTransform(reference_in.header.frame_id, uav_state.header.frame_id, reference_in.header.stamp);
+    5665             : 
+    5666           0 :   geometry_msgs::TransformStamped tf;
+    5667             : 
+    5668           0 :   if (!ret) {
+    5669           0 :     ss << "could not find tf from " << reference_in.header.frame_id << " to " << uav_state.header.frame_id;
+    5670           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5671           0 :     return std::tuple(false, ss.str());
+    5672             :   } else {
+    5673           0 :     tf = ret.value();
+    5674             :   }
+    5675             : 
+    5676             :   // transform the velocity
+    5677             :   {
+    5678           0 :     geometry_msgs::Vector3Stamped velocity;
+    5679           0 :     velocity.header   = reference_in.header;
+    5680           0 :     velocity.vector.x = reference_in.reference.velocity.x;
+    5681           0 :     velocity.vector.y = reference_in.reference.velocity.y;
+    5682           0 :     velocity.vector.z = reference_in.reference.velocity.z;
+    5683             : 
+    5684           0 :     auto ret = transformer_->transform(velocity, tf);
+    5685             : 
+    5686           0 :     if (!ret) {
+    5687             : 
+    5688           0 :       ss << "the velocity reference could not be transformed";
+    5689           0 :       ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5690           0 :       return std::tuple(false, ss.str());
+    5691             : 
+    5692             :     } else {
+    5693           0 :       transformed_reference.reference.velocity.x = ret->vector.x;
+    5694           0 :       transformed_reference.reference.velocity.y = ret->vector.y;
+    5695           0 :       transformed_reference.reference.velocity.z = ret->vector.z;
+    5696             :     }
+    5697             :   }
+    5698             : 
+    5699             :   // transform the z and the heading
+    5700             :   {
+    5701           0 :     geometry_msgs::PoseStamped pose;
+    5702           0 :     pose.header           = reference_in.header;
+    5703           0 :     pose.pose.position.x  = 0;
+    5704           0 :     pose.pose.position.y  = 0;
+    5705           0 :     pose.pose.position.z  = reference_in.reference.altitude;
+    5706           0 :     pose.pose.orientation = mrs_lib::AttitudeConverter(0, 0, reference_in.reference.heading);
+    5707             : 
+    5708           0 :     auto ret = transformer_->transform(pose, tf);
+    5709             : 
+    5710           0 :     if (!ret) {
+    5711             : 
+    5712           0 :       ss << "the velocity reference could not be transformed";
+    5713           0 :       ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5714           0 :       return std::tuple(false, ss.str());
+    5715             : 
+    5716             :     } else {
+    5717           0 :       transformed_reference.reference.altitude = ret->pose.position.z;
+    5718           0 :       transformed_reference.reference.heading  = mrs_lib::AttitudeConverter(ret->pose.orientation).getHeading();
+    5719             :     }
+    5720             :   }
+    5721             : 
+    5722             :   // the heading rate doees not need to be transformed
+    5723           0 :   transformed_reference.reference.heading_rate = reference_in.reference.heading_rate;
+    5724             : 
+    5725           0 :   transformed_reference.header.stamp    = tf.header.stamp;
+    5726           0 :   transformed_reference.header.frame_id = transformer_->frame_to(tf);
+    5727             : 
+    5728           0 :   mrs_msgs::ReferenceStamped eqivalent_reference = velocityReferenceToReference(transformed_reference);
+    5729             : 
+    5730           0 :   ROS_DEBUG("[ControlManager]: equivalent reference: %.2f, %.2f, %.2f, %.2f", eqivalent_reference.reference.position.x,
+    5731             :             eqivalent_reference.reference.position.y, eqivalent_reference.reference.position.z, eqivalent_reference.reference.heading);
+    5732             : 
+    5733             :   // safety area check
+    5734           0 :   if (!isPointInSafetyArea3d(eqivalent_reference)) {
+    5735           0 :     ss << "failed to set the reference, the point is outside of the safety area!";
+    5736           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5737           0 :     return std::tuple(false, ss.str());
+    5738             :   }
+    5739             : 
+    5740           0 :   if (last_tracker_cmd) {
+    5741             : 
+    5742           0 :     mrs_msgs::ReferenceStamped from_point;
+    5743           0 :     from_point.header.frame_id      = uav_state.header.frame_id;
+    5744           0 :     from_point.reference.position.x = last_tracker_cmd->position.x;
+    5745           0 :     from_point.reference.position.y = last_tracker_cmd->position.y;
+    5746           0 :     from_point.reference.position.z = last_tracker_cmd->position.z;
+    5747             : 
+    5748           0 :     if (!isPathToPointInSafetyArea3d(from_point, eqivalent_reference)) {
+    5749           0 :       ss << "failed to set the reference, the path is going outside the safety area!";
+    5750           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5751           0 :       return std::tuple(false, ss.str());
+    5752             :     }
+    5753             :   }
+    5754             : 
+    5755           0 :   mrs_msgs::VelocityReferenceSrvResponse::ConstPtr tracker_response;
+    5756             : 
+    5757             :   // prepare the message for current tracker
+    5758           0 :   mrs_msgs::VelocityReferenceSrvRequest reference_request;
+    5759           0 :   reference_request.reference = transformed_reference.reference;
+    5760             : 
+    5761             :   {
+    5762           0 :     std::scoped_lock lock(mutex_tracker_list_);
+    5763             : 
+    5764           0 :     tracker_response = tracker_list_[active_tracker_idx_]->setVelocityReference(
+    5765           0 :         mrs_msgs::VelocityReferenceSrvRequest::ConstPtr(std::make_unique<mrs_msgs::VelocityReferenceSrvRequest>(reference_request)));
+    5766             : 
+    5767           0 :     if (tracker_response != mrs_msgs::VelocityReferenceSrvResponse::Ptr()) {
+    5768             : 
+    5769           0 :       return std::tuple(tracker_response->success, tracker_response->message);
+    5770             : 
+    5771             :     } else {
+    5772             : 
+    5773           0 :       ss << "the tracker '" << _tracker_names_[active_tracker_idx_] << "' does not implement the 'setVelocityReference()' function!";
+    5774           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: failed to set the velocity reference: " << ss.str());
+    5775           0 :       return std::tuple(false, ss.str());
+    5776             :     }
+    5777             :   }
+    5778             : }
+    5779             : 
+    5780             : //}
+    5781             : 
+    5782             : /* setTrajectoryReference() //{ */
+    5783             : 
+    5784           1 : std::tuple<bool, std::string, bool, std::vector<std::string>, std::vector<bool>, std::vector<std::string>> ControlManager::setTrajectoryReference(
+    5785             :     const mrs_msgs::TrajectoryReference trajectory_in) {
+    5786             : 
+    5787           2 :   auto uav_state        = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    5788           2 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5789             : 
+    5790           2 :   std::stringstream ss;
+    5791             : 
+    5792           1 :   if (!callbacks_enabled_) {
+    5793           0 :     ss << "can not set the reference, the callbacks are disabled";
+    5794           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5795           0 :     return std::tuple(false, ss.str(), false, std::vector<std::string>(), std::vector<bool>(), std::vector<std::string>());
+    5796             :   }
+    5797             : 
+    5798             :   /* validate the size and check for NaNs //{ */
+    5799             : 
+    5800             :   // check for the size 0, which is invalid
+    5801           1 :   if (trajectory_in.points.size() == 0) {
+    5802             : 
+    5803           0 :     ss << "can not load trajectory with size 0";
+    5804           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5805           0 :     return std::tuple(false, ss.str(), false, std::vector<std::string>(), std::vector<bool>(), std::vector<std::string>());
+    5806             :   }
+    5807             : 
+    5808          41 :   for (int i = 0; i < int(trajectory_in.points.size()); i++) {
+    5809             : 
+    5810             :     // check the point for NaN/inf
+    5811          40 :     bool valid = validateReference(trajectory_in.points[i], "ControlManager", "trajectory_in.points[]");
+    5812             : 
+    5813          40 :     if (!valid) {
+    5814             : 
+    5815           0 :       ss << "trajectory contains NaNs/infs.";
+    5816           0 :       ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5817           0 :       return std::tuple(false, ss.str(), false, std::vector<std::string>(), std::vector<bool>(), std::vector<std::string>());
+    5818             :     }
+    5819             :   }
+    5820             : 
+    5821             :   //}
+    5822             : 
+    5823             :   /* publish the debugging topics of the original trajectory //{ */
+    5824             : 
+    5825             :   {
+    5826             : 
+    5827           2 :     geometry_msgs::PoseArray debug_trajectory_out;
+    5828           1 :     debug_trajectory_out.header = trajectory_in.header;
+    5829             : 
+    5830           1 :     debug_trajectory_out.header.frame_id = transformer_->resolveFrame(debug_trajectory_out.header.frame_id);
+    5831             : 
+    5832           1 :     if (debug_trajectory_out.header.stamp == ros::Time(0)) {
+    5833           1 :       debug_trajectory_out.header.stamp = ros::Time::now();
+    5834             :     }
+    5835             : 
+    5836          40 :     for (int i = 0; i < int(trajectory_in.points.size()) - 1; i++) {
+    5837             : 
+    5838          39 :       geometry_msgs::Pose new_pose;
+    5839             : 
+    5840          39 :       new_pose.position.x = trajectory_in.points[i].position.x;
+    5841          39 :       new_pose.position.y = trajectory_in.points[i].position.y;
+    5842          39 :       new_pose.position.z = trajectory_in.points[i].position.z;
+    5843             : 
+    5844          39 :       new_pose.orientation = mrs_lib::AttitudeConverter(0, 0, trajectory_in.points[i].heading);
+    5845             : 
+    5846          39 :       debug_trajectory_out.poses.push_back(new_pose);
+    5847             :     }
+    5848             : 
+    5849           1 :     pub_debug_original_trajectory_poses_.publish(debug_trajectory_out);
+    5850             : 
+    5851           2 :     visualization_msgs::MarkerArray msg_out;
+    5852             : 
+    5853           2 :     visualization_msgs::Marker marker;
+    5854             : 
+    5855           1 :     marker.header = trajectory_in.header;
+    5856             : 
+    5857           1 :     marker.header.frame_id = transformer_->resolveFrame(marker.header.frame_id);
+    5858             : 
+    5859           1 :     if (marker.header.frame_id == "") {
+    5860           0 :       marker.header.frame_id = uav_state.header.frame_id;
+    5861             :     }
+    5862             : 
+    5863           1 :     if (marker.header.stamp == ros::Time(0)) {
+    5864           1 :       marker.header.stamp = ros::Time::now();
+    5865             :     }
+    5866             : 
+    5867           1 :     marker.type             = visualization_msgs::Marker::LINE_LIST;
+    5868           1 :     marker.color.a          = 1;
+    5869           1 :     marker.scale.x          = 0.05;
+    5870           1 :     marker.color.r          = 0;
+    5871           1 :     marker.color.g          = 1;
+    5872           1 :     marker.color.b          = 0;
+    5873           1 :     marker.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    5874             : 
+    5875          40 :     for (int i = 0; i < int(trajectory_in.points.size()) - 1; i++) {
+    5876             : 
+    5877          39 :       geometry_msgs::Point point1;
+    5878             : 
+    5879          39 :       point1.x = trajectory_in.points[i].position.x;
+    5880          39 :       point1.y = trajectory_in.points[i].position.y;
+    5881          39 :       point1.z = trajectory_in.points[i].position.z;
+    5882             : 
+    5883          39 :       marker.points.push_back(point1);
+    5884             : 
+    5885          39 :       geometry_msgs::Point point2;
+    5886             : 
+    5887          39 :       point2.x = trajectory_in.points[i + 1].position.x;
+    5888          39 :       point2.y = trajectory_in.points[i + 1].position.y;
+    5889          39 :       point2.z = trajectory_in.points[i + 1].position.z;
+    5890             : 
+    5891          39 :       marker.points.push_back(point2);
+    5892             :     }
+    5893             : 
+    5894           1 :     msg_out.markers.push_back(marker);
+    5895             : 
+    5896           1 :     pub_debug_original_trajectory_markers_.publish(msg_out);
+    5897             :   }
+    5898             : 
+    5899             :   //}
+    5900             : 
+    5901           2 :   mrs_msgs::TrajectoryReference processed_trajectory = trajectory_in;
+    5902             : 
+    5903           1 :   int trajectory_size = int(processed_trajectory.points.size());
+    5904             : 
+    5905           1 :   bool trajectory_modified = false;
+    5906             : 
+    5907             :   /* safety area check //{ */
+    5908             : 
+    5909           1 :   if (use_safety_area_) {
+    5910             : 
+    5911           1 :     int last_valid_idx    = 0;
+    5912           1 :     int first_invalid_idx = -1;
+    5913             : 
+    5914           1 :     double min_z = getMinZ(processed_trajectory.header.frame_id);
+    5915           1 :     double max_z = getMaxZ(processed_trajectory.header.frame_id);
+    5916             : 
+    5917          41 :     for (int i = 0; i < trajectory_size; i++) {
+    5918             : 
+    5919          40 :       if (_snap_trajectory_to_safety_area_) {
+    5920             : 
+    5921             :         // saturate the trajectory to min and max Z
+    5922           0 :         if (processed_trajectory.points[i].position.z < min_z) {
+    5923             : 
+    5924           0 :           processed_trajectory.points[i].position.z = min_z;
+    5925           0 :           ROS_WARN_THROTTLE(1.0, "[ControlManager]: the trajectory violates the minimum Z!");
+    5926           0 :           trajectory_modified = true;
+    5927             :         }
+    5928             : 
+    5929           0 :         if (processed_trajectory.points[i].position.z > max_z) {
+    5930             : 
+    5931           0 :           processed_trajectory.points[i].position.z = max_z;
+    5932           0 :           ROS_WARN_THROTTLE(1.0, "[ControlManager]: the trajectory violates the maximum Z!");
+    5933           0 :           trajectory_modified = true;
+    5934             :         }
+    5935             :       }
+    5936             : 
+    5937             :       // check the point against the safety area
+    5938          40 :       mrs_msgs::ReferenceStamped des_reference;
+    5939          40 :       des_reference.header    = processed_trajectory.header;
+    5940          40 :       des_reference.reference = processed_trajectory.points[i];
+    5941             : 
+    5942          40 :       if (!isPointInSafetyArea3d(des_reference)) {
+    5943             : 
+    5944           0 :         ROS_WARN_THROTTLE(1.0, "[ControlManager]: the trajectory contains points outside of the safety area!");
+    5945           0 :         trajectory_modified = true;
+    5946             : 
+    5947             :         // the first invalid point
+    5948           0 :         if (first_invalid_idx == -1) {
+    5949             : 
+    5950           0 :           first_invalid_idx = i;
+    5951             : 
+    5952           0 :           last_valid_idx = i - 1;
+    5953             :         }
+    5954             : 
+    5955             :         // the point is ok
+    5956             :       } else {
+    5957             : 
+    5958             :         // we found a point, which is ok, after finding a point which was not ok
+    5959          40 :         if (first_invalid_idx != -1) {
+    5960             : 
+    5961             :           // special case, we had no valid point so far
+    5962           0 :           if (last_valid_idx == -1) {
+    5963             : 
+    5964           0 :             ss << "the trajectory starts outside of the safety area!";
+    5965           0 :             ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5966           0 :             return std::tuple(false, ss.str(), false, std::vector<std::string>(), std::vector<bool>(), std::vector<std::string>());
+    5967             : 
+    5968             :             // we have a valid point in the past
+    5969             :           } else {
+    5970             : 
+    5971           0 :             if (!_snap_trajectory_to_safety_area_) {
+    5972           0 :               break;
+    5973             :             }
+    5974             : 
+    5975           0 :             bool interpolation_success = true;
+    5976             : 
+    5977             :             // iterpolate between the last valid point and this new valid point
+    5978           0 :             double angle = atan2((processed_trajectory.points[i].position.y - processed_trajectory.points[last_valid_idx].position.y),
+    5979           0 :                                  (processed_trajectory.points[i].position.x - processed_trajectory.points[last_valid_idx].position.x));
+    5980             : 
+    5981             :             double dist_two_points =
+    5982           0 :                 mrs_lib::geometry::dist(vec2_t(processed_trajectory.points[i].position.x, processed_trajectory.points[i].position.y),
+    5983           0 :                                         vec2_t(processed_trajectory.points[last_valid_idx].position.x, processed_trajectory.points[last_valid_idx].position.y));
+    5984           0 :             double step = dist_two_points / (i - last_valid_idx);
+    5985             : 
+    5986           0 :             for (int j = last_valid_idx; j < i; j++) {
+    5987             : 
+    5988           0 :               mrs_msgs::ReferenceStamped temp_point;
+    5989           0 :               temp_point.header.frame_id      = processed_trajectory.header.frame_id;
+    5990           0 :               temp_point.reference.position.x = processed_trajectory.points[last_valid_idx].position.x + (j - last_valid_idx) * cos(angle) * step;
+    5991           0 :               temp_point.reference.position.y = processed_trajectory.points[last_valid_idx].position.y + (j - last_valid_idx) * sin(angle) * step;
+    5992             : 
+    5993           0 :               if (!isPointInSafetyArea2d(temp_point)) {
+    5994             : 
+    5995           0 :                 interpolation_success = false;
+    5996           0 :                 break;
+    5997             : 
+    5998             :               } else {
+    5999             : 
+    6000           0 :                 processed_trajectory.points[j].position.x = temp_point.reference.position.x;
+    6001           0 :                 processed_trajectory.points[j].position.y = temp_point.reference.position.y;
+    6002             :               }
+    6003             :             }
+    6004             : 
+    6005           0 :             if (!interpolation_success) {
+    6006           0 :               break;
+    6007             :             }
+    6008             :           }
+    6009             : 
+    6010           0 :           first_invalid_idx = -1;
+    6011             :         }
+    6012             :       }
+    6013             :     }
+    6014             : 
+    6015             :     // special case, the trajectory does not end with a valid point
+    6016           1 :     if (first_invalid_idx != -1) {
+    6017             : 
+    6018             :       // super special case, the whole trajectory is invalid
+    6019           0 :       if (first_invalid_idx == 0) {
+    6020             : 
+    6021           0 :         ss << "the whole trajectory is outside of the safety area!";
+    6022           0 :         ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    6023           0 :         return std::tuple(false, ss.str(), false, std::vector<std::string>(), std::vector<bool>(), std::vector<std::string>());
+    6024             : 
+    6025             :         // there is a good portion of the trajectory in the beginning
+    6026             :       } else {
+    6027             : 
+    6028           0 :         trajectory_size = last_valid_idx + 1;
+    6029           0 :         processed_trajectory.points.resize(trajectory_size);
+    6030           0 :         trajectory_modified = true;
+    6031             :       }
+    6032             :     }
+    6033             :   }
+    6034             : 
+    6035           1 :   if (trajectory_size == 0) {
+    6036             : 
+    6037           0 :     ss << "the trajectory happened to be empty after all the checks! This message should not appear!";
+    6038           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    6039           0 :     return std::tuple(false, ss.str(), false, std::vector<std::string>(), std::vector<bool>(), std::vector<std::string>());
+    6040             :   }
+    6041             : 
+    6042             :   //}
+    6043             : 
+    6044             :   /* transform the trajectory to the current control frame //{ */
+    6045             : 
+    6046           1 :   std::optional<geometry_msgs::TransformStamped> tf_traj_state;
+    6047             : 
+    6048           1 :   if (processed_trajectory.header.stamp > ros::Time::now()) {
+    6049           0 :     tf_traj_state = transformer_->getTransform(processed_trajectory.header.frame_id, "", processed_trajectory.header.stamp);
+    6050             :   } else {
+    6051           1 :     tf_traj_state = transformer_->getTransform(processed_trajectory.header.frame_id, "", uav_state_.header.stamp);
+    6052             :   }
+    6053             : 
+    6054           1 :   if (!tf_traj_state) {
+    6055           0 :     ss << "could not create TF transformer for the trajectory";
+    6056           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    6057           0 :     return std::tuple(false, ss.str(), false, std::vector<std::string>(), std::vector<bool>(), std::vector<std::string>());
+    6058             :   }
+    6059             : 
+    6060           1 :   processed_trajectory.header.frame_id = transformer_->frame_to(*tf_traj_state);
+    6061             : 
+    6062          41 :   for (int i = 0; i < trajectory_size; i++) {
+    6063             : 
+    6064          40 :     mrs_msgs::ReferenceStamped trajectory_point;
+    6065          40 :     trajectory_point.header    = processed_trajectory.header;
+    6066          40 :     trajectory_point.reference = processed_trajectory.points[i];
+    6067             : 
+    6068          40 :     auto ret = transformer_->transform(trajectory_point, *tf_traj_state);
+    6069             : 
+    6070          40 :     if (!ret) {
+    6071             : 
+    6072           0 :       ss << "trajectory cannnot be transformed";
+    6073           0 :       ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    6074           0 :       return std::tuple(false, ss.str(), false, std::vector<std::string>(), std::vector<bool>(), std::vector<std::string>());
+    6075             : 
+    6076             :     } else {
+    6077             : 
+    6078             :       // transform the points in the trajectory to the current frame
+    6079          40 :       processed_trajectory.points[i] = ret.value().reference;
+    6080             :     }
+    6081             :   }
+    6082             : 
+    6083             :   //}
+    6084             : 
+    6085           1 :   mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr response;
+    6086           2 :   mrs_msgs::TrajectoryReferenceSrvRequest            request;
+    6087             : 
+    6088             :   // check for empty trajectory
+    6089           1 :   if (processed_trajectory.points.size() == 0) {
+    6090           0 :     ss << "reference trajectory was processing and it is now empty, this should not happen!";
+    6091           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    6092           0 :     return std::tuple(false, ss.str(), false, std::vector<std::string>(), std::vector<bool>(), std::vector<std::string>());
+    6093             :   }
+    6094             : 
+    6095             :   // prepare the message for current tracker
+    6096           1 :   request.trajectory = processed_trajectory;
+    6097             : 
+    6098             :   bool                     success;
+    6099           2 :   std::string              message;
+    6100             :   bool                     modified;
+    6101           2 :   std::vector<std::string> tracker_names;
+    6102           2 :   std::vector<bool>        tracker_successes;
+    6103           2 :   std::vector<std::string> tracker_messages;
+    6104             : 
+    6105             :   {
+    6106           2 :     std::scoped_lock lock(mutex_tracker_list_);
+    6107             : 
+    6108             :     // set the trajectory to the currently active tracker
+    6109           3 :     response = tracker_list_[active_tracker_idx_]->setTrajectoryReference(
+    6110           3 :         mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr(std::make_unique<mrs_msgs::TrajectoryReferenceSrvRequest>(request)));
+    6111             : 
+    6112           1 :     tracker_names.push_back(_tracker_names_[active_tracker_idx_]);
+    6113             : 
+    6114           1 :     if (response != mrs_msgs::TrajectoryReferenceSrvResponse::Ptr()) {
+    6115             : 
+    6116           1 :       success  = response->success;
+    6117           1 :       message  = response->message;
+    6118           1 :       modified = response->modified || trajectory_modified;
+    6119           1 :       tracker_successes.push_back(response->success);
+    6120           1 :       tracker_messages.push_back(response->message);
+    6121             : 
+    6122             :     } else {
+    6123             : 
+    6124           0 :       ss << "the active tracker '" << _tracker_names_[active_tracker_idx_] << "' does not implement the 'setTrajectoryReference()' function!";
+    6125           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: failed to set the trajectory: " << ss.str());
+    6126             : 
+    6127           0 :       success  = false;
+    6128           0 :       message  = ss.str();
+    6129           0 :       modified = false;
+    6130           0 :       tracker_successes.push_back(false);
+    6131           0 :       tracker_messages.push_back(ss.str());
+    6132             :     }
+    6133             : 
+    6134             :     // set the trajectory to the non-active trackers
+    6135           7 :     for (size_t i = 0; i < tracker_list_.size(); i++) {
+    6136             : 
+    6137           6 :       if (i != active_tracker_idx_) {
+    6138             : 
+    6139           5 :         tracker_names.push_back(_tracker_names_[i]);
+    6140             : 
+    6141          15 :         response = tracker_list_[i]->setTrajectoryReference(
+    6142          15 :             mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr(std::make_unique<mrs_msgs::TrajectoryReferenceSrvRequest>(request)));
+    6143             : 
+    6144           5 :         if (response != mrs_msgs::TrajectoryReferenceSrvResponse::Ptr()) {
+    6145             : 
+    6146           0 :           tracker_successes.push_back(response->success);
+    6147           0 :           tracker_messages.push_back(response->message);
+    6148             : 
+    6149           0 :           if (response->success) {
+    6150           0 :             std::stringstream ss;
+    6151           0 :             ss << "trajectory loaded to non-active tracker '" << _tracker_names_[i];
+    6152           0 :             ROS_INFO_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    6153             :           }
+    6154             : 
+    6155             :         } else {
+    6156             : 
+    6157           5 :           std::stringstream ss;
+    6158           5 :           ss << "the tracker \"" << _tracker_names_[i] << "\" does not implement setTrajectoryReference()";
+    6159           5 :           tracker_successes.push_back(false);
+    6160           5 :           tracker_messages.push_back(ss.str());
+    6161             :         }
+    6162             :       }
+    6163             :     }
+    6164             :   }
+    6165             : 
+    6166           1 :   return std::tuple(success, message, modified, tracker_names, tracker_successes, tracker_messages);
+    6167             : }
+    6168             : 
+    6169             : //}
+    6170             : 
+    6171             : /* isOffboard() //{ */
+    6172             : 
+    6173          10 : bool ControlManager::isOffboard(void) {
+    6174             : 
+    6175          10 :   if (!sh_hw_api_status_.hasMsg()) {
+    6176           0 :     return false;
+    6177             :   }
+    6178             : 
+    6179          10 :   mrs_msgs::HwApiStatusConstPtr hw_api_status = sh_hw_api_status_.getMsg();
+    6180             : 
+    6181          10 :   return hw_api_status->connected && hw_api_status->offboard;
+    6182             : }
+    6183             : 
+    6184             : //}
+    6185             : 
+    6186             : /* setCallbacks() //{ */
+    6187             : 
+    6188           2 : void ControlManager::setCallbacks(bool in) {
+    6189             : 
+    6190           2 :   callbacks_enabled_ = in;
+    6191             : 
+    6192           2 :   std_srvs::SetBoolRequest req_enable_callbacks;
+    6193           2 :   req_enable_callbacks.data = callbacks_enabled_;
+    6194             : 
+    6195             :   {
+    6196           4 :     std::scoped_lock lock(mutex_tracker_list_);
+    6197             : 
+    6198             :     // set callbacks to all trackers
+    6199          14 :     for (int i = 0; i < int(tracker_list_.size()); i++) {
+    6200          12 :       tracker_list_[i]->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    6201             :     }
+    6202             :   }
+    6203           2 : }
+    6204             : 
+    6205             : //}
+    6206             : 
+    6207             : /* publishDiagnostics() //{ */
+    6208             : 
+    6209        6386 : void ControlManager::publishDiagnostics(void) {
+    6210             : 
+    6211        6386 :   if (!is_initialized_) {
+    6212           0 :     return;
+    6213             :   }
+    6214             : 
+    6215       19158 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("publishDiagnostics");
+    6216       19158 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::publishDiagnostics", scope_timer_logger_, scope_timer_enabled_);
+    6217             : 
+    6218       12772 :   std::scoped_lock lock(mutex_diagnostics_);
+    6219             : 
+    6220       12772 :   mrs_msgs::ControlManagerDiagnostics diagnostics_msg;
+    6221             : 
+    6222        6386 :   diagnostics_msg.stamp    = ros::Time::now();
+    6223        6386 :   diagnostics_msg.uav_name = _uav_name_;
+    6224             : 
+    6225        6386 :   diagnostics_msg.desired_uav_state_rate = desired_uav_state_rate_;
+    6226             : 
+    6227        6386 :   diagnostics_msg.output_enabled = output_enabled_;
+    6228             : 
+    6229        6386 :   diagnostics_msg.rc_mode = rc_goto_active_;
+    6230             : 
+    6231             :   {
+    6232        6386 :     std::scoped_lock lock(mutex_tracker_list_, mutex_controller_list_);
+    6233             : 
+    6234        6386 :     diagnostics_msg.flying_normally = isFlyingNormally();
+    6235             :   }
+    6236             : 
+    6237             :   // | ----------------- fill the tracker status ---------------- |
+    6238             : 
+    6239             :   {
+    6240       12772 :     std::scoped_lock lock(mutex_tracker_list_);
+    6241             : 
+    6242        6386 :     mrs_msgs::TrackerStatus tracker_status;
+    6243             : 
+    6244        6386 :     diagnostics_msg.active_tracker = _tracker_names_[active_tracker_idx_];
+    6245        6386 :     diagnostics_msg.tracker_status = tracker_list_[active_tracker_idx_]->getStatus();
+    6246             :   }
+    6247             : 
+    6248             :   // | --------------- fill the controller status --------------- |
+    6249             : 
+    6250             :   {
+    6251       12772 :     std::scoped_lock lock(mutex_controller_list_);
+    6252             : 
+    6253        6386 :     mrs_msgs::ControllerStatus controller_status;
+    6254             : 
+    6255        6386 :     diagnostics_msg.active_controller = _controller_names_[active_controller_idx_];
+    6256        6386 :     diagnostics_msg.controller_status = controller_list_[active_controller_idx_]->getStatus();
+    6257             :   }
+    6258             : 
+    6259             :   // | ------------ fill in the available controllers ----------- |
+    6260             : 
+    6261       38316 :   for (int i = 0; i < int(_controller_names_.size()); i++) {
+    6262       31930 :     if ((_controller_names_[i] != _failsafe_controller_name_) && (_controller_names_[i] != _eland_controller_name_)) {
+    6263       19158 :       diagnostics_msg.available_controllers.push_back(_controller_names_[i]);
+    6264       19158 :       diagnostics_msg.human_switchable_controllers.push_back(controllers_.at(_controller_names_[i]).human_switchable);
+    6265             :     }
+    6266             :   }
+    6267             : 
+    6268             :   // | ------------- fill in the available trackers ------------- |
+    6269             : 
+    6270       44962 :   for (int i = 0; i < int(_tracker_names_.size()); i++) {
+    6271       38576 :     if (_tracker_names_[i] != _null_tracker_name_) {
+    6272       32190 :       diagnostics_msg.available_trackers.push_back(_tracker_names_[i]);
+    6273       32190 :       diagnostics_msg.human_switchable_trackers.push_back(trackers_.at(_tracker_names_[i]).human_switchable);
+    6274             :     }
+    6275             :   }
+    6276             : 
+    6277             :   // | ------------------------- publish ------------------------ |
+    6278             : 
+    6279        6386 :   ph_diagnostics_.publish(diagnostics_msg);
+    6280             : }
+    6281             : 
+    6282             : //}
+    6283             : 
+    6284             : /* setConstraintsToTrackers() //{ */
+    6285             : 
+    6286         147 : void ControlManager::setConstraintsToTrackers(const mrs_msgs::DynamicsConstraintsSrvRequest& constraints) {
+    6287             : 
+    6288         441 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("setConstraintsToTrackers");
+    6289         441 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::setConstraintsToTrackers", scope_timer_logger_, scope_timer_enabled_);
+    6290             : 
+    6291         147 :   mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr response;
+    6292             : 
+    6293             :   {
+    6294         294 :     std::scoped_lock lock(mutex_tracker_list_);
+    6295             : 
+    6296             :     // for each tracker
+    6297        1032 :     for (int i = 0; i < int(tracker_list_.size()); i++) {
+    6298             : 
+    6299             :       // if it is the active one, update and retrieve the command
+    6300        2655 :       response = tracker_list_[i]->setConstraints(
+    6301        2655 :           mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr(std::make_unique<mrs_msgs::DynamicsConstraintsSrvRequest>(constraints)));
+    6302             :     }
+    6303             :   }
+    6304         147 : }
+    6305             : 
+    6306             : //}
+    6307             : 
+    6308             : /* setConstraintsToControllers() //{ */
+    6309             : 
+    6310         188 : void ControlManager::setConstraintsToControllers(const mrs_msgs::DynamicsConstraintsSrvRequest& constraints) {
+    6311             : 
+    6312         564 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("setConstraintsToControllers");
+    6313         564 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::setConstraintsToControllers", scope_timer_logger_, scope_timer_enabled_);
+    6314             : 
+    6315         188 :   mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr response;
+    6316             : 
+    6317             :   {
+    6318         376 :     std::scoped_lock lock(mutex_controller_list_);
+    6319             : 
+    6320             :     // for each controller
+    6321        1128 :     for (int i = 0; i < int(controller_list_.size()); i++) {
+    6322             : 
+    6323             :       // if it is the active one, update and retrieve the command
+    6324        2820 :       response = controller_list_[i]->setConstraints(
+    6325        2820 :           mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr(std::make_unique<mrs_msgs::DynamicsConstraintsSrvRequest>(constraints)));
+    6326             :     }
+    6327             :   }
+    6328         188 : }
+    6329             : 
+    6330             : //}
+    6331             : 
+    6332             : /* setConstraints() //{ */
+    6333             : 
+    6334          48 : void ControlManager::setConstraints(const mrs_msgs::DynamicsConstraintsSrvRequest& constraints) {
+    6335             : 
+    6336         144 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("setConstraints");
+    6337         144 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::setConstraints", scope_timer_logger_, scope_timer_enabled_);
+    6338             : 
+    6339          48 :   mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr response;
+    6340             : 
+    6341          48 :   setConstraintsToTrackers(constraints);
+    6342             : 
+    6343          48 :   setConstraintsToControllers(constraints);
+    6344          48 : }
+    6345             : 
+    6346             : //}
+    6347             : 
+    6348             : 
+    6349             : /* enforceControllerConstraints() //{ */
+    6350             : 
+    6351       43075 : std::optional<mrs_msgs::DynamicsConstraintsSrvRequest> ControlManager::enforceControllersConstraints(
+    6352             :     const mrs_msgs::DynamicsConstraintsSrvRequest& constraints) {
+    6353             : 
+    6354             :   // copy member variables
+    6355       86150 :   auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    6356             : 
+    6357       43075 :   if (!last_control_output.control_output || !last_control_output.diagnostics.controller_enforcing_constraints) {
+    6358       33127 :     return {};
+    6359             :   }
+    6360             : 
+    6361        9948 :   bool enforcing = false;
+    6362             : 
+    6363        9948 :   auto constraints_out = constraints;
+    6364             : 
+    6365       19896 :   std::scoped_lock lock(mutex_tracker_list_);
+    6366             : 
+    6367             :   // enforce horizontal speed
+    6368        9948 :   if (last_control_output.diagnostics.horizontal_speed_constraint < constraints.constraints.horizontal_speed) {
+    6369        7596 :     constraints_out.constraints.horizontal_speed = last_control_output.diagnostics.horizontal_speed_constraint;
+    6370             : 
+    6371        7596 :     enforcing = true;
+    6372             :   }
+    6373             : 
+    6374             :   // enforce horizontal acceleration
+    6375        9948 :   if (last_control_output.diagnostics.horizontal_acc_constraint < constraints.constraints.horizontal_acceleration) {
+    6376        8345 :     constraints_out.constraints.horizontal_acceleration = last_control_output.diagnostics.horizontal_acc_constraint;
+    6377             : 
+    6378        8345 :     enforcing = true;
+    6379             :   }
+    6380             : 
+    6381             :   // enforce vertical ascending speed
+    6382        9948 :   if (last_control_output.diagnostics.vertical_asc_speed_constraint < constraints.constraints.vertical_ascending_speed) {
+    6383        7596 :     constraints_out.constraints.vertical_ascending_speed = last_control_output.diagnostics.vertical_asc_speed_constraint;
+    6384             : 
+    6385        7596 :     enforcing = true;
+    6386             :   }
+    6387             : 
+    6388             :   // enforce vertical ascending acceleration
+    6389        9948 :   if (last_control_output.diagnostics.vertical_asc_acc_constraint < constraints.constraints.vertical_ascending_acceleration) {
+    6390           0 :     constraints_out.constraints.vertical_ascending_acceleration = last_control_output.diagnostics.vertical_asc_acc_constraint;
+    6391             : 
+    6392           0 :     enforcing = true;
+    6393             :   }
+    6394             : 
+    6395             :   // enforce vertical descending speed
+    6396        9948 :   if (last_control_output.diagnostics.vertical_desc_speed_constraint < constraints.constraints.vertical_descending_speed) {
+    6397        7596 :     constraints_out.constraints.vertical_descending_speed = last_control_output.diagnostics.vertical_desc_speed_constraint;
+    6398             : 
+    6399        7596 :     enforcing = true;
+    6400             :   }
+    6401             : 
+    6402             :   // enforce vertical descending acceleration
+    6403        9948 :   if (last_control_output.diagnostics.vertical_desc_acc_constraint < constraints.constraints.vertical_descending_acceleration) {
+    6404           0 :     constraints_out.constraints.vertical_descending_acceleration = last_control_output.diagnostics.vertical_desc_acc_constraint;
+    6405             : 
+    6406           0 :     enforcing = true;
+    6407             :   }
+    6408             : 
+    6409        9948 :   if (enforcing) {
+    6410        8345 :     return {constraints_out};
+    6411             :   } else {
+    6412        1603 :     return {};
+    6413             :   }
+    6414             : }
+    6415             : 
+    6416             : //}
+    6417             : 
+    6418             : /* isFlyingNormally() //{ */
+    6419             : 
+    6420        6386 : bool ControlManager::isFlyingNormally(void) {
+    6421             : 
+    6422       10980 :   return (output_enabled_) && (offboard_mode_) && (armed_) &&
+    6423        4430 :          (((active_tracker_idx_ != _ehover_tracker_idx_) && (active_controller_idx_ != _eland_controller_idx_) &&
+    6424        5127 :            (active_controller_idx_ != _failsafe_controller_idx_)) ||
+    6425       12887 :           _controller_names_.size() == 1) &&
+    6426        8909 :          (((active_tracker_idx_ != _null_tracker_idx_) && (active_tracker_idx_ != _landoff_tracker_idx_)) || _tracker_names_.size() == 1);
+    6427             : }
+    6428             : 
+    6429             : //}
+    6430             : 
+    6431             : /* //{ getMass() */
+    6432             : 
+    6433         248 : double ControlManager::getMass(void) {
+    6434             : 
+    6435         496 :   auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    6436             : 
+    6437         248 :   if (last_control_output.diagnostics.mass_estimator) {
+    6438           8 :     return _uav_mass_ + last_control_output.diagnostics.mass_difference;
+    6439             :   } else {
+    6440         240 :     return _uav_mass_;
+    6441             :   }
+    6442             : }
+    6443             : 
+    6444             : //}
+    6445             : 
+    6446             : /* loadConfigFile() //{ */
+    6447             : 
+    6448           0 : bool ControlManager::loadConfigFile(const std::string& file_path, const std::string ns) {
+    6449             : 
+    6450           0 :   const std::string name_space = nh_.getNamespace() + "/" + ns;
+    6451             : 
+    6452           0 :   ROS_INFO("[ControlManager]: loading '%s' under the namespace '%s'", file_path.c_str(), name_space.c_str());
+    6453             : 
+    6454             :   // load the user-requested file
+    6455             :   {
+    6456           0 :     std::string command = "rosparam load " + file_path + " " + name_space;
+    6457           0 :     int         result  = std::system(command.c_str());
+    6458             : 
+    6459           0 :     if (result != 0) {
+    6460           0 :       ROS_ERROR("[ControlManager]: failed to load '%s'", file_path.c_str());
+    6461           0 :       return false;
+    6462             :     }
+    6463             :   }
+    6464             : 
+    6465             :   // load the platform config
+    6466           0 :   if (_platform_config_ != "") {
+    6467           0 :     std::string command = "rosparam load " + _platform_config_ + " " + name_space;
+    6468           0 :     int         result  = std::system(command.c_str());
+    6469             : 
+    6470           0 :     if (result != 0) {
+    6471           0 :       ROS_ERROR("[ControlManager]: failed to load the platform config file '%s'", _platform_config_.c_str());
+    6472           0 :       return false;
+    6473             :     }
+    6474             :   }
+    6475             : 
+    6476             :   // load the custom config
+    6477           0 :   if (_custom_config_ != "") {
+    6478           0 :     std::string command = "rosparam load " + _custom_config_ + " " + name_space;
+    6479           0 :     int         result  = std::system(command.c_str());
+    6480             : 
+    6481           0 :     if (result != 0) {
+    6482           0 :       ROS_ERROR("[ControlManager]: failed to load the custom config file '%s'", _custom_config_.c_str());
+    6483           0 :       return false;
+    6484             :     }
+    6485             :   }
+    6486             : 
+    6487           0 :   return true;
+    6488             : }
+    6489             : 
+    6490             : //}
+    6491             : 
+    6492             : // | ----------------------- safety area ---------------------- |
+    6493             : 
+    6494             : /* //{ isPointInSafetyArea3d() */
+    6495             : 
+    6496         126 : bool ControlManager::isPointInSafetyArea3d(const mrs_msgs::ReferenceStamped& point) {
+    6497             : 
+    6498         126 :   if (!use_safety_area_) {
+    6499           2 :     return true;
+    6500             :   }
+    6501             : 
+    6502         248 :   auto tfed_horizontal = transformer_->transformSingle(point, _safety_area_horizontal_frame_);
+    6503             : 
+    6504         124 :   if (!tfed_horizontal) {
+    6505           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: SafetyArea: Could not transform the point to the safety area horizontal frame");
+    6506           0 :     return false;
+    6507             :   }
+    6508             : 
+    6509         124 :   if (!safety_zone_->isPointValid(tfed_horizontal->reference.position.x, tfed_horizontal->reference.position.y)) {
+    6510           0 :     return false;
+    6511             :   }
+    6512             : 
+    6513         124 :   if (point.reference.position.z < getMinZ(point.header.frame_id) || point.reference.position.z > getMaxZ(point.header.frame_id)) {
+    6514           0 :     return false;
+    6515             :   }
+    6516             : 
+    6517         124 :   return true;
+    6518             : }
+    6519             : 
+    6520             : //}
+    6521             : 
+    6522             : /* //{ isPointInSafetyArea2d() */
+    6523             : 
+    6524        2102 : bool ControlManager::isPointInSafetyArea2d(const mrs_msgs::ReferenceStamped& point) {
+    6525             : 
+    6526        2102 :   if (!use_safety_area_) {
+    6527           3 :     return true;
+    6528             :   }
+    6529             : 
+    6530        4198 :   auto tfed_horizontal = transformer_->transformSingle(point, _safety_area_horizontal_frame_);
+    6531             : 
+    6532        2099 :   if (!tfed_horizontal) {
+    6533           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: SafetyArea: Could not transform the point to the safety area horizontal frame");
+    6534           0 :     return false;
+    6535             :   }
+    6536             : 
+    6537        2099 :   if (!safety_zone_->isPointValid(tfed_horizontal->reference.position.x, tfed_horizontal->reference.position.y)) {
+    6538          76 :     return false;
+    6539             :   }
+    6540             : 
+    6541        2023 :   return true;
+    6542             : }
+    6543             : 
+    6544             : //}
+    6545             : 
+    6546             : /* //{ isPathToPointInSafetyArea3d() */
+    6547             : 
+    6548          30 : bool ControlManager::isPathToPointInSafetyArea3d(const mrs_msgs::ReferenceStamped& start, const mrs_msgs::ReferenceStamped& end) {
+    6549             : 
+    6550          30 :   if (!use_safety_area_) {
+    6551           2 :     return true;
+    6552             :   }
+    6553             : 
+    6554          28 :   if (!isPointInSafetyArea3d(start) || !isPointInSafetyArea3d(end)) {
+    6555           0 :     return false;
+    6556             :   }
+    6557             : 
+    6558          56 :   mrs_msgs::ReferenceStamped start_transformed, end_transformed;
+    6559             : 
+    6560             :   {
+    6561          28 :     auto ret = transformer_->transformSingle(start, _safety_area_horizontal_frame_);
+    6562             : 
+    6563          28 :     if (!ret) {
+    6564             : 
+    6565           0 :       ROS_ERROR("[ControlManager]: SafetyArea: Could not transform the first point in the path");
+    6566             : 
+    6567           0 :       return false;
+    6568             :     }
+    6569             : 
+    6570          28 :     start_transformed = ret.value();
+    6571             :   }
+    6572             : 
+    6573             :   {
+    6574          28 :     auto ret = transformer_->transformSingle(end, _safety_area_horizontal_frame_);
+    6575             : 
+    6576          28 :     if (!ret) {
+    6577             : 
+    6578           0 :       ROS_ERROR("[ControlManager]: SafetyArea: Could not transform the first point in the path");
+    6579             : 
+    6580           0 :       return false;
+    6581             :     }
+    6582             : 
+    6583          28 :     end_transformed = ret.value();
+    6584             :   }
+    6585             : 
+    6586          28 :   return safety_zone_->isPathValid(start_transformed.reference.position.x, start_transformed.reference.position.y, end_transformed.reference.position.x,
+    6587          28 :                                    end_transformed.reference.position.y);
+    6588             : }
+    6589             : 
+    6590             : //}
+    6591             : 
+    6592             : /* //{ isPathToPointInSafetyArea2d() */
+    6593             : 
+    6594          31 : bool ControlManager::isPathToPointInSafetyArea2d(const mrs_msgs::ReferenceStamped& start, const mrs_msgs::ReferenceStamped& end) {
+    6595          31 :   if (!use_safety_area_) {
+    6596           0 :     return true;
+    6597             :   }
+    6598             : 
+    6599          62 :   mrs_msgs::ReferenceStamped start_transformed, end_transformed;
+    6600             : 
+    6601          31 :   if (!isPointInSafetyArea2d(start) || !isPointInSafetyArea2d(end)) {
+    6602           0 :     return false;
+    6603             :   }
+    6604             : 
+    6605             :   {
+    6606          31 :     auto ret = transformer_->transformSingle(start, _safety_area_horizontal_frame_);
+    6607             : 
+    6608          31 :     if (!ret) {
+    6609             : 
+    6610           0 :       ROS_ERROR("[ControlManager]: SafetyArea: Could not transform the first point in the path");
+    6611             : 
+    6612           0 :       return false;
+    6613             :     }
+    6614             : 
+    6615          31 :     start_transformed = ret.value();
+    6616             :   }
+    6617             : 
+    6618             :   {
+    6619          31 :     auto ret = transformer_->transformSingle(end, _safety_area_horizontal_frame_);
+    6620             : 
+    6621          31 :     if (!ret) {
+    6622             : 
+    6623           0 :       ROS_ERROR("[ControlManager]: SafetyArea: Could not transform the first point in the path");
+    6624             : 
+    6625           0 :       return false;
+    6626             :     }
+    6627             : 
+    6628          31 :     end_transformed = ret.value();
+    6629             :   }
+    6630             : 
+    6631          31 :   return safety_zone_->isPathValid(start_transformed.reference.position.x, start_transformed.reference.position.y, end_transformed.reference.position.x,
+    6632          31 :                                    end_transformed.reference.position.y);
+    6633             : }
+    6634             : 
+    6635             : //}
+    6636             : 
+    6637             : /* //{ getMaxZ() */
+    6638             : 
+    6639        4814 : double ControlManager::getMaxZ(const std::string& frame_id) {
+    6640             : 
+    6641             :   // | ------- first, calculate max_z from the safety area ------ |
+    6642             : 
+    6643        4814 :   double safety_area_max_z = std::numeric_limits<float>::max();
+    6644             : 
+    6645             :   {
+    6646             : 
+    6647        9628 :     geometry_msgs::PointStamped point;
+    6648             : 
+    6649        4814 :     point.header.frame_id = _safety_area_vertical_frame_;
+    6650        4814 :     point.point.x         = 0;
+    6651        4814 :     point.point.y         = 0;
+    6652        4814 :     point.point.z         = _safety_area_max_z_;
+    6653             : 
+    6654        4814 :     auto ret = transformer_->transformSingle(point, frame_id);
+    6655             : 
+    6656        4814 :     if (!ret) {
+    6657           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: SafetyArea: Could not transform safety area's max_z to '%s'", frame_id.c_str());
+    6658             :     }
+    6659             : 
+    6660        4814 :     safety_area_max_z = ret->point.z;
+    6661             :   }
+    6662             : 
+    6663             :   // | ------------ overwrite from estimation manager ----------- |
+    6664             : 
+    6665        4814 :   double estimation_manager_max_z = std::numeric_limits<float>::max();
+    6666             : 
+    6667             :   {
+    6668             :     // if possible, override it with max z from the estimation manager
+    6669        4814 :     if (sh_max_z_.hasMsg()) {
+    6670             : 
+    6671        9618 :       auto msg = sh_max_z_.getMsg();
+    6672             : 
+    6673             :       // transform it into the safety area frame
+    6674        9618 :       geometry_msgs::PointStamped point;
+    6675        4809 :       point.header  = msg->header;
+    6676        4809 :       point.point.x = 0;
+    6677        4809 :       point.point.y = 0;
+    6678        4809 :       point.point.z = msg->value;
+    6679             : 
+    6680        4809 :       auto ret = transformer_->transformSingle(point, frame_id);
+    6681             : 
+    6682        4809 :       if (!ret) {
+    6683           0 :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: SafetyArea: Could not transform estimation manager's max_z to the current control frame");
+    6684             :       }
+    6685             : 
+    6686        4809 :       estimation_manager_max_z = ret->point.z;
+    6687             :     }
+    6688             :   }
+    6689             : 
+    6690        4814 :   if (estimation_manager_max_z < safety_area_max_z) {
+    6691        1926 :     return estimation_manager_max_z;
+    6692             :   } else {
+    6693        2888 :     return safety_area_max_z;
+    6694             :   }
+    6695             : }
+    6696             : 
+    6697             : //}
+    6698             : 
+    6699             : /* //{ getMinZ() */
+    6700             : 
+    6701       34356 : double ControlManager::getMinZ(const std::string& frame_id) {
+    6702             : 
+    6703       34356 :   if (!use_safety_area_) {
+    6704        1820 :     return std::numeric_limits<double>::lowest();
+    6705             :   }
+    6706             : 
+    6707       65072 :   geometry_msgs::PointStamped point;
+    6708             : 
+    6709       32536 :   point.header.frame_id = _safety_area_vertical_frame_;
+    6710       32536 :   point.point.x         = 0;
+    6711       32536 :   point.point.y         = 0;
+    6712       32536 :   point.point.z         = _safety_area_min_z_;
+    6713             : 
+    6714       65072 :   auto ret = transformer_->transformSingle(point, frame_id);
+    6715             : 
+    6716       32536 :   if (!ret) {
+    6717           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: SafetyArea: Could not transform safety area's min_z to '%s'", frame_id.c_str());
+    6718           0 :     return std::numeric_limits<double>::lowest();
+    6719             :   }
+    6720             : 
+    6721       32536 :   return ret->point.z;
+    6722             : }
+    6723             : 
+    6724             : //}
+    6725             : 
+    6726             : // | --------------------- obstacle bumper -------------------- |
+    6727             : 
+    6728             : /* bumperPushFromObstacle() //{ */
+    6729             : 
+    6730           0 : bool ControlManager::bumperPushFromObstacle(void) {
+    6731           0 :   if (!bumper_enabled_) {
+    6732           0 :     return true;
+    6733             :   }
+    6734             : 
+    6735           0 :   if (!sh_bumper_.hasMsg()) {
+    6736           0 :     return true;
+    6737             :   }
+    6738             : 
+    6739             :   // copy member variables
+    6740           0 :   mrs_msgs::ObstacleSectorsConstPtr bumper_data = sh_bumper_.getMsg();
+    6741           0 :   auto                              uav_state   = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    6742             : 
+    6743           0 :   double sector_size = TAU / double(bumper_data->n_horizontal_sectors);
+    6744             : 
+    6745           0 :   double direction                     = 0;
+    6746           0 :   double repulsion_distance            = std::numeric_limits<double>::max();
+    6747           0 :   bool   horizontal_collision_detected = false;
+    6748             : 
+    6749           0 :   bool vertical_collision_detected = false;
+    6750             : 
+    6751           0 :   for (int i = 0; i < int(bumper_data->n_horizontal_sectors); i++) {
+    6752             : 
+    6753           0 :     if (bumper_data->sectors[i] < 0) {
+    6754           0 :       continue;
+    6755             :     }
+    6756             : 
+    6757           0 :     bool wall_locked_horizontal = false;
+    6758             : 
+    6759             :     // if the sector is under critical distance
+    6760           0 :     if (bumper_data->sectors[i] <= _bumper_horizontal_distance_ && bumper_data->sectors[i] < repulsion_distance) {
+    6761             : 
+    6762             :       // check for locking between the oposite walls
+    6763             :       // get the desired direction of motion
+    6764           0 :       double oposite_direction  = double(i) * sector_size + M_PI;
+    6765           0 :       int    oposite_sector_idx = bumperGetSectorId(cos(oposite_direction), sin(oposite_direction), 0);
+    6766             : 
+    6767           0 :       if (bumper_data->sectors[oposite_sector_idx] > 0 &&
+    6768           0 :           ((bumper_data->sectors[i] + bumper_data->sectors[oposite_sector_idx]) <= (2 * _bumper_horizontal_distance_ + 2 * _bumper_horizontal_overshoot_))) {
+    6769             : 
+    6770           0 :         wall_locked_horizontal = true;
+    6771             : 
+    6772           0 :         if (fabs(bumper_data->sectors[i] - bumper_data->sectors[oposite_sector_idx]) <= 2 * _bumper_horizontal_overshoot_) {
+    6773             : 
+    6774           0 :           ROS_INFO_THROTTLE(1.0, "[ControlManager]: Bumper: locked between two walls");
+    6775           0 :           continue;
+    6776             :         }
+    6777             :       }
+    6778             : 
+    6779             :       // get the id of the oposite sector
+    6780           0 :       direction = oposite_direction;
+    6781             : 
+    6782             :       /* int oposite_sector_idx = (i + bumper_data->n_horizontal_sectors / 2) % bumper_data->n_horizontal_sectors; */
+    6783             : 
+    6784           0 :       ROS_WARN_THROTTLE(1.0, "[ControlManager]: Bumper: found potential collision (sector %d vs. %d), obstacle distance: %.2f, repulsing", i,
+    6785             :                         oposite_sector_idx, bumper_data->sectors[i]);
+    6786             : 
+    6787           0 :       ROS_INFO_THROTTLE(1.0, "[ControlManager]: Bumper: oposite direction: %.2f", oposite_direction);
+    6788             : 
+    6789           0 :       if (wall_locked_horizontal) {
+    6790           0 :         if (bumper_data->sectors[i] < bumper_data->sectors[oposite_sector_idx]) {
+    6791           0 :           repulsion_distance = _bumper_horizontal_overshoot_;
+    6792             :         } else {
+    6793           0 :           repulsion_distance = -_bumper_horizontal_overshoot_;
+    6794             :         }
+    6795             :       } else {
+    6796           0 :         repulsion_distance = _bumper_horizontal_distance_ + _bumper_horizontal_overshoot_ - bumper_data->sectors[i];
+    6797             :       }
+    6798             : 
+    6799           0 :       horizontal_collision_detected = true;
+    6800             :     }
+    6801             :   }
+    6802             : 
+    6803           0 :   bool   collision_above             = false;
+    6804           0 :   bool   collision_below             = false;
+    6805           0 :   double vertical_repulsion_distance = 0;
+    6806             : 
+    6807             :   // check for vertical collision down
+    6808           0 :   if (bumper_data->sectors[bumper_data->n_horizontal_sectors] > 0 && bumper_data->sectors[bumper_data->n_horizontal_sectors] <= _bumper_vertical_distance_) {
+    6809             : 
+    6810           0 :     ROS_INFO_THROTTLE(1.0, "[ControlManager]: Bumper: potential collision below");
+    6811           0 :     collision_above             = true;
+    6812           0 :     vertical_collision_detected = true;
+    6813           0 :     vertical_repulsion_distance = _bumper_vertical_distance_ - bumper_data->sectors[bumper_data->n_horizontal_sectors];
+    6814             :   }
+    6815             : 
+    6816             :   // check for vertical collision up
+    6817           0 :   if (bumper_data->sectors[bumper_data->n_horizontal_sectors + 1] > 0 &&
+    6818           0 :       bumper_data->sectors[bumper_data->n_horizontal_sectors + 1] <= _bumper_vertical_distance_) {
+    6819             : 
+    6820           0 :     ROS_INFO_THROTTLE(1.0, "[ControlManager]: Bumper: potential collision above");
+    6821           0 :     collision_below             = true;
+    6822           0 :     vertical_collision_detected = true;
+    6823           0 :     vertical_repulsion_distance = -(_bumper_vertical_distance_ - bumper_data->sectors[bumper_data->n_horizontal_sectors + 1]);
+    6824             :   }
+    6825             : 
+    6826             :   // check the up/down wall locking
+    6827           0 :   if (collision_above && collision_below) {
+    6828             : 
+    6829           0 :     if (((bumper_data->sectors[bumper_data->n_horizontal_sectors] + bumper_data->sectors[bumper_data->n_horizontal_sectors + 1]) <=
+    6830           0 :          (2 * _bumper_vertical_distance_ + 2 * _bumper_vertical_overshoot_))) {
+    6831             : 
+    6832           0 :       vertical_repulsion_distance =
+    6833           0 :           (-bumper_data->sectors[bumper_data->n_horizontal_sectors] + bumper_data->sectors[bumper_data->n_horizontal_sectors + 1]) / 2.0;
+    6834             : 
+    6835           0 :       if (fabs(bumper_data->sectors[bumper_data->n_horizontal_sectors] - bumper_data->sectors[bumper_data->n_horizontal_sectors + 1]) <=
+    6836           0 :           2 * _bumper_vertical_overshoot_) {
+    6837             : 
+    6838           0 :         ROS_INFO_THROTTLE(1.0, "[ControlManager]: Bumper: locked between the floor and ceiling");
+    6839           0 :         vertical_collision_detected = false;
+    6840             :       }
+    6841             :     }
+    6842             :   }
+    6843             : 
+    6844             :   // if potential collision was detected and we should start the repulsing_
+    6845           0 :   if (horizontal_collision_detected || vertical_collision_detected) {
+    6846             : 
+    6847           0 :     ROS_WARN_THROTTLE(1.0, "[ControlManager]: Bumper: repulsion was initiated");
+    6848             : 
+    6849           0 :     if (!repulsing_) {
+    6850             : 
+    6851           0 :       if (_bumper_switch_tracker_) {
+    6852             : 
+    6853           0 :         auto        active_tracker_idx  = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    6854           0 :         std::string active_tracker_name = _tracker_names_[active_tracker_idx];
+    6855             : 
+    6856             :         // remember the previously active tracker
+    6857           0 :         bumper_previous_tracker_ = active_tracker_name;
+    6858             : 
+    6859           0 :         if (active_tracker_name != _bumper_tracker_name_) {
+    6860             : 
+    6861           0 :           switchTracker(_bumper_tracker_name_);
+    6862             :         }
+    6863             :       }
+    6864             : 
+    6865           0 :       if (_bumper_switch_controller_) {
+    6866             : 
+    6867           0 :         auto        active_controller_idx  = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    6868           0 :         std::string active_controller_name = _controller_names_[active_controller_idx];
+    6869             : 
+    6870             :         // remember the previously active controller
+    6871           0 :         bumper_previous_controller_ = active_controller_name;
+    6872             : 
+    6873           0 :         if (active_controller_name != _bumper_controller_name_) {
+    6874             : 
+    6875           0 :           switchController(_bumper_controller_name_);
+    6876             :         }
+    6877             :       }
+    6878             :     }
+    6879             : 
+    6880           0 :     repulsing_ = true;
+    6881             : 
+    6882           0 :     mrs_msgs::BumperStatus bumper_status;
+    6883           0 :     bumper_status.repulsing = repulsing_;
+    6884             : 
+    6885           0 :     ph_bumper_status_.publish(bumper_status);
+    6886             : 
+    6887           0 :     callbacks_enabled_ = false;
+    6888             : 
+    6889           0 :     mrs_msgs::ReferenceSrvResponse::ConstPtr tracker_response;
+    6890             : 
+    6891           0 :     std_srvs::SetBoolRequest req_enable_callbacks;
+    6892             : 
+    6893             :     // create the reference in the fcu_untilted frame
+    6894           0 :     mrs_msgs::ReferenceStamped reference_fcu_untilted;
+    6895             : 
+    6896           0 :     reference_fcu_untilted.header.frame_id = "fcu_untilted";
+    6897             : 
+    6898           0 :     if (horizontal_collision_detected) {
+    6899           0 :       reference_fcu_untilted.reference.position.x = cos(direction) * repulsion_distance;
+    6900           0 :       reference_fcu_untilted.reference.position.y = sin(direction) * repulsion_distance;
+    6901             :     } else {
+    6902           0 :       reference_fcu_untilted.reference.position.x = 0;
+    6903           0 :       reference_fcu_untilted.reference.position.y = 0;
+    6904             :     }
+    6905             : 
+    6906           0 :     reference_fcu_untilted.reference.heading = 0;
+    6907             : 
+    6908           0 :     if (vertical_collision_detected) {
+    6909           0 :       reference_fcu_untilted.reference.position.z = vertical_repulsion_distance;
+    6910             :     } else {
+    6911           0 :       reference_fcu_untilted.reference.position.z = 0;
+    6912             :     }
+    6913             : 
+    6914             :     {
+    6915           0 :       std::scoped_lock lock(mutex_tracker_list_);
+    6916             : 
+    6917             :       // transform the reference into the currently used frame
+    6918             :       // this is under the mutex_tracker_list since we don't won't the odometry switch to happen
+    6919             :       // to the tracker before we actually call the goto service
+    6920             : 
+    6921           0 :       auto ret = transformer_->transformSingle(reference_fcu_untilted, uav_state.header.frame_id);
+    6922             : 
+    6923           0 :       if (!ret) {
+    6924             : 
+    6925           0 :         ROS_WARN_THROTTLE(1.0, "[ControlManager]: Bumper: bumper reference could not be transformed");
+    6926           0 :         return false;
+    6927             :       }
+    6928             : 
+    6929           0 :       reference_fcu_untilted = ret.value();
+    6930             : 
+    6931             :       // copy the reference into the service type message
+    6932           0 :       mrs_msgs::ReferenceSrvRequest req_goto_out;
+    6933           0 :       req_goto_out.reference = reference_fcu_untilted.reference;
+    6934             : 
+    6935             :       // disable callbacks of all trackers
+    6936           0 :       req_enable_callbacks.data = false;
+    6937           0 :       for (int i = 0; i < int(tracker_list_.size()); i++) {
+    6938           0 :         tracker_list_[i]->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    6939             :       }
+    6940             : 
+    6941             :       // enable the callbacks for the active tracker
+    6942           0 :       req_enable_callbacks.data = true;
+    6943           0 :       tracker_list_[active_tracker_idx_]->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    6944             : 
+    6945             :       // call the goto
+    6946           0 :       tracker_response = tracker_list_[active_tracker_idx_]->setReference(
+    6947           0 :           mrs_msgs::ReferenceSrvRequest::ConstPtr(std::make_unique<mrs_msgs::ReferenceSrvRequest>(req_goto_out)));
+    6948             : 
+    6949             :       // disable the callbacks back again
+    6950           0 :       req_enable_callbacks.data = false;
+    6951           0 :       tracker_list_[active_tracker_idx_]->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    6952             :     }
+    6953             :   }
+    6954             : 
+    6955             :   // if repulsing_ and the distance is safe once again
+    6956           0 :   if ((repulsing_ && !horizontal_collision_detected && !vertical_collision_detected)) {
+    6957             : 
+    6958           0 :     ROS_INFO_THROTTLE(1.0, "[ControlManager]: Bumper: repulsion was stopped");
+    6959             : 
+    6960           0 :     if (_bumper_switch_tracker_) {
+    6961             : 
+    6962           0 :       auto        active_tracker_idx  = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    6963           0 :       std::string active_tracker_name = _tracker_names_[active_tracker_idx];
+    6964             : 
+    6965           0 :       if (active_tracker_name != bumper_previous_tracker_) {
+    6966             : 
+    6967           0 :         switchTracker(bumper_previous_tracker_);
+    6968             :       }
+    6969             :     }
+    6970             : 
+    6971           0 :     if (_bumper_switch_controller_) {
+    6972             : 
+    6973           0 :       auto        active_controller_idx  = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    6974           0 :       std::string active_controller_name = _controller_names_[active_controller_idx];
+    6975             : 
+    6976           0 :       if (active_controller_name != bumper_previous_controller_) {
+    6977             : 
+    6978           0 :         switchController(bumper_previous_controller_);
+    6979             :       }
+    6980             :     }
+    6981             : 
+    6982           0 :     std_srvs::SetBoolRequest req_enable_callbacks;
+    6983             : 
+    6984             :     {
+    6985           0 :       std::scoped_lock lock(mutex_tracker_list_);
+    6986             : 
+    6987             :       // enable callbacks of all trackers
+    6988           0 :       req_enable_callbacks.data = true;
+    6989           0 :       for (int i = 0; i < int(tracker_list_.size()); i++) {
+    6990           0 :         tracker_list_[i]->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    6991             :       }
+    6992             :     }
+    6993             : 
+    6994           0 :     callbacks_enabled_ = true;
+    6995             : 
+    6996           0 :     repulsing_ = false;
+    6997             :   }
+    6998             : 
+    6999           0 :   return false;
+    7000             : }
+    7001             : 
+    7002             : //}
+    7003             : 
+    7004             : /* bumperGetSectorId() //{ */
+    7005             : 
+    7006           0 : int ControlManager::bumperGetSectorId(const double& x, const double& y, [[maybe_unused]] const double& z) {
+    7007             :   // copy member variables
+    7008           0 :   mrs_msgs::ObstacleSectorsConstPtr bumper_data = sh_bumper_.getMsg();
+    7009             : 
+    7010             :   // heading of the point in drone frame
+    7011           0 :   double point_heading_horizontal = atan2(y, x);
+    7012             : 
+    7013           0 :   point_heading_horizontal += TAU;
+    7014             : 
+    7015             :   // if point_heading_horizontal is greater then 2*M_PI mod it
+    7016           0 :   if (fabs(point_heading_horizontal) >= TAU) {
+    7017           0 :     point_heading_horizontal = fmod(point_heading_horizontal, TAU);
+    7018             :   }
+    7019             : 
+    7020             :   // heading of the right edge of the first sector
+    7021           0 :   double sector_size = TAU / double(bumper_data->n_horizontal_sectors);
+    7022             : 
+    7023             :   // calculate the idx
+    7024           0 :   int idx = floor((point_heading_horizontal + (sector_size / 2.0)) / sector_size);
+    7025             : 
+    7026           0 :   if (idx > int(bumper_data->n_horizontal_sectors) - 1) {
+    7027           0 :     idx -= bumper_data->n_horizontal_sectors;
+    7028             :   }
+    7029             : 
+    7030           0 :   return idx;
+    7031             : }
+    7032             : 
+    7033             : //}
+    7034             : 
+    7035             : // | ------------------------- safety ------------------------- |
+    7036             : 
+    7037             : /* //{ changeLandingState() */
+    7038             : 
+    7039           6 : void ControlManager::changeLandingState(LandingStates_t new_state) {
+    7040             :   // copy member variables
+    7041          12 :   auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    7042             : 
+    7043             :   {
+    7044           6 :     std::scoped_lock lock(mutex_landing_state_machine_);
+    7045             : 
+    7046           6 :     previous_state_landing_ = current_state_landing_;
+    7047           6 :     current_state_landing_  = new_state;
+    7048             :   }
+    7049             : 
+    7050           6 :   switch (current_state_landing_) {
+    7051             : 
+    7052           3 :     case IDLE_STATE:
+    7053           3 :       break;
+    7054           3 :     case LANDING_STATE: {
+    7055             : 
+    7056           3 :       ROS_DEBUG("[ControlManager]: starting eland timer");
+    7057           3 :       timer_eland_.start();
+    7058           3 :       ROS_DEBUG("[ControlManager]: eland timer started");
+    7059           3 :       eland_triggered_ = true;
+    7060           3 :       bumper_enabled_  = false;
+    7061             : 
+    7062           3 :       landing_uav_mass_ = getMass();
+    7063             :     }
+    7064             : 
+    7065           3 :     break;
+    7066             :   }
+    7067             : 
+    7068           6 :   ROS_INFO("[ControlManager]: switching emergency landing state %s -> %s", state_names[previous_state_landing_], state_names[current_state_landing_]);
+    7069           6 : }
+    7070             : 
+    7071             : //}
+    7072             : 
+    7073             : /* hover() //{ */
+    7074             : 
+    7075           0 : std::tuple<bool, std::string> ControlManager::hover(void) {
+    7076           0 :   if (!is_initialized_)
+    7077           0 :     return std::tuple(false, "the ControlManager is not initialized");
+    7078             : 
+    7079           0 :   if (eland_triggered_)
+    7080           0 :     return std::tuple(false, "cannot hover, eland already triggered");
+    7081             : 
+    7082           0 :   if (failsafe_triggered_)
+    7083           0 :     return std::tuple(false, "cannot hover, failsafe already triggered");
+    7084             : 
+    7085             :   {
+    7086           0 :     std::scoped_lock lock(mutex_tracker_list_);
+    7087             : 
+    7088           0 :     std_srvs::TriggerResponse::ConstPtr response;
+    7089           0 :     std_srvs::TriggerRequest            request;
+    7090             : 
+    7091           0 :     response = tracker_list_[active_tracker_idx_]->hover(std_srvs::TriggerRequest::ConstPtr(std::make_unique<std_srvs::TriggerRequest>(request)));
+    7092             : 
+    7093           0 :     if (response != std_srvs::TriggerResponse::Ptr()) {
+    7094             : 
+    7095           0 :       return std::tuple(response->success, response->message);
+    7096             : 
+    7097             :     } else {
+    7098             : 
+    7099           0 :       std::stringstream ss;
+    7100           0 :       ss << "the tracker '" << _tracker_names_[active_tracker_idx_] << "' does not implement the 'hover()' function!";
+    7101             : 
+    7102           0 :       return std::tuple(false, ss.str());
+    7103             :     }
+    7104             :   }
+    7105             : }
+    7106             : 
+    7107             : //}
+    7108             : 
+    7109             : /* //{ ehover() */
+    7110             : 
+    7111           0 : std::tuple<bool, std::string> ControlManager::ehover(void) {
+    7112           0 :   if (!is_initialized_)
+    7113           0 :     return std::tuple(false, "the ControlManager is not initialized");
+    7114             : 
+    7115           0 :   if (eland_triggered_)
+    7116           0 :     return std::tuple(false, "cannot ehover, eland already triggered");
+    7117             : 
+    7118           0 :   if (failsafe_triggered_)
+    7119           0 :     return std::tuple(false, "cannot ehover, failsafe already triggered");
+    7120             : 
+    7121             :   // copy the member variables
+    7122           0 :   auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    7123           0 :   auto last_tracker_cmd    = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    7124           0 :   auto active_tracker_idx  = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    7125             : 
+    7126           0 :   if (active_tracker_idx == _null_tracker_idx_) {
+    7127             : 
+    7128           0 :     std::stringstream ss;
+    7129           0 :     ss << "can not trigger ehover while not flying";
+    7130           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7131             : 
+    7132           0 :     return std::tuple(false, ss.str());
+    7133             :   }
+    7134             : 
+    7135           0 :   ungripSrv();
+    7136             : 
+    7137             :   {
+    7138             : 
+    7139           0 :     auto [success, message] = switchTracker(_ehover_tracker_name_);
+    7140             : 
+    7141             :     // check if the tracker was successfully switched
+    7142             :     // this is vital, that is the core of the hover
+    7143           0 :     if (!success) {
+    7144             : 
+    7145           0 :       std::stringstream ss;
+    7146           0 :       ss << "error during switching to ehover tracker: '" << message << "'";
+    7147           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7148             : 
+    7149           0 :       return std::tuple(success, ss.str());
+    7150             :     }
+    7151             :   }
+    7152             : 
+    7153             :   {
+    7154           0 :     auto [success, message] = switchController(_eland_controller_name_);
+    7155             : 
+    7156             :     // check if the controller was successfully switched
+    7157             :     // this is not vital, we can continue without that
+    7158           0 :     if (!success) {
+    7159             : 
+    7160           0 :       std::stringstream ss;
+    7161           0 :       ss << "error during switching to ehover controller: '" << message << "'";
+    7162           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7163             :     }
+    7164             :   }
+    7165             : 
+    7166           0 :   std::stringstream ss;
+    7167           0 :   ss << "ehover activated";
+    7168           0 :   ROS_INFO_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7169             : 
+    7170           0 :   callbacks_enabled_ = false;
+    7171             : 
+    7172           0 :   return std::tuple(true, ss.str());
+    7173             : }
+    7174             : 
+    7175             : //}
+    7176             : 
+    7177             : /* eland() //{ */
+    7178             : 
+    7179           3 : std::tuple<bool, std::string> ControlManager::eland(void) {
+    7180           3 :   if (!is_initialized_)
+    7181           0 :     return std::tuple(false, "the ControlManager is not initialized");
+    7182             : 
+    7183           3 :   if (eland_triggered_)
+    7184           0 :     return std::tuple(false, "cannot eland, eland already triggered");
+    7185             : 
+    7186           3 :   if (failsafe_triggered_)
+    7187           0 :     return std::tuple(false, "cannot eland, failsafe already triggered");
+    7188             : 
+    7189             :   // copy member variables
+    7190           6 :   auto last_tracker_cmd    = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    7191           6 :   auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    7192           3 :   auto active_tracker_idx  = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    7193             : 
+    7194           3 :   if (active_tracker_idx == _null_tracker_idx_) {
+    7195             : 
+    7196           0 :     std::stringstream ss;
+    7197           0 :     ss << "can not trigger eland while not flying";
+    7198           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7199             : 
+    7200           0 :     return std::tuple(false, ss.str());
+    7201             :   }
+    7202             : 
+    7203           3 :   if (_rc_emergency_handoff_) {
+    7204             : 
+    7205           0 :     toggleOutput(false);
+    7206             : 
+    7207           0 :     return std::tuple(true, "RC emergency handoff is ON, disabling output");
+    7208             :   }
+    7209             : 
+    7210             :   {
+    7211           3 :     auto [success, message] = switchTracker(_ehover_tracker_name_);
+    7212             : 
+    7213             :     // check if the tracker was successfully switched
+    7214             :     // this is vital
+    7215           3 :     if (!success) {
+    7216             : 
+    7217           0 :       std::stringstream ss;
+    7218           0 :       ss << "error during switching to eland tracker: '" << message << "'";
+    7219           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7220             : 
+    7221           0 :       return std::tuple(success, ss.str());
+    7222             :     }
+    7223             :   }
+    7224             : 
+    7225             :   {
+    7226           6 :     auto [success, message] = switchController(_eland_controller_name_);
+    7227             : 
+    7228             :     // check if the controller was successfully switched
+    7229             :     // this is not vital, we can continue without it
+    7230           3 :     if (!success) {
+    7231             : 
+    7232           0 :       std::stringstream ss;
+    7233           0 :       ss << "error during switching to eland controller: '" << message << "'";
+    7234           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7235             :     }
+    7236             :   }
+    7237             : 
+    7238             :   // | ----------------- call the eland service ----------------- |
+    7239             : 
+    7240           3 :   std::stringstream ss;
+    7241             :   bool              success;
+    7242             : 
+    7243           3 :   if (elandSrv()) {
+    7244             : 
+    7245           3 :     changeLandingState(LANDING_STATE);
+    7246             : 
+    7247           3 :     odometryCallbacksSrv(false);
+    7248             : 
+    7249           3 :     ss << "eland activated";
+    7250           3 :     ROS_INFO_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7251             : 
+    7252           3 :     success = true;
+    7253             : 
+    7254           3 :     callbacks_enabled_ = false;
+    7255             : 
+    7256             :   } else {
+    7257             : 
+    7258           0 :     ss << "error during activation of eland";
+    7259           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7260             : 
+    7261           0 :     success = false;
+    7262             :   }
+    7263             : 
+    7264           6 :   return std::tuple(success, ss.str());
+    7265             : }
+    7266             : 
+    7267             : //}
+    7268             : 
+    7269             : /* failsafe() //{ */
+    7270             : 
+    7271           5 : std::tuple<bool, std::string> ControlManager::failsafe(void) {
+    7272             : 
+    7273             :   // copy member variables
+    7274          10 :   auto last_control_output   = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    7275          10 :   auto last_tracker_cmd      = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    7276           5 :   auto active_controller_idx = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    7277           5 :   auto active_tracker_idx    = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    7278             : 
+    7279           5 :   if (!is_initialized_) {
+    7280           0 :     return std::tuple(false, "the ControlManager is not initialized");
+    7281             :   }
+    7282             : 
+    7283           5 :   if (failsafe_triggered_) {
+    7284           0 :     return std::tuple(false, "cannot, failsafe already triggered");
+    7285             :   }
+    7286             : 
+    7287           5 :   if (active_tracker_idx == _null_tracker_idx_) {
+    7288             : 
+    7289           0 :     std::stringstream ss;
+    7290           0 :     ss << "can not trigger failsafe while not flying";
+    7291           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7292           0 :     return std::tuple(false, ss.str());
+    7293             :   }
+    7294             : 
+    7295           5 :   if (_rc_emergency_handoff_) {
+    7296             : 
+    7297           0 :     toggleOutput(false);
+    7298             : 
+    7299           0 :     return std::tuple(true, "RC emergency handoff is ON, disabling output");
+    7300             :   }
+    7301             : 
+    7302           5 :   if (getLowestOuput(_hw_api_inputs_) == POSITION) {
+    7303           0 :     return eland();
+    7304             :   }
+    7305             : 
+    7306           5 :   if (_parachute_enabled_) {
+    7307             : 
+    7308           0 :     auto [success, message] = deployParachute();
+    7309             : 
+    7310           0 :     if (success) {
+    7311             : 
+    7312           0 :       std::stringstream ss;
+    7313           0 :       ss << "failsafe activated (parachute): '" << message << "'";
+    7314           0 :       ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    7315             : 
+    7316           0 :       return std::tuple(true, ss.str());
+    7317             : 
+    7318             :     } else {
+    7319             : 
+    7320           0 :       std::stringstream ss;
+    7321           0 :       ss << "could not deploy parachute: '" << message << "', continuing with normal failsafe";
+    7322           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7323             :     }
+    7324             :   }
+    7325             : 
+    7326           5 :   if (_failsafe_controller_idx_ != active_controller_idx) {
+    7327             : 
+    7328             :     try {
+    7329             : 
+    7330          10 :       std::scoped_lock lock(mutex_controller_list_);
+    7331             : 
+    7332           5 :       ROS_INFO("[ControlManager]: activating the controller '%s'", _failsafe_controller_name_.c_str());
+    7333           5 :       controller_list_[_failsafe_controller_idx_]->activate(last_control_output);
+    7334             : 
+    7335             :       {
+    7336          10 :         std::scoped_lock lock(mutex_controller_tracker_switch_time_);
+    7337             : 
+    7338             :         // update the time (used in failsafe)
+    7339           5 :         controller_tracker_switch_time_ = ros::Time::now();
+    7340             :       }
+    7341             : 
+    7342           5 :       failsafe_triggered_ = true;
+    7343           5 :       ROS_DEBUG("[ControlManager]: stopping eland timer");
+    7344           5 :       timer_eland_.stop();
+    7345           5 :       ROS_DEBUG("[ControlManager]: eland timer stopped");
+    7346             : 
+    7347           5 :       landing_uav_mass_ = getMass();
+    7348             : 
+    7349           5 :       eland_triggered_ = false;
+    7350           5 :       ROS_DEBUG("[ControlManager]: starting failsafe timer");
+    7351           5 :       timer_failsafe_.start();
+    7352           5 :       ROS_DEBUG("[ControlManager]: failsafe timer started");
+    7353             : 
+    7354           5 :       bumper_enabled_ = false;
+    7355             : 
+    7356           5 :       odometryCallbacksSrv(false);
+    7357             : 
+    7358           5 :       callbacks_enabled_ = false;
+    7359             : 
+    7360           5 :       ROS_INFO_THROTTLE(1.0, "[ControlManager]: the controller '%s' was activated", _failsafe_controller_name_.c_str());
+    7361             : 
+    7362             :       // super important, switch the active controller idx
+    7363             :       try {
+    7364           5 :         controller_list_[active_controller_idx_]->deactivate();
+    7365           5 :         active_controller_idx_ = _failsafe_controller_idx_;
+    7366             :       }
+    7367           0 :       catch (std::runtime_error& exrun) {
+    7368           0 :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: could not deactivate the controller '%s'", _controller_names_[active_controller_idx_].c_str());
+    7369             :       }
+    7370             :     }
+    7371           0 :     catch (std::runtime_error& exrun) {
+    7372           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: error during activation of the controller '%s'", _failsafe_controller_name_.c_str());
+    7373           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: exception: '%s'", exrun.what());
+    7374             :     }
+    7375             :   }
+    7376             : 
+    7377          10 :   return std::tuple(true, "failsafe activated");
+    7378             : }
+    7379             : 
+    7380             : //}
+    7381             : 
+    7382             : /* escalatingFailsafe() //{ */
+    7383             : 
+    7384           0 : std::tuple<bool, std::string> ControlManager::escalatingFailsafe(void) {
+    7385           0 :   std::stringstream ss;
+    7386             : 
+    7387           0 :   if ((ros::Time::now() - escalating_failsafe_time_).toSec() < _escalating_failsafe_timeout_) {
+    7388             : 
+    7389           0 :     ss << "too soon for escalating failsafe";
+    7390           0 :     ROS_WARN_STREAM_THROTTLE(0.1, "[ControlManager]: " << ss.str());
+    7391             : 
+    7392           0 :     return std::tuple(false, ss.str());
+    7393             :   }
+    7394             : 
+    7395           0 :   if (!output_enabled_) {
+    7396             : 
+    7397           0 :     ss << "not escalating failsafe, output is disabled";
+    7398           0 :     ROS_WARN_STREAM_THROTTLE(0.1, "[ControlManager]: " << ss.str());
+    7399             : 
+    7400           0 :     return std::tuple(false, ss.str());
+    7401             :   }
+    7402             : 
+    7403           0 :   ROS_WARN("[ControlManager]: escalating failsafe triggered");
+    7404             : 
+    7405           0 :   auto active_tracker_idx    = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    7406           0 :   auto active_controller_idx = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    7407             : 
+    7408           0 :   std::string active_tracker_name    = _tracker_names_[active_tracker_idx];
+    7409           0 :   std::string active_controller_name = _controller_names_[active_controller_idx];
+    7410             : 
+    7411           0 :   EscalatingFailsafeStates_t next_state = getNextEscFailsafeState();
+    7412             : 
+    7413           0 :   escalating_failsafe_time_ = ros::Time::now();
+    7414             : 
+    7415           0 :   switch (next_state) {
+    7416             : 
+    7417           0 :     case ESC_NONE_STATE: {
+    7418             : 
+    7419           0 :       ss << "escalating failsafe has run to impossible situation";
+    7420           0 :       ROS_ERROR_STREAM_THROTTLE(0.1, "[ControlManager]: " << ss.str());
+    7421             : 
+    7422           0 :       return std::tuple(false, "escalating failsafe has run to impossible situation");
+    7423             : 
+    7424             :       break;
+    7425             :     }
+    7426             : 
+    7427           0 :     case ESC_EHOVER_STATE: {
+    7428             : 
+    7429           0 :       ss << "escalating failsafe escalates to ehover";
+    7430           0 :       ROS_WARN_STREAM_THROTTLE(0.1, "[ControlManager]: " << ss.str());
+    7431             : 
+    7432           0 :       auto [success, message] = ehover();
+    7433             : 
+    7434           0 :       if (success) {
+    7435           0 :         state_escalating_failsafe_ = ESC_EHOVER_STATE;
+    7436             :       }
+    7437             : 
+    7438           0 :       return {success, message};
+    7439             : 
+    7440             :       break;
+    7441             :     }
+    7442             : 
+    7443           0 :     case ESC_ELAND_STATE: {
+    7444             : 
+    7445           0 :       ss << "escalating failsafe escalates to eland";
+    7446           0 :       ROS_WARN_STREAM_THROTTLE(0.1, "[ControlManager]: " << ss.str());
+    7447             : 
+    7448           0 :       auto [success, message] = eland();
+    7449             : 
+    7450           0 :       if (success) {
+    7451           0 :         state_escalating_failsafe_ = ESC_ELAND_STATE;
+    7452             :       }
+    7453             : 
+    7454           0 :       return {success, message};
+    7455             : 
+    7456             :       break;
+    7457             :     }
+    7458             : 
+    7459           0 :     case ESC_FAILSAFE_STATE: {
+    7460             : 
+    7461           0 :       escalating_failsafe_time_ = ros::Time::now();
+    7462             : 
+    7463           0 :       ss << "escalating failsafe escalates to failsafe";
+    7464           0 :       ROS_WARN_STREAM_THROTTLE(0.1, "[ControlManager]: " << ss.str());
+    7465             : 
+    7466           0 :       auto [success, message] = failsafe();
+    7467             : 
+    7468           0 :       if (success) {
+    7469           0 :         state_escalating_failsafe_ = ESC_FINISHED_STATE;
+    7470             :       }
+    7471             : 
+    7472           0 :       return {success, message};
+    7473             : 
+    7474             :       break;
+    7475             :     }
+    7476             : 
+    7477           0 :     case ESC_FINISHED_STATE: {
+    7478             : 
+    7479           0 :       escalating_failsafe_time_ = ros::Time::now();
+    7480             : 
+    7481           0 :       ss << "escalating failsafe has nothing more to do";
+    7482           0 :       ROS_WARN_STREAM_THROTTLE(0.1, "[ControlManager]: " << ss.str());
+    7483             : 
+    7484           0 :       return std::tuple(false, "escalating failsafe has nothing more to do");
+    7485             : 
+    7486             :       break;
+    7487             :     }
+    7488             : 
+    7489           0 :     default: {
+    7490             : 
+    7491           0 :       break;
+    7492             :     }
+    7493             :   }
+    7494             : 
+    7495           0 :   ROS_ERROR("[ControlManager]: escalatingFailsafe() reached the final return, this should not happen!");
+    7496             : 
+    7497           0 :   return std::tuple(false, "escalating failsafe exception");
+    7498             : }
+    7499             : 
+    7500             : //}
+    7501             : 
+    7502             : /* getNextEscFailsafeState() //{ */
+    7503             : 
+    7504           0 : EscalatingFailsafeStates_t ControlManager::getNextEscFailsafeState(void) {
+    7505           0 :   EscalatingFailsafeStates_t current_state = state_escalating_failsafe_;
+    7506             : 
+    7507           0 :   switch (current_state) {
+    7508             : 
+    7509           0 :     case ESC_FINISHED_STATE: {
+    7510             : 
+    7511           0 :       return ESC_FINISHED_STATE;
+    7512             : 
+    7513             :       break;
+    7514             :     }
+    7515             : 
+    7516           0 :     case ESC_NONE_STATE: {
+    7517             : 
+    7518           0 :       if (_escalating_failsafe_ehover_) {
+    7519           0 :         return ESC_EHOVER_STATE;
+    7520           0 :       } else if (_escalating_failsafe_eland_) {
+    7521           0 :         return ESC_ELAND_STATE;
+    7522           0 :       } else if (_escalating_failsafe_failsafe_) {
+    7523           0 :         return ESC_FAILSAFE_STATE;
+    7524             :       } else {
+    7525           0 :         return ESC_FINISHED_STATE;
+    7526             :       }
+    7527             : 
+    7528             :       break;
+    7529             :     }
+    7530             : 
+    7531           0 :     case ESC_EHOVER_STATE: {
+    7532             : 
+    7533           0 :       if (_escalating_failsafe_eland_) {
+    7534           0 :         return ESC_ELAND_STATE;
+    7535           0 :       } else if (_escalating_failsafe_failsafe_) {
+    7536           0 :         return ESC_FAILSAFE_STATE;
+    7537             :       } else {
+    7538           0 :         return ESC_FINISHED_STATE;
+    7539             :       }
+    7540             : 
+    7541             :       break;
+    7542             :     }
+    7543             : 
+    7544           0 :     case ESC_ELAND_STATE: {
+    7545             : 
+    7546           0 :       if (_escalating_failsafe_failsafe_) {
+    7547           0 :         return ESC_FAILSAFE_STATE;
+    7548             :       } else {
+    7549           0 :         return ESC_FINISHED_STATE;
+    7550             :       }
+    7551             : 
+    7552             :       break;
+    7553             :     }
+    7554             : 
+    7555           0 :     case ESC_FAILSAFE_STATE: {
+    7556             : 
+    7557           0 :       return ESC_FINISHED_STATE;
+    7558             : 
+    7559             :       break;
+    7560             :     }
+    7561             :   }
+    7562             : 
+    7563           0 :   ROS_ERROR("[ControlManager]: getNextEscFailsafeState() reached the final return, this should not happen!");
+    7564             : 
+    7565           0 :   return ESC_NONE_STATE;
+    7566             : }
+    7567             : 
+    7568             : //}
+    7569             : 
+    7570             : // | ------------------- trajectory tracking ------------------ |
+    7571             : 
+    7572             : /* startTrajectoryTracking() //{ */
+    7573             : 
+    7574           0 : std::tuple<bool, std::string> ControlManager::startTrajectoryTracking(void) {
+    7575           0 :   if (!is_initialized_)
+    7576           0 :     return std::tuple(false, "the ControlManager is not initialized");
+    7577             : 
+    7578             :   {
+    7579           0 :     std::scoped_lock lock(mutex_tracker_list_);
+    7580             : 
+    7581           0 :     std_srvs::TriggerResponse::ConstPtr response;
+    7582           0 :     std_srvs::TriggerRequest            request;
+    7583             : 
+    7584             :     response =
+    7585           0 :         tracker_list_[active_tracker_idx_]->startTrajectoryTracking(std_srvs::TriggerRequest::ConstPtr(std::make_unique<std_srvs::TriggerRequest>(request)));
+    7586             : 
+    7587           0 :     if (response != std_srvs::TriggerResponse::Ptr()) {
+    7588             : 
+    7589           0 :       return std::tuple(response->success, response->message);
+    7590             : 
+    7591             :     } else {
+    7592             : 
+    7593           0 :       std::stringstream ss;
+    7594           0 :       ss << "the tracker '" << _tracker_names_[active_tracker_idx_] << "' does not implement the 'startTrajectoryTracking()' function!";
+    7595             : 
+    7596           0 :       return std::tuple(false, ss.str());
+    7597             :     }
+    7598             :   }
+    7599             : }
+    7600             : 
+    7601             : //}
+    7602             : 
+    7603             : /* stopTrajectoryTracking() //{ */
+    7604             : 
+    7605           0 : std::tuple<bool, std::string> ControlManager::stopTrajectoryTracking(void) {
+    7606           0 :   if (!is_initialized_)
+    7607           0 :     return std::tuple(false, "the ControlManager is not initialized");
+    7608             : 
+    7609             :   {
+    7610           0 :     std::scoped_lock lock(mutex_tracker_list_);
+    7611             : 
+    7612           0 :     std_srvs::TriggerResponse::ConstPtr response;
+    7613           0 :     std_srvs::TriggerRequest            request;
+    7614             : 
+    7615             :     response =
+    7616           0 :         tracker_list_[active_tracker_idx_]->stopTrajectoryTracking(std_srvs::TriggerRequest::ConstPtr(std::make_unique<std_srvs::TriggerRequest>(request)));
+    7617             : 
+    7618           0 :     if (response != std_srvs::TriggerResponse::Ptr()) {
+    7619             : 
+    7620           0 :       return std::tuple(response->success, response->message);
+    7621             : 
+    7622             :     } else {
+    7623             : 
+    7624           0 :       std::stringstream ss;
+    7625           0 :       ss << "the tracker '" << _tracker_names_[active_tracker_idx_] << "' does not implement the 'stopTrajectoryTracking()' function!";
+    7626             : 
+    7627           0 :       return std::tuple(false, ss.str());
+    7628             :     }
+    7629             :   }
+    7630             : }
+    7631             : 
+    7632             : //}
+    7633             : 
+    7634             : /* resumeTrajectoryTracking() //{ */
+    7635             : 
+    7636           0 : std::tuple<bool, std::string> ControlManager::resumeTrajectoryTracking(void) {
+    7637           0 :   if (!is_initialized_)
+    7638           0 :     return std::tuple(false, "the ControlManager is not initialized");
+    7639             : 
+    7640             :   {
+    7641           0 :     std::scoped_lock lock(mutex_tracker_list_);
+    7642             : 
+    7643           0 :     std_srvs::TriggerResponse::ConstPtr response;
+    7644           0 :     std_srvs::TriggerRequest            request;
+    7645             : 
+    7646             :     response =
+    7647           0 :         tracker_list_[active_tracker_idx_]->resumeTrajectoryTracking(std_srvs::TriggerRequest::ConstPtr(std::make_unique<std_srvs::TriggerRequest>(request)));
+    7648             : 
+    7649           0 :     if (response != std_srvs::TriggerResponse::Ptr()) {
+    7650             : 
+    7651           0 :       return std::tuple(response->success, response->message);
+    7652             : 
+    7653             :     } else {
+    7654             : 
+    7655           0 :       std::stringstream ss;
+    7656           0 :       ss << "the tracker '" << _tracker_names_[active_tracker_idx_] << "' does not implement the 'resumeTrajectoryTracking()' function!";
+    7657             : 
+    7658           0 :       return std::tuple(false, ss.str());
+    7659             :     }
+    7660             :   }
+    7661             : }
+    7662             : 
+    7663             : //}
+    7664             : 
+    7665             : /* gotoTrajectoryStart() //{ */
+    7666             : 
+    7667           0 : std::tuple<bool, std::string> ControlManager::gotoTrajectoryStart(void) {
+    7668           0 :   if (!is_initialized_)
+    7669           0 :     return std::tuple(false, "the ControlManager is not initialized");
+    7670             : 
+    7671             :   {
+    7672           0 :     std::scoped_lock lock(mutex_tracker_list_);
+    7673             : 
+    7674           0 :     std_srvs::TriggerResponse::ConstPtr response;
+    7675           0 :     std_srvs::TriggerRequest            request;
+    7676             : 
+    7677           0 :     response = tracker_list_[active_tracker_idx_]->gotoTrajectoryStart(std_srvs::TriggerRequest::ConstPtr(std::make_unique<std_srvs::TriggerRequest>(request)));
+    7678             : 
+    7679           0 :     if (response != std_srvs::TriggerResponse::Ptr()) {
+    7680             : 
+    7681           0 :       return std::tuple(response->success, response->message);
+    7682             : 
+    7683             :     } else {
+    7684             : 
+    7685           0 :       std::stringstream ss;
+    7686           0 :       ss << "the tracker '" << _tracker_names_[active_tracker_idx_] << "' does not implement the 'gotoTrajectoryStart()' function!";
+    7687             : 
+    7688           0 :       return std::tuple(false, ss.str());
+    7689             :     }
+    7690             :   }
+    7691             : }
+    7692             : 
+    7693             : //}
+    7694             : 
+    7695             : // | ----------------- service client wrappers ---------------- |
+    7696             : 
+    7697             : /* arming() //{ */
+    7698             : 
+    7699          10 : std::tuple<bool, std::string> ControlManager::arming(const bool input) {
+    7700          20 :   std::stringstream ss;
+    7701             : 
+    7702          10 :   if (input) {
+    7703             : 
+    7704           0 :     ss << "not allowed to arm using the ControlManager, maybe later when we don't do bugs";
+    7705           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7706           0 :     return std::tuple(false, ss.str());
+    7707             :   }
+    7708             : 
+    7709          10 :   if (!input && !isOffboard()) {
+    7710             : 
+    7711           0 :     ss << "can not disarm, not in OFFBOARD mode";
+    7712           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7713           0 :     return std::tuple(false, ss.str());
+    7714             :   }
+    7715             : 
+    7716          10 :   if (!input && _rc_emergency_handoff_) {
+    7717             : 
+    7718           0 :     toggleOutput(false);
+    7719             : 
+    7720           0 :     return std::tuple(true, "RC emergency handoff is ON, disabling output");
+    7721             :   }
+    7722             : 
+    7723          10 :   std_srvs::SetBool srv_out;
+    7724             : 
+    7725          10 :   srv_out.request.data = input ? 1 : 0;  // arm or disarm?
+    7726             : 
+    7727          10 :   ROS_INFO("[ControlManager]: calling for %s", input ? "arming" : "disarming");
+    7728             : 
+    7729          10 :   if (sch_arming_.call(srv_out)) {
+    7730             : 
+    7731          10 :     if (srv_out.response.success) {
+    7732             : 
+    7733          10 :       ss << "service call for " << (input ? "arming" : "disarming") << " was successful";
+    7734          10 :       ROS_INFO_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7735             : 
+    7736          10 :       if (!input) {
+    7737             : 
+    7738          10 :         toggleOutput(false);
+    7739             : 
+    7740          10 :         ROS_DEBUG("[ControlManager]: stopping failsafe timer");
+    7741          10 :         timer_failsafe_.stop();
+    7742          10 :         ROS_DEBUG("[ControlManager]: failsafe timer stopped");
+    7743             : 
+    7744          10 :         ROS_DEBUG("[ControlManager]: stopping the eland timer");
+    7745          10 :         timer_eland_.stop();
+    7746          10 :         ROS_DEBUG("[ControlManager]: eland timer stopped");
+    7747             : 
+    7748          10 :         shutdown();
+    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          20 :   return std::tuple(srv_out.response.success, ss.str());
+    7762             : }
+    7763             : 
+    7764             : //}
+    7765             : 
+    7766             : /* odometryCallbacksSrv() //{ */
+    7767             : 
+    7768           8 : void ControlManager::odometryCallbacksSrv(const bool input) {
+    7769           8 :   ROS_INFO("[ControlManager]: switching odometry callbacks to %s", input ? "ON" : "OFF");
+    7770             : 
+    7771          16 :   std_srvs::SetBool srv;
+    7772             : 
+    7773           8 :   srv.request.data = input;
+    7774             : 
+    7775           8 :   bool res = sch_set_odometry_callbacks_.call(srv);
+    7776             : 
+    7777           8 :   if (res) {
+    7778             : 
+    7779           8 :     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           8 : }
+    7787             : 
+    7788             : //}
+    7789             : 
+    7790             : /* elandSrv() //{ */
+    7791             : 
+    7792           3 : bool ControlManager::elandSrv(void) {
+    7793           3 :   ROS_INFO("[ControlManager]: calling for eland");
+    7794             : 
+    7795           6 :   std_srvs::Trigger srv;
+    7796             : 
+    7797           3 :   bool res = sch_eland_.call(srv);
+    7798             : 
+    7799           3 :   if (res) {
+    7800             : 
+    7801           3 :     if (!srv.response.success) {
+    7802           0 :       ROS_WARN("[ControlManager]: service call for eland returned: '%s'", srv.response.message.c_str());
+    7803             :     }
+    7804             : 
+    7805           3 :     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             : /* shutdown() //{ */
+    7818             : 
+    7819          13 : void ControlManager::shutdown() {
+    7820             :   // copy member variables
+    7821          26 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    7822             : 
+    7823          13 :   if (_automatic_pc_shutdown_enabled_) {
+    7824             : 
+    7825           0 :     ROS_INFO("[ControlManager]: calling service for PC shutdown");
+    7826             : 
+    7827           0 :     std_srvs::Trigger shutdown_out;
+    7828           0 :     sch_shutdown_.call(shutdown_out);
+    7829             :   }
+    7830          13 : }
+    7831             : 
+    7832             : //}
+    7833             : 
+    7834             : /* parachuteSrv() //{ */
+    7835             : 
+    7836           0 : bool ControlManager::parachuteSrv(void) {
+    7837           0 :   ROS_INFO("[ControlManager]: calling for parachute deployment");
+    7838             : 
+    7839           0 :   std_srvs::Trigger srv;
+    7840             : 
+    7841           0 :   bool res = sch_parachute_.call(srv);
+    7842             : 
+    7843           0 :   if (res) {
+    7844             : 
+    7845           0 :     if (!srv.response.success) {
+    7846           0 :       ROS_WARN("[ControlManager]: service call for parachute deployment returned: '%s'", srv.response.message.c_str());
+    7847             :     }
+    7848             : 
+    7849           0 :     return srv.response.success;
+    7850             : 
+    7851             :   } else {
+    7852             : 
+    7853           0 :     ROS_ERROR("[ControlManager]: service call for parachute deployment failed!");
+    7854             : 
+    7855           0 :     return false;
+    7856             :   }
+    7857             : }
+    7858             : 
+    7859             : //}
+    7860             : 
+    7861             : /* ungripSrv() //{ */
+    7862             : 
+    7863         311 : void ControlManager::ungripSrv(void) {
+    7864         622 :   std_srvs::Trigger srv;
+    7865             : 
+    7866         311 :   bool res = sch_ungrip_.call(srv);
+    7867             : 
+    7868         311 :   if (res) {
+    7869             : 
+    7870           0 :     if (!srv.response.success) {
+    7871           0 :       ROS_DEBUG_THROTTLE(1.0, "[ControlManager]: service call for ungripping payload returned: '%s'", srv.response.message.c_str());
+    7872             :     }
+    7873             : 
+    7874             :   } else {
+    7875         311 :     ROS_DEBUG_THROTTLE(1.0, "[ControlManager]: service call for ungripping payload failed!");
+    7876             :   }
+    7877         311 : }
+    7878             : 
+    7879             : //}
+    7880             : 
+    7881             : // | ------------------------ routines ------------------------ |
+    7882             : 
+    7883             : /* toggleOutput() //{ */
+    7884             : 
+    7885          58 : void ControlManager::toggleOutput(const bool& input) {
+    7886             : 
+    7887          58 :   if (input == output_enabled_) {
+    7888           3 :     ROS_WARN_THROTTLE(0.1, "[ControlManager]: output is already %s", input ? "ON" : "OFF");
+    7889           3 :     return;
+    7890             :   }
+    7891             : 
+    7892          55 :   ROS_INFO("[ControlManager]: switching output %s", input ? "ON" : "OFF");
+    7893             : 
+    7894          55 :   output_enabled_ = input;
+    7895             : 
+    7896             :   // if switching output off, switch to NullTracker
+    7897          55 :   if (!output_enabled_) {
+    7898             : 
+    7899          10 :     ROS_INFO("[ControlManager]: switching to 'NullTracker' after switching output off");
+    7900             : 
+    7901          10 :     switchTracker(_null_tracker_name_);
+    7902             : 
+    7903          10 :     ROS_INFO_STREAM("[ControlManager]: switching to the controller '" << _eland_controller_name_ << "' after switching output off");
+    7904             : 
+    7905          10 :     switchController(_eland_controller_name_);
+    7906             : 
+    7907             :     // | --------- deactivate all trackers and controllers -------- |
+    7908             : 
+    7909          70 :     for (int i = 0; i < int(tracker_list_.size()); i++) {
+    7910             : 
+    7911          60 :       std::map<std::string, TrackerParams>::iterator it;
+    7912          60 :       it = trackers_.find(_tracker_names_[i]);
+    7913             : 
+    7914             :       try {
+    7915          60 :         ROS_INFO("[ControlManager]: deactivating the tracker '%s'", it->second.address.c_str());
+    7916          60 :         tracker_list_[i]->deactivate();
+    7917             :       }
+    7918           0 :       catch (std::runtime_error& ex) {
+    7919           0 :         ROS_ERROR("[ControlManager]: exception caught during tracker deactivation: '%s'", ex.what());
+    7920             :       }
+    7921             :     }
+    7922             : 
+    7923          60 :     for (int i = 0; i < int(controller_list_.size()); i++) {
+    7924             : 
+    7925          50 :       std::map<std::string, ControllerParams>::iterator it;
+    7926          50 :       it = controllers_.find(_controller_names_[i]);
+    7927             : 
+    7928             :       try {
+    7929          50 :         ROS_INFO("[ControlManager]: deactivating the controller '%s'", it->second.address.c_str());
+    7930          50 :         controller_list_[i]->deactivate();
+    7931             :       }
+    7932           0 :       catch (std::runtime_error& ex) {
+    7933           0 :         ROS_ERROR("[ControlManager]: exception caught during controller deactivation: '%s'", ex.what());
+    7934             :       }
+    7935             :     }
+    7936             : 
+    7937          10 :     timer_failsafe_.stop();
+    7938          10 :     timer_eland_.stop();
+    7939          10 :     timer_pirouette_.stop();
+    7940             : 
+    7941          10 :     offboard_mode_was_true_ = false;
+    7942             :   }
+    7943             : }
+    7944             : 
+    7945             : //}
+    7946             : 
+    7947             : /* switchTracker() //{ */
+    7948             : 
+    7949         107 : std::tuple<bool, std::string> ControlManager::switchTracker(const std::string& tracker_name) {
+    7950         321 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("switchTracker");
+    7951         321 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::switchTracker", scope_timer_logger_, scope_timer_enabled_);
+    7952             : 
+    7953             :   // copy member variables
+    7954         214 :   auto last_tracker_cmd   = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    7955         107 :   auto active_tracker_idx = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    7956             : 
+    7957         214 :   std::stringstream ss;
+    7958             : 
+    7959         107 :   if (!got_uav_state_) {
+    7960             : 
+    7961           0 :     ss << "can not switch tracker, missing odometry!";
+    7962           0 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    7963           0 :     return std::tuple(false, ss.str());
+    7964             :   }
+    7965             : 
+    7966         107 :   if (_state_input_ == INPUT_UAV_STATE && _odometry_innovation_check_enabled_ && !sh_odometry_innovation_.hasMsg()) {
+    7967             : 
+    7968           0 :     ss << "can not switch tracker, missing odometry innovation!";
+    7969           0 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    7970           0 :     return std::tuple(false, ss.str());
+    7971             :   }
+    7972             : 
+    7973         107 :   auto new_tracker_idx = idxInVector(tracker_name, _tracker_names_);
+    7974             : 
+    7975             :   // check if the tracker exists
+    7976         107 :   if (!new_tracker_idx) {
+    7977           0 :     ss << "the tracker '" << tracker_name << "' does not exist!";
+    7978           0 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    7979           0 :     return std::tuple(false, ss.str());
+    7980             :   }
+    7981             : 
+    7982             :   // check if the tracker is already active
+    7983         107 :   if (new_tracker_idx.value() == active_tracker_idx) {
+    7984           2 :     ss << "not switching, the tracker '" << tracker_name << "' is already active!";
+    7985           2 :     ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    7986           2 :     return std::tuple(true, ss.str());
+    7987             :   }
+    7988             : 
+    7989             :   {
+    7990         105 :     std::scoped_lock lock(mutex_tracker_list_);
+    7991             : 
+    7992             :     try {
+    7993             : 
+    7994         105 :       ROS_INFO("[ControlManager]: activating the tracker '%s'", _tracker_names_[new_tracker_idx.value()].c_str());
+    7995             : 
+    7996         105 :       auto [success, message] = tracker_list_[new_tracker_idx.value()]->activate(last_tracker_cmd);
+    7997             : 
+    7998         105 :       if (!success) {
+    7999             : 
+    8000           0 :         ss << "the tracker '" << tracker_name << "' could not be activated: '" << message << "'";
+    8001           0 :         ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    8002           0 :         return std::tuple(false, ss.str());
+    8003             : 
+    8004             :       } else {
+    8005             : 
+    8006         105 :         ss << "the tracker '" << tracker_name << "' was activated";
+    8007         105 :         ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    8008             : 
+    8009             :         {
+    8010         210 :           std::scoped_lock lock(mutex_controller_tracker_switch_time_);
+    8011             : 
+    8012             :           // update the time (used in failsafe)
+    8013         105 :           controller_tracker_switch_time_ = ros::Time::now();
+    8014             :         }
+    8015             : 
+    8016             :         // super important, switch the active tracker idx
+    8017             :         try {
+    8018             : 
+    8019         105 :           ROS_INFO("[ControlManager]: deactivating '%s'", _tracker_names_[active_tracker_idx_].c_str());
+    8020         105 :           tracker_list_[active_tracker_idx_]->deactivate();
+    8021             : 
+    8022             :           // if switching from null tracker, re-activate the already active the controller
+    8023         105 :           if (active_tracker_idx_ == _null_tracker_idx_) {
+    8024             : 
+    8025          45 :             ROS_INFO("[ControlManager]: reactivating '%s' due to switching from 'NullTracker'", _controller_names_[active_controller_idx_].c_str());
+    8026             :             {
+    8027          90 :               std::scoped_lock lock(mutex_controller_list_);
+    8028             : 
+    8029          45 :               initializeControlOutput();
+    8030             : 
+    8031          90 :               auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    8032             : 
+    8033          45 :               controller_list_[active_controller_idx_]->activate(last_control_output);
+    8034             : 
+    8035             :               {
+    8036          90 :                 std::scoped_lock lock(mutex_controller_tracker_switch_time_);
+    8037             : 
+    8038             :                 // update the time (used in failsafe)
+    8039          45 :                 controller_tracker_switch_time_ = ros::Time::now();
+    8040             :               }
+    8041             :             }
+    8042             : 
+    8043             :             // if switching to null tracker, deactivate the active controller
+    8044          60 :           } else if (new_tracker_idx == _null_tracker_idx_) {
+    8045             : 
+    8046          10 :             ROS_INFO("[ControlManager]: deactivating '%s' due to switching to 'NullTracker'", _controller_names_[active_controller_idx_].c_str());
+    8047             :             {
+    8048          20 :               std::scoped_lock lock(mutex_controller_list_);
+    8049             : 
+    8050          10 :               controller_list_[active_controller_idx_]->deactivate();
+    8051             :             }
+    8052             : 
+    8053             :             {
+    8054          10 :               std::scoped_lock lock(mutex_last_tracker_cmd_);
+    8055             : 
+    8056          10 :               last_tracker_cmd_ = {};
+    8057             :             }
+    8058             : 
+    8059          10 :             initializeControlOutput();
+    8060             :           }
+    8061             : 
+    8062         105 :           active_tracker_idx_ = new_tracker_idx.value();
+    8063             :         }
+    8064           0 :         catch (std::runtime_error& exrun) {
+    8065           0 :           ROS_ERROR("[ControlManager]: could not deactivate the tracker '%s'", _tracker_names_[active_tracker_idx_].c_str());
+    8066             :         }
+    8067             :       }
+    8068             :     }
+    8069           0 :     catch (std::runtime_error& exrun) {
+    8070           0 :       ROS_ERROR("[ControlManager]: error during activation of the tracker '%s'", tracker_name.c_str());
+    8071           0 :       ROS_ERROR("[ControlManager]: exception: '%s'", exrun.what());
+    8072             :     }
+    8073             :   }
+    8074             : 
+    8075         105 :   return std::tuple(true, ss.str());
+    8076             : }
+    8077             : 
+    8078             : //}
+    8079             : 
+    8080             : /* switchController() //{ */
+    8081             : 
+    8082         105 : std::tuple<bool, std::string> ControlManager::switchController(const std::string& controller_name) {
+    8083         315 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("switchController");
+    8084         315 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::switchController", scope_timer_logger_, scope_timer_enabled_);
+    8085             : 
+    8086             :   // copy member variables
+    8087         210 :   auto last_control_output   = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    8088         210 :   auto last_tracker_cmd      = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    8089         105 :   auto active_controller_idx = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    8090             : 
+    8091         210 :   std::stringstream ss;
+    8092             : 
+    8093         105 :   if (!got_uav_state_) {
+    8094             : 
+    8095           0 :     ss << "can not switch controller, missing odometry!";
+    8096           0 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    8097           0 :     return std::tuple(false, ss.str());
+    8098             :   }
+    8099             : 
+    8100         105 :   if (_state_input_ == INPUT_UAV_STATE && _odometry_innovation_check_enabled_ && !sh_odometry_innovation_.hasMsg()) {
+    8101             : 
+    8102           0 :     ss << "can not switch controller, missing odometry innovation!";
+    8103           0 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    8104           0 :     return std::tuple(false, ss.str());
+    8105             :   }
+    8106             : 
+    8107         105 :   auto new_controller_idx = idxInVector(controller_name, _controller_names_);
+    8108             : 
+    8109             :   // check if the controller exists
+    8110         105 :   if (!new_controller_idx) {
+    8111           0 :     ss << "the controller '" << controller_name << "' does not exist!";
+    8112           0 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    8113           0 :     return std::tuple(false, ss.str());
+    8114             :   }
+    8115             : 
+    8116             :   // check if the controller is not active
+    8117         105 :   if (new_controller_idx.value() == active_controller_idx) {
+    8118             : 
+    8119          13 :     ss << "not switching, the controller '" << controller_name << "' is already active!";
+    8120          13 :     ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    8121          13 :     return std::tuple(true, ss.str());
+    8122             :   }
+    8123             : 
+    8124             :   {
+    8125          92 :     std::scoped_lock lock(mutex_controller_list_);
+    8126             : 
+    8127             :     try {
+    8128             : 
+    8129          92 :       ROS_INFO("[ControlManager]: activating the controller '%s'", _controller_names_[new_controller_idx.value()].c_str());
+    8130          92 :       if (!controller_list_[new_controller_idx.value()]->activate(last_control_output)) {
+    8131             : 
+    8132           0 :         ss << "the controller '" << controller_name << "' was not activated";
+    8133           0 :         ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    8134           0 :         return std::tuple(false, ss.str());
+    8135             : 
+    8136             :       } else {
+    8137             : 
+    8138          92 :         ss << "the controller '" << controller_name << "' was activated";
+    8139          92 :         ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    8140             : 
+    8141          92 :         ROS_INFO("[ControlManager]: triggering hover after switching to '%s', re-activating '%s'", _controller_names_[new_controller_idx.value()].c_str(),
+    8142             :                  _tracker_names_[active_tracker_idx_].c_str());
+    8143             : 
+    8144             :         // reactivate the current tracker
+    8145             :         // TODO this is not the most elegant way to restart the tracker after a controller switch
+    8146             :         // but it serves the purpose
+    8147             :         {
+    8148          92 :           std::scoped_lock lock(mutex_tracker_list_);
+    8149             : 
+    8150          92 :           tracker_list_[active_tracker_idx_]->deactivate();
+    8151          92 :           tracker_list_[active_tracker_idx_]->activate({});
+    8152             :         }
+    8153             : 
+    8154             :         {
+    8155         184 :           std::scoped_lock lock(mutex_controller_tracker_switch_time_);
+    8156             : 
+    8157             :           // update the time (used in failsafe)
+    8158          92 :           controller_tracker_switch_time_ = ros::Time::now();
+    8159             :         }
+    8160             : 
+    8161             :         // super important, switch the active controller idx
+    8162             :         try {
+    8163             : 
+    8164          92 :           controller_list_[active_controller_idx_]->deactivate();
+    8165          92 :           active_controller_idx_ = new_controller_idx.value();
+    8166             :         }
+    8167           0 :         catch (std::runtime_error& exrun) {
+    8168           0 :           ROS_ERROR("[ControlManager]: could not deactivate controller '%s'", _controller_names_[active_controller_idx_].c_str());
+    8169             :         }
+    8170             :       }
+    8171             :     }
+    8172           0 :     catch (std::runtime_error& exrun) {
+    8173           0 :       ROS_ERROR("[ControlManager]: error during activation of controller '%s'", controller_name.c_str());
+    8174           0 :       ROS_ERROR("[ControlManager]: exception: '%s'", exrun.what());
+    8175             :     }
+    8176             :   }
+    8177             : 
+    8178          92 :   mrs_msgs::DynamicsConstraintsSrvRequest sanitized_constraints;
+    8179             : 
+    8180             :   {
+    8181          92 :     std::scoped_lock lock(mutex_constraints_);
+    8182             : 
+    8183          92 :     sanitized_constraints_ = current_constraints_;
+    8184          92 :     sanitized_constraints  = sanitized_constraints_;
+    8185             :   }
+    8186             : 
+    8187          92 :   setConstraintsToControllers(sanitized_constraints);
+    8188             : 
+    8189          92 :   return std::tuple(true, ss.str());
+    8190             : }
+    8191             : 
+    8192             : //}
+    8193             : 
+    8194             : /* updateTrackers() //{ */
+    8195             : 
+    8196       43352 : void ControlManager::updateTrackers(void) {
+    8197       86704 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("updateTrackers");
+    8198       86704 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::updateTrackers", scope_timer_logger_, scope_timer_enabled_);
+    8199             : 
+    8200             :   // copy member variables
+    8201       43352 :   auto uav_state           = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    8202       43352 :   auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    8203       43352 :   auto active_tracker_idx  = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    8204             : 
+    8205             :   // --------------------------------------------------------------
+    8206             :   // |                     Update the trackers                    |
+    8207             :   // --------------------------------------------------------------
+    8208             : 
+    8209           0 :   std::optional<mrs_msgs::TrackerCommand> tracker_command;
+    8210             : 
+    8211             :   // for each tracker
+    8212      305668 :   for (size_t i = 0; i < tracker_list_.size(); i++) {
+    8213             : 
+    8214      262316 :     if (i == active_tracker_idx) {
+    8215             : 
+    8216             :       try {
+    8217       43352 :         std::scoped_lock lock(mutex_tracker_list_);
+    8218             : 
+    8219             :         // active tracker => update and retrieve the command
+    8220       43352 :         tracker_command = 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 active tracker (%s)", _tracker_names_[active_tracker_idx].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 active tracker");
+    8227             : 
+    8228           0 :         eland();
+    8229             :       }
+    8230             : 
+    8231             :     } else {
+    8232             : 
+    8233             :       try {
+    8234      218964 :         std::scoped_lock lock(mutex_tracker_list_);
+    8235             : 
+    8236             :         // nonactive tracker => just update without retrieving the command
+    8237      218964 :         tracker_list_[i]->update(uav_state, last_control_output);
+    8238             :       }
+    8239           0 :       catch (std::runtime_error& exrun) {
+    8240             : 
+    8241           0 :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: exception while updating the tracker '%s'", _tracker_names_[i].c_str());
+    8242           0 :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: exception: '%s'", exrun.what());
+    8243           0 :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: triggering eland due to an exception in the tracker");
+    8244             : 
+    8245           0 :         eland();
+    8246             :       }
+    8247             :     }
+    8248             :   }
+    8249             : 
+    8250       43352 :   if (active_tracker_idx == _null_tracker_idx_) {
+    8251        9645 :     return;
+    8252             :   }
+    8253             : 
+    8254       33707 :   if (validateTrackerCommand(tracker_command, "ControlManager", "tracker_command")) {
+    8255             : 
+    8256       67414 :     std::scoped_lock lock(mutex_last_tracker_cmd_);
+    8257             : 
+    8258       33707 :     last_tracker_cmd_ = tracker_command;
+    8259             : 
+    8260             :     // | --------- fill in the potentially missing header --------- |
+    8261             : 
+    8262       33707 :     if (last_tracker_cmd_->header.frame_id == "") {
+    8263           0 :       last_tracker_cmd_->header.frame_id = uav_state.header.frame_id;
+    8264             :     }
+    8265             : 
+    8266       33707 :     if (last_tracker_cmd_->header.stamp == ros::Time(0)) {
+    8267           0 :       last_tracker_cmd_->header.stamp = ros::Time::now();
+    8268             :     }
+    8269             : 
+    8270             :   } else {
+    8271             : 
+    8272           0 :     if (active_tracker_idx != _null_tracker_idx_) {
+    8273             : 
+    8274           0 :       if (active_tracker_idx == _ehover_tracker_idx_) {
+    8275             : 
+    8276           0 :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: the ehover tracker '%s' returned empty or invalid command!", _tracker_names_[active_tracker_idx].c_str());
+    8277             : 
+    8278           0 :         failsafe();
+    8279             : 
+    8280             :       } else {
+    8281             : 
+    8282           0 :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: the tracker '%s' returned empty or invalid command!", _tracker_names_[active_tracker_idx].c_str());
+    8283             : 
+    8284           0 :         if (_tracker_error_action_ == ELAND_STR) {
+    8285           0 :           eland();
+    8286           0 :         } else if (_tracker_error_action_ == EHOVER_STR) {
+    8287           0 :           ehover();
+    8288             :         } else {
+    8289           0 :           failsafe();
+    8290             :         }
+    8291             :       }
+    8292             : 
+    8293             :     } else {
+    8294             : 
+    8295           0 :       std::scoped_lock lock(mutex_last_tracker_cmd_);
+    8296             : 
+    8297           0 :       last_tracker_cmd_ = tracker_command;
+    8298             :     }
+    8299             :   }
+    8300             : }
+    8301             : 
+    8302             : //}
+    8303             : 
+    8304             : /* updateControllers() //{ */
+    8305             : 
+    8306       50322 : void ControlManager::updateControllers(const mrs_msgs::UavState& uav_state) {
+    8307      100644 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("updateControllers");
+    8308      100644 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::updateControllers", scope_timer_logger_, scope_timer_enabled_);
+    8309             : 
+    8310             :   // copy member variables
+    8311       50322 :   auto last_tracker_cmd      = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    8312       50322 :   auto active_controller_idx = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    8313             : 
+    8314             :   // | ----------------- update the controllers ----------------- |
+    8315             : 
+    8316             :   // the trackers are not running
+    8317       50322 :   if (!last_tracker_cmd) {
+    8318             : 
+    8319        9645 :     ROS_DEBUG_THROTTLE(1.0, "[ControlManager]: tracker command is empty, giving controller just the uav_state");
+    8320             : 
+    8321             :     // give the controllers current uav state
+    8322             :     {
+    8323       19290 :       std::scoped_lock lock(mutex_controller_list_);
+    8324             : 
+    8325             :       // nonactive controller => just update without retrieving the command
+    8326       57870 :       for (int i = 0; i < int(controller_list_.size()); i++) {
+    8327       48225 :         controller_list_[i]->updateInactive(uav_state, last_tracker_cmd);
+    8328             :       }
+    8329             :     }
+    8330             : 
+    8331        9645 :     return;
+    8332             :   }
+    8333             : 
+    8334       81354 :   Controller::ControlOutput control_output;
+    8335             : 
+    8336             :   // for each controller
+    8337      244062 :   for (size_t i = 0; i < controller_list_.size(); i++) {
+    8338             : 
+    8339      203385 :     if (i == active_controller_idx) {
+    8340             : 
+    8341             :       try {
+    8342       40677 :         std::scoped_lock lock(mutex_controller_list_);
+    8343             : 
+    8344             :         // active controller => update and retrieve the command
+    8345       40677 :         control_output = controller_list_[active_controller_idx]->updateActive(uav_state, last_tracker_cmd.value());
+    8346             :       }
+    8347           0 :       catch (std::runtime_error& exrun) {
+    8348             : 
+    8349           0 :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: exception while updating the active controller (%s)", _controller_names_[active_controller_idx].c_str());
+    8350           0 :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: exception: '%s'", exrun.what());
+    8351             : 
+    8352           0 :         if (eland_triggered_) {
+    8353             : 
+    8354           0 :           ROS_ERROR_THROTTLE(1.0, "[ControlManager]: triggering failsafe due to an exception in the active controller (eland is already active)");
+    8355           0 :           failsafe();
+    8356             : 
+    8357             :         } else {
+    8358             : 
+    8359           0 :           ROS_ERROR_THROTTLE(1.0, "[ControlManager]: triggering eland due to an exception in the active controller");
+    8360           0 :           eland();
+    8361             :         }
+    8362             :       }
+    8363             : 
+    8364             :     } else {
+    8365             : 
+    8366             :       try {
+    8367      325416 :         std::scoped_lock lock(mutex_controller_list_);
+    8368             : 
+    8369             :         // nonactive controller => just update without retrieving the command
+    8370      162708 :         controller_list_[i]->updateInactive(uav_state, last_tracker_cmd);
+    8371             :       }
+    8372           0 :       catch (std::runtime_error& exrun) {
+    8373             : 
+    8374           0 :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: exception while updating the controller '%s'", _controller_names_[i].c_str());
+    8375           0 :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: exception: '%s'", exrun.what());
+    8376           0 :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: triggering eland (somebody should notice this)");
+    8377             : 
+    8378           0 :         eland();
+    8379             :       }
+    8380             :     }
+    8381             :   }
+    8382             : 
+    8383             :   // normally, the active controller returns a valid command
+    8384       40677 :   if (validateControlOutput(control_output, _hw_api_inputs_, "ControlManager", "control_output")) {
+    8385             : 
+    8386       40677 :     mrs_lib::set_mutexed(mutex_last_control_output_, control_output, last_control_output_);
+    8387             : 
+    8388             :     // but it can return an empty command, due to some critical internal error
+    8389             :     // which means we should trigger the failsafe landing
+    8390             :   } else {
+    8391             : 
+    8392             :     // only if the controller is still active, trigger escalating failsafe
+    8393             :     // if not active, we don't care, we should not ask the controller for
+    8394             :     // the result anyway -> this could mean a race condition occured
+    8395             :     // like it once happend during landing
+    8396           0 :     bool controller_status = false;
+    8397             : 
+    8398             :     {
+    8399           0 :       std::scoped_lock lock(mutex_controller_list_);
+    8400             : 
+    8401           0 :       controller_status = controller_list_[active_controller_idx]->getStatus().active;
+    8402             :     }
+    8403             : 
+    8404           0 :     if (controller_status) {
+    8405             : 
+    8406           0 :       if (active_controller_idx_ == _failsafe_controller_idx_) {
+    8407             : 
+    8408           0 :         ROS_ERROR("[ControlManager]: failsafe controller returned empty command, disabling control");
+    8409             : 
+    8410           0 :         toggleOutput(false);
+    8411             : 
+    8412           0 :       } else if (active_controller_idx_ == _eland_controller_idx_) {
+    8413             : 
+    8414           0 :         ROS_ERROR("[ControlManager]: triggering failsafe, the emergency controller returned empty or invalid command");
+    8415             : 
+    8416           0 :         failsafe();
+    8417             : 
+    8418             :       } else {
+    8419             : 
+    8420           0 :         ROS_ERROR("[ControlManager]: triggering eland, the controller returned empty or invalid command");
+    8421             : 
+    8422           0 :         eland();
+    8423             :       }
+    8424             :     }
+    8425             :   }
+    8426             : }
+    8427             : 
+    8428             : //}
+    8429             : 
+    8430             : /* publish() //{ */
+    8431             : 
+    8432       50322 : void ControlManager::publish(void) {
+    8433      100644 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("publish");
+    8434      100644 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::publish", scope_timer_logger_, scope_timer_enabled_);
+    8435             : 
+    8436             :   // copy member variables
+    8437       50322 :   auto last_control_output   = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    8438       50322 :   auto last_tracker_cmd      = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    8439       50322 :   auto active_tracker_idx    = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    8440       50322 :   auto active_controller_idx = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    8441       50322 :   auto uav_state             = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    8442             : 
+    8443       50322 :   publishControlReferenceOdom(last_tracker_cmd, last_control_output);
+    8444             : 
+    8445             :   // --------------------------------------------------------------
+    8446             :   // |                 Publish the control command                |
+    8447             :   // --------------------------------------------------------------
+    8448             : 
+    8449       50322 :   mrs_msgs::HwApiAttitudeCmd attitude_target;
+    8450       50322 :   attitude_target.stamp = ros::Time::now();
+    8451             : 
+    8452       50322 :   mrs_msgs::HwApiAttitudeRateCmd attitude_rate_target;
+    8453       50322 :   attitude_rate_target.stamp = ros::Time::now();
+    8454             : 
+    8455       50322 :   if (!output_enabled_) {
+    8456             : 
+    8457        5105 :     ROS_WARN_THROTTLE(1.0, "[ControlManager]: output is disabled");
+    8458             : 
+    8459       45217 :   } else if (active_tracker_idx == _null_tracker_idx_) {
+    8460             : 
+    8461        4540 :     ROS_WARN_THROTTLE(5.0, "[ControlManager]: 'NullTracker' is active, not controlling");
+    8462             : 
+    8463             :     Controller::HwApiOutputVariant output =
+    8464        9080 :         initializeDefaultOutput(_hw_api_inputs_, uav_state, _min_throttle_null_tracker_, common_handlers_->throttle_model.n_motors);
+    8465             : 
+    8466             :     {
+    8467        9080 :       std::scoped_lock lock(mutex_last_control_output_);
+    8468             : 
+    8469        4540 :       last_control_output_.control_output = output;
+    8470             :     }
+    8471             : 
+    8472        4540 :     control_output_publisher_.publish(output);
+    8473             : 
+    8474       40677 :   } else if (active_tracker_idx != _null_tracker_idx_ && !last_control_output.control_output) {
+    8475             : 
+    8476           0 :     ROS_WARN_THROTTLE(1.0, "[ControlManager]: the controller '%s' returned nil command, not publishing anything",
+    8477             :                       _controller_names_[active_controller_idx].c_str());
+    8478             : 
+    8479             :     Controller::HwApiOutputVariant output =
+    8480           0 :         initializeDefaultOutput(_hw_api_inputs_, uav_state, _min_throttle_null_tracker_, common_handlers_->throttle_model.n_motors);
+    8481             : 
+    8482           0 :     control_output_publisher_.publish(output);
+    8483             : 
+    8484       40677 :   } else if (last_control_output.control_output) {
+    8485             : 
+    8486       40677 :     if (validateHwApiAttitudeCmd(attitude_target, "ControlManager", "last_control_output.control_output")) {
+    8487       40677 :       control_output_publisher_.publish(last_control_output.control_output.value());
+    8488             :     } else {
+    8489           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: the attitude cmd is not valid just before publishing!");
+    8490           0 :       return;
+    8491             :     }
+    8492             : 
+    8493             :   } else {
+    8494           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: not publishing a control command");
+    8495             :   }
+    8496             : 
+    8497             :   // | ----------- publish the controller diagnostics ----------- |
+    8498             : 
+    8499       50322 :   ph_controller_diagnostics_.publish(last_control_output.diagnostics);
+    8500             : 
+    8501             :   // | --------- publish the applied throttle and thrust -------- |
+    8502             : 
+    8503       50322 :   auto throttle = extractThrottle(last_control_output);
+    8504             : 
+    8505       50322 :   if (throttle) {
+    8506             : 
+    8507             :     {
+    8508       41851 :       std_msgs::Float64 msg;
+    8509       41851 :       msg.data = throttle.value();
+    8510       41851 :       ph_throttle_.publish(msg);
+    8511             :     }
+    8512             : 
+    8513       41851 :     double thrust = mrs_lib::quadratic_throttle_model::throttleToForce(common_handlers_->throttle_model, throttle.value());
+    8514             : 
+    8515             :     {
+    8516       41851 :       std_msgs::Float64 msg;
+    8517       41851 :       msg.data = thrust;
+    8518       41851 :       ph_thrust_.publish(msg);
+    8519             :     }
+    8520             :   }
+    8521             : 
+    8522             :   // | ----------------- publish tracker command ---------------- |
+    8523             : 
+    8524       50322 :   if (last_tracker_cmd) {
+    8525       40677 :     ph_tracker_cmd_.publish(last_tracker_cmd.value());
+    8526             :   }
+    8527             : 
+    8528             :   // | --------------- publish the odometry input --------------- |
+    8529             : 
+    8530       50322 :   if (last_control_output.control_output) {
+    8531             : 
+    8532       90550 :     mrs_msgs::EstimatorInput msg;
+    8533             : 
+    8534       45275 :     msg.header.frame_id = _uav_name_ + "/fcu";
+    8535       45275 :     msg.header.stamp    = ros::Time::now();
+    8536             : 
+    8537       45275 :     if (last_control_output.desired_unbiased_acceleration) {
+    8538       32074 :       msg.control_acceleration.x = last_control_output.desired_unbiased_acceleration.value()[0];
+    8539       32074 :       msg.control_acceleration.y = last_control_output.desired_unbiased_acceleration.value()[1];
+    8540       32074 :       msg.control_acceleration.z = last_control_output.desired_unbiased_acceleration.value()[2];
+    8541             :     }
+    8542             : 
+    8543       45275 :     if (last_control_output.desired_heading_rate) {
+    8544       28960 :       msg.control_hdg_rate = last_control_output.desired_heading_rate.value();
+    8545             :     }
+    8546             : 
+    8547       45275 :     if (last_control_output.desired_unbiased_acceleration) {
+    8548       32074 :       ph_mrs_odom_input_.publish(msg);
+    8549             :     }
+    8550             :   }
+    8551             : }
+    8552             : 
+    8553             : //}
+    8554             : 
+    8555             : /* deployParachute() //{ */
+    8556             : 
+    8557           0 : std::tuple<bool, std::string> ControlManager::deployParachute(void) {
+    8558             :   // if not enabled, return false
+    8559           0 :   if (!_parachute_enabled_) {
+    8560             : 
+    8561           0 :     std::stringstream ss;
+    8562           0 :     ss << "can not deploy parachute, it is disabled";
+    8563           0 :     return std::tuple(false, ss.str());
+    8564             :   }
+    8565             : 
+    8566             :   // we can not disarm if the drone is not in offboard mode
+    8567             :   // this is super important!
+    8568           0 :   if (!isOffboard()) {
+    8569             : 
+    8570           0 :     std::stringstream ss;
+    8571           0 :     ss << "can not deploy parachute, not in offboard mode";
+    8572           0 :     return std::tuple(false, ss.str());
+    8573             :   }
+    8574             : 
+    8575             :   // call the parachute service
+    8576           0 :   bool succ = parachuteSrv();
+    8577             : 
+    8578             :   // if the deployment was successful,
+    8579           0 :   if (succ) {
+    8580             : 
+    8581           0 :     arming(false);
+    8582             : 
+    8583           0 :     std::stringstream ss;
+    8584           0 :     ss << "parachute deployed";
+    8585             : 
+    8586           0 :     return std::tuple(true, ss.str());
+    8587             : 
+    8588             :   } else {
+    8589             : 
+    8590           0 :     std::stringstream ss;
+    8591           0 :     ss << "error during deployment of parachute";
+    8592             : 
+    8593           0 :     return std::tuple(false, ss.str());
+    8594             :   }
+    8595             : }
+    8596             : 
+    8597             : //}
+    8598             : 
+    8599             : /* velocityReferenceToReference() //{ */
+    8600             : 
+    8601           0 : mrs_msgs::ReferenceStamped ControlManager::velocityReferenceToReference(const mrs_msgs::VelocityReferenceStamped& vel_reference) {
+    8602           0 :   auto last_tracker_cmd    = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    8603           0 :   auto uav_state           = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    8604           0 :   auto current_constraints = mrs_lib::get_mutexed(mutex_constraints_, current_constraints_);
+    8605             : 
+    8606           0 :   mrs_msgs::ReferenceStamped reference_out;
+    8607             : 
+    8608           0 :   reference_out.header = vel_reference.header;
+    8609             : 
+    8610           0 :   if (vel_reference.reference.use_heading) {
+    8611           0 :     reference_out.reference.heading = vel_reference.reference.heading;
+    8612           0 :   } else if (vel_reference.reference.use_heading_rate) {
+    8613           0 :     reference_out.reference.heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading() + vel_reference.reference.use_heading_rate;
+    8614             :   } else {
+    8615           0 :     reference_out.reference.heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+    8616             :   }
+    8617             : 
+    8618           0 :   if (vel_reference.reference.use_altitude) {
+    8619           0 :     reference_out.reference.position.z = vel_reference.reference.altitude;
+    8620             :   } else {
+    8621             : 
+    8622           0 :     double stopping_time_z = 0;
+    8623             : 
+    8624           0 :     if (vel_reference.reference.velocity.x >= 0) {
+    8625           0 :       stopping_time_z = 1.5 * (fabs(vel_reference.reference.velocity.z) / current_constraints.constraints.vertical_ascending_acceleration) + 1.0;
+    8626             :     } else {
+    8627           0 :       stopping_time_z = 1.5 * (fabs(vel_reference.reference.velocity.z) / current_constraints.constraints.vertical_descending_acceleration) + 1.0;
+    8628             :     }
+    8629             : 
+    8630           0 :     reference_out.reference.position.z = last_tracker_cmd->position.z + vel_reference.reference.velocity.z * stopping_time_z;
+    8631             :   }
+    8632             : 
+    8633             :   {
+    8634           0 :     double stopping_time_x = 1.5 * (fabs(vel_reference.reference.velocity.x) / current_constraints.constraints.horizontal_acceleration) + 1.0;
+    8635           0 :     double stopping_time_y = 1.5 * (fabs(vel_reference.reference.velocity.y) / current_constraints.constraints.horizontal_acceleration) + 1.0;
+    8636             : 
+    8637           0 :     reference_out.reference.position.x = last_tracker_cmd->position.x + vel_reference.reference.velocity.x * stopping_time_x;
+    8638           0 :     reference_out.reference.position.y = last_tracker_cmd->position.y + vel_reference.reference.velocity.y * stopping_time_y;
+    8639             :   }
+    8640             : 
+    8641           0 :   return reference_out;
+    8642             : }
+    8643             : 
+    8644             : //}
+    8645             : 
+    8646             : /* publishControlReferenceOdom() //{ */
+    8647             : 
+    8648       50322 : void ControlManager::publishControlReferenceOdom([[maybe_unused]] const std::optional<mrs_msgs::TrackerCommand>& tracker_command,
+    8649             :                                                  [[maybe_unused]] const Controller::ControlOutput&               control_output) {
+    8650       50322 :   if (!tracker_command || !control_output.control_output) {
+    8651        9645 :     return;
+    8652             :   }
+    8653             : 
+    8654       81354 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    8655             : 
+    8656       81354 :   nav_msgs::Odometry msg;
+    8657             : 
+    8658       40677 :   msg.header = tracker_command->header;
+    8659             : 
+    8660       40677 :   if (tracker_command->use_position_horizontal) {
+    8661       40677 :     msg.pose.pose.position.x = tracker_command->position.x;
+    8662       40677 :     msg.pose.pose.position.y = tracker_command->position.y;
+    8663             :   } else {
+    8664           0 :     msg.pose.pose.position.x = uav_state.pose.position.x;
+    8665           0 :     msg.pose.pose.position.y = uav_state.pose.position.y;
+    8666             :   }
+    8667             : 
+    8668       40677 :   if (tracker_command->use_position_vertical) {
+    8669       40677 :     msg.pose.pose.position.z = tracker_command->position.z;
+    8670             :   } else {
+    8671           0 :     msg.pose.pose.position.z = uav_state.pose.position.z;
+    8672             :   }
+    8673             : 
+    8674             :   // transform the velocity in the reference to the child_frame
+    8675       40677 :   if (tracker_command->use_velocity_horizontal || tracker_command->use_velocity_vertical) {
+    8676             : 
+    8677       40677 :     msg.child_frame_id = _uav_name_ + "/" + _body_frame_;
+    8678             : 
+    8679       81354 :     geometry_msgs::Vector3Stamped velocity;
+    8680       40677 :     velocity.header = tracker_command->header;
+    8681             : 
+    8682       40677 :     if (tracker_command->use_velocity_horizontal) {
+    8683       40677 :       velocity.vector.x = tracker_command->velocity.x;
+    8684       40677 :       velocity.vector.y = tracker_command->velocity.y;
+    8685             :     }
+    8686             : 
+    8687       40677 :     if (tracker_command->use_velocity_vertical) {
+    8688       40677 :       velocity.vector.z = tracker_command->velocity.z;
+    8689             :     }
+    8690             : 
+    8691       81354 :     auto res = transformer_->transformSingle(velocity, msg.child_frame_id);
+    8692             : 
+    8693       40677 :     if (res) {
+    8694       40677 :       msg.twist.twist.linear.x = res.value().vector.x;
+    8695       40677 :       msg.twist.twist.linear.y = res.value().vector.y;
+    8696       40677 :       msg.twist.twist.linear.z = res.value().vector.z;
+    8697             :     } else {
+    8698           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: could not transform the reference speed from '%s' to '%s'", velocity.header.frame_id.c_str(),
+    8699             :                          msg.child_frame_id.c_str());
+    8700             :     }
+    8701             :   }
+    8702             : 
+    8703             :   // fill in the orientation or heading
+    8704       40677 :   if (control_output.desired_orientation) {
+    8705       30127 :     msg.pose.pose.orientation = mrs_lib::AttitudeConverter(control_output.desired_orientation.value());
+    8706       10550 :   } else if (tracker_command->use_heading) {
+    8707       10550 :     msg.pose.pose.orientation = mrs_lib::AttitudeConverter(0, 0, tracker_command->heading);
+    8708             :   }
+    8709             : 
+    8710             :   // fill in the attitude rate
+    8711       40677 :   if (std::holds_alternative<mrs_msgs::HwApiAttitudeRateCmd>(control_output.control_output.value())) {
+    8712             : 
+    8713       24588 :     auto attitude_cmd = std::get<mrs_msgs::HwApiAttitudeRateCmd>(control_output.control_output.value());
+    8714             : 
+    8715       24588 :     msg.twist.twist.angular.x = attitude_cmd.body_rate.x;
+    8716       24588 :     msg.twist.twist.angular.y = attitude_cmd.body_rate.y;
+    8717       24588 :     msg.twist.twist.angular.z = attitude_cmd.body_rate.z;
+    8718             :   }
+    8719             : 
+    8720       40677 :   ph_control_reference_odom_.publish(msg);
+    8721             : }
+    8722             : 
+    8723             : //}
+    8724             : 
+    8725             : /* initializeControlOutput() //{ */
+    8726             : 
+    8727         103 : void ControlManager::initializeControlOutput(void) {
+    8728         103 :   Controller::ControlOutput controller_output;
+    8729             : 
+    8730         103 :   controller_output.diagnostics.total_mass       = _uav_mass_;
+    8731         103 :   controller_output.diagnostics.mass_difference  = 0.0;
+    8732         103 :   controller_output.diagnostics.disturbance_bx_b = _initial_body_disturbance_x_;
+    8733         103 :   controller_output.diagnostics.disturbance_by_b = _initial_body_disturbance_y_;
+    8734         103 :   controller_output.diagnostics.disturbance_wx_w = 0.0;
+    8735         103 :   controller_output.diagnostics.disturbance_wy_w = 0.0;
+    8736         103 :   controller_output.diagnostics.disturbance_bx_w = 0.0;
+    8737         103 :   controller_output.diagnostics.disturbance_by_w = 0.0;
+    8738         103 :   controller_output.diagnostics.controller       = "none";
+    8739             : 
+    8740         103 :   mrs_lib::set_mutexed(mutex_last_control_output_, controller_output, last_control_output_);
+    8741         103 : }
+    8742             : 
+    8743             : //}
+    8744             : 
+    8745             : }  // namespace control_manager
+    8746             : 
+    8747             : }  // namespace mrs_uav_managers
+    8748             : 
+    8749             : #include <pluginlib/class_list_macros.h>
+    8750          48 : PLUGINLIB_EXPORT_CLASS(mrs_uav_managers::control_manager::ControlManager, nodelet::Nodelet)
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
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Test:MRS UAV System - Test coverage reportLines:1908370951.4 %
Date:2023-12-14 21:42:20Functions:7412360.2 %
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output_publisher.cpp +
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output_publisher.cpp +
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Test:MRS UAV System - Test coverage reportLines:1908370951.4 %
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control_manager.cpp +
50.9%50.9%
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100.0%
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Generated by: LCOV version 1.14
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Test:MRS UAV System - Test coverage reportLines:1908370951.4 %
Date:2023-12-14 21:42:20Functions:7412360.2 %
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control_manager.cpp +
50.9%50.9%
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output_publisher.cpp +
100.0%
+ 		100.0 %43 / 43100.0 %12 / 12
+
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Generated by: LCOV version 1.14
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Test:MRS UAV System - Test coverage reportLines:1908370951.4 %
Date:2023-12-14 21:42:20Functions:7412360.2 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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control_manager.cpp +
50.9%50.9%
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output_publisher.cpp +
100.0%
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Generated by: LCOV version 1.14
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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:2023-12-14 21:42:20Functions: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&)48
mrs_uav_managers::control_manager::OutputPublisher::OutputPublisher()48
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)464
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)499
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)505
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)963
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)993
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)3798
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)3817
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)5050
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)29128
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&)45217
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+
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_managers/src/control_manager/output_publisher.cpp.func.html b/mrs_uav_managers/src/control_manager/output_publisher.cpp.func.html new file mode 100644 index 0000000000..ae4d5f64d0 --- /dev/null +++ b/mrs_uav_managers/src/control_manager/output_publisher.cpp.func.html @@ -0,0 +1,128 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/control_manager/output_publisher.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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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:2023-12-14 21:42:20Functions: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&)3817
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)5050
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)464
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)499
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)29128
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)3798
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)963
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)505
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)993
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&)45217
mrs_uav_managers::control_manager::OutputPublisher::OutputPublisher(ros::NodeHandle&)48
mrs_uav_managers::control_manager::OutputPublisher::OutputPublisher()48
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_managers/src/control_manager/output_publisher.cpp.gcov.frameset.html b/mrs_uav_managers/src/control_manager/output_publisher.cpp.gcov.frameset.html new file mode 100644 index 0000000000..43585be242 --- /dev/null +++ b/mrs_uav_managers/src/control_manager/output_publisher.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/control_manager/output_publisher.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_managers/src/control_manager/output_publisher.cpp.gcov.html b/mrs_uav_managers/src/control_manager/output_publisher.cpp.gcov.html new file mode 100644 index 0000000000..9cc66eb1d0 --- /dev/null +++ b/mrs_uav_managers/src/control_manager/output_publisher.cpp.gcov.html @@ -0,0 +1,154 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/control_manager/output_publisher.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_managers/src/control_manager - output_publisher.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:4343100.0 %
Date:2023-12-14 21:42:20Functions: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          48 : OutputPublisher::OutputPublisher() {
+      10          48 : }
+      11             : 
+      12          48 : OutputPublisher::OutputPublisher(ros::NodeHandle& nh) {
+      13             : 
+      14          48 :   ph_hw_api_actuator_cmd_              = mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd>(nh, "hw_api_actuator_cmd_out", 1);
+      15          48 :   ph_hw_api_control_group_cmd_         = mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd>(nh, "hw_api_control_group_cmd_out", 1);
+      16          48 :   ph_hw_api_attitude_rate_cmd_         = mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd>(nh, "hw_api_attitude_rate_cmd_out", 1);
+      17          48 :   ph_hw_api_attitude_cmd_              = mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd>(nh, "hw_api_attitude_cmd_out", 1);
+      18          48 :   ph_hw_api_acceleration_hdg_rate_cmd_ = mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd>(nh, "hw_api_acceleration_hdg_rate_cmd_out", 1);
+      19          48 :   ph_hw_api_acceleration_hdg_cmd_      = mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd>(nh, "hw_api_acceleration_hdg_cmd_out", 1);
+      20          48 :   ph_hw_api_velocity_hdg_rate_cmd_     = mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd>(nh, "hw_api_velocity_hdg_rate_cmd_out", 1);
+      21          48 :   ph_hw_api_velocity_hdg_cmd_          = mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd>(nh, "hw_api_velocity_hdg_cmd_out", 1);
+      22          48 :   ph_hw_api_position_cmd_              = mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd>(nh, "hw_api_position_cmd_out", 1);
+      23          48 : }
+      24             : 
+      25       45217 : void OutputPublisher::publish(const Controller::HwApiOutputVariant& control_output) {
+      26             : 
+      27       45217 :   std::visit(OutputPublisher::PublisherVisitor(this), control_output);
+      28       45217 : }
+      29             : 
+      30             : // | ------------------------- private ------------------------ |
+      31             : 
+      32        3817 : void OutputPublisher::publish(const mrs_msgs::HwApiActuatorCmd& msg) {
+      33        3817 :   ph_hw_api_actuator_cmd_.publish(msg);
+      34        3817 : }
+      35             : 
+      36        3798 : void OutputPublisher::publish(const mrs_msgs::HwApiControlGroupCmd& msg) {
+      37        3798 :   ph_hw_api_control_group_cmd_.publish(msg);
+      38        3798 : }
+      39             : 
+      40       29128 : void OutputPublisher::publish(const mrs_msgs::HwApiAttitudeRateCmd& msg) {
+      41       29128 :   ph_hw_api_attitude_rate_cmd_.publish(msg);
+      42       29128 : }
+      43             : 
+      44        5050 : void OutputPublisher::publish(const mrs_msgs::HwApiAttitudeCmd& msg) {
+      45        5050 :   ph_hw_api_attitude_cmd_.publish(msg);
+      46        5050 : }
+      47             : 
+      48         993 : void OutputPublisher::publish(const mrs_msgs::HwApiAccelerationHdgRateCmd& msg) {
+      49         993 :   ph_hw_api_acceleration_hdg_rate_cmd_.publish(msg);
+      50         993 : }
+      51             : 
+      52         963 : void OutputPublisher::publish(const mrs_msgs::HwApiAccelerationHdgCmd& msg) {
+      53         963 :   ph_hw_api_acceleration_hdg_cmd_.publish(msg);
+      54         963 : }
+      55             : 
+      56         505 : void OutputPublisher::publish(const mrs_msgs::HwApiVelocityHdgRateCmd& msg) {
+      57         505 :   ph_hw_api_velocity_hdg_rate_cmd_.publish(msg);
+      58         505 : }
+      59             : 
+      60         499 : void OutputPublisher::publish(const mrs_msgs::HwApiVelocityHdgCmd& msg) {
+      61         499 :   ph_hw_api_velocity_hdg_cmd_.publish(msg);
+      62         499 : }
+      63             : 
+      64         464 : void OutputPublisher::publish(const mrs_msgs::HwApiPositionCmd& msg) {
+      65         464 :   ph_hw_api_position_cmd_.publish(msg);
+      66         464 : }
+      67             : 
+      68             : }  // namespace control_manager
+      69             : 
+      70             : }  // namespace mrs_uav_managers
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_managers/src/control_manager/output_publisher.cpp.gcov.overview.html b/mrs_uav_managers/src/control_manager/output_publisher.cpp.gcov.overview.html new file mode 100644 index 0000000000..8bbe8c2bfd --- /dev/null +++ b/mrs_uav_managers/src/control_manager/output_publisher.cpp.gcov.overview.html @@ -0,0 +1,38 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/control_manager/output_publisher.cpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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+ + diff --git a/mrs_uav_managers/src/control_manager/output_publisher.cpp.gcov.png b/mrs_uav_managers/src/control_manager/output_publisher.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..c385c662de6cc4327e3a61ce14e679273fb7fbb9 GIT binary patch literal 307 zcmeAS@N?(olHy`uVBq!ia0vp^0YL1=!VDx=Zs3yuQW60^A+G=b|6c_J%iqVwzWUF= zunH&+rp|e9UJ7J$7I;J!GcfQS0b$0e+I-SL!GoSIjv*eMZ^In<8Web%cPzx|uYg9wc$$GsO#c<%LD z^o61EWbIvRy=0gZWQ-p596VxsjnPP{OElF*Cg6-{dy|A>Y}=H;oU<(ImnK^5lUTi3 z+iSA*={Nb$&wWaG6~8WP+rHV`1hgbCr~Q%KEqQ|=`dh-AP literal 0 HcmV?d00001 diff --git a/mrs_uav_managers/src/estimation_manager/estimation_manager.cpp.func-sort-c.html b/mrs_uav_managers/src/estimation_manager/estimation_manager.cpp.func-sort-c.html new file mode 100644 index 0000000000..7af8477d31 --- /dev/null +++ b/mrs_uav_managers/src/estimation_manager/estimation_manager.cpp.func-sort-c.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:33052862.5 %
Date:2023-12-14 21:42:20Functions:182475.0 %
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::StateMachine::changeToPreSwitchState()0
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::switchToEstimator(boost::shared_ptr<mrs_uav_managers::StateEstimator> const&)0
mrs_uav_managers::estimation_manager::EstimationManager::callFailsafeService()0
mrs_uav_managers::estimation_manager::EstimationManager::callbackChangeEstimator(mrs_msgs::StringRequest_<std::allocator<void> >&, mrs_msgs::StringResponse_<std::allocator<void> >&)0
mrs_uav_managers::estimation_manager::EstimationManager::switchToHealthyEstimator()0
(anonymous namespace)::ProxyExec0::ProxyExec0()48
mrs_uav_managers::estimation_manager::StateMachine::StateMachine(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)48
mrs_uav_managers::estimation_manager::EstimationManager::timerInitialization(ros::TimerEvent const&)48
mrs_uav_managers::estimation_manager::EstimationManager::onInit()48
mrs_uav_managers::estimation_manager::EstimationManager::EstimationManager()48
mrs_uav_managers::estimation_manager::EstimationManager::callbackToggleServiceCallbacks(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)63
mrs_uav_managers::estimation_manager::StateMachine::changeState(mrs_uav_managers::estimation_manager::StateMachine::SMState_t const&)120
mrs_uav_managers::estimation_manager::StateMachine::getPrintName[abi:cxx11]() const120
mrs_uav_managers::estimation_manager::StateMachine::getStateAsString[abi:cxx11](mrs_uav_managers::estimation_manager::StateMachine::SMState_t const&) const240
mrs_uav_managers::estimation_manager::EstimationManager::getName[abi:cxx11]() const1403
mrs_uav_managers::estimation_manager::StateMachine::getCurrentStateString[abi:cxx11]() const6734
mrs_uav_managers::estimation_manager::EstimationManager::timerPublishDiagnostics(ros::TimerEvent const&)7315
mrs_uav_managers::estimation_manager::EstimationManager::timerPublish(ros::TimerEvent const&)75996
mrs_uav_managers::estimation_manager::EstimationManager::timerCheckHealth(ros::TimerEvent const&)75996
mrs_uav_managers::estimation_manager::StateMachine::isInTheAir() const75996
mrs_uav_managers::estimation_manager::StateMachine::isInPublishableState() const83307
mrs_uav_managers::estimation_manager::StateMachine::isInitialized() const159277
mrs_uav_managers::estimation_manager::StateMachine::isInState(mrs_uav_managers::estimation_manager::StateMachine::SMState_t const&) const702955
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+
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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..4141e4bdd3 --- /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:33052862.5 %
Date:2023-12-14 21:42:20Functions:182475.0 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()48
mrs_uav_managers::estimation_manager::StateMachine::changeState(mrs_uav_managers::estimation_manager::StateMachine::SMState_t const&)120
mrs_uav_managers::estimation_manager::StateMachine::changeToPreSwitchState()0
mrs_uav_managers::estimation_manager::StateMachine::StateMachine(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)48
mrs_uav_managers::estimation_manager::EstimationManager::timerPublish(ros::TimerEvent const&)75996
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&)75996
mrs_uav_managers::estimation_manager::EstimationManager::switchToEstimator(boost::shared_ptr<mrs_uav_managers::StateEstimator> const&)0
mrs_uav_managers::estimation_manager::EstimationManager::callFailsafeService()0
mrs_uav_managers::estimation_manager::EstimationManager::timerInitialization(ros::TimerEvent const&)48
mrs_uav_managers::estimation_manager::EstimationManager::callbackChangeEstimator(mrs_msgs::StringRequest_<std::allocator<void> >&, mrs_msgs::StringResponse_<std::allocator<void> >&)0
mrs_uav_managers::estimation_manager::EstimationManager::timerPublishDiagnostics(ros::TimerEvent const&)7315
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> >&)63
mrs_uav_managers::estimation_manager::EstimationManager::onInit()48
mrs_uav_managers::estimation_manager::EstimationManager::EstimationManager()48
mrs_uav_managers::estimation_manager::StateMachine::isInTheAir() const75996
mrs_uav_managers::estimation_manager::StateMachine::getPrintName[abi:cxx11]() const120
mrs_uav_managers::estimation_manager::StateMachine::isInitialized() const159277
mrs_uav_managers::estimation_manager::StateMachine::getStateAsString[abi:cxx11](mrs_uav_managers::estimation_manager::StateMachine::SMState_t const&) const240
mrs_uav_managers::estimation_manager::StateMachine::isInPublishableState() const83307
mrs_uav_managers::estimation_manager::StateMachine::getCurrentStateString[abi:cxx11]() const6734
mrs_uav_managers::estimation_manager::StateMachine::isInState(mrs_uav_managers::estimation_manager::StateMachine::SMState_t const&) const702955
mrs_uav_managers::estimation_manager::EstimationManager::getName[abi:cxx11]() const1403
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+
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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..388be1b75f --- /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
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_managers/src/estimation_manager - estimation_manager.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:33052862.5 %
Date:2023-12-14 21:42:20Functions:182475.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : /*//{ includes */
+       2             : #include <ros/ros.h>
+       3             : #include <nodelet/nodelet.h>
+       4             : 
+       5             : #include <pluginlib/class_loader.h>
+       6             : #include <nodelet/loader.h>
+       7             : 
+       8             : #include <geometry_msgs/QuaternionStamped.h>
+       9             : #include <geometry_msgs/Vector3Stamped.h>
+      10             : 
+      11             : #include <nav_msgs/Odometry.h>
+      12             : 
+      13             : #include <std_srvs/Trigger.h>
+      14             : #include <std_srvs/SetBool.h>
+      15             : 
+      16             : #include <mrs_msgs/UavState.h>
+      17             : #include <mrs_msgs/Float64Stamped.h>
+      18             : #include <mrs_msgs/String.h>
+      19             : #include <mrs_msgs/EstimationDiagnostics.h>
+      20             : #include <mrs_msgs/HwApiCapabilities.h>
+      21             : #include <mrs_msgs/ControlManagerDiagnostics.h>
+      22             : 
+      23             : #include <mrs_lib/param_loader.h>
+      24             : #include <mrs_lib/publisher_handler.h>
+      25             : #include <mrs_lib/service_client_handler.h>
+      26             : #include <mrs_lib/transformer.h>
+      27             : #include <mrs_lib/subscribe_handler.h>
+      28             : #include <mrs_lib/gps_conversions.h>
+      29             : #include <mrs_lib/scope_timer.h>
+      30             : 
+      31             : 
+      32             : #include <mrs_uav_managers/state_estimator.h>
+      33             : #include <mrs_uav_managers/agl_estimator.h>
+      34             : #include <mrs_uav_managers/estimation_manager/support.h>
+      35             : #include <mrs_uav_managers/estimation_manager/common_handlers.h>
+      36             : #include <mrs_uav_managers/estimation_manager/private_handlers.h>
+      37             : /*//}*/
+      38             : 
+      39             : namespace mrs_uav_managers
+      40             : {
+      41             : 
+      42             : namespace estimation_manager
+      43             : {
+      44             : 
+      45             : // --------------------------------------------------------------
+      46             : // |                           classes                          |
+      47             : // --------------------------------------------------------------
+      48             : 
+      49             : /*//{ class StateMachine */
+      50             : class StateMachine {
+      51             : 
+      52             :   /*//{ states */
+      53             : public:
+      54             :   typedef enum
+      55             :   {
+      56             : 
+      57             :     UNINITIALIZED_STATE,
+      58             :     INITIALIZED_STATE,
+      59             :     READY_FOR_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         672 :   StateMachine(const std::string& nodelet_name) : nodelet_name_(nodelet_name) {
+      77          48 :   }
+      78             : 
+      79      702955 :   bool isInState(const SMState_t& state) const {
+      80      702955 :     return mrs_lib::get_mutexed(mtx_state_, current_state_) == state;
+      81             :   }
+      82             : 
+      83      159277 :   bool isInitialized() const {
+      84      159277 :     return mrs_lib::get_mutexed(mtx_state_, current_state_) != UNINITIALIZED_STATE;
+      85             :   }
+      86             : 
+      87       83307 :   bool isInPublishableState() const {
+      88       83307 :     const SMState_t current_state = mrs_lib::get_mutexed(mtx_state_, current_state_);
+      89       22548 :     return current_state == READY_FOR_TAKEOFF_STATE || current_state == TAKING_OFF_STATE || current_state == HOVER_STATE || current_state == FLYING_STATE ||
+      90      105859 :            current_state == LANDING_STATE || current_state == DUMMY_STATE || current_state == FAILSAFE_STATE;
+      91             :   }
+      92             : 
+      93       75996 :   bool isInTheAir() const {
+      94       75996 :     const SMState_t current_state = mrs_lib::get_mutexed(mtx_state_, current_state_);
+      95       75996 :     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        6734 :   std::string getCurrentStateString() const {
+     103        6734 :     return mrs_lib::get_mutexed(mtx_state_, sm_state_names_[current_state_]);
+     104             :   }
+     105             : 
+     106         240 :   std::string getStateAsString(const SMState_t& state) const {
+     107         240 :     return sm_state_names_[state];
+     108             :   }
+     109             : 
+     110             :   /*//{ changeState() */
+     111         120 :   bool changeState(const SMState_t& target_state) {
+     112             : 
+     113         120 :     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         120 :     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          48 :       case INITIALIZED_STATE: {
+     129          48 :         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          48 :         break;
+     135             :       }
+     136             : 
+     137          48 :       case READY_FOR_TAKEOFF_STATE: {
+     138          48 :         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          48 :         break;
+     145             :       }
+     146             : 
+     147          12 :       case TAKING_OFF_STATE: {
+     148          12 :         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          12 :         break;
+     154             :       }
+     155             : 
+     156          12 :       case FLYING_STATE: {
+     157          12 :         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          12 :         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           0 :       case ESTIMATOR_SWITCHING_STATE: {
+     176           0 :         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           0 :         pre_switch_state_ = current_state_;
+     183           0 :         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         120 :     std::scoped_lock lock(mtx_state_);
+     235             :     {
+     236         120 :       previous_state_ = current_state_;
+     237         120 :       current_state_  = target_state;
+     238             :     }
+     239             : 
+     240         120 :     ROS_INFO("[%s]: successfully changed states %s -> %s", getPrintName().c_str(), getStateAsString(previous_state_).c_str(),
+     241             :              getStateAsString(current_state_).c_str());
+     242             : 
+     243         120 :     return true;
+     244             :   }
+     245             :   /*//}*/
+     246             : 
+     247             :   /*//{ changeToPreSwitchState() */
+     248           0 :   void changeToPreSwitchState() {
+     249           0 :     changeState(pre_switch_state_);
+     250           0 :   }
+     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         120 :   std::string getPrintName() const {
+     268         240 :     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          48 :   EstimationManager() {
+     381          48 :   }
+     382             : 
+     383             :   void onInit();
+     384             : 
+     385             :   std::string getName() const;
+     386             : };
+     387             : /*//}*/
+     388             : 
+     389             : /*//{ onInit() */
+     390          48 : void EstimationManager::onInit() {
+     391             : 
+     392          48 :   nh_ = nodelet::Nodelet::getMTPrivateNodeHandle();
+     393             : 
+     394          48 :   ros::Time::waitForValid();
+     395             : 
+     396          48 :   ROS_INFO("[%s]: initializing", getName().c_str());
+     397             : 
+     398          48 :   sm_ = std::make_shared<StateMachine>(nodelet_name_);
+     399             : 
+     400          48 :   ch_ = std::make_shared<CommonHandlers_t>();
+     401             : 
+     402          48 :   ch_->nodelet_name = nodelet_name_;
+     403          48 :   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          48 :   timer_initialization_ = nh_.createTimer(ros::Rate(1.0), &EstimationManager::timerInitialization, this, true, true);
+     407          48 : }
+     408             : /*//}*/
+     409             : 
+     410             : // --------------------------------------------------------------
+     411             : // |                          callbacks                         |
+     412             : // --------------------------------------------------------------
+     413             : 
+     414             : // | --------------------- timer callbacks -------------------- |
+     415             : 
+     416             : /*//{ timerPublish() */
+     417       75996 : void EstimationManager::timerPublish([[maybe_unused]] const ros::TimerEvent& event) {
+     418             : 
+     419       75996 :   if (!sm_->isInitialized()) {
+     420        9787 :     return;
+     421             :   }
+     422             : 
+     423      151992 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("EstimationManager::timerPublish", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     424             : 
+     425       75996 :   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       75996 :   if (!sm_->isInPublishableState()) {
+     431        9787 :     ROS_WARN_THROTTLE(1.0, "[%s]: not publishing uav state in %s", getName().c_str(), sm_->getCurrentStateString().c_str());
+     432        9787 :     return;
+     433             :   }
+     434             : 
+     435       66209 :   mrs_msgs::UavState uav_state;
+     436       66209 :   auto               ret = active_estimator_->getUavState();
+     437       66209 :   if (ret) {
+     438       66209 :     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       66209 :   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       66209 :   if (active_estimator_->isMitigatingJump()) {
+     451           0 :     estimator_switch_count_++;
+     452             :   }
+     453       66209 :   uav_state.estimator_iteration = estimator_switch_count_;
+     454             : 
+     455       66209 :   scope_timer.checkpoint("get uav state");
+     456             :   // TODO state health checks
+     457             : 
+     458       66209 :   ph_uav_state_.publish(uav_state);
+     459             : 
+     460       66209 :   scope_timer.checkpoint("pub uav state");
+     461      132418 :   nav_msgs::Odometry odom_main = Support::uavStateToOdom(uav_state);
+     462             : 
+     463       66209 :   scope_timer.checkpoint("uav state to odom");
+     464      132418 :   const std::vector<double> pose_covariance = active_estimator_->getPoseCovariance();
+     465     2449736 :   for (size_t i = 0; i < pose_covariance.size(); i++) {
+     466     2383528 :     odom_main.pose.covariance[i] = pose_covariance[i];
+     467             :   }
+     468             : 
+     469      132418 :   const std::vector<double> twist_covariance = active_estimator_->getTwistCovariance();
+     470     2449736 :   for (size_t i = 0; i < twist_covariance.size(); i++) {
+     471     2383528 :     odom_main.twist.covariance[i] = twist_covariance[i];
+     472             :   }
+     473             : 
+     474       66209 :   scope_timer.checkpoint("get covariance");
+     475       66209 :   ph_odom_main_.publish(odom_main);
+     476             : 
+     477      132418 :   nav_msgs::Odometry innovation = active_estimator_->getInnovation();
+     478       66209 :   ph_innovation_.publish(innovation);
+     479             : 
+     480             : 
+     481      132418 :   mrs_msgs::Float64Stamped agl_height;
+     482             : 
+     483       66209 :   if (is_using_agl_estimator_) {
+     484       58099 :     agl_height = est_alt_agl_->getUavAglHeight();
+     485       58099 :     ph_altitude_agl_.publish(agl_height);
+     486             :   }
+     487             : }
+     488             : /*//}*/
+     489             : 
+     490             : /*//{ timerPublishDiagnostics() */
+     491        7315 : void EstimationManager::timerPublishDiagnostics([[maybe_unused]] const ros::TimerEvent& event) {
+     492             : 
+     493        7315 :   if (!sm_->isInitialized()) {
+     494         930 :     return;
+     495             :   }
+     496             : 
+     497       14630 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("EstimationManager::timerPublishDiagnostics", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     498             : 
+     499        7315 :   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        7315 :   if (!sm_->isInPublishableState()) {
+     505         930 :     ROS_WARN_THROTTLE(1.0, "[%s]: not publishing uav state in %s", getName().c_str(), sm_->getCurrentStateString().c_str());
+     506         930 :     return;
+     507             :   }
+     508             : 
+     509        6385 :   mrs_msgs::UavState uav_state;
+     510        6385 :   auto               ret = active_estimator_->getUavState();
+     511        6385 :   if (ret) {
+     512        6385 :     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        6385 :   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       12770 :   mrs_msgs::Float64Stamped agl_height;
+     524             : 
+     525        6385 :   if (is_using_agl_estimator_) {
+     526        5575 :     agl_height = est_alt_agl_->getUavAglHeight();
+     527        5575 :     ph_altitude_agl_.publish(agl_height);
+     528             :   }
+     529             : 
+     530       12770 :   mrs_msgs::Float64Stamped max_flight_z_msg;
+     531        6385 :   max_flight_z_msg.header.stamp = ros::Time::now();
+     532        6385 :   if (active_estimator_ && active_estimator_->isInitialized()) {
+     533        6385 :     max_flight_z_msg.header.frame_id = active_estimator_->getFrameId();
+     534        6385 :     max_flight_z_msg.value           = active_estimator_->getMaxFlightZ();
+     535             :   }
+     536        6385 :   max_flight_z_ = max_flight_z_msg.value;
+     537        6385 :   ph_max_flight_z_.publish(max_flight_z_msg);
+     538             : 
+     539             :   // publish diagnostics
+     540       12770 :   mrs_msgs::EstimationDiagnostics diagnostics;
+     541             : 
+     542        6385 :   diagnostics.header.stamp   = uav_state.header.stamp;
+     543        6385 :   diagnostics.child_frame_id = uav_state.child_frame_id;
+     544             : 
+     545        6385 :   diagnostics.pose         = uav_state.pose;
+     546        6385 :   diagnostics.velocity     = uav_state.velocity;
+     547        6385 :   diagnostics.acceleration = uav_state.acceleration;
+     548             : 
+     549        6385 :   diagnostics.sm_state                 = sm_->getCurrentStateString();
+     550        6385 :   diagnostics.max_flight_z             = max_flight_z_msg.value;
+     551        6385 :   diagnostics.estimator_iteration      = estimator_switch_count_;
+     552        6385 :   diagnostics.estimation_rate          = ch_->desired_uav_state_rate;
+     553        6385 :   diagnostics.running_state_estimators = estimator_names_;
+     554             : 
+     555             :   {
+     556       12770 :     std::scoped_lock lock(mutex_switchable_estimator_names_);
+     557        6385 :     diagnostics.switchable_state_estimators = switchable_estimator_names_;
+     558             :   }
+     559             : 
+     560             : 
+     561        6385 :   if (active_estimator_ && active_estimator_->isInitialized()) {
+     562        6385 :     diagnostics.header.frame_id         = active_estimator_->getFrameId();
+     563        6385 :     diagnostics.current_state_estimator = active_estimator_->getName();
+     564             :   } else {
+     565           0 :     diagnostics.header.frame_id         = "";
+     566           0 :     diagnostics.current_state_estimator = "";
+     567             :   }
+     568             : 
+     569        6385 :   diagnostics.estimator_horizontal = uav_state.estimator_horizontal;
+     570        6385 :   diagnostics.estimator_vertical   = uav_state.estimator_vertical;
+     571        6385 :   diagnostics.estimator_heading    = uav_state.estimator_heading;
+     572             : 
+     573        6385 :   if (is_using_agl_estimator_) {
+     574        5575 :     diagnostics.estimator_agl_height = est_alt_agl_name_;
+     575        5575 :     diagnostics.agl_height           = agl_height.value;
+     576             :   } else {
+     577         810 :     diagnostics.estimator_agl_height = "NOT_USED";
+     578         810 :     diagnostics.agl_height           = std::nanf("");
+     579             :   }
+     580             : 
+     581        6385 :   diagnostics.platform_config = _platform_config_;
+     582        6385 :   diagnostics.custom_config   = _custom_config_;
+     583             : 
+     584        6385 :   ph_diagnostics_.publish(diagnostics);
+     585             : 
+     586        6385 :   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       75996 : void EstimationManager::timerCheckHealth([[maybe_unused]] const ros::TimerEvent& event) {
+     594             : 
+     595       75996 :   if (!sm_->isInitialized()) {
+     596           0 :     return;
+     597             :   }
+     598             : 
+     599      227988 :   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      151992 :   std::vector<std::string> switchable_estimator_names;
+     603      151992 :   for (auto estimator : estimator_list_) {
+     604             : 
+     605       75996 :     if (estimator->isReady()) {
+     606             :       try {
+     607         994 :         ROS_INFO_THROTTLE(1.0, "[%s]: starting the estimator '%s'", getName().c_str(), estimator->getName().c_str());
+     608         994 :         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       75996 :     if (estimator->isRunning() && estimator->getName() != "dummy" && estimator->getName() != "ground_truth") {
+     617       72993 :       switchable_estimator_names.push_back(estimator->getName());
+     618             :     }
+     619             :   }
+     620             : 
+     621             :   {
+     622      151992 :     std::scoped_lock lock(mutex_switchable_estimator_names_);
+     623       75996 :     switchable_estimator_names_ = switchable_estimator_names;
+     624             :   }
+     625             : 
+     626       75996 :   if (is_using_agl_estimator_ && est_alt_agl_->isReady()) {
+     627          41 :     est_alt_agl_->start();
+     628             :   }
+     629             : 
+     630             :   /*//}*/
+     631             : 
+     632      132195 :   if (!callbacks_disabled_by_service_ &&
+     633      132195 :       (sm_->isInState(StateMachine::FLYING_STATE) || sm_->isInState(StateMachine::HOVER_STATE) || sm_->isInState(StateMachine::READY_FOR_TAKEOFF_STATE))) {
+     634       46355 :     callbacks_enabled_ = true;
+     635             :   } else {
+     636       29641 :     callbacks_enabled_ = false;
+     637             :   }
+     638             : 
+     639             :   // TODO fuj if, zmenit na switch
+     640             :   // activate initial estimator
+     641       75996 :   if (sm_->isInState(StateMachine::INITIALIZED_STATE) && initial_estimator_->isRunning()) {
+     642       13586 :     std::scoped_lock lock(mutex_active_estimator_);
+     643        6793 :     ROS_INFO_THROTTLE(1.0, "[%s]: activating the initial estimator %s", getName().c_str(), initial_estimator_->getName().c_str());
+     644        6793 :     active_estimator_ = initial_estimator_;
+     645        6793 :     if (active_estimator_->getName() == "dummy") {
+     646           0 :       sm_->changeState(StateMachine::DUMMY_STATE);
+     647             :     } else {
+     648        6793 :       if (!is_using_agl_estimator_ || est_alt_agl_->isRunning()) {
+     649          48 :         sm_->changeState(StateMachine::READY_FOR_TAKEOFF_STATE);
+     650             :       } else {
+     651        6745 :         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       75996 :   if (sm_->isInTheAir() && active_estimator_->isError()) {
+     659           0 :     sm_->changeState(StateMachine::ESTIMATOR_SWITCHING_STATE);
+     660             :   }
+     661             : 
+     662       75996 :   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       75996 :   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       75996 :   if (sm_->isInState(StateMachine::READY_FOR_TAKEOFF_STATE)) {
+     680       55499 :     if (sh_control_manager_diag_.hasMsg() && sh_control_manager_diag_.getMsg()->active_tracker == "LandoffTracker") {
+     681          12 :       sm_->changeState(StateMachine::TAKING_OFF_STATE);
+     682             :     }
+     683             :   }
+     684             : 
+     685       75996 :   if (sm_->isInState(StateMachine::TAKING_OFF_STATE)) {
+     686        7262 :     if (sh_control_manager_diag_.hasMsg() && sh_control_manager_diag_.getMsg()->active_tracker != "LandoffTracker") {
+     687          12 :       sm_->changeState(StateMachine::FLYING_STATE);
+     688             :     }
+     689             :   }
+     690             : 
+     691       75996 :   if (sm_->isInState(StateMachine::FLYING_STATE)) {
+     692        3511 :     if ((ros::Time::now() - sh_control_input_.lastMsgTime()).toSec() > 0.1) {
+     693         127 :       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          48 : void EstimationManager::timerInitialization([[maybe_unused]] const ros::TimerEvent& event) {
+     702             : 
+     703          96 :   mrs_lib::ParamLoader param_loader(nh_, getName());
+     704             : 
+     705          48 :   param_loader.loadParam("custom_config", _custom_config_);
+     706          48 :   param_loader.loadParam("platform_config", _platform_config_);
+     707          48 :   param_loader.loadParam("world_config", _world_config_);
+     708             : 
+     709          48 :   if (_custom_config_ != "") {
+     710          48 :     param_loader.addYamlFile(_custom_config_);
+     711             :   }
+     712             : 
+     713          48 :   if (_platform_config_ != "") {
+     714          48 :     param_loader.addYamlFile(_platform_config_);
+     715             :   }
+     716             : 
+     717          48 :   if (_world_config_ != "") {
+     718          48 :     param_loader.addYamlFile(_world_config_);
+     719             :   }
+     720             : 
+     721          48 :   param_loader.addYamlFileFromParam("private_config");
+     722          48 :   param_loader.addYamlFileFromParam("public_config");
+     723          48 :   param_loader.addYamlFileFromParam("estimators_config");
+     724          48 :   param_loader.addYamlFileFromParam("active_estimators_config");
+     725             : 
+     726          48 :   param_loader.loadParam("uav_name", ch_->uav_name);
+     727             : 
+     728             :   /*//{ load world_origin parameters */
+     729             : 
+     730          96 :   std::string world_origin_units;
+     731          48 :   bool        is_origin_param_ok = true;
+     732          48 :   double      world_origin_x     = 0;
+     733          48 :   double      world_origin_y     = 0;
+     734             : 
+     735          48 :   param_loader.loadParam("world_origin/units", world_origin_units);
+     736             : 
+     737          48 :   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          48 :   } else if (Support::toLowercase(world_origin_units) == "latlon") {
+     743             :     double lat, lon;
+     744          48 :     ROS_INFO("[%s]: Loading world origin in LatLon units.", getName().c_str());
+     745          48 :     is_origin_param_ok &= param_loader.loadParam("world_origin/origin_x", lat);
+     746          48 :     is_origin_param_ok &= param_loader.loadParam("world_origin/origin_y", lon);
+     747          48 :     mrs_lib::UTM(lat, lon, &world_origin_x, &world_origin_y);
+     748          48 :     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          48 :   ch_->world_origin.x = world_origin_x;
+     756          48 :   ch_->world_origin.y = world_origin_y;
+     757             : 
+     758          48 :   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          48 :   param_loader.setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/");
+     765             : 
+     766             :   /*//{ load parameters into common handlers */
+     767          48 :   param_loader.loadParam("frame_id/fcu", ch_->frames.fcu);
+     768          48 :   ch_->frames.ns_fcu = ch_->uav_name + "/" + ch_->frames.fcu;
+     769             : 
+     770          48 :   param_loader.loadParam("frame_id/fcu_untilted", ch_->frames.fcu_untilted);
+     771          48 :   ch_->frames.ns_fcu_untilted = ch_->uav_name + "/" + ch_->frames.fcu_untilted;
+     772             : 
+     773          48 :   param_loader.loadParam("frame_id/rtk_antenna", ch_->frames.rtk_antenna);
+     774          48 :   ch_->frames.ns_rtk_antenna = ch_->uav_name + "/" + ch_->frames.rtk_antenna;
+     775             : 
+     776          48 :   ch_->transformer = std::make_shared<mrs_lib::Transformer>(nh_, getName());
+     777          48 :   ch_->transformer->retryLookupNewest(true);
+     778             : 
+     779          48 :   param_loader.loadParam("rate/diagnostics", ch_->desired_diagnostics_rate);
+     780             : 
+     781             :   /*//}*/
+     782             : 
+     783             :   /*//{ load parameters */
+     784             : 
+     785             :   /*//{ publish debug topics parameters */
+     786          48 :   param_loader.loadParam("debug_topics/input", ch_->debug_topics.input);
+     787          48 :   param_loader.loadParam("debug_topics/output", ch_->debug_topics.output);
+     788          48 :   param_loader.loadParam("debug_topics/state", ch_->debug_topics.state);
+     789          48 :   param_loader.loadParam("debug_topics/covariance", ch_->debug_topics.covariance);
+     790          48 :   param_loader.loadParam("debug_topics/innovation", ch_->debug_topics.innovation);
+     791          48 :   param_loader.loadParam("debug_topics/diagnostics", ch_->debug_topics.diag);
+     792          48 :   param_loader.loadParam("debug_topics/correction", ch_->debug_topics.correction);
+     793          48 :   param_loader.loadParam("debug_topics/correction_delay", ch_->debug_topics.corr_delay);
+     794             :   /*//}*/
+     795             : 
+     796             :   /*//}*/
+     797             : 
+     798          96 :   mrs_lib::SubscribeHandlerOptions shopts;
+     799          48 :   shopts.nh                 = nh_;
+     800          48 :   shopts.node_name          = getName();
+     801          48 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     802          48 :   shopts.threadsafe         = true;
+     803          48 :   shopts.autostart          = true;
+     804          48 :   shopts.queue_size         = 10;
+     805          48 :   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         144 :       mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities>(shopts, "hw_api_capabilities_in");
+     811          99 :   while (!sh_hw_api_capabilities_.hasMsg()) {
+     812          51 :     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          51 :     ros::Duration(1.0).sleep();
+     815             :   }
+     816             : 
+     817          96 :   mrs_msgs::HwApiCapabilitiesConstPtr hw_api_capabilities = sh_hw_api_capabilities_.getMsg();
+     818             :   /*//}*/
+     819             : 
+     820             :   /*//{ wait for desired uav_state rate */
+     821          48 :   sh_control_manager_diag_ = mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics>(shopts, "control_manager_diagnostics_in");
+     822         103 :   while (!sh_control_manager_diag_.hasMsg()) {
+     823          55 :     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          55 :     ros::Duration(1.0).sleep();
+     826             :   }
+     827             : 
+     828          96 :   mrs_msgs::ControlManagerDiagnosticsConstPtr control_manager_diag_msg = sh_control_manager_diag_.getMsg();
+     829          48 :   ch_->desired_uav_state_rate                                          = control_manager_diag_msg->desired_uav_state_rate;
+     830          48 :   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          48 :   sh_control_input_ = mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput>(shopts, "control_input_in");
+     836             : 
+     837             :   /*//}*/
+     838             : 
+     839             :   /*//{ load state estimator plugins */
+     840          48 :   param_loader.loadParam("state_estimators", estimator_names_);
+     841             : 
+     842          48 :   state_estimator_loader_ = std::make_unique<pluginlib::ClassLoader<mrs_uav_managers::StateEstimator>>("mrs_uav_managers", "mrs_uav_managers::StateEstimator");
+     843             : 
+     844          96 :   for (size_t i = 0; i < estimator_names_.size(); i++) {
+     845             : 
+     846          96 :     const std::string estimator_name = estimator_names_[i];
+     847             : 
+     848             :     // load the estimator parameters
+     849          96 :     std::string address;
+     850          48 :     param_loader.loadParam(estimator_name + "/address", address);
+     851             : 
+     852             :     try {
+     853          48 :       ROS_INFO("[%s]: loading the estimator '%s'", getName().c_str(), address.c_str());
+     854          48 :       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          48 :   param_loader.loadParam("agl_height_estimator", est_alt_agl_name_);
+     870          48 :   is_using_agl_estimator_ = est_alt_agl_name_ != "";
+     871          48 :   ROS_WARN_COND(!is_using_agl_estimator_, "[%s]: not using AGL estimator for min height safe checking", getName().c_str());
+     872             : 
+     873             : 
+     874          48 :   if (is_using_agl_estimator_) {
+     875             : 
+     876          41 :     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          82 :     std::string address;
+     880          41 :     param_loader.loadParam(est_alt_agl_name_ + "/address", address);
+     881             : 
+     882             :     try {
+     883          41 :       ROS_INFO("[%s]: loading the estimator '%s'", getName().c_str(), address.c_str());
+     884          41 :       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          48 :   ROS_INFO("[%s]: estimators were loaded", getName().c_str());
+     900             :   /*//}*/
+     901             : 
+     902             :   /*//{ check whether initial estimator was loaded */
+     903          48 :   param_loader.loadParam("initial_state_estimator", initial_estimator_name_);
+     904          48 :   bool initial_estimator_found = false;
+     905          48 :   for (auto estimator : estimator_list_) {
+     906          48 :     if (estimator->getName() == initial_estimator_name_) {
+     907          48 :       initial_estimator_      = estimator;
+     908          48 :       initial_estimator_found = true;
+     909          48 :       break;
+     910             :     }
+     911             :   }
+     912             : 
+     913          48 :   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          96 :   for (auto estimator : estimator_list_) {
+     921             : 
+     922             :     // create private handlers
+     923          96 :     std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> ph = std::make_shared<mrs_uav_managers::estimation_manager::PrivateHandlers_t>();
+     924             : 
+     925          48 :     ph->loadConfigFile = boost::bind(&EstimationManager::loadConfigFile, this, _1);
+     926          48 :     ph->param_loader   = std::make_shared<mrs_lib::ParamLoader>(ros::NodeHandle(nh_, estimator->getName()), "EstimationManager/" + estimator->getName());
+     927             : 
+     928          48 :     if (_custom_config_ != "") {
+     929          48 :       ph->param_loader->addYamlFile(_custom_config_);
+     930             :     }
+     931             : 
+     932          48 :     if (_platform_config_ != "") {
+     933          48 :       ph->param_loader->addYamlFile(_platform_config_);
+     934             :     }
+     935             : 
+     936          48 :     if (_world_config_ != "") {
+     937          48 :       ph->param_loader->addYamlFile(_world_config_);
+     938             :     }
+     939             : 
+     940             :     try {
+     941          48 :       ROS_INFO("[%s]: initializing the estimator '%s'", getName().c_str(), estimator->getName().c_str());
+     942          48 :       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          48 :     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          48 :   if (is_using_agl_estimator_) {
+     957             : 
+     958          82 :     std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> ph = std::make_shared<mrs_uav_managers::estimation_manager::PrivateHandlers_t>();
+     959             : 
+     960          41 :     ph->loadConfigFile = boost::bind(&EstimationManager::loadConfigFile, this, _1);
+     961          41 :     ph->param_loader   = std::make_shared<mrs_lib::ParamLoader>(ros::NodeHandle(nh_, est_alt_agl_->getName()), "EstimationManager/" + est_alt_agl_->getName());
+     962             : 
+     963          41 :     if (_custom_config_ != "") {
+     964          41 :       ph->param_loader->addYamlFile(_custom_config_);
+     965             :     }
+     966             : 
+     967          41 :     if (_platform_config_ != "") {
+     968          41 :       ph->param_loader->addYamlFile(_platform_config_);
+     969             :     }
+     970             : 
+     971          41 :     if (_world_config_ != "") {
+     972          41 :       ph->param_loader->addYamlFile(_world_config_);
+     973             :     }
+     974             : 
+     975             :     try {
+     976          41 :       ROS_INFO("[%s]: initializing the estimator '%s'", getName().c_str(), est_alt_agl_->getName().c_str());
+     977          41 :       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          41 :     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          48 :   ROS_INFO("[%s]: estimators were initialized", getName().c_str());
+     991             : 
+     992             :   /*//}*/
+     993             : 
+     994             :   /*//{ initialize publishers */
+     995          48 :   ph_uav_state_    = mrs_lib::PublisherHandler<mrs_msgs::UavState>(nh_, "uav_state_out", 10);
+     996          48 :   ph_odom_main_    = mrs_lib::PublisherHandler<nav_msgs::Odometry>(nh_, "odom_main_out", 10);
+     997          48 :   ph_innovation_   = mrs_lib::PublisherHandler<nav_msgs::Odometry>(nh_, "innovation_out", 10);
+     998          48 :   ph_diagnostics_  = mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics>(nh_, "diagnostics_out", 10);
+     999          48 :   ph_max_flight_z_ = mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>(nh_, "max_flight_z_agl_out", 10);
+    1000          48 :   ph_altitude_agl_ = mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>(nh_, "height_agl_out", 10);
+    1001             : 
+    1002             :   /*//}*/
+    1003             : 
+    1004             :   /*//{ initialize timers */
+    1005          48 :   timer_publish_ = nh_.createTimer(ros::Rate(ch_->desired_uav_state_rate), &EstimationManager::timerPublish, this);
+    1006             : 
+    1007          48 :   timer_publish_diagnostics_ = nh_.createTimer(ros::Rate(ch_->desired_diagnostics_rate), &EstimationManager::timerPublishDiagnostics, this);
+    1008             : 
+    1009          48 :   timer_check_health_ = nh_.createTimer(ros::Rate(ch_->desired_uav_state_rate), &EstimationManager::timerCheckHealth, this);
+    1010             :   /*//}*/
+    1011             : 
+    1012             :   /*//{ initialize service clients */
+    1013             : 
+    1014          48 :   srvch_failsafe_.initialize(nh_, "failsafe_out");
+    1015             : 
+    1016             :   /*//}*/
+    1017             : 
+    1018             :   /*//{ initialize service servers */
+    1019          48 :   srvs_change_estimator_ = nh_.advertiseService("change_estimator_in", &EstimationManager::callbackChangeEstimator, this);
+    1020          48 :   srvs_toggle_callbacks_ = nh_.advertiseService("toggle_service_callbacks_in", &EstimationManager::callbackToggleServiceCallbacks, this);
+    1021             :   /*//}*/
+    1022             : 
+    1023             :   /*//{ initialize scope timer */
+    1024          48 :   param_loader.loadParam("scope_timer/enabled", ch_->scope_timer.enabled);
+    1025          96 :   std::string       filepath;
+    1026          96 :   const std::string time_logger_filepath = ros::package::getPath(package_name_) + "/scope_timer/scope_timer.txt";
+    1027          48 :   ch_->scope_timer.logger                = std::make_shared<mrs_lib::ScopeTimerLogger>(time_logger_filepath, ch_->scope_timer.enabled);
+    1028             :   /*//}*/
+    1029             : 
+    1030          48 :   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          48 :   sm_->changeState(StateMachine::INITIALIZED_STATE);
+    1036             : 
+    1037          48 :   ROS_INFO("[%s]: initialized", getName().c_str());
+    1038          48 : }
+    1039             : /*//}*/
+    1040             : 
+    1041             : // | -------------------- service callbacks ------------------- |
+    1042             : 
+    1043             : /*//{ callbackChangeEstimator() */
+    1044           0 : bool EstimationManager::callbackChangeEstimator(mrs_msgs::String::Request& req, mrs_msgs::String::Response& res) {
+    1045             : 
+    1046           0 :   if (!sm_->isInitialized()) {
+    1047           0 :     return false;
+    1048             :   }
+    1049             : 
+    1050           0 :   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           0 :   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           0 :   callbacks_enabled_ = false;
+    1068             : 
+    1069           0 :   bool                                                target_estimator_found = false;
+    1070           0 :   boost::shared_ptr<mrs_uav_managers::StateEstimator> target_estimator;
+    1071           0 :   for (auto estimator : estimator_list_) {
+    1072           0 :     if (estimator->getName() == req.value) {
+    1073           0 :       target_estimator       = estimator;
+    1074           0 :       target_estimator_found = true;
+    1075           0 :       break;
+    1076             :     }
+    1077             :   }
+    1078             : 
+    1079           0 :   if (target_estimator_found) {
+    1080             : 
+    1081           0 :     if (target_estimator->isRunning()) {
+    1082           0 :       sm_->changeState(StateMachine::ESTIMATOR_SWITCHING_STATE);
+    1083           0 :       switchToEstimator(target_estimator);
+    1084           0 :       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           0 :   res.success = true;
+    1100           0 :   res.message = "Estimator switch successful";
+    1101             : 
+    1102             :   // allow service calllbacks after switch again
+    1103           0 :   callbacks_enabled_ = true;
+    1104             : 
+    1105           0 :   return true;
+    1106             : }
+    1107             : /*//}*/
+    1108             : 
+    1109             : /* //{ callbackToggleServiceCallbacks() */
+    1110          63 : bool EstimationManager::callbackToggleServiceCallbacks(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res) {
+    1111             : 
+    1112          63 :   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          63 :   callbacks_disabled_by_service_ = !req.data;
+    1118             : 
+    1119          63 :   res.success = true;
+    1120          63 :   res.message = (callbacks_disabled_by_service_ ? "Service callbacks disabled" : "Service callbacks enabled");
+    1121             : 
+    1122          63 :   if (callbacks_disabled_by_service_) {
+    1123             : 
+    1124          18 :     ROS_INFO("[%s]: Service callbacks disabled.", getName().c_str());
+    1125             : 
+    1126             :   } else {
+    1127             : 
+    1128          45 :     ROS_INFO("[%s]: Service callbacks enabled", getName().c_str());
+    1129             :   }
+    1130             : 
+    1131          63 :   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           0 : void EstimationManager::switchToEstimator(const boost::shared_ptr<mrs_uav_managers::StateEstimator>& target_estimator) {
+    1157             : 
+    1158           0 :   std::scoped_lock lock(mutex_active_estimator_);
+    1159           0 :   ROS_INFO("[%s]: switching estimator from %s to %s", getName().c_str(), active_estimator_->getName().c_str(), target_estimator->getName().c_str());
+    1160           0 :   active_estimator_ = target_estimator;
+    1161           0 :   estimator_switch_count_++;
+    1162           0 : }
+    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        1403 : std::string EstimationManager::getName() const {
+    1174        1403 :   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          48 : 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 + + +
+ Top

+ Overview +
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LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_managers/src/estimation_manager - estimator.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:628572.9 %
Date:2023-12-14 21:42:20Functions:192382.6 %
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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)1060
mrs_uav_managers::Estimator::setCurrentSmState(mrs_uav_managers::estimation_manager::SMStates_t const&)1060
mrs_uav_managers::Estimator::getCurrentSmStateString[abi:cxx11]() const1060
mrs_uav_managers::Estimator::getPrintName[abi:cxx11]() const1639
mrs_uav_managers::Estimator::getSmStateString[abi:cxx11](mrs_uav_managers::estimation_manager::SMStates_t const&) const2120
mrs_uav_managers::Estimator::getMaxFlightZ() const6561
mrs_uav_managers::Estimator::isStarted() const7733
mrs_uav_managers::Estimator::getAccGlobal(geometry_msgs::Vector3Stamped_<std::allocator<void> > const&, double)92240
mrs_uav_managers::Estimator::getAccGlobal(boost::shared_ptr<mrs_msgs::EstimatorInput_<std::allocator<void> > const> const&, double)92300
mrs_uav_managers::Estimator::isReady() const143766
mrs_uav_managers::Estimator::getName[abi:cxx11]() const236589
mrs_uav_managers::Estimator::getFrameId[abi:cxx11]() const241482
mrs_uav_managers::Estimator::isMitigatingJump() const272911
mrs_uav_managers::Estimator::publishDiagnostics() const361352
mrs_uav_managers::Estimator::isError() const446037
mrs_uav_managers::Estimator::isRunning() const614951
mrs_uav_managers::Estimator::isInitialized() const1090171
mrs_uav_managers::Estimator::isInState(mrs_uav_managers::estimation_manager::SMStates_t const&) const3122679
mrs_uav_managers::Estimator::getCurrentSmState() const3408472
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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:628572.9 %
Date:2023-12-14 21:42:20Functions: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)1060
mrs_uav_managers::Estimator::getAccGlobal(geometry_msgs::Vector3Stamped_<std::allocator<void> > const&, double)92240
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)92300
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&)1060
mrs_uav_managers::Estimator::getFrameId[abi:cxx11]() const241482
mrs_uav_managers::Estimator::getPrintName[abi:cxx11]() const1639
mrs_uav_managers::Estimator::getMaxFlightZ() const6561
mrs_uav_managers::Estimator::isInitialized() const1090171
mrs_uav_managers::Estimator::getSmStateString[abi:cxx11](mrs_uav_managers::estimation_manager::SMStates_t const&) const2120
mrs_uav_managers::Estimator::isMitigatingJump() const272911
mrs_uav_managers::Estimator::getCurrentSmState() const3408472
mrs_uav_managers::Estimator::publishDiagnostics() const361352
mrs_uav_managers::Estimator::getCurrentSmStateString[abi:cxx11]() const1060
mrs_uav_managers::Estimator::getName[abi:cxx11]() const236589
mrs_uav_managers::Estimator::getType[abi:cxx11]() const0
mrs_uav_managers::Estimator::isError() const446037
mrs_uav_managers::Estimator::isReady() const143766
mrs_uav_managers::Estimator::isInState(mrs_uav_managers::estimation_manager::SMStates_t const&) const3122679
mrs_uav_managers::Estimator::isRunning() const614951
mrs_uav_managers::Estimator::isStarted() const7733
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:628572.9 %
Date:2023-12-14 21:42:20Functions:192382.6 %
Legend: Lines: + hit + not hit +
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+
          Line data    Source code
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+       1             : #include <mrs_uav_managers/estimation_manager/estimator.h>
+       2             : 
+       3             : namespace mrs_uav_managers
+       4             : {
+       5             : 
+       6             : /*//{ method implementations */
+       7             : /*//{ changeState() */
+       8        1060 : bool Estimator::changeState(SMStates_t new_state) {
+       9             : 
+      10        1060 :   if (new_state == getCurrentSmState()) {
+      11           0 :     return true;
+      12             :   }
+      13             : 
+      14        1060 :   previous_sm_state_ = getCurrentSmState();
+      15        1060 :   setCurrentSmState(new_state);
+      16             : 
+      17        1060 :   ROS_INFO("[%s]: Switching sm state %s -> %s", getPrintName().c_str(), getSmStateString(previous_sm_state_).c_str(), getCurrentSmStateString().c_str());
+      18        1060 :   return true;
+      19             : }
+      20             : /*//}*/
+      21             : 
+      22             : /*//{ isInState() */
+      23     3122679 : bool Estimator::isInState(const SMStates_t& state_in) const {
+      24     3122679 :   return state_in == getCurrentSmState();
+      25             : }
+      26             : /*//}*/
+      27             : 
+      28             : /*//{ isInitialized() */
+      29     1090171 : bool Estimator::isInitialized() const {
+      30     1090171 :   return !isInState(UNINITIALIZED_STATE);
+      31             : }
+      32             : /*//}*/
+      33             : 
+      34             : /*//{ isReady() */
+      35      143766 : bool Estimator::isReady() const {
+      36      143766 :   return isInState(READY_STATE);
+      37             : }
+      38             : /*//}*/
+      39             : 
+      40             : /*//{ isStarted() */
+      41        7733 : bool Estimator::isStarted() const {
+      42        7733 :   return isInState(STARTED_STATE);
+      43             : }
+      44             : /*//}*/
+      45             : 
+      46             : /*//{ isRunning() */
+      47      614951 : bool Estimator::isRunning() const {
+      48      614951 :   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      446037 : bool Estimator::isError() const {
+      60      446037 :   return isInState(ERROR_STATE);
+      61             : }
+      62             : /*//}*/
+      63             : 
+      64             : /*//{ getCurrentSmState() */
+      65     3408472 : SMStates_t Estimator::getCurrentSmState() const {
+      66     3408472 :   return current_sm_state_;
+      67             : }
+      68             : /*//}*/
+      69             : 
+      70             : /*//{ setCurrentSmState() */
+      71        1060 : void Estimator::setCurrentSmState(const SMStates_t& new_state) {
+      72        1060 :   std::scoped_lock lock(mutex_current_state_);
+      73        1060 :   current_sm_state_ = new_state;
+      74        1060 : }
+      75             : /*//}*/
+      76             : 
+      77             : /*//{ getSmStateString() */
+      78        2120 : std::string Estimator::getSmStateString(const SMStates_t& state) const {
+      79        2120 :   return sm::state_names[state];
+      80             : }
+      81             : /*//}*/
+      82             : 
+      83             : /*//{ getCurrentSmStateName() */
+      84        1060 : std::string Estimator::getCurrentSmStateString(void) const {
+      85        2120 :   return getSmStateString(getCurrentSmState());
+      86             : }
+      87             : /*//}*/
+      88             : 
+      89             : /*//{ isMitigatingJump() */
+      90      272911 : bool Estimator::isMitigatingJump(void) const {
+      91      272911 :   return is_mitigating_jump_;
+      92             : }
+      93             : /*//}*/
+      94             : 
+      95             : /*//{ getName() */
+      96      236589 : std::string Estimator::getName(void) const {
+      97      236589 :   return name_;
+      98             : }
+      99             : /*//}*/
+     100             : 
+     101             : /*//{ getPrintName() */
+     102        1639 : std::string Estimator::getPrintName(void) const {
+     103        3278 :   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      241482 : std::string Estimator::getFrameId(void) const {
+     115      241482 :   return ns_frame_id_;
+     116             : }
+     117             : /*//}*/
+     118             : 
+     119             : /*//{ getMaxFlightZ() */
+     120        6561 : double Estimator::getMaxFlightZ(void) const {
+     121        6561 :   return max_flight_z_;
+     122             : }
+     123             : /*//}*/
+     124             : 
+     125             : /*//{ publishDiagnostics() */
+     126      361352 : void Estimator::publishDiagnostics() const {
+     127             : 
+     128      361352 :   if (!ch_->debug_topics.diag) {
+     129      361333 :     return;
+     130             :   }
+     131             : 
+     132           4 :   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       92300 : tf2::Vector3 Estimator::getAccGlobal(const mrs_msgs::EstimatorInput::ConstPtr& input_msg, const double hdg) {
+     153             : 
+     154      183657 :   geometry_msgs::Vector3Stamped acc_stamped;
+     155       92105 :   acc_stamped.vector = input_msg->control_acceleration;
+     156       92090 :   acc_stamped.header = input_msg->header;
+     157      182854 :   return getAccGlobal(acc_stamped, hdg);
+     158             : }
+     159             : 
+     160       92240 : tf2::Vector3 Estimator::getAccGlobal(const geometry_msgs::Vector3Stamped& acc_stamped, const double hdg) {
+     161             : 
+     162             :   // untilt the desired acceleration vector
+     163      183823 :   geometry_msgs::Vector3Stamped des_acc;
+     164       92025 :   geometry_msgs::Vector3        des_acc_untilted;
+     165       92100 :   des_acc.vector.x        = acc_stamped.vector.x;
+     166       92100 :   des_acc.vector.y        = acc_stamped.vector.y;
+     167       92100 :   des_acc.vector.z        = acc_stamped.vector.z;
+     168       92100 :   des_acc.header.frame_id = ch_->frames.ns_fcu;
+     169       92147 :   des_acc.header.stamp    = acc_stamped.header.stamp;
+     170      184236 :   auto response_acc       = ch_->transformer->transformSingle(des_acc, ch_->frames.ns_fcu_untilted);
+     171       92319 :   if (response_acc) {
+     172       92319 :     des_acc_untilted.x = response_acc.value().vector.x;
+     173       92318 :     des_acc_untilted.y = response_acc.value().vector.y;
+     174       92318 :     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       92318 :   const tf2::Vector3 des_acc_global = Support::rotateVecByHdg(des_acc_untilted, hdg);
+     182             : 
+     183      182711 :   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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mrs_uav_managers::AglEstimator::isCompatibleWithHwApi(boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const> const&) const41
mrs_uav_managers::AglEstimator::publishAglHeight() const59618
mrs_uav_managers::AglEstimator::publishCovariance() const59618
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mrs_uav_managers::AglEstimator::publishAglHeight() const59618
mrs_uav_managers::AglEstimator::publishCovariance() const59618
mrs_uav_managers::AglEstimator::isCompatibleWithHwApi(boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const> const&) const41
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Date:2023-12-14 21:42:20Functions:33100.0 %
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+
+       1             : #include <mrs_uav_managers/agl_estimator.h>
+       2             : 
+       3             : namespace mrs_uav_managers
+       4             : {
+       5             : 
+       6             : /*//{ publishAglHeight() */
+       7       59618 : void AglEstimator::publishAglHeight() const {
+       8       59618 :   ph_agl_height_.publish(mrs_lib::get_mutexed(mtx_agl_height_, agl_height_));
+       9       59618 : }
+      10             : /*//}*/
+      11             : 
+      12             : /*//{ publishCovariance() */
+      13       59618 : void AglEstimator::publishCovariance() const {
+      14             : 
+      15       59618 :   if (!ch_->debug_topics.covariance) {
+      16       59618 :     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          41 : bool AglEstimator::isCompatibleWithHwApi(const mrs_msgs::HwApiCapabilitiesConstPtr& hw_api_capabilities) const {
+      25             : 
+      26          41 :   ph_->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/private/" + getName() + "/" + getName() + ".yaml");
+      27          41 :   ph_->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/public/" + getName() + "/" + getName() + ".yaml");
+      28             : 
+      29          41 :   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          41 :   ph_->param_loader->loadParam("requires/gnss", requires_gnss);
+      35          41 :   ph_->param_loader->loadParam("requires/imu", requires_imu);
+      36          41 :   ph_->param_loader->loadParam("requires/distance_sensor", requires_distance_sensor);
+      37          41 :   ph_->param_loader->loadParam("requires/altitude", requires_altitude);
+      38          41 :   ph_->param_loader->loadParam("requires/magnetometer_heading", requires_magnetometer_heading);
+      39          41 :   ph_->param_loader->loadParam("requires/position", requires_position);
+      40          41 :   ph_->param_loader->loadParam("requires/orientation", requires_orientation);
+      41          41 :   ph_->param_loader->loadParam("requires/velocity", requires_velocity);
+      42          41 :   ph_->param_loader->loadParam("requires/angular_velocity", requires_angular_velocity);
+      43             : 
+      44          41 :   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          41 :   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          41 :   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          41 :   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          41 :   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          41 :   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          41 :   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          41 :   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          41 :   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          41 :   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          41 :   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&) const48
mrs_uav_managers::StateEstimator::getInnovation() const66209
mrs_uav_managers::StateEstimator::getPoseCovariance() const66209
mrs_uav_managers::StateEstimator::getTwistCovariance() const66209
mrs_uav_managers::StateEstimator::getUavState()72592
mrs_uav_managers::StateEstimator::publishOdom() const73022
mrs_uav_managers::StateEstimator::publishUavState() const73022
mrs_uav_managers::StateEstimator::publishCovariance() const73022
mrs_uav_managers::StateEstimator::publishInnovation() const73022
mrs_uav_managers::StateEstimator::rotateQuaternionByHeading(geometry_msgs::Quaternion_<std::allocator<void> > const&, double) const138713
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Date:2023-12-14 21:42:20Functions:1010100.0 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::StateEstimator::getUavState()72592
mrs_uav_managers::StateEstimator::publishOdom() const73022
mrs_uav_managers::StateEstimator::getInnovation() const66209
mrs_uav_managers::StateEstimator::publishUavState() const73022
mrs_uav_managers::StateEstimator::getPoseCovariance() const66209
mrs_uav_managers::StateEstimator::publishCovariance() const73022
mrs_uav_managers::StateEstimator::publishInnovation() const73022
mrs_uav_managers::StateEstimator::getTwistCovariance() const66209
mrs_uav_managers::StateEstimator::isCompatibleWithHwApi(boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const> const&) const48
mrs_uav_managers::StateEstimator::rotateQuaternionByHeading(geometry_msgs::Quaternion_<std::allocator<void> > const&, double) const138713
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Current view:top level - mrs_uav_managers/src/estimation_manager/estimators - state_estimator.cpp (source / functions)HitTotalCoverage
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Date:2023-12-14 21:42:20Functions:1010100.0 %
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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       72592 : std::optional<mrs_msgs::UavState> StateEstimator::getUavState() {
+       9             : 
+      10       72592 :   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      145171 :   return mrs_lib::get_mutexed(mtx_uav_state_, uav_state_);
+      16             : }
+      17             : /*//}*/
+      18             : 
+      19             : /*//{ getInnovation() */
+      20       66209 : nav_msgs::Odometry StateEstimator::getInnovation() const {
+      21       66209 :   return mrs_lib::get_mutexed(mtx_innovation_, innovation_);
+      22             : }
+      23             : /*//}*/
+      24             : 
+      25             : /*//{ getPoseCovariance() */
+      26       66209 : std::vector<double> StateEstimator::getPoseCovariance() const {
+      27       66209 :   return mrs_lib::get_mutexed(mtx_covariance_, pose_covariance_.values);
+      28             : }
+      29             : /*//}*/
+      30             : 
+      31             : /*//{ getTwistCovariance() */
+      32       66209 : std::vector<double> StateEstimator::getTwistCovariance() const {
+      33       66209 :   return mrs_lib::get_mutexed(mtx_covariance_, twist_covariance_.values);
+      34             : }
+      35             : /*//}*/
+      36             : 
+      37             : /*//{ publishUavState() */
+      38       73022 : void StateEstimator::publishUavState() const {
+      39             : 
+      40       73022 :   if (!ch_->debug_topics.state) {
+      41           0 :     return;
+      42             :   }
+      43             : 
+      44      146044 :   auto uav_state = mrs_lib::get_mutexed(mtx_uav_state_, uav_state_);
+      45       73022 :   ph_uav_state_.publish(uav_state);
+      46             : }
+      47             : /*//}*/
+      48             : 
+      49             : /*//{ publishOdom() */
+      50       73022 : void StateEstimator::publishOdom() const {
+      51             : 
+      52      146044 :   auto odom = mrs_lib::get_mutexed(mtx_odom_, odom_);
+      53       73022 :   ph_odom_.publish(odom);
+      54       73022 : }
+      55             : /*//}*/
+      56             : 
+      57             : /*//{ publishCovariance() */
+      58       73022 : void StateEstimator::publishCovariance() const {
+      59             : 
+      60       73022 :   if (!ch_->debug_topics.covariance) {
+      61       73022 :     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       73022 : void StateEstimator::publishInnovation() const {
+      73             : 
+      74       73022 :   if (!ch_->debug_topics.innovation) {
+      75       73022 :     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      138713 : std::optional<geometry_msgs::Quaternion> StateEstimator::rotateQuaternionByHeading(const geometry_msgs::Quaternion& q, const double hdg) const {
+      85             : 
+      86             :   try {
+      87      138713 :     tf2::Quaternion tf2_q = mrs_lib::AttitudeConverter(q);
+      88             : 
+      89             :     // Obtain heading from quaternion
+      90      138613 :     double q_hdg = 0;
+      91      138613 :     q_hdg        = mrs_lib::AttitudeConverter(q).getHeading();
+      92             : 
+      93             :     // Build rotation matrix from difference between new heading and quaternion heading
+      94      138224 :     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      138099 :     geometry_msgs::Quaternion q_new = mrs_lib::AttitudeConverter(tf2::Transform(rot_mat) * tf2_q);
+      98      137712 :     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          48 : bool StateEstimator::isCompatibleWithHwApi(const mrs_msgs::HwApiCapabilitiesConstPtr& hw_api_capabilities) const {
+     109             : 
+     110          48 :   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          48 :   ph_->param_loader->loadParam("requires/gnss", requires_gnss);
+     116          48 :   ph_->param_loader->loadParam("requires/imu", requires_imu);
+     117          48 :   ph_->param_loader->loadParam("requires/distance_sensor", requires_distance_sensor);
+     118          48 :   ph_->param_loader->loadParam("requires/altitude", requires_altitude);
+     119          48 :   ph_->param_loader->loadParam("requires/magnetometer_heading", requires_magnetometer_heading);
+     120          48 :   ph_->param_loader->loadParam("requires/position", requires_position);
+     121          48 :   ph_->param_loader->loadParam("requires/orientation", requires_orientation);
+     122          48 :   ph_->param_loader->loadParam("requires/velocity", requires_velocity);
+     123          48 :   ph_->param_loader->loadParam("requires/angular_velocity", requires_angular_velocity);
+     124             : 
+     125          48 :   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          48 :   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          48 :   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          48 :   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          48 :   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          48 :   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          48 :   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          48 :   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          48 :   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          48 :   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          48 :   return true;
+     176             : }
+     177             : /*//}*/
+     178             : 
+     179             : }  // namespace mrs_uav_managers
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Current view:top level - mrs_uav_managers/src - gain_manager.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:20225379.8 %
Date:2023-12-14 21:42:20Functions:6785.7 %
Legend: Lines: + hit + not hit +
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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()48
mrs_uav_managers::gain_manager::GainManager::onInit()48
mrs_uav_managers::gain_manager::GainManager::setGains(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)48
mrs_uav_managers::gain_manager::GainManager::timerDiagnostics(ros::TimerEvent const&)869
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&)1056
mrs_uav_managers::gain_manager::GainManager::timerGainManagement(ros::TimerEvent const&)8875
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_managers/src/gain_manager.cpp.func.html b/mrs_uav_managers/src/gain_manager.cpp.func.html new file mode 100644 index 0000000000..185b083578 --- /dev/null +++ b/mrs_uav_managers/src/gain_manager.cpp.func.html @@ -0,0 +1,108 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/gain_manager.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_managers/src - gain_manager.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:20225379.8 %
Date:2023-12-14 21:42:20Functions:6785.7 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()48
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&)1056
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&)869
mrs_uav_managers::gain_manager::GainManager::timerGainManagement(ros::TimerEvent const&)8875
mrs_uav_managers::gain_manager::GainManager::onInit()48
mrs_uav_managers::gain_manager::GainManager::setGains(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)48
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_managers/src/gain_manager.cpp.gcov.frameset.html b/mrs_uav_managers/src/gain_manager.cpp.gcov.frameset.html new file mode 100644 index 0000000000..dbde2f3cff --- /dev/null +++ b/mrs_uav_managers/src/gain_manager.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/gain_manager.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_managers/src/gain_manager.cpp.gcov.html b/mrs_uav_managers/src/gain_manager.cpp.gcov.html new file mode 100644 index 0000000000..5258bb48f1 --- /dev/null +++ b/mrs_uav_managers/src/gain_manager.cpp.gcov.html @@ -0,0 +1,720 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/gain_manager.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_managers/src - gain_manager.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:20225379.8 %
Date:2023-12-14 21:42:20Functions: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          48 : void GainManager::onInit() {
+     122             : 
+     123          96 :   ros::NodeHandle nh_ = nodelet::Nodelet::getMTPrivateNodeHandle();
+     124             : 
+     125          48 :   ros::Time::waitForValid();
+     126             : 
+     127          48 :   ROS_INFO("[GainManager]: initializing");
+     128             : 
+     129             :   // | ------------------------- params ------------------------- |
+     130             : 
+     131          96 :   mrs_lib::ParamLoader param_loader(nh_, "GainManager");
+     132             : 
+     133          96 :   std::string custom_config_path;
+     134          96 :   std::string platform_config_path;
+     135             : 
+     136          48 :   param_loader.loadParam("custom_config", custom_config_path);
+     137          48 :   param_loader.loadParam("platform_config", platform_config_path);
+     138             : 
+     139          48 :   if (custom_config_path != "") {
+     140          48 :     param_loader.addYamlFile(custom_config_path);
+     141             :   }
+     142             : 
+     143          48 :   if (platform_config_path != "") {
+     144          48 :     param_loader.addYamlFile(platform_config_path);
+     145             :   }
+     146             : 
+     147          48 :   param_loader.addYamlFileFromParam("private_config");
+     148          48 :   param_loader.addYamlFileFromParam("public_config");
+     149          48 :   param_loader.addYamlFileFromParam("public_gains");
+     150             : 
+     151          96 :   const std::string yaml_prefix = "mrs_uav_managers/gain_manager/";
+     152             : 
+     153             :   // params passed from the launch file are not prefixed
+     154          48 :   param_loader.loadParam("enable_profiler", _profiler_enabled_);
+     155             : 
+     156          48 :   param_loader.loadParam(yaml_prefix + "gains", _gain_names_);
+     157             : 
+     158          48 :   param_loader.loadParam(yaml_prefix + "estimator_types", _current_state_estimators_);
+     159             : 
+     160          48 :   param_loader.loadParam(yaml_prefix + "rate", _gain_management_rate_);
+     161          48 :   param_loader.loadParam(yaml_prefix + "diagnostics_rate", _diagnostics_rate_);
+     162             : 
+     163             :   // | ------------------- scope timer logger ------------------- |
+     164             : 
+     165          48 :   param_loader.loadParam(yaml_prefix + "scope_timer/enabled", scope_timer_enabled_);
+     166         144 :   const std::string scope_timer_log_filename = param_loader.loadParam2("scope_timer/log_filename", std::string(""));
+     167          48 :   scope_timer_logger_                        = std::make_shared<mrs_lib::ScopeTimerLogger>(scope_timer_log_filename, scope_timer_enabled_);
+     168             : 
+     169          48 :   std::vector<std::string>::iterator it;
+     170             : 
+     171             :   // loading gain_names
+     172         144 :   for (it = _gain_names_.begin(); it != _gain_names_.end(); ++it) {
+     173             : 
+     174          96 :     ROS_INFO_STREAM("[GainManager]: loading gains '" << *it << "'");
+     175             : 
+     176          96 :     Gains_t new_gains;
+     177             : 
+     178          96 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/kp", new_gains.kpxy);
+     179          96 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/kv", new_gains.kvxy);
+     180          96 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/ka", new_gains.kaxy);
+     181          96 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/kib", new_gains.kibxy);
+     182          96 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/kiw", new_gains.kiwxy);
+     183          96 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/kib_lim", new_gains.kibxy_lim);
+     184          96 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/kiw_lim", new_gains.kiwxy_lim);
+     185             : 
+     186          96 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/kp", new_gains.kpz);
+     187          96 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/kv", new_gains.kvz);
+     188          96 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/ka", new_gains.kaz);
+     189             : 
+     190          96 :     param_loader.loadParam(yaml_prefix + *it + "/attitude/kq_roll_pitch", new_gains.kqrp);
+     191          96 :     param_loader.loadParam(yaml_prefix + *it + "/attitude/kq_yaw", new_gains.kqy);
+     192             : 
+     193          96 :     param_loader.loadParam(yaml_prefix + *it + "/mass_estimator/km", new_gains.km);
+     194          96 :     param_loader.loadParam(yaml_prefix + *it + "/mass_estimator/km_lim", new_gains.km_lim);
+     195             : 
+     196          96 :     _gains_.insert(std::pair<std::string, Gains_t>(*it, new_gains));
+     197             :   }
+     198             : 
+     199             :   // loading the allowed gains lists
+     200         384 :   for (it = _current_state_estimators_.begin(); it != _current_state_estimators_.end(); ++it) {
+     201             : 
+     202         336 :     std::vector<std::string> temp_vector;
+     203         336 :     param_loader.loadParam(yaml_prefix + "allowed_gains/" + *it, temp_vector);
+     204             : 
+     205         336 :     std::vector<std::string>::iterator it2;
+     206        1008 :     for (it2 = temp_vector.begin(); it2 != temp_vector.end(); ++it2) {
+     207         672 :       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         336 :     _map_type_allowed_gains_.insert(std::pair<std::string, std::vector<std::string>>(*it, temp_vector));
+     214             :   }
+     215             : 
+     216             :   // loading the default gains
+     217         384 :   for (it = _current_state_estimators_.begin(); it != _current_state_estimators_.end(); ++it) {
+     218             : 
+     219         336 :     std::string temp_str;
+     220         336 :     param_loader.loadParam(yaml_prefix + "default_gains/" + *it, temp_str);
+     221             : 
+     222         336 :     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         336 :     _map_type_default_gains_.insert(std::pair<std::string, std::string>(*it, temp_str));
+     228             :   }
+     229             : 
+     230          48 :   ROS_INFO("[GainManager]: done loading dynamical params");
+     231             : 
+     232          48 :   current_gains_       = "";
+     233          48 :   last_estimator_name_ = "";
+     234             : 
+     235             :   // | ------------------------ services ------------------------ |
+     236             : 
+     237          48 :   service_server_set_gains_ = nh_.advertiseService("set_gains_in", &GainManager::callbackSetGains, this);
+     238             : 
+     239          48 :   service_client_set_gains_ = nh_.serviceClient<dynamic_reconfigure::Reconfigure>("set_gains_out");
+     240             : 
+     241             :   // | ----------------------- subscribers ---------------------- |
+     242             : 
+     243          96 :   mrs_lib::SubscribeHandlerOptions shopts;
+     244          48 :   shopts.nh                 = nh_;
+     245          48 :   shopts.node_name          = "GainManager";
+     246          48 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     247          48 :   shopts.threadsafe         = true;
+     248          48 :   shopts.autostart          = true;
+     249          48 :   shopts.queue_size         = 10;
+     250          48 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     251             : 
+     252          48 :   sh_estimation_diag_      = mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics>(shopts, "estimation_diagnostics_in");
+     253          48 :   sh_control_manager_diag_ = mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics>(shopts, "control_manager_diagnostics_in");
+     254             : 
+     255             :   // | ----------------------- publishers ----------------------- |
+     256             : 
+     257          48 :   ph_diagnostics_ = mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics>(nh_, "diagnostics_out", 1);
+     258             : 
+     259             :   // | ------------------------- timers ------------------------- |
+     260             : 
+     261          48 :   timer_gain_management_ = nh_.createTimer(ros::Rate(_gain_management_rate_), &GainManager::timerGainManagement, this);
+     262          48 :   timer_diagnostics_     = nh_.createTimer(ros::Rate(_diagnostics_rate_), &GainManager::timerDiagnostics, this);
+     263             : 
+     264             :   // | ------------------------ profiler ------------------------ |
+     265             : 
+     266          48 :   profiler_ = mrs_lib::Profiler(nh_, "GainManager", _profiler_enabled_);
+     267             : 
+     268             :   // | ----------------------- finish init ---------------------- |
+     269             : 
+     270          48 :   if (!param_loader.loadedSuccessfully()) {
+     271           0 :     ROS_ERROR("[GainManager]: could not load all parameters!");
+     272           0 :     ros::shutdown();
+     273             :   }
+     274             : 
+     275          48 :   is_initialized_ = true;
+     276             : 
+     277          48 :   ROS_INFO("[GainManager]: initialized");
+     278             : 
+     279          48 :   ROS_DEBUG("[GainManager]: debug output is enabled");
+     280          48 : }
+     281             : 
+     282             : //}
+     283             : 
+     284             : // --------------------------------------------------------------
+     285             : // |                           methods                          |
+     286             : // --------------------------------------------------------------
+     287             : 
+     288             : /* setGains() //{ */
+     289             : 
+     290          48 : bool GainManager::setGains(std::string gains_name) {
+     291             : 
+     292          48 :   std::map<std::string, Gains_t>::iterator it;
+     293          48 :   it = _gains_.find(gains_name);
+     294             : 
+     295          48 :   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          96 :   dynamic_reconfigure::Config          conf;
+     301          96 :   dynamic_reconfigure::DoubleParameter param;
+     302             : 
+     303          48 :   param.name  = "kpxy";
+     304          48 :   param.value = it->second.kpxy;
+     305          48 :   conf.doubles.push_back(param);
+     306             : 
+     307          48 :   param.name  = "kvxy";
+     308          48 :   param.value = it->second.kvxy;
+     309          48 :   conf.doubles.push_back(param);
+     310             : 
+     311          48 :   param.name  = "kaxy";
+     312          48 :   param.value = it->second.kaxy;
+     313          48 :   conf.doubles.push_back(param);
+     314             : 
+     315          48 :   param.name  = "kq_roll_pitch";
+     316          48 :   param.value = it->second.kqrp;
+     317          48 :   conf.doubles.push_back(param);
+     318             : 
+     319          48 :   param.name  = "kibxy";
+     320          48 :   param.value = it->second.kibxy;
+     321          48 :   conf.doubles.push_back(param);
+     322             : 
+     323          48 :   param.name  = "kiwxy";
+     324          48 :   param.value = it->second.kiwxy;
+     325          48 :   conf.doubles.push_back(param);
+     326             : 
+     327          48 :   param.name  = "kibxy_lim";
+     328          48 :   param.value = it->second.kibxy_lim;
+     329          48 :   conf.doubles.push_back(param);
+     330             : 
+     331          48 :   param.name  = "kiwxy_lim";
+     332          48 :   param.value = it->second.kiwxy_lim;
+     333          48 :   conf.doubles.push_back(param);
+     334             : 
+     335          48 :   param.name  = "kpz";
+     336          48 :   param.value = it->second.kpz;
+     337          48 :   conf.doubles.push_back(param);
+     338             : 
+     339          48 :   param.name  = "kvz";
+     340          48 :   param.value = it->second.kvz;
+     341          48 :   conf.doubles.push_back(param);
+     342             : 
+     343          48 :   param.name  = "kaz";
+     344          48 :   param.value = it->second.kaz;
+     345          48 :   conf.doubles.push_back(param);
+     346             : 
+     347          48 :   param.name  = "kq_yaw";
+     348          48 :   param.value = it->second.kqy;
+     349          48 :   conf.doubles.push_back(param);
+     350             : 
+     351          48 :   param.name  = "km";
+     352          48 :   param.value = it->second.km;
+     353          48 :   conf.doubles.push_back(param);
+     354             : 
+     355          48 :   param.name  = "km_lim";
+     356          48 :   param.value = it->second.km_lim;
+     357          48 :   conf.doubles.push_back(param);
+     358             : 
+     359          96 :   dynamic_reconfigure::ReconfigureRequest  srv_req;
+     360          96 :   dynamic_reconfigure::ReconfigureResponse srv_resp;
+     361             : 
+     362          48 :   srv_req.config = conf;
+     363             : 
+     364          96 :   dynamic_reconfigure::Reconfigure reconf;
+     365          48 :   reconf.request = srv_req;
+     366             : 
+     367          48 :   ROS_INFO_THROTTLE(1.0, "[GainManager]: setting up gains for '%s'", gains_name.c_str());
+     368             : 
+     369          48 :   bool res = service_client_set_gains_.call(reconf);
+     370             : 
+     371          48 :   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          48 :     mrs_lib::set_mutexed(mutex_current_gains_, gains_name, current_gains_);
+     379             : 
+     380          48 :     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        8875 : void GainManager::timerGainManagement(const ros::TimerEvent& event) {
+     469             : 
+     470        8875 :   if (!is_initialized_) {
+     471        2518 :     return;
+     472             :   }
+     473             : 
+     474       17750 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("gainManagementTimer", _gain_management_rate_, 0.01, event);
+     475       17750 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("GainManager::gainManagementTimer", scope_timer_logger_, scope_timer_enabled_);
+     476             : 
+     477        8875 :   if (!sh_estimation_diag_.hasMsg()) {
+     478        2518 :     return;
+     479             :   }
+     480             : 
+     481        6357 :   auto estimation_diagnostics = *sh_estimation_diag_.getMsg();
+     482             : 
+     483        6357 :   if (!sh_control_manager_diag_.hasMsg()) {
+     484           0 :     return;
+     485             :   }
+     486             : 
+     487       12714 :   auto control_manager_diagnostics = *sh_estimation_diag_.getMsg();
+     488             : 
+     489       12714 :   auto current_gains       = mrs_lib::get_mutexed(mutex_current_gains_, current_gains_);
+     490        6357 :   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        6357 :   if (estimation_diagnostics.current_state_estimator != last_estimator_name) {
+     494             : 
+     495          48 :     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          48 :     std::map<std::string, std::string>::iterator it;
+     499          48 :     it = _map_type_default_gains_.find(estimation_diagnostics.current_state_estimator);
+     500             : 
+     501          48 :     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          48 :       if (stringInVector(current_gains, _map_type_allowed_gains_.at(estimation_diagnostics.current_state_estimator))) {
+     510             : 
+     511           0 :         last_estimator_name = estimation_diagnostics.current_state_estimator;
+     512             : 
+     513             :         // else, try to set the default gains
+     514             :       } else {
+     515             : 
+     516          48 :         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          48 :         if (setGains(it->second)) {
+     520             : 
+     521          48 :           last_estimator_name = estimation_diagnostics.current_state_estimator;
+     522             : 
+     523          48 :           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        6357 :   mrs_lib::set_mutexed(mutex_last_estimator_name_, last_estimator_name, last_estimator_name_);
+     534             : }
+     535             : 
+     536             : //}
+     537             : 
+     538             : /* dignosticsTimer() //{ */
+     539             : 
+     540         869 : void GainManager::timerDiagnostics(const ros::TimerEvent& event) {
+     541             : 
+     542         869 :   if (!is_initialized_) {
+     543         249 :     return;
+     544             :   }
+     545             : 
+     546        1738 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerDiagnostics", _diagnostics_rate_, 0.01, event);
+     547        1738 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("GainManager::timerDiagnostics", scope_timer_logger_, scope_timer_enabled_);
+     548             : 
+     549         869 :   if (!sh_estimation_diag_.hasMsg()) {
+     550         249 :     ROS_WARN_THROTTLE(10.0, "[GainManager]: can not do constraint management, missing estimator diagnostics!");
+     551         249 :     return;
+     552             :   }
+     553             : 
+     554         620 :   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        1240 :   auto estimation_diagnostics = *sh_estimation_diag_.getMsg();
+     560             : 
+     561        1240 :   auto current_gains = mrs_lib::get_mutexed(mutex_current_gains_, current_gains_);
+     562             : 
+     563        1240 :   mrs_msgs::GainManagerDiagnostics diagnostics;
+     564             : 
+     565         620 :   diagnostics.stamp        = ros::Time::now();
+     566         620 :   diagnostics.current_name = current_gains;
+     567         620 :   diagnostics.loaded       = _gain_names_;
+     568             : 
+     569             :   // get the available gains
+     570             :   {
+     571         620 :     std::map<std::string, std::vector<std::string>>::iterator it;
+     572         620 :     it = _map_type_allowed_gains_.find(estimation_diagnostics.current_state_estimator);
+     573             : 
+     574         620 :     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         620 :       diagnostics.available = it->second;
+     579             :     }
+     580             :   }
+     581             : 
+     582             :   // get the current gain values
+     583             :   {
+     584         620 :     std::map<std::string, Gains_t>::iterator it;
+     585         620 :     it = _gains_.find(current_gains);
+     586             : 
+     587         620 :     diagnostics.current_values.kpxy = it->second.kpxy;
+     588         620 :     diagnostics.current_values.kvxy = it->second.kvxy;
+     589         620 :     diagnostics.current_values.kaxy = it->second.kaxy;
+     590             : 
+     591         620 :     diagnostics.current_values.kqrp = it->second.kqrp;
+     592             : 
+     593         620 :     diagnostics.current_values.kibxy     = it->second.kibxy;
+     594         620 :     diagnostics.current_values.kibxy_lim = it->second.kibxy_lim;
+     595             : 
+     596         620 :     diagnostics.current_values.kiwxy     = it->second.kiwxy;
+     597         620 :     diagnostics.current_values.kiwxy_lim = it->second.kiwxy_lim;
+     598             : 
+     599         620 :     diagnostics.current_values.kpz = it->second.kpz;
+     600         620 :     diagnostics.current_values.kvz = it->second.kvz;
+     601         620 :     diagnostics.current_values.kaz = it->second.kaz;
+     602             : 
+     603         620 :     diagnostics.current_values.kqy = it->second.kqy;
+     604             : 
+     605         620 :     diagnostics.current_values.km     = it->second.km;
+     606         620 :     diagnostics.current_values.km_lim = it->second.km_lim;
+     607             :   }
+     608             : 
+     609         620 :   ph_diagnostics_.publish(diagnostics);
+     610             : }
+     611             : 
+     612             : //}
+     613             : 
+     614             : // --------------------------------------------------------------
+     615             : // |                          routines                          |
+     616             : // --------------------------------------------------------------
+     617             : 
+     618             : /* stringInVector() //{ */
+     619             : 
+     620        1056 : bool GainManager::stringInVector(const std::string& value, const std::vector<std::string>& vector) {
+     621             : 
+     622        1056 :   if (std::find(vector.begin(), vector.end(), value) == vector.end()) {
+     623          48 :     return false;
+     624             :   } else {
+     625        1008 :     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          48 : PLUGINLIB_EXPORT_CLASS(mrs_uav_managers::gain_manager::GainManager, nodelet::Nodelet)
+
+
+
+ + + + +
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<unnamed>65.2 %148 / 22775.0 %6 / 8
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uav_manager.cpp +
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+ 		47.4 %546 / 115181.6 %31 / 38
<unnamed>47.4 %546 / 115181.6 %31 / 38
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Generated by: LCOV version 1.14
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Current view:top level - mrs_uav_managers/srcHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:936169055.4 %
Date:2023-12-14 21:42:20Functions:547374.0 %
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
null_tracker.cpp +
67.8%67.8%
+ 		67.8 %40 / 5955.0 %11 / 20
constraint_manager.cpp +
65.2%65.2%
+ 		65.2 %148 / 22775.0 %6 / 8
uav_manager.cpp +
47.4%47.4%
+ 		47.4 %546 / 115181.6 %31 / 38
gain_manager.cpp +
79.8%79.8%
+ 		79.8 %202 / 25385.7 %6 / 7
+
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+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_managers/src/index-sort-l.html b/mrs_uav_managers/src/index-sort-l.html new file mode 100644 index 0000000000..e7322b5a97 --- /dev/null +++ b/mrs_uav_managers/src/index-sort-l.html @@ -0,0 +1,132 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_managers/srcHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:936169055.4 %
Date:2023-12-14 21:42:20Functions:547374.0 %
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
uav_manager.cpp +
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+ 		47.4 %546 / 115181.6 %31 / 38
constraint_manager.cpp +
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+ 		65.2 %148 / 22775.0 %6 / 8
null_tracker.cpp +
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+ 		67.8 %40 / 5955.0 %11 / 20
gain_manager.cpp +
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+ 		79.8 %202 / 25385.7 %6 / 7
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Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_managers/src/index.html b/mrs_uav_managers/src/index.html new file mode 100644 index 0000000000..2e3b9446ad --- /dev/null +++ b/mrs_uav_managers/src/index.html @@ -0,0 +1,132 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_managers/srcHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:936169055.4 %
Date:2023-12-14 21:42:20Functions:547374.0 %
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
constraint_manager.cpp +
65.2%65.2%
+ 		65.2 %148 / 22775.0 %6 / 8
gain_manager.cpp +
79.8%79.8%
+ 		79.8 %202 / 25385.7 %6 / 7
null_tracker.cpp +
67.8%67.8%
+ 		67.8 %40 / 5955.0 %11 / 20
uav_manager.cpp +
47.4%47.4%
+ 		47.4 %546 / 115181.6 %31 / 38
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_managers/src/null_tracker.cpp.func-sort-c.html b/mrs_uav_managers/src/null_tracker.cpp.func-sort-c.html new file mode 100644 index 0000000000..7f3ad80a81 --- /dev/null +++ b/mrs_uav_managers/src/null_tracker.cpp.func-sort-c.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:405967.8 %
Date:2023-12-14 21:42:20Functions: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&)1
mrs_uav_managers::NullTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)2
(anonymous namespace)::ProxyExec0::ProxyExec0()48
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>)48
mrs_uav_managers::NullTracker::~NullTracker()48
mrs_uav_managers::NullTracker::~NullTracker().248
mrs_uav_managers::NullTracker::deactivate()107
mrs_uav_managers::NullTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)110
mrs_uav_managers::NullTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)147
mrs_uav_managers::NullTracker::getStatus()2336
mrs_uav_managers::NullTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)43352
+
+
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Generated by: LCOV version 1.14
+
+ + + 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..88c48eb8c6 --- /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:405967.8 %
Date:2023-12-14 21:42:20Functions: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()48
mrs_uav_managers::NullTracker::deactivate()107
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>)48
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&)147
mrs_uav_managers::NullTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)2
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&)1
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&)43352
mrs_uav_managers::NullTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)110
mrs_uav_managers::NullTracker::getStatus()2336
mrs_uav_managers::NullTracker::~NullTracker()48
mrs_uav_managers::NullTracker::~NullTracker().248
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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..651351f315 --- /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 + + + + + + + + + + + + + + +
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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:405967.8 %
Date:2023-12-14 21:42:20Functions:112055.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #include <ros/ros.h>
+       2             : 
+       3             : #include <mrs_uav_managers/tracker.h>
+       4             : 
+       5             : namespace mrs_uav_managers
+       6             : {
+       7             : 
+       8             : /* //{ class NullTracker */
+       9             : 
+      10             : class NullTracker : public mrs_uav_managers::Tracker {
+      11             : 
+      12             : public:
+      13          96 :   ~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          48 : 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          96 :   ros::NodeHandle nh_(parent_nh, "null_tracker");
+      59             : 
+      60          48 :   ros::Time::waitForValid();
+      61             : 
+      62          48 :   is_initialized = true;
+      63             : 
+      64          48 :   this->common_handlers = common_handlers;
+      65             : 
+      66          48 :   ROS_INFO("[NullTracker]: initialized");
+      67             : 
+      68          96 :   return true;
+      69             : }
+      70             : 
+      71             : //}
+      72             : 
+      73             : /* //{ activate() */
+      74             : 
+      75         110 : std::tuple<bool, std::string> NullTracker::activate([[maybe_unused]] const std::optional<mrs_msgs::TrackerCommand> &last_tracker_cmd) {
+      76             : 
+      77         110 :   std::stringstream ss;
+      78         110 :   ss << "activated";
+      79             : 
+      80         110 :   ROS_INFO_STREAM("[NullTracker]: " << ss.str());
+      81         110 :   is_active = true;
+      82             : 
+      83         220 :   return std::tuple(true, ss.str());
+      84             : }
+      85             : 
+      86             : //}
+      87             : 
+      88             : /* //{ deactivate() */
+      89             : 
+      90         107 : void NullTracker::deactivate(void) {
+      91             : 
+      92         107 :   ROS_INFO("[NullTracker]: deactivated");
+      93         107 :   is_active = false;
+      94         107 : }
+      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       43352 : 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       43352 :   return {};
+     120             : }
+     121             : 
+     122             : //}
+     123             : 
+     124             : /* //{ getStatus() */
+     125             : 
+     126        2336 : const mrs_msgs::TrackerStatus NullTracker::getStatus() {
+     127             : 
+     128        2336 :   mrs_msgs::TrackerStatus tracker_status;
+     129             : 
+     130        2336 :   tracker_status.active            = is_active;
+     131        2336 :   tracker_status.callbacks_enabled = callbacks_enabled;
+     132             : 
+     133        2336 :   return tracker_status;
+     134             : }
+     135             : 
+     136             : //}
+     137             : 
+     138             : /* //{ enableCallbacks() */
+     139             : 
+     140           2 : const std_srvs::SetBoolResponse::ConstPtr NullTracker::enableCallbacks(const std_srvs::SetBoolRequest::ConstPtr &cmd) {
+     141             : 
+     142           4 :   std_srvs::SetBoolResponse res;
+     143             : 
+     144           2 :   std::stringstream ss;
+     145             : 
+     146           2 :   if (cmd->data != callbacks_enabled) {
+     147             : 
+     148           2 :     callbacks_enabled = cmd->data;
+     149             : 
+     150           2 :     ss << "callbacks " << (callbacks_enabled ? "enabled" : "disabled");
+     151             : 
+     152           2 :     ROS_DEBUG_STREAM("[NullTracker]: " << ss.str());
+     153             : 
+     154             :   } else {
+     155             : 
+     156           0 :     ss << "callbacks were already " << (callbacks_enabled ? "enabled" : "disabled");
+     157             :   }
+     158             : 
+     159           2 :   res.message = ss.str();
+     160           2 :   res.success = true;
+     161             : 
+     162           6 :   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           1 : const mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr NullTracker::setTrajectoryReference([
+     187             :     [maybe_unused]] const mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr &cmd) {
+     188           1 :   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         147 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr NullTracker::setConstraints([
+     238             :     [maybe_unused]] const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &cmd) {
+     239             : 
+     240         147 :   return mrs_msgs::DynamicsConstraintsSrvResponse::Ptr();
+     241             : }
+     242             : 
+     243             : //}
+     244             : 
+     245             : }  // namespace mrs_uav_managers
+     246             : 
+     247             : #include <pluginlib/class_list_macros.h>
+     248          48 : PLUGINLIB_EXPORT_CLASS(mrs_uav_managers::NullTracker, mrs_uav_managers::Tracker)
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::transform_manager::TransformManager::getName[abi:cxx11]() const0
mrs_uav_managers::transform_manager::TransformManager::transformRtkToFcu(geometry_msgs::PoseStamped_<std::allocator<void> > const&) const3
(anonymous namespace)::ProxyExec0::ProxyExec0()48
mrs_uav_managers::transform_manager::TransformManager::onInit()48
mrs_uav_managers::transform_manager::TransformManager::TransformManager()48
mrs_uav_managers::transform_manager::TransformManager::getPrintName[abi:cxx11]() const713
mrs_uav_managers::transform_manager::TransformManager::callbackRtkGps(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)1282
mrs_uav_managers::transform_manager::TransformManager::callbackGnss(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)40732
mrs_uav_managers::transform_manager::TransformManager::callbackHeightAgl(boost::shared_ptr<mrs_msgs::Float64Stamped_<std::allocator<void> > const>)63647
mrs_uav_managers::transform_manager::TransformManager::callbackUavState(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>)66183
mrs_uav_managers::transform_manager::TransformManager::callbackAltitudeAmsl(boost::shared_ptr<mrs_msgs::HwApiAltitude_<std::allocator<void> > const>)72419
mrs_uav_managers::transform_manager::TransformManager::publishFcuUntiltedTf(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const> const&)118502
mrs_uav_managers::transform_manager::TransformManager::callbackHwApiOrientation(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>)118502
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Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()48
mrs_uav_managers::transform_manager::TransformManager::callbackGnss(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)40732
mrs_uav_managers::transform_manager::TransformManager::callbackRtkGps(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)1282
mrs_uav_managers::transform_manager::TransformManager::callbackUavState(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>)66183
mrs_uav_managers::transform_manager::TransformManager::callbackHeightAgl(boost::shared_ptr<mrs_msgs::Float64Stamped_<std::allocator<void> > const>)63647
mrs_uav_managers::transform_manager::TransformManager::callbackAltitudeAmsl(boost::shared_ptr<mrs_msgs::HwApiAltitude_<std::allocator<void> > const>)72419
mrs_uav_managers::transform_manager::TransformManager::publishFcuUntiltedTf(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const> const&)118502
mrs_uav_managers::transform_manager::TransformManager::callbackHwApiOrientation(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>)118502
mrs_uav_managers::transform_manager::TransformManager::onInit()48
mrs_uav_managers::transform_manager::TransformManager::TransformManager()48
mrs_uav_managers::transform_manager::TransformManager::getPrintName[abi:cxx11]() const713
mrs_uav_managers::transform_manager::TransformManager::transformRtkToFcu(geometry_msgs::PoseStamped_<std::allocator<void> > const&) const3
mrs_uav_managers::transform_manager::TransformManager::getName[abi:cxx11]() const0
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Date:2023-12-14 21:42:20Functions: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          48 :   TransformManager() {
+      50          48 :     ch_ = std::make_shared<estimation_manager::CommonHandlers_t>();
+      51             : 
+      52          48 :     ch_->nodelet_name = nodelet_name_;
+      53          48 :     ch_->package_name = package_name_;
+      54          48 :   }
+      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          48 : void TransformManager::onInit() {
+     145             : 
+     146          48 :   nh_ = nodelet::Nodelet::getMTPrivateNodeHandle();
+     147             : 
+     148          48 :   ros::Time::waitForValid();
+     149             : 
+     150          48 :   ROS_INFO("[%s]: initializing", getPrintName().c_str());
+     151             : 
+     152          48 :   broadcaster_ = std::make_shared<mrs_lib::TransformBroadcaster>();
+     153             : 
+     154          48 :   ch_->transformer = std::make_shared<mrs_lib::Transformer>(nh_, getPrintName());
+     155          48 :   ch_->transformer->retryLookupNewest(true);
+     156             : 
+     157          96 :   mrs_lib::ParamLoader param_loader(nh_, getPrintName());
+     158             : 
+     159          48 :   param_loader.loadParam("custom_config", _custom_config_);
+     160          48 :   param_loader.loadParam("platform_config", _platform_config_);
+     161          48 :   param_loader.loadParam("world_config", _world_config_);
+     162             : 
+     163          48 :   if (_custom_config_ != "") {
+     164          48 :     param_loader.addYamlFile(_custom_config_);
+     165             :   }
+     166             : 
+     167          48 :   if (_platform_config_ != "") {
+     168          48 :     param_loader.addYamlFile(_platform_config_);
+     169             :   }
+     170             : 
+     171          48 :   if (_world_config_ != "") {
+     172          48 :     param_loader.addYamlFile(_world_config_);
+     173             :   }
+     174             : 
+     175          48 :   param_loader.addYamlFileFromParam("private_config");
+     176          48 :   param_loader.addYamlFileFromParam("public_config");
+     177          48 :   param_loader.addYamlFileFromParam("estimators_config");
+     178             : 
+     179          96 :   const std::string yaml_prefix = "mrs_uav_managers/transform_manager/";
+     180             : 
+     181          48 :   param_loader.loadParam("uav_name", ch_->uav_name);
+     182             : 
+     183             :   /*//{ initialize scope timer */
+     184          48 :   param_loader.loadParam(yaml_prefix + "scope_timer/enabled", ch_->scope_timer.enabled);
+     185          96 :   std::string       filepath;
+     186          96 :   const std::string time_logger_filepath = ros::package::getPath(package_name_) + "/scope_timer/transform_manager_scope_timer.txt";
+     187          48 :   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          48 :   bool   is_origin_param_ok = true;
+     193          48 :   double world_origin_x     = 0;
+     194          48 :   double world_origin_y     = 0;
+     195             : 
+     196          48 :   param_loader.loadParam("world_origin/units", world_origin_units_);
+     197             : 
+     198          48 :   if (Support::toLowercase(world_origin_units_) == "utm") {
+     199           0 :     ROS_INFO("[%s]: Loading world origin in UTM units.", getPrintName().c_str());
+     200           0 :     is_origin_param_ok &= param_loader.loadParam("world_origin/origin_x", world_origin_x);
+     201           0 :     is_origin_param_ok &= param_loader.loadParam("world_origin/origin_y", world_origin_y);
+     202             : 
+     203          48 :   } else if (Support::toLowercase(world_origin_units_) == "latlon") {
+     204             :     double lat, lon;
+     205          48 :     ROS_INFO("[%s]: Loading world origin in LatLon units.", getPrintName().c_str());
+     206          48 :     is_origin_param_ok &= param_loader.loadParam("world_origin/origin_x", lat);
+     207          48 :     is_origin_param_ok &= param_loader.loadParam("world_origin/origin_y", lon);
+     208          48 :     mrs_lib::UTM(lat, lon, &world_origin_x, &world_origin_y);
+     209          48 :     ROS_INFO("[%s]: Converted to UTM x: %f, y: %f.", getPrintName().c_str(), world_origin_x, world_origin_y);
+     210             : 
+     211             :   } else {
+     212           0 :     ROS_ERROR("[%s]: world_origin_units must be (\"UTM\"|\"LATLON\"). Got '%s'", getPrintName().c_str(), world_origin_units_.c_str());
+     213           0 :     ros::shutdown();
+     214             :   }
+     215             : 
+     216          48 :   world_origin_.x = world_origin_x;
+     217          48 :   world_origin_.y = world_origin_y;
+     218          48 :   world_origin_.z = 0;
+     219             : 
+     220          48 :   if (!is_origin_param_ok) {
+     221           0 :     ROS_ERROR("[%s]: Could not load all mandatory parameters from world file. Please check your world file.", getPrintName().c_str());
+     222           0 :     ros::shutdown();
+     223             :   }
+     224             :   /*//}*/
+     225             : 
+     226             :   /*//{ load local_origin parameters */
+     227          96 :   std::string local_origin_parent_frame_id;
+     228          48 :   param_loader.loadParam(yaml_prefix + "local_origin_tf/parent", local_origin_parent_frame_id);
+     229          48 :   ns_local_origin_parent_frame_id_ = ch_->uav_name + "/" + local_origin_parent_frame_id;
+     230             : 
+     231          96 :   std::string local_origin_child_frame_id;
+     232          48 :   param_loader.loadParam(yaml_prefix + "local_origin_tf/child", local_origin_child_frame_id);
+     233          48 :   ns_local_origin_child_frame_id_ = ch_->uav_name + "/" + local_origin_child_frame_id;
+     234             : 
+     235          48 :   param_loader.loadParam(yaml_prefix + "local_origin_tf/enabled", publish_local_origin_tf_);
+     236             :   /*//}*/
+     237             : 
+     238             :   /*//{ load stable_origin parameters */
+     239          96 :   std::string stable_origin_parent_frame_id;
+     240          48 :   param_loader.loadParam(yaml_prefix + "stable_origin_tf/parent", stable_origin_parent_frame_id);
+     241          48 :   ns_stable_origin_parent_frame_id_ = ch_->uav_name + "/" + stable_origin_parent_frame_id;
+     242             : 
+     243          96 :   std::string stable_origin_child_frame_id;
+     244          48 :   param_loader.loadParam(yaml_prefix + "stable_origin_tf/child", stable_origin_child_frame_id);
+     245          48 :   ns_stable_origin_child_frame_id_ = ch_->uav_name + "/" + stable_origin_child_frame_id;
+     246             : 
+     247          48 :   param_loader.loadParam(yaml_prefix + "stable_origin_tf/enabled", publish_stable_origin_tf_);
+     248             :   /*//}*/
+     249             : 
+     250             :   /*//{ load fixed_origin parameters */
+     251          96 :   std::string fixed_origin_parent_frame_id;
+     252          48 :   param_loader.loadParam(yaml_prefix + "fixed_origin_tf/parent", fixed_origin_parent_frame_id);
+     253          48 :   ns_fixed_origin_parent_frame_id_ = ch_->uav_name + "/" + fixed_origin_parent_frame_id;
+     254             : 
+     255          96 :   std::string fixed_origin_child_frame_id;
+     256          48 :   param_loader.loadParam(yaml_prefix + "fixed_origin_tf/child", fixed_origin_child_frame_id);
+     257          48 :   ns_fixed_origin_child_frame_id_ = ch_->uav_name + "/" + fixed_origin_child_frame_id;
+     258             : 
+     259          48 :   param_loader.loadParam(yaml_prefix + "fixed_origin_tf/enabled", publish_fixed_origin_tf_);
+     260             :   /*//}*/
+     261             : 
+     262             :   /*//{ load fcu_untilted parameters */
+     263          96 :   std::string fcu_frame_id;
+     264          48 :   param_loader.loadParam(yaml_prefix + "fcu_untilted_tf/parent", fcu_frame_id);
+     265          48 :   ch_->frames.fcu    = fcu_frame_id;
+     266          48 :   ch_->frames.ns_fcu = ch_->uav_name + "/" + fcu_frame_id;
+     267             : 
+     268          96 :   std::string fcu_untilted_frame_id;
+     269          48 :   param_loader.loadParam(yaml_prefix + "fcu_untilted_tf/child", fcu_untilted_frame_id);
+     270          48 :   ch_->frames.fcu_untilted    = fcu_untilted_frame_id;
+     271          48 :   ch_->frames.ns_fcu_untilted = ch_->uav_name + "/" + fcu_untilted_frame_id;
+     272             : 
+     273          48 :   param_loader.loadParam(yaml_prefix + "fcu_untilted_tf/enabled", publish_fcu_untilted_tf_);
+     274             :   /*//}*/
+     275             : 
+     276             :   /*//{ load amsl_origin parameters*/
+     277          96 :   std::string amsl_parent_frame_id, amsl_child_frame_id;
+     278          48 :   param_loader.loadParam(yaml_prefix + "altitude_amsl_tf/enabled", publish_amsl_origin_tf_);
+     279          48 :   param_loader.loadParam(yaml_prefix + "altitude_amsl_tf/parent", amsl_parent_frame_id);
+     280          48 :   param_loader.loadParam(yaml_prefix + "altitude_amsl_tf/child", amsl_child_frame_id);
+     281          48 :   ch_->frames.amsl                = amsl_child_frame_id;
+     282          48 :   ch_->frames.ns_amsl             = ch_->uav_name + "/" + amsl_child_frame_id;
+     283          48 :   ns_amsl_origin_parent_frame_id_ = ch_->uav_name + "/" + amsl_parent_frame_id;
+     284          48 :   ns_amsl_origin_child_frame_id_  = ch_->uav_name + "/" + amsl_child_frame_id;
+     285             : 
+     286             :   /*//}*/
+     287             : 
+     288          48 :   param_loader.loadParam(yaml_prefix + "rtk_antenna/frame_id", ch_->frames.rtk_antenna);
+     289          48 :   ch_->frames.ns_rtk_antenna = ch_->uav_name + "/" + ch_->frames.rtk_antenna;
+     290             : 
+     291          48 :   param_loader.loadParam("mrs_uav_managers/estimation_manager/state_estimators", estimator_names_);
+     292          48 :   param_loader.loadParam(yaml_prefix + "tf_sources", tf_source_names_);
+     293             : 
+     294          48 :   param_loader.loadParam(yaml_prefix + "utm_source_priority", utm_source_priority_list_);
+     295         176 :   for (auto utm_source : utm_source_priority_list_) {
+     296         173 :     if (Support::isStringInVector(utm_source, estimator_names_)) {
+     297          45 :       ROS_INFO("[%s]: the source for utm_origin and world origin is: %s", getPrintName().c_str(), utm_source.c_str());
+     298          45 :       utm_source_name_ = utm_source;
+     299          45 :       break;
+     300             :     }
+     301             :   }
+     302             : 
+     303             :   /*//{ initialize tf sources */
+     304          48 :   for (size_t i = 0; i < tf_source_names_.size(); i++) {
+     305             : 
+     306           0 :     const std::string tf_source_name = tf_source_names_[i];
+     307           0 :     const bool        is_utm_source  = tf_source_name == utm_source_name_;
+     308             : 
+     309           0 :     ROS_INFO("[%s]: loading tf source: %s", getPrintName().c_str(), tf_source_name.c_str());
+     310             : 
+     311           0 :     auto source_param_loader = std::make_shared<mrs_lib::ParamLoader>(nh_, "TransformManager/" + tf_source_name);
+     312             : 
+     313           0 :     if (_custom_config_ != "") {
+     314           0 :       source_param_loader->addYamlFile(_custom_config_);
+     315             :     }
+     316             : 
+     317           0 :     if (_platform_config_ != "") {
+     318           0 :       source_param_loader->addYamlFile(_platform_config_);
+     319             :     }
+     320             : 
+     321           0 :     if (_world_config_ != "") {
+     322           0 :       source_param_loader->addYamlFile(_world_config_);
+     323             :     }
+     324             : 
+     325           0 :     source_param_loader->addYamlFileFromParam("private_config");
+     326           0 :     source_param_loader->addYamlFileFromParam("public_config");
+     327           0 :     source_param_loader->addYamlFileFromParam("estimators_config");
+     328             : 
+     329           0 :     tf_sources_.push_back(std::make_unique<TfSource>(tf_source_name, nh_, source_param_loader, broadcaster_, ch_, is_utm_source));
+     330             :   }
+     331             : 
+     332             :   // additionally publish tf of all available estimators
+     333          96 :   for (int i = 0; i < int(estimator_names_.size()); i++) {
+     334             : 
+     335          96 :     const std::string estimator_name = estimator_names_[i];
+     336          48 :     const bool        is_utm_source  = estimator_name == utm_source_name_;
+     337          48 :     ROS_INFO("[%s]: loading tf source of estimator: %s", getPrintName().c_str(), estimator_name.c_str());
+     338             : 
+     339          48 :     auto estimator_param_loader = std::make_shared<mrs_lib::ParamLoader>(nh_, "TransformManager/" + estimator_name);
+     340             : 
+     341          48 :     if (_custom_config_ != "") {
+     342          48 :       estimator_param_loader->addYamlFile(_custom_config_);
+     343             :     }
+     344             : 
+     345          48 :     if (_platform_config_ != "") {
+     346          48 :       estimator_param_loader->addYamlFile(_platform_config_);
+     347             :     }
+     348             : 
+     349          48 :     if (_world_config_ != "") {
+     350          48 :       estimator_param_loader->addYamlFile(_world_config_);
+     351             :     }
+     352             : 
+     353          48 :     estimator_param_loader->addYamlFileFromParam("private_config");
+     354          48 :     estimator_param_loader->addYamlFileFromParam("public_config");
+     355          48 :     estimator_param_loader->addYamlFileFromParam("estimators_config");
+     356             : 
+     357          48 :     tf_sources_.push_back(std::make_unique<TfSource>(estimator_name, nh_, estimator_param_loader, broadcaster_, ch_, is_utm_source));
+     358             :   }
+     359             : 
+     360             :   // initialize mapping_origin tf
+     361             :   bool mapping_origin_tf_enabled;
+     362          48 :   param_loader.loadParam(yaml_prefix + "mapping_origin_tf/enabled", mapping_origin_tf_enabled, false);
+     363             : 
+     364          48 :   if (mapping_origin_tf_enabled) {
+     365             : 
+     366           0 :     auto mapping_param_loader = std::make_shared<mrs_lib::ParamLoader>(nh_, "TransformManager/mapping_origin_tf");
+     367             : 
+     368           0 :     if (_custom_config_ != "") {
+     369           0 :       mapping_param_loader->addYamlFile(_custom_config_);
+     370             :     }
+     371             : 
+     372           0 :     if (_platform_config_ != "") {
+     373           0 :       mapping_param_loader->addYamlFile(_platform_config_);
+     374             :     }
+     375             : 
+     376           0 :     if (_world_config_ != "") {
+     377           0 :       mapping_param_loader->addYamlFile(_world_config_);
+     378             :     }
+     379             : 
+     380           0 :     mapping_param_loader->addYamlFileFromParam("private_config");
+     381           0 :     mapping_param_loader->addYamlFileFromParam("public_config");
+     382           0 :     mapping_param_loader->addYamlFileFromParam("estimators_config");
+     383             : 
+     384           0 :     tf_mapping_origin_ = std::make_unique<TfMappingOrigin>(nh_, mapping_param_loader, broadcaster_, ch_);
+     385             :   }
+     386             : 
+     387             :   //}
+     388             : 
+     389             :   /*//{ initialize subscribers */
+     390          96 :   mrs_lib::SubscribeHandlerOptions shopts;
+     391          48 :   shopts.nh                 = nh_;
+     392          48 :   shopts.node_name          = getPrintName();
+     393          48 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     394          48 :   shopts.threadsafe         = true;
+     395          48 :   shopts.autostart          = true;
+     396          48 :   shopts.queue_size         = 10;
+     397          48 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     398             : 
+     399          48 :   sh_uav_state_ = mrs_lib::SubscribeHandler<mrs_msgs::UavState>(shopts, "uav_state_in", &TransformManager::callbackUavState, this);
+     400             : 
+     401          48 :   sh_height_agl_ = mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped>(shopts, "height_agl_in", &TransformManager::callbackHeightAgl, this);
+     402             : 
+     403          48 :   sh_altitude_amsl_ = mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude>(shopts, "altitude_amsl_in", &TransformManager::callbackAltitudeAmsl, this);
+     404             : 
+     405             :   sh_hw_api_orientation_ =
+     406          48 :       mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped>(shopts, "orientation_in", &TransformManager::callbackHwApiOrientation, this);
+     407             : 
+     408          48 :   if (utm_source_name_ == "rtk" || utm_source_name_ == "rtk_garmin") {
+     409           2 :     sh_rtk_gps_ = mrs_lib::SubscribeHandler<mrs_msgs::RtkGps>(shopts, "rtk_gps_in", &TransformManager::callbackRtkGps, this);
+     410             :   } else {
+     411          46 :     sh_gnss_ = mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix>(shopts, "gnss_in", &TransformManager::callbackGnss, this);
+     412             :   }
+     413             :   /*//}*/
+     414             : 
+     415          48 :   if (!param_loader.loadedSuccessfully()) {
+     416           0 :     ROS_ERROR("[%s]: Could not load all non-optional parameters. Shutting down.", getPrintName().c_str());
+     417           0 :     ros::shutdown();
+     418             :   }
+     419             : 
+     420          48 :   is_initialized_ = true;
+     421          48 :   ROS_INFO("[%s]: initialized", getPrintName().c_str());
+     422          48 : }
+     423             : /*//}*/
+     424             : 
+     425             : /*//{ callbackUavState() */
+     426             : 
+     427       66183 : void TransformManager::callbackUavState(const mrs_msgs::UavState::ConstPtr msg) {
+     428             : 
+     429       66183 :   if (!is_initialized_) {
+     430           0 :     return;
+     431             :   }
+     432             : 
+     433      132366 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("TransformManager::publishFcuUntilted", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     434             : 
+     435             :   // obtain first frame_id
+     436       66183 :   if (!is_first_frame_id_set_) {
+     437          48 :     first_frame_id_                = msg->header.frame_id;
+     438          48 :     last_frame_id_                 = msg->header.frame_id;
+     439          48 :     pose_fixed_                    = msg->pose;
+     440          48 :     pose_fixed_diff_.orientation.w = 1;
+     441          48 :     is_first_frame_id_set_         = true;
+     442             :   }
+     443             : 
+     444       66183 :   if (publish_local_origin_tf_) {
+     445             :     /*//{ publish local_origin tf*/
+     446       66183 :     geometry_msgs::TransformStamped tf_msg;
+     447       66183 :     tf_msg.header.stamp    = msg->header.stamp;
+     448       66183 :     tf_msg.header.frame_id = ns_local_origin_parent_frame_id_;
+     449       66183 :     tf_msg.child_frame_id  = ns_local_origin_child_frame_id_;
+     450             : 
+     451             :     // transform pose to first frame_id
+     452       66183 :     geometry_msgs::PoseStamped pose;
+     453       66183 :     pose.header = msg->header;
+     454       66183 :     pose.pose   = msg->pose;
+     455             : 
+     456       66183 :     if (pose.pose.orientation.w == 0 && pose.pose.orientation.z == 0 && pose.pose.orientation.y == 0 && pose.pose.orientation.x == 0) {
+     457           0 :       ROS_WARN_ONCE("[%s]: Uninitialized quaternion detected during publishing stable_origin tf of %s. Setting w=1", getPrintName().c_str(),
+     458             :                     pose.header.frame_id.c_str());
+     459           0 :       pose.pose.orientation.w = 1.0;
+     460             :     }
+     461             : 
+     462      132366 :     auto res = ch_->transformer->transformSingle(pose, first_frame_id_.substr(0, first_frame_id_.find("_origin")) + "_local_origin");
+     463             : 
+     464       66183 :     if (res) {
+     465       66183 :       const tf2::Transform      tf       = Support::tf2FromPose(res->pose);
+     466       66183 :       const tf2::Transform      tf_inv   = tf.inverse();
+     467       66183 :       const geometry_msgs::Pose pose_inv = Support::poseFromTf2(tf_inv);
+     468       66183 :       tf_msg.transform.translation       = Support::pointToVector3(pose_inv.position);
+     469       66183 :       tf_msg.transform.rotation          = pose_inv.orientation;
+     470             : 
+     471       66183 :       if (Support::noNans(tf_msg)) {
+     472             :         try {
+     473       66183 :           broadcaster_->sendTransform(tf_msg);
+     474             :         }
+     475           0 :         catch (...) {
+     476           0 :           ROS_ERROR("exception caught ");
+     477             :         }
+     478             :       } else {
+     479           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(),
+     480             :                           tf_msg.child_frame_id.c_str());
+     481             :       }
+     482       66183 :       ROS_INFO_ONCE("[%s]: Broadcasting transform from parent frame: %s to child frame: %s", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     483             :                     tf_msg.child_frame_id.c_str());
+     484             :     } else {
+     485           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());
+     486           0 :       return;
+     487             :     }
+     488             :     /*//}*/
+     489             :   }
+     490             : 
+     491       66183 :   if (publish_stable_origin_tf_) {
+     492             :     /*//{ publish stable_origin tf*/
+     493       66183 :     geometry_msgs::TransformStamped tf_msg;
+     494       66183 :     tf_msg.header.stamp    = msg->header.stamp;
+     495       66183 :     tf_msg.header.frame_id = ns_stable_origin_parent_frame_id_;
+     496       66183 :     tf_msg.child_frame_id  = ns_stable_origin_child_frame_id_;
+     497             : 
+     498             :     // transform pose to first frame_id
+     499       66183 :     geometry_msgs::PoseStamped pose;
+     500       66183 :     pose.header = msg->header;
+     501       66183 :     pose.pose   = msg->pose;
+     502       66183 :     if (pose.pose.orientation.w == 0 && pose.pose.orientation.z == 0 && pose.pose.orientation.y == 0 && pose.pose.orientation.x == 0) {
+     503           0 :       ROS_WARN_ONCE("[%s]: Uninitialized quaternion detected during publishing stable_origin tf of %s. Setting w=1", getPrintName().c_str(),
+     504             :                     pose.header.frame_id.c_str());
+     505           0 :       pose.pose.orientation.w = 1.0;
+     506             :     }
+     507             : 
+     508       66183 :     auto res = ch_->transformer->transformSingle(pose, first_frame_id_);
+     509             : 
+     510       66183 :     if (res) {
+     511       66183 :       const tf2::Transform      tf       = Support::tf2FromPose(res->pose);
+     512       66183 :       const tf2::Transform      tf_inv   = tf.inverse();
+     513       66183 :       const geometry_msgs::Pose pose_inv = Support::poseFromTf2(tf_inv);
+     514       66183 :       tf_msg.transform.translation       = Support::pointToVector3(pose_inv.position);
+     515       66183 :       tf_msg.transform.rotation          = pose_inv.orientation;
+     516             : 
+     517       66183 :       if (Support::noNans(tf_msg)) {
+     518             :         try {
+     519       66183 :           broadcaster_->sendTransform(tf_msg);
+     520             :         }
+     521           0 :         catch (...) {
+     522           0 :           ROS_ERROR("exception caught ");
+     523             :         }
+     524             :       } else {
+     525           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(),
+     526             :                           tf_msg.child_frame_id.c_str());
+     527             :       }
+     528       66183 :       ROS_INFO_ONCE("[%s]: Broadcasting transform from parent frame: %s to child frame: %s", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     529             :                     tf_msg.child_frame_id.c_str());
+     530             :     } else {
+     531           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());
+     532           0 :       return;
+     533             :     }
+     534             :     /*//}*/
+     535             :   }
+     536             : 
+     537       66183 :   if (publish_fixed_origin_tf_) {
+     538             :     /*//{ publish fixed_origin tf*/
+     539       66183 :     if (msg->header.frame_id != last_frame_id_) {
+     540           0 :       ROS_WARN("[%s]: Detected estimator change from %s to %s. Updating offset for fixed origin.", getPrintName().c_str(), last_frame_id_.c_str(),
+     541             :                msg->header.frame_id.c_str());
+     542             : 
+     543           0 :       pose_fixed_diff_ = Support::getPoseDiff(msg->pose, pose_fixed_);
+     544             :     }
+     545             : 
+     546             : 
+     547       66183 :     pose_fixed_ = Support::applyPoseDiff(msg->pose, pose_fixed_diff_);
+     548             : 
+     549      132366 :     geometry_msgs::TransformStamped tf_msg;
+     550       66183 :     tf_msg.header.stamp    = msg->header.stamp;
+     551       66183 :     tf_msg.header.frame_id = ns_fixed_origin_parent_frame_id_;
+     552       66183 :     tf_msg.child_frame_id  = ns_fixed_origin_child_frame_id_;
+     553             : 
+     554       66183 :     const tf2::Transform      tf       = Support::tf2FromPose(pose_fixed_);
+     555       66183 :     const tf2::Transform      tf_inv   = tf.inverse();
+     556       66183 :     const geometry_msgs::Pose pose_inv = Support::poseFromTf2(tf_inv);
+     557       66183 :     tf_msg.transform.translation       = Support::pointToVector3(pose_inv.position);
+     558       66183 :     tf_msg.transform.rotation          = pose_inv.orientation;
+     559             : 
+     560       66183 :     if (Support::noNans(tf_msg)) {
+     561             :       try {
+     562       66183 :         broadcaster_->sendTransform(tf_msg);
+     563             :       }
+     564           0 :       catch (...) {
+     565           0 :         ROS_ERROR("exception caught ");
+     566             :       }
+     567             :     } else {
+     568           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(),
+     569             :                         tf_msg.child_frame_id.c_str());
+     570             :     }
+     571       66183 :     ROS_INFO_ONCE("[%s]: Broadcasting transform from parent frame: %s to child frame: %s", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     572             :                   tf_msg.child_frame_id.c_str());
+     573             :     /*//}*/
+     574             :   }
+     575             : 
+     576             :   /*//{ choose another source of utm and world tfs after estimator switch */
+     577       66183 :   if (msg->header.frame_id != last_frame_id_) {
+     578           0 :     const std::string last_estimator_name    = Support::frameIdToEstimatorName(last_frame_id_);
+     579           0 :     const std::string current_estimator_name = Support::frameIdToEstimatorName(msg->header.frame_id);
+     580             : 
+     581           0 :     ROS_INFO("[%s]: Detected estimator switch: %s -> %s", getPrintName().c_str(), last_estimator_name.c_str(), current_estimator_name.c_str());
+     582             : 
+     583           0 :     bool   valid_utm_source_found = false;
+     584             :     size_t potential_utm_source_index;
+     585             : 
+     586           0 :     for (size_t i = 0; i < tf_sources_.size(); i++) {
+     587             : 
+     588             :       // first check if tf source can publish utm origin and is not the switched-from estimator
+     589           0 :       if (tf_sources_.at(i)->getIsUtmBased() && tf_sources_.at(i)->getName() != last_estimator_name) {
+     590             : 
+     591           0 :         valid_utm_source_found     = true;
+     592           0 :         potential_utm_source_index = i;
+     593             : 
+     594             :         // check if switched-to estimator is utm_based, if so, use it
+     595           0 :         if (tf_sources_.at(i)->getIsUtmBased() && tf_sources_.at(i)->getName() == current_estimator_name) {
+     596           0 :           potential_utm_source_index = i;
+     597           0 :           break;
+     598             :         }
+     599             :       }
+     600             :     }
+     601             : 
+     602             : 
+     603             :     // if we found a valid utm source, use it, otherwise stay with the switched-from estimator
+     604           0 :     if (valid_utm_source_found) {
+     605             : 
+     606             :       // stop all estimators from publishing utm source
+     607           0 :       for (size_t i = 0; i < tf_sources_.size(); i++) {
+     608           0 :         if (tf_sources_.at(i)->getIsUtmSource()) {
+     609           0 :           tf_sources_.at(i)->setIsUtmSource(false);
+     610           0 :           ROS_INFO("[%s]: setting is_utm_source of estimator %s to false", getPrintName().c_str(), last_estimator_name.c_str());
+     611             :         }
+     612             :       }
+     613             : 
+     614           0 :       tf_sources_.at(potential_utm_source_index)->setIsUtmSource(true);
+     615           0 :       ROS_INFO("[%s]: setting is_utm_source of estimator %s to true", getPrintName().c_str(), current_estimator_name.c_str());
+     616             :     }
+     617             :   }
+     618             :   /*//}*/
+     619             : 
+     620       66183 :   last_frame_id_ = msg->header.frame_id;
+     621             : }
+     622             : /*//}*/
+     623             : 
+     624             : /*//{ callbackHeightAgl() */
+     625             : 
+     626       63647 : void TransformManager::callbackHeightAgl(const mrs_msgs::Float64Stamped::ConstPtr msg) {
+     627             : 
+     628       63647 :   if (!is_initialized_) {
+     629           0 :     return;
+     630             :   }
+     631             : 
+     632      190941 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("TransformManager::callbackHeightAgl", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     633             : 
+     634      127294 :   geometry_msgs::TransformStamped tf_msg;
+     635       63647 :   tf_msg.header.stamp    = msg->header.stamp;
+     636       63647 :   tf_msg.header.frame_id = ch_->frames.ns_fcu_untilted;
+     637       63647 :   tf_msg.child_frame_id  = msg->header.frame_id;
+     638             : 
+     639       63647 :   tf_msg.transform.translation.x = 0;
+     640       63647 :   tf_msg.transform.translation.y = 0;
+     641       63647 :   tf_msg.transform.translation.z = -msg->value;
+     642       63647 :   tf_msg.transform.rotation.x    = 0;
+     643       63647 :   tf_msg.transform.rotation.y    = 0;
+     644       63647 :   tf_msg.transform.rotation.z    = 0;
+     645       63647 :   tf_msg.transform.rotation.w    = 1;
+     646             : 
+     647       63647 :   if (Support::noNans(tf_msg)) {
+     648             :     try {
+     649       63647 :       broadcaster_->sendTransform(tf_msg);
+     650             :     }
+     651           0 :     catch (...) {
+     652           0 :       ROS_ERROR("exception caught ");
+     653             :     }
+     654             :   } else {
+     655           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(),
+     656             :                       tf_msg.child_frame_id.c_str());
+     657             :   }
+     658       63647 :   ROS_INFO_ONCE("[%s]: Broadcasting transform from parent frame: %s to child frame: %s", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     659             :                 tf_msg.child_frame_id.c_str());
+     660             : }
+     661             : /*//}*/
+     662             : 
+     663             : /*//{ callbackAltitudeAmsl() */
+     664             : 
+     665       72419 : void TransformManager::callbackAltitudeAmsl(const mrs_msgs::HwApiAltitude::ConstPtr msg) {
+     666             : 
+     667       72419 :   if (!is_initialized_) {
+     668           0 :     return;
+     669             :   }
+     670             : 
+     671      217257 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("TransformManager::callbackAltitudeAmsl", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     672             : 
+     673      144838 :   geometry_msgs::TransformStamped tf_msg;
+     674       72419 :   tf_msg.header.stamp    = msg->stamp;
+     675       72419 :   tf_msg.header.frame_id = ch_->frames.ns_fcu_untilted;
+     676       72419 :   tf_msg.child_frame_id  = ch_->frames.ns_amsl;
+     677             : 
+     678       72419 :   tf_msg.transform.translation.x = 0;
+     679       72419 :   tf_msg.transform.translation.y = 0;
+     680       72419 :   tf_msg.transform.translation.z = -msg->amsl;
+     681       72419 :   tf_msg.transform.rotation.x    = 0;
+     682       72419 :   tf_msg.transform.rotation.y    = 0;
+     683       72419 :   tf_msg.transform.rotation.z    = 0;
+     684       72419 :   tf_msg.transform.rotation.w    = 1;
+     685             : 
+     686       72419 :   if (Support::noNans(tf_msg)) {
+     687             :     try {
+     688       72396 :       broadcaster_->sendTransform(tf_msg);
+     689             :     }
+     690           0 :     catch (...) {
+     691           0 :       ROS_ERROR("exception caught ");
+     692             :     }
+     693             :   } else {
+     694          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(),
+     695             :                       tf_msg.child_frame_id.c_str());
+     696             :   }
+     697       72419 :   ROS_INFO_ONCE("[%s]: Broadcasting transform from parent frame: %s to child frame: %s", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     698             :                 tf_msg.child_frame_id.c_str());
+     699             : }
+     700             : /*//}*/
+     701             : 
+     702             : /*//{ callbackHwApiOrientation() */
+     703      118502 : void TransformManager::callbackHwApiOrientation(const geometry_msgs::QuaternionStamped::ConstPtr msg) {
+     704             : 
+     705      118502 :   if (!is_initialized_) {
+     706           0 :     return;
+     707             :   }
+     708             : 
+     709      355506 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("TransformManager::publishFcuUntilted", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     710             : 
+     711      118502 :   if (publish_fcu_untilted_tf_) {
+     712      118502 :     publishFcuUntiltedTf(msg);
+     713             :   }
+     714             : }
+     715             : /*//}*/
+     716             : 
+     717             : /*//{ callbackGnss() */
+     718       40732 : void TransformManager::callbackGnss(const sensor_msgs::NavSatFix::ConstPtr msg) {
+     719             : 
+     720       40732 :   if (!is_initialized_) {
+     721       40686 :     return;
+     722             :   }
+     723             : 
+     724       40732 :   if (got_utm_offset_) {
+     725       40686 :     return;
+     726             :   }
+     727             : 
+     728          92 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("TransformManager::callbackGnss", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     729             : 
+     730             :   double out_x;
+     731             :   double out_y;
+     732             : 
+     733          46 :   mrs_lib::UTM(msg->latitude, msg->longitude, &out_x, &out_y);
+     734             : 
+     735          46 :   if (!std::isfinite(out_x)) {
+     736           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in UTM variable \"out_x\"!!!", getPrintName().c_str());
+     737           0 :     return;
+     738             :   }
+     739             : 
+     740          46 :   if (!std::isfinite(out_y)) {
+     741           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in UTM variable \"out_y\"!!!", getPrintName().c_str());
+     742           0 :     return;
+     743             :   }
+     744             : 
+     745          46 :   geometry_msgs::Point utm_origin;
+     746          46 :   utm_origin.x = out_x;
+     747          46 :   utm_origin.y = out_y;
+     748          46 :   utm_origin.z = msg->altitude;
+     749             : 
+     750          46 :   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);
+     751             : 
+     752          92 :   for (size_t i = 0; i < tf_sources_.size(); i++) {
+     753          46 :     tf_sources_[i]->setUtmOrigin(utm_origin);
+     754          46 :     tf_sources_[i]->setWorldOrigin(world_origin_);
+     755             :   }
+     756          46 :   got_utm_offset_ = true;
+     757             : }
+     758             : /*//}*/
+     759             : 
+     760             : /*//{ callbackRtkGps() */
+     761        1282 : void TransformManager::callbackRtkGps(const mrs_msgs::RtkGps::ConstPtr msg) {
+     762             : 
+     763        1282 :   if (!is_initialized_) {
+     764        1280 :     return;
+     765             :   }
+     766             : 
+     767        1282 :   if (got_utm_offset_) {
+     768        1279 :     return;
+     769             :   }
+     770             : 
+     771           6 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("TransformManager::callbackRtkGps", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     772             : 
+     773             :   double out_x;
+     774             :   double out_y;
+     775             : 
+     776           3 :   geometry_msgs::PoseStamped rtk_pos;
+     777             : 
+     778           3 :   if (!std::isfinite(msg->gps.latitude)) {
+     779           0 :     ROS_ERROR_THROTTLE(1.0, "[%s] NaN detected in RTK variable \"msg->latitude\"!!!", getPrintName().c_str());
+     780           0 :     return;
+     781             :   }
+     782             : 
+     783           3 :   if (!std::isfinite(msg->gps.longitude)) {
+     784           0 :     ROS_ERROR_THROTTLE(1.0, "[%s] NaN detected in RTK variable \"msg->longitude\"!!!", getPrintName().c_str());
+     785           0 :     return;
+     786             :   }
+     787             : 
+     788           3 :   if (!std::isfinite(msg->gps.altitude)) {
+     789           0 :     ROS_ERROR_THROTTLE(1.0, "[%s] NaN detected in RTK variable \"msg->altitude\"!!!", getPrintName().c_str());
+     790           0 :     return;
+     791             :   }
+     792             : 
+     793           3 :   if (msg->fix_type.fix_type != mrs_msgs::RtkFixType::RTK_FIX) {
+     794           0 :     ROS_INFO_THROTTLE(1.0, "[%s] %s RTK FIX", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     795           0 :     return;
+     796             :   }
+     797             : 
+     798           3 :   rtk_pos.header = msg->header;
+     799           3 :   mrs_lib::UTM(msg->gps.latitude, msg->gps.longitude, &rtk_pos.pose.position.x, &rtk_pos.pose.position.y);
+     800           3 :   rtk_pos.pose.position.z  = msg->gps.altitude;
+     801           3 :   rtk_pos.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+     802             : 
+     803           3 :   rtk_pos.pose.position.x -= ch_->world_origin.x;
+     804           3 :   rtk_pos.pose.position.y -= ch_->world_origin.y;
+     805             : 
+     806             : 
+     807             :   // transform the RTK position from antenna to FCU
+     808           3 :   auto res = transformRtkToFcu(rtk_pos);
+     809           3 :   if (res) {
+     810           2 :     rtk_pos.pose = res.value();
+     811             :   } else {
+     812           1 :     ROS_ERROR_THROTTLE(1.0, "[%s]: transform to fcu failed", getPrintName().c_str());
+     813           1 :     return;
+     814             :   }
+     815             : 
+     816           2 :   mrs_lib::UTM(msg->gps.latitude, msg->gps.longitude, &out_x, &out_y);
+     817             : 
+     818           2 :   if (!std::isfinite(out_x)) {
+     819           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in UTM variable \"out_x\"!!!", getPrintName().c_str());
+     820           0 :     return;
+     821             :   }
+     822             : 
+     823           2 :   if (!std::isfinite(out_y)) {
+     824           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in UTM variable \"out_y\"!!!", getPrintName().c_str());
+     825           0 :     return;
+     826             :   }
+     827             : 
+     828           2 :   geometry_msgs::Point utm_origin;
+     829           2 :   utm_origin.x = out_x;
+     830           2 :   utm_origin.y = out_y;
+     831           2 :   utm_origin.z = msg->gps.altitude;
+     832             : 
+     833           2 :   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);
+     834             : 
+     835           4 :   for (size_t i = 0; i < tf_sources_.size(); i++) {
+     836           2 :     tf_sources_[i]->setUtmOrigin(utm_origin);
+     837           2 :     tf_sources_[i]->setWorldOrigin(world_origin_);
+     838             :   }
+     839           2 :   got_utm_offset_ = true;
+     840             : }
+     841             : /*//}*/
+     842             : 
+     843             : /*//{ publishFcuUntiltedTf() */
+     844      118502 : void TransformManager::publishFcuUntiltedTf(const geometry_msgs::QuaternionStampedConstPtr& msg) {
+     845             : 
+     846      237004 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("TransformManager::publishFcuUntilted", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     847             : 
+     848             :   double heading;
+     849             : 
+     850             :   try {
+     851      118502 :     heading = mrs_lib::AttitudeConverter(msg->quaternion).getHeading();
+     852             :   }
+     853           0 :   catch (...) {
+     854           0 :     ROS_ERROR("[%s]: Exception caught during getting heading", getPrintName().c_str());
+     855           0 :     return;
+     856             :   }
+     857      118502 :   scope_timer.checkpoint("heading");
+     858             : 
+     859      118502 :   const Eigen::Matrix3d odom_pixhawk_R = mrs_lib::AttitudeConverter(msg->quaternion);
+     860      118502 :   const Eigen::Matrix3d undo_heading_R = mrs_lib::AttitudeConverter(Eigen::AngleAxis(-heading, Eigen::Vector3d(0, 0, 1)));
+     861             : 
+     862      118502 :   const tf2::Quaternion q     = mrs_lib::AttitudeConverter(undo_heading_R * odom_pixhawk_R);
+     863      118502 :   const tf2::Quaternion q_inv = q.inverse();
+     864             : 
+     865      118502 :   scope_timer.checkpoint("q inverse");
+     866             : 
+     867      118502 :   geometry_msgs::TransformStamped tf;
+     868      118502 :   tf.header.stamp            = msg->header.stamp;  // TODO(petrlmat) ros::Time::now()?
+     869      118502 :   tf.header.frame_id         = ch_->frames.ns_fcu;
+     870      118502 :   tf.child_frame_id          = ch_->frames.ns_fcu_untilted;
+     871      118502 :   tf.transform.translation.x = 0.0;
+     872      118502 :   tf.transform.translation.y = 0.0;
+     873      118502 :   tf.transform.translation.z = 0.0;
+     874      118502 :   tf.transform.rotation      = mrs_lib::AttitudeConverter(q_inv);
+     875             : 
+     876      118502 :   scope_timer.checkpoint("tf fill");
+     877      118502 :   if (Support::noNans(tf)) {
+     878      118502 :     broadcaster_->sendTransform(tf);
+     879             :   } else {
+     880           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN encountered in fcu_untilted tf", getPrintName().c_str());
+     881             :   }
+     882      118502 :   scope_timer.checkpoint("tf pub");
+     883             : }
+     884             : /*//}*/
+     885             : 
+     886             : /*//{ transformRtkToFcu() */
+     887           3 : std::optional<geometry_msgs::Pose> TransformManager::transformRtkToFcu(const geometry_msgs::PoseStamped& pose_in) const {
+     888             : 
+     889           6 :   geometry_msgs::PoseStamped pose_tmp = pose_in;
+     890             : 
+     891             :   // inject current orientation into rtk pose
+     892           6 :   auto res1 = ch_->transformer->getTransform(ch_->frames.ns_fcu_untilted, ch_->frames.ns_fcu, ros::Time::now());
+     893           3 :   if (res1) {
+     894           2 :     pose_tmp.pose.orientation = res1.value().transform.rotation;
+     895             :   } else {
+     896           1 :     ROS_ERROR_THROTTLE(1.0, "[%s]: Could not obtain transform from %s to %s.", getPrintName().c_str(),
+     897             :                        ch_->frames.ns_fcu_untilted.c_str(), ch_->frames.ns_fcu.c_str());
+     898           1 :     return {};
+     899             :   }
+     900             : 
+     901             :   // invert tf
+     902           2 :   tf2::Transform             tf_utm_to_antenna = Support::tf2FromPose(pose_tmp.pose);
+     903           4 :   geometry_msgs::PoseStamped utm_in_antenna;
+     904           2 :   utm_in_antenna.pose            = Support::poseFromTf2(tf_utm_to_antenna.inverse());
+     905           2 :   utm_in_antenna.header.stamp    = pose_in.header.stamp;
+     906           2 :   utm_in_antenna.header.frame_id = ch_->frames.ns_rtk_antenna;
+     907             : 
+     908             :   // transform to fcu
+     909           4 :   geometry_msgs::PoseStamped utm_in_fcu;
+     910           2 :   utm_in_fcu.header.frame_id = ch_->frames.ns_fcu;
+     911           2 :   utm_in_fcu.header.stamp    = pose_in.header.stamp;
+     912           4 :   auto res2                  = ch_->transformer->transformSingle(utm_in_antenna, ch_->frames.ns_fcu);
+     913             : 
+     914           2 :   if (res2) {
+     915           2 :     utm_in_fcu = res2.value();
+     916             :   } else {
+     917           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(), ch_->frames.ns_fcu.c_str());
+     918           0 :     return {};
+     919             :   }
+     920             : 
+     921             :   // invert tf
+     922           2 :   tf2::Transform      tf_fcu_to_utm = Support::tf2FromPose(utm_in_fcu.pose);
+     923           2 :   geometry_msgs::Pose fcu_in_utm    = Support::poseFromTf2(tf_fcu_to_utm.inverse());
+     924             : 
+     925           2 :   return fcu_in_utm;
+     926             : }
+     927             : /*//}*/
+     928             : 
+     929             : /*//{ getName() */
+     930           0 : std::string TransformManager::getName() const {
+     931           0 :   return name_;
+     932             : }
+     933             : /*//}*/
+     934             : 
+     935             : /*//{ getPrintName() */
+     936         713 : std::string TransformManager::getPrintName() const {
+     937         713 :   return nodelet_name_;
+     938             : }
+     939             : /*//}*/
+     940             : 
+     941             : }  // namespace transform_manager
+     942             : 
+     943             : }  // namespace mrs_uav_managers
+     944             : 
+     945             : #include <pluginlib/class_list_macros.h>
+     946          48 : 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..83f104c1f8 --- /dev/null +++ b/mrs_uav_managers/src/transform_manager/transform_manager.cpp.gcov.overview.html @@ -0,0 +1,257 @@ + + + + + + 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 + + +
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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..366da4777ac8d898d5d3d0ab647915cd31ecf1f4 GIT binary patch literal 3261 zcmV;u3_|mXP)0000OP)t-s|NsB0 zs;a7|?_FK${{R500003000620&P%hU00009a7bBm000ie000ie0hKEb8vphSj z6q?EcMP1v~#v{ZyiihbHicLn%!0xKKVg@2G2kff)5HsgVCQ*D(;D&~sTraI!BY#EJ zH&FK|R{&8Xd~vYu`z@0?suOmlc+9Cx53LN3$L!p!6qkXvvQbQ5O@xmEow;fwaEPPT zBJmL_#eu#n6w_e19a9E|Vwi;vx6-bqsA}yy7}!`VWZ)^&K_VB4g5h{O4)mXZ0lvG9 z=i2p3;Icq@AWJdBPwF1NYNqZEW@sCa%Cgkds9pxLZKOb{X8`AV8A-$ZTNUD|buz@s8hRL(J&fFe`&Rw9ra z_e)+Nb)X+nw~UG1?P*NUoy0{MQc{ZN1lxlZmjRM@MBoj+)2zC4*(CIJy>gMIiN173 z)wySHjjBx%maeKH=b;NtWKO91MtM+UOGQrQH5<3N$K_u~3xzgvwp$J?ffgPU&&WP^ zQN(H@@HUufa-#mB5}U6$|FOK?W#s!xj%SBAEVV=D6n%0k@Ms(J_uo%)6bXcJbcx%;IObB?s5eq- zW7Wt@+c-ISLJ`|of8mlgiiK1y;+z$DV9dDK)Bb;MR_&%p$^_`_X=4ryh4r*-ZuuVwYWUdyYL0`#BrW$gso%6m5RGb1Y^7rHfx z$4kv=Yn}oO0`WgCk(y>SJm8Egv><$c56}Voo8J@K7>t(-9SFO2nmgv6n{lhEbm0Pe z4EE+q`?}GE&(+x1J>xn^$5o=EL!lqo(jKG0(I`}Q*|5Nu_rEv-*ZAHV$L19RKi}!H z&fyQN`(p1jY@xQYPq_DQ_?6zNnY2*`ifzmkDqzw}=kSW<&?*J{sIcnm>~)F{+WVUI zxq6tf2=ZWG|4Mz7t4?))a&7ki$niU_Pwi`^4c5Lc-iOORN0TC>4G7pLaM)S za~1^BgrcN72YuI1Xpg#=SqU6Gb}@sdJu}xDu%3HTW7=(W2uM1yW=803R{>>;R;4(9 zwbzhiekMR+0)LC{u-jY}rHv&r5Gd}iT8z%P^qMFl4TrHVd!aNHU~vqC%R1#3>9w1K zogs~rnDIah*T%TwWl5Ue4#|tmppV|Ce~*ue&dJCFv-kDpbFHu9j=deS5*Yz*RswF% z@xugMiz6L?M(2z~XO`p)qCiSlEM=ouTED;$Pbo_$#YAOm;i3SaY;Dw=eFJUIt6h0O z8`VatZG2(ig>Bpda3XoFjVl3O&_=a@s#V--1!m}uF(Z~G2Cq(!Ney7deA{NKTUkFN zoS&rL^OK`{6l9j_OR2`ueK7mE8n`{j4-?Q81C)T7U24gzeo!Z=I^a7i;n_Ty$~(U#j3e&_;;Nkx>_I>mDYiBibJa~? zq$uYW&aheaI?83Bu_TJxK|lXde~3iR@CzUB2)gLU5qoyTVG69Kw-3Ww!F5#)Y~keK z;yXW05%_5F>>}4R#35GgDeC<)&0VXM3&M&_W)ioDByF9ib;0tg@={te?xnd3nn-Dy zE$VUvG6~;RmxE!#Z!=f??WC9)xSY{~on1l&en3uujMIx%PNFVM2L+ z`8D=u7VsjxBuG`K7O?d!8Ww(SxUEKzv++O#& zuXvzEbvKo?C9&d~W7YmCB~~sza)KRk>Ri*RjbjFgdn&3H;^r~cctT@_^bI}uWzO8i zEUaZw{0h4sOMDT5ZISm(DOMlg^q@jVSP_|FFx!I*HEsuuID(p@LY_OCpEn7R+ps%ZK zmjxJ-3#@{@XQaq*d85odmh!j44;Bj-O`OTXVW48+YB{o1&-i@dtXR1HaSA=%#9-l~ zEvyO;w8fgAHVgM8c1E;t9%ved!_LWGv~W1HK(TPX>aKAey054jwQykPjPy-4k$%v8 z4Eg$~5S<>wJ>g@%P-=|nyhfwI<>PLWt~bY7Ah(OYGaonGqo4}wZi>)u`4kqhYTR_5 zqPe^&`n2MAl?xEcLWiZDnIX8E{$7L7uOSmMD1gt040{t#n88wNUg_%|Iik_`^!i`` zZu%fjDQ2#R$aBuXx}|I^ukN=ba2wlnWiK`|1DkE!{xiD(M*aEJRZYVt?hwjI6G@s? zLXaap4@BIex#`vLTh3xhzpK09p2pE7DMgjj#VAE$O994P9m3-hwJjVYcwM3t#v-s% zu|-?}j+O9U$2#21%4KJzgw4@n;>_Fo7aiVDsiCJ_rO9va*KdBe_gh?(RUWg_BS6(R z!xU+5uLN|O^6qCw*xf$_j}E_ zUwQM=ygd}rRPC_c&KSMDGEo?G(TNW7w7N^C%Y3Fk^2C?=0i0gl2xE~;cFGl zT&tYZEe(aDHO=-{s99r$!l_v$^J`Mmy}(WTGgsy{tEnWPZR6QPVYplWG?p3I&kR(s zyqOLKZe#|JYvpckCZ}PEA-1%??#=0Er@cSL4462SsWbt%g{V4ub^&K?;P$V>UFIh} zdVS1l-M4==KS}VIC=2=x6J&Jo~bT(pLk}L#6^8u+izHWNSh;Ia1mW( zp0*bV=+sO=BsHQSQ@QM5Ul0&nUR9?**@4!o?Ioopgq(zUE$WsEQ};}D6hPqGl;L02 zJ?*~kyEp*o!Ib)Lp5Zd$cNopm%<@#+sjn;b7nmuWhy&*F6Rwm9|GH8}uKy2LO82I& z*s8=dPICdyl+pcWJ-VZC0Cdi-J;t3Oc#9S|M3NHWu3c!>Lq_UrYZro32+U=lP$|s7 zJykpI=Be1jq-y!3=*}%)%pM)P2OYkKqU zuq%L0I64!7#=^t^L?Ap1pi!(wmjtw~afNkHNz;y*{(C0?d1diiOq`naNyRPYb{juQ%$c@98eGUQ7HJN@g9!KMFMpvS?ZPOtm8W8aMc4(z|Whwwj@EQ7N|z;WDM~{UfcUH>csQ2nJ)8OIjT&k5%hH + + + + + + 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:546115147.4 %
Date:2023-12-14 21:42:20Functions:313881.6 %
Legend: Lines: + hit + not hit +
+
+ +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::uav_manager::UavManager::pirouetteSrv()0
mrs_uav_managers::uav_manager::UavManager::callbackLandHome(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)0
mrs_uav_managers::uav_manager::UavManager::callbackLandThere(mrs_msgs::ReferenceStampedSrvRequest_<std::allocator<void> >&, mrs_msgs::ReferenceStampedSrvResponse_<std::allocator<void> >&)0
mrs_uav_managers::uav_manager::UavManager::emergencyReferenceSrv(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)0
mrs_uav_managers::uav_manager::UavManager::elandSrv()0
mrs_uav_managers::uav_manager::UavManager::ehoverSrv()0
mrs_uav_managers::uav_manager::UavManager::ungripSrv()0
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::landWithDescendImpl[abi:cxx11]()2
mrs_uav_managers::uav_manager::UavManager::setControlCallbacksSrv(bool const&)2
mrs_uav_managers::uav_manager::UavManager::landSrv()2
mrs_uav_managers::uav_manager::UavManager::landImpl[abi:cxx11]()2
mrs_uav_managers::uav_manager::UavManager::disarmSrv()2
mrs_uav_managers::uav_manager::UavManager::changeLandingState(mrs_uav_managers::uav_manager::LandingStates_t)4
mrs_uav_managers::uav_manager::UavManager::takeoffSrv()8
mrs_uav_managers::uav_manager::UavManager::callbackTakeoff(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)8
mrs_uav_managers::uav_manager::UavManager::offboardSrv(bool)37
mrs_uav_managers::uav_manager::UavManager::toggleControlOutput(bool const&)37
mrs_uav_managers::uav_manager::UavManager::midairActivationImpl[abi:cxx11]()37
mrs_uav_managers::uav_manager::UavManager::timerMidairActivation(ros::TimerEvent const&)37
mrs_uav_managers::uav_manager::UavManager::callbackMidairActivation(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)37
(anonymous namespace)::ProxyExec0::ProxyExec0()48
mrs_uav_managers::uav_manager::UavManager::initialize()48
mrs_uav_managers::uav_manager::UavManager::preinitialize()48
mrs_uav_managers::uav_manager::UavManager::timerHwApiCapabilities(ros::TimerEvent const&)48
mrs_uav_managers::uav_manager::UavManager::onInit()48
mrs_uav_managers::uav_manager::UavManager::setOdometryCallbacksSrv(bool const&)55
mrs_uav_managers::uav_manager::UavManager::timerFlightTime(ros::TimerEvent const&)61
mrs_uav_managers::uav_manager::UavManager::switchControllerSrv(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)92
mrs_uav_managers::uav_manager::UavManager::switchTrackerSrv(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)94
mrs_uav_managers::uav_manager::UavManager::timerLanding(ros::TimerEvent const&)177
mrs_uav_managers::uav_manager::UavManager::timerTakeoff(ros::TimerEvent const&)383
mrs_uav_managers::uav_manager::UavManager::timerDiagnostics(ros::TimerEvent const&)819
mrs_uav_managers::uav_manager::UavManager::timerMaxHeight(ros::TimerEvent const&)8369
mrs_uav_managers::uav_manager::UavManager::timerMinHeight(ros::TimerEvent const&)8369
mrs_uav_managers::uav_manager::UavManager::timerMaxthrottle(ros::TimerEvent const&)19462
mrs_uav_managers::uav_manager::UavManager::callbackHwApiGNSS(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)39927
mrs_uav_managers::uav_manager::UavManager::callbackOdometry(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)66181
+
+
+ + + +
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..25c8915857 --- /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:546115147.4 %
Date:2023-12-14 21:42:20Functions:313881.6 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()48
mrs_uav_managers::uav_manager::UavManager::initialize()48
mrs_uav_managers::uav_manager::UavManager::takeoffSrv()8
mrs_uav_managers::uav_manager::UavManager::offboardSrv(bool)37
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&)177
mrs_uav_managers::uav_manager::UavManager::timerTakeoff(ros::TimerEvent const&)383
mrs_uav_managers::uav_manager::UavManager::preinitialize()48
mrs_uav_managers::uav_manager::UavManager::timerMaxHeight(ros::TimerEvent const&)8369
mrs_uav_managers::uav_manager::UavManager::timerMinHeight(ros::TimerEvent const&)8369
mrs_uav_managers::uav_manager::UavManager::callbackTakeoff(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)8
mrs_uav_managers::uav_manager::UavManager::timerFlightTime(ros::TimerEvent const&)61
mrs_uav_managers::uav_manager::UavManager::callbackLandHome(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)0
mrs_uav_managers::uav_manager::UavManager::callbackOdometry(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)66181
mrs_uav_managers::uav_manager::UavManager::switchTrackerSrv(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)94
mrs_uav_managers::uav_manager::UavManager::timerDiagnostics(ros::TimerEvent const&)819
mrs_uav_managers::uav_manager::UavManager::timerMaxthrottle(ros::TimerEvent const&)19462
mrs_uav_managers::uav_manager::UavManager::callbackHwApiGNSS(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)39927
mrs_uav_managers::uav_manager::UavManager::callbackLandThere(mrs_msgs::ReferenceStampedSrvRequest_<std::allocator<void> >&, mrs_msgs::ReferenceStampedSrvResponse_<std::allocator<void> >&)0
mrs_uav_managers::uav_manager::UavManager::changeLandingState(mrs_uav_managers::uav_manager::LandingStates_t)4
mrs_uav_managers::uav_manager::UavManager::landWithDescendImpl[abi:cxx11]()2
mrs_uav_managers::uav_manager::UavManager::switchControllerSrv(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)92
mrs_uav_managers::uav_manager::UavManager::toggleControlOutput(bool const&)37
mrs_uav_managers::uav_manager::UavManager::midairActivationImpl[abi:cxx11]()37
mrs_uav_managers::uav_manager::UavManager::emergencyReferenceSrv(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)0
mrs_uav_managers::uav_manager::UavManager::timerMidairActivation(ros::TimerEvent const&)37
mrs_uav_managers::uav_manager::UavManager::setControlCallbacksSrv(bool const&)2
mrs_uav_managers::uav_manager::UavManager::timerHwApiCapabilities(ros::TimerEvent const&)48
mrs_uav_managers::uav_manager::UavManager::setOdometryCallbacksSrv(bool const&)55
mrs_uav_managers::uav_manager::UavManager::callbackMidairActivation(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)37
mrs_uav_managers::uav_manager::UavManager::onInit()48
mrs_uav_managers::uav_manager::UavManager::landSrv()2
mrs_uav_managers::uav_manager::UavManager::elandSrv()0
mrs_uav_managers::uav_manager::UavManager::landImpl[abi:cxx11]()2
mrs_uav_managers::uav_manager::UavManager::disarmSrv()2
mrs_uav_managers::uav_manager::UavManager::ehoverSrv()0
mrs_uav_managers::uav_manager::UavManager::ungripSrv()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_managers/src - uav_manager.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:546115147.4 %
Date:2023-12-14 21:42:20Functions:313881.6 %
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             :   FLY_THERE_STATE,
+      73             :   LANDING_STATE,
+      74             : 
+      75             : } LandingStates_t;
+      76             : 
+      77             : const char* state_names[3] = {
+      78             : 
+      79             :     "IDLING", "FLYING HOME", "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          48 : void UavManager::onInit() {
+     317          48 :   preinitialize();
+     318          48 : }
+     319             : 
+     320             : //}
+     321             : 
+     322             : /* preinitialize() //{ */
+     323             : 
+     324          48 : void UavManager::preinitialize(void) {
+     325             : 
+     326          48 :   nh_ = nodelet::Nodelet::getMTPrivateNodeHandle();
+     327             : 
+     328          48 :   ros::Time::waitForValid();
+     329             : 
+     330          48 :   mrs_lib::SubscribeHandlerOptions shopts;
+     331          48 :   shopts.nh                 = nh_;
+     332          48 :   shopts.node_name          = "ControlManager";
+     333          48 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     334          48 :   shopts.threadsafe         = true;
+     335          48 :   shopts.autostart          = true;
+     336          48 :   shopts.queue_size         = 10;
+     337          48 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     338             : 
+     339          48 :   sh_hw_api_capabilities_ = mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities>(shopts, "hw_api_capabilities_in");
+     340             : 
+     341          48 :   timer_hw_api_capabilities_ = nh_.createTimer(ros::Rate(1.0), &UavManager::timerHwApiCapabilities, this);
+     342          48 : }
+     343             : 
+     344             : //}
+     345             : 
+     346             : /* initialize() //{ */
+     347             : 
+     348          48 : void UavManager::initialize() {
+     349             : 
+     350          48 :   ROS_INFO("[UavManager]: initializing");
+     351             : 
+     352          96 :   mrs_lib::ParamLoader param_loader(nh_, "UavManager");
+     353             : 
+     354          96 :   std::string custom_config_path;
+     355          96 :   std::string platform_config_path;
+     356          96 :   std::string world_config_path;
+     357             : 
+     358          48 :   param_loader.loadParam("custom_config", custom_config_path);
+     359          48 :   param_loader.loadParam("platform_config", platform_config_path);
+     360          48 :   param_loader.loadParam("world_config", world_config_path);
+     361             : 
+     362          48 :   if (custom_config_path != "") {
+     363          48 :     param_loader.addYamlFile(custom_config_path);
+     364             :   }
+     365             : 
+     366          48 :   if (platform_config_path != "") {
+     367          48 :     param_loader.addYamlFile(platform_config_path);
+     368             :   }
+     369             : 
+     370          48 :   if (world_config_path != "") {
+     371          48 :     param_loader.addYamlFile(world_config_path);
+     372             :   }
+     373             : 
+     374          48 :   param_loader.addYamlFileFromParam("private_config");
+     375          48 :   param_loader.addYamlFileFromParam("public_config");
+     376             : 
+     377          96 :   const std::string yaml_prefix = "mrs_uav_managers/uav_manager/";
+     378             : 
+     379             :   // params passed from the launch file are not prefixed
+     380          48 :   param_loader.loadParam("uav_name", _uav_name_);
+     381          48 :   param_loader.loadParam("enable_profiler", _profiler_enabled_);
+     382          48 :   param_loader.loadParam("uav_mass", _uav_mass_);
+     383          48 :   param_loader.loadParam("g", _g_);
+     384             : 
+     385             :   // motor params are also not prefixed, since they are common to more nodes
+     386          48 :   param_loader.loadParam("motor_params/n_motors", _throttle_model_.n_motors);
+     387          48 :   param_loader.loadParam("motor_params/a", _throttle_model_.A);
+     388          48 :   param_loader.loadParam("motor_params/b", _throttle_model_.B);
+     389             : 
+     390          48 :   param_loader.loadParam(yaml_prefix + "null_tracker", _null_tracker_name_);
+     391             : 
+     392          48 :   param_loader.loadParam(yaml_prefix + "takeoff/rate", _takeoff_timer_rate_);
+     393          48 :   param_loader.loadParam(yaml_prefix + "takeoff/after_takeoff/tracker", _after_takeoff_tracker_name_);
+     394          48 :   param_loader.loadParam(yaml_prefix + "takeoff/after_takeoff/controller", _after_takeoff_controller_name_);
+     395          48 :   param_loader.loadParam(yaml_prefix + "takeoff/after_takeoff/pirouette", _after_takeoff_pirouette_);
+     396          48 :   param_loader.loadParam(yaml_prefix + "takeoff/during_takeoff/controller", _takeoff_controller_name_);
+     397          48 :   param_loader.loadParam(yaml_prefix + "takeoff/during_takeoff/tracker", _takeoff_tracker_name_);
+     398          48 :   param_loader.loadParam(yaml_prefix + "takeoff/takeoff_height", _takeoff_height_);
+     399             : 
+     400          48 :   param_loader.loadParam(yaml_prefix + "landing/rate", _landing_timer_rate_);
+     401          48 :   param_loader.loadParam(yaml_prefix + "landing/landing_tracker", _landing_tracker_name_);
+     402          48 :   param_loader.loadParam(yaml_prefix + "landing/landing_controller", _landing_controller_name_);
+     403          48 :   param_loader.loadParam(yaml_prefix + "landing/landing_cutoff_mass_factor", _landing_cutoff_mass_factor_);
+     404          48 :   param_loader.loadParam(yaml_prefix + "landing/landing_cutoff_timeout", _landing_cutoff_mass_timeout_);
+     405          48 :   param_loader.loadParam(yaml_prefix + "landing/disarm", _landing_disarm_);
+     406          48 :   param_loader.loadParam(yaml_prefix + "landing/descend_height", _landing_descend_height_);
+     407          48 :   param_loader.loadParam(yaml_prefix + "landing/tracking_tolerance/translation", _landing_tracking_tolerance_translation_);
+     408          48 :   param_loader.loadParam(yaml_prefix + "landing/tracking_tolerance/heading", _landing_tracking_tolerance_heading_);
+     409             : 
+     410          48 :   param_loader.loadParam(yaml_prefix + "midair_activation/rate", _midair_activation_timer_rate_);
+     411          48 :   param_loader.loadParam(yaml_prefix + "midair_activation/during_activation/controller", _midair_activation_during_controller_);
+     412          48 :   param_loader.loadParam(yaml_prefix + "midair_activation/during_activation/tracker", _midair_activation_during_tracker_);
+     413          48 :   param_loader.loadParam(yaml_prefix + "midair_activation/after_activation/controller", _midair_activation_after_controller_);
+     414          48 :   param_loader.loadParam(yaml_prefix + "midair_activation/after_activation/tracker", _midair_activation_after_tracker_);
+     415             : 
+     416          48 :   param_loader.loadParam(yaml_prefix + "max_height_checking/enabled", _max_height_enabled_);
+     417          48 :   param_loader.loadParam(yaml_prefix + "max_height_checking/rate", _max_height_checking_rate_);
+     418          48 :   param_loader.loadParam(yaml_prefix + "max_height_checking/safety_height_offset", _max_height_offset_);
+     419             : 
+     420          48 :   param_loader.loadParam(yaml_prefix + "min_height_checking/enabled", _min_height_enabled_);
+     421          48 :   param_loader.loadParam(yaml_prefix + "min_height_checking/rate", _min_height_checking_rate_);
+     422          48 :   param_loader.loadParam(yaml_prefix + "min_height_checking/safety_height_offset", _min_height_offset_);
+     423          48 :   param_loader.loadParam(yaml_prefix + "min_height_checking/min_height", _min_height_);
+     424             : 
+     425          48 :   param_loader.loadParam(yaml_prefix + "require_gain_manager", _gain_manager_required_);
+     426          48 :   param_loader.loadParam(yaml_prefix + "require_constraint_manager", _constraint_manager_required_);
+     427             : 
+     428          48 :   param_loader.loadParam(yaml_prefix + "flight_timer/enabled", _flighttime_timer_enabled_);
+     429          48 :   param_loader.loadParam(yaml_prefix + "flight_timer/rate", _flighttime_timer_rate_);
+     430          48 :   param_loader.loadParam(yaml_prefix + "flight_timer/max_time", _flighttime_max_time_);
+     431             : 
+     432          48 :   param_loader.loadParam(yaml_prefix + "max_throttle/enabled", _maxthrottle_timer_enabled_);
+     433          48 :   param_loader.loadParam(yaml_prefix + "max_throttle/rate", _maxthrottle_timer_rate_);
+     434          48 :   param_loader.loadParam(yaml_prefix + "max_throttle/max_throttle", _maxthrottle_max_throttle_);
+     435          48 :   param_loader.loadParam(yaml_prefix + "max_throttle/eland_timeout", _maxthrottle_eland_timeout_);
+     436          48 :   param_loader.loadParam(yaml_prefix + "max_throttle/ungrip_timeout", _maxthrottle_ungrip_timeout_);
+     437             : 
+     438          48 :   param_loader.loadParam(yaml_prefix + "diagnostics/rate", _diagnostics_timer_rate_);
+     439             : 
+     440             :   // | ------------------- scope timer logger ------------------- |
+     441             : 
+     442          48 :   param_loader.loadParam(yaml_prefix + "scope_timer/enabled", scope_timer_enabled_);
+     443         144 :   const std::string scope_timer_log_filename = param_loader.loadParam2("scope_timer/log_filename", std::string(""));
+     444          48 :   scope_timer_logger_                        = std::make_shared<mrs_lib::ScopeTimerLogger>(scope_timer_log_filename, scope_timer_enabled_);
+     445             : 
+     446          48 :   if (!param_loader.loadedSuccessfully()) {
+     447           0 :     ROS_ERROR("[UavManager]: Could not load all parameters!");
+     448           0 :     ros::shutdown();
+     449             :   }
+     450             : 
+     451             :   // | --------------------- tf transformer --------------------- |
+     452             : 
+     453          48 :   transformer_ = std::make_shared<mrs_lib::Transformer>(nh_, "ControlManager");
+     454          48 :   transformer_->setDefaultPrefix(_uav_name_);
+     455          48 :   transformer_->retryLookupNewest(true);
+     456             : 
+     457             :   // | ----------------------- subscribers ---------------------- |
+     458             : 
+     459          96 :   mrs_lib::SubscribeHandlerOptions shopts;
+     460          48 :   shopts.nh                 = nh_;
+     461          48 :   shopts.node_name          = "UavManager";
+     462          48 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     463          48 :   shopts.threadsafe         = true;
+     464          48 :   shopts.autostart          = true;
+     465          48 :   shopts.queue_size         = 10;
+     466          48 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     467             : 
+     468          48 :   sh_controller_diagnostics_ = mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics>(shopts, "controller_diagnostics_in");
+     469          48 :   sh_odometry_               = mrs_lib::SubscribeHandler<nav_msgs::Odometry>(shopts, "odometry_in", &UavManager::callbackOdometry, this);
+     470          48 :   sh_estimation_diagnostics_ = mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics>(shopts, "odometry_diagnostics_in");
+     471          48 :   sh_control_manager_diag_   = mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics>(shopts, "control_manager_diagnostics_in");
+     472          48 :   sh_mass_estimate_          = mrs_lib::SubscribeHandler<std_msgs::Float64>(shopts, "mass_estimate_in");
+     473          48 :   sh_throttle_               = mrs_lib::SubscribeHandler<std_msgs::Float64>(shopts, "throttle_in");
+     474          48 :   sh_height_                 = mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped>(shopts, "height_in");
+     475          48 :   sh_hw_api_status_          = mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus>(shopts, "hw_api_status_in");
+     476          48 :   sh_gains_diag_             = mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics>(shopts, "gain_manager_diagnostics_in");
+     477          48 :   sh_constraints_diag_       = mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics>(shopts, "constraint_manager_diagnostics_in");
+     478          48 :   sh_hw_api_gnss_            = mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix>(shopts, "hw_api_gnss_in", &UavManager::callbackHwApiGNSS, this);
+     479          48 :   sh_max_height_             = mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped>(shopts, "max_height_in");
+     480          48 :   sh_tracker_cmd_            = mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand>(shopts, "tracker_cmd_in");
+     481             : 
+     482             :   // | ----------------------- publishers ----------------------- |
+     483             : 
+     484          48 :   ph_diag_ = mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics>(nh_, "diagnostics_out", 1);
+     485             : 
+     486             :   // | --------------------- service servers -------------------- |
+     487             : 
+     488          48 :   service_server_takeoff_           = nh_.advertiseService("takeoff_in", &UavManager::callbackTakeoff, this);
+     489          48 :   service_server_land_              = nh_.advertiseService("land_in", &UavManager::callbackLand, this);
+     490          48 :   service_server_land_home_         = nh_.advertiseService("land_home_in", &UavManager::callbackLandHome, this);
+     491          48 :   service_server_land_there_        = nh_.advertiseService("land_there_in", &UavManager::callbackLandThere, this);
+     492          48 :   service_server_midair_activation_ = nh_.advertiseService("midair_activation_in", &UavManager::callbackMidairActivation, this);
+     493             : 
+     494             :   // | --------------------- service clients -------------------- |
+     495             : 
+     496          48 :   sch_takeoff_               = mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>(nh_, "takeoff_out");
+     497          48 :   sch_land_                  = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "land_out");
+     498          48 :   sch_eland_                 = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "eland_out");
+     499          48 :   sch_ehover_                = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "ehover_out");
+     500          48 :   sch_switch_tracker_        = mrs_lib::ServiceClientHandler<mrs_msgs::String>(nh_, "switch_tracker_out");
+     501          48 :   sch_switch_controller_     = mrs_lib::ServiceClientHandler<mrs_msgs::String>(nh_, "switch_controller_out");
+     502          48 :   sch_emergency_reference_   = mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>(nh_, "emergency_reference_out");
+     503          48 :   sch_control_callbacks_     = mrs_lib::ServiceClientHandler<std_srvs::SetBool>(nh_, "enable_callbacks_out");
+     504          48 :   sch_arm_                   = mrs_lib::ServiceClientHandler<std_srvs::SetBool>(nh_, "arm_out");
+     505          48 :   sch_pirouette_             = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "pirouette_out");
+     506          48 :   sch_odometry_callbacks_    = mrs_lib::ServiceClientHandler<std_srvs::SetBool>(nh_, "set_odometry_callbacks_out");
+     507          48 :   sch_ungrip_                = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "ungrip_out");
+     508          48 :   sch_toggle_control_output_ = mrs_lib::ServiceClientHandler<std_srvs::SetBool>(nh_, "toggle_control_output_out");
+     509          48 :   sch_offboard_              = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "offboard_out");
+     510             : 
+     511             :   // | ---------------------- state machine --------------------- |
+     512             : 
+     513          48 :   current_state_landing_ = IDLE_STATE;
+     514             : 
+     515             :   // | ------------------------ profiler ------------------------ |
+     516             : 
+     517          48 :   profiler_ = mrs_lib::Profiler(nh_, "UavManager", _profiler_enabled_);
+     518             : 
+     519             :   // | ------------------------- timers ------------------------- |
+     520             : 
+     521          48 :   timer_landing_           = nh_.createTimer(ros::Rate(_landing_timer_rate_), &UavManager::timerLanding, this, false, false);
+     522          48 :   timer_takeoff_           = nh_.createTimer(ros::Rate(_takeoff_timer_rate_), &UavManager::timerTakeoff, this, false, false);
+     523          48 :   timer_flighttime_        = nh_.createTimer(ros::Rate(_flighttime_timer_rate_), &UavManager::timerFlightTime, this, false, false);
+     524          48 :   timer_diagnostics_       = nh_.createTimer(ros::Rate(_diagnostics_timer_rate_), &UavManager::timerDiagnostics, this);
+     525          48 :   timer_midair_activation_ = nh_.createTimer(ros::Rate(_midair_activation_timer_rate_), &UavManager::timerMidairActivation, this, false, false);
+     526          96 :   timer_max_height_        = nh_.createTimer(ros::Rate(_max_height_checking_rate_), &UavManager::timerMaxHeight, this, false,
+     527          96 :                                       _max_height_enabled_ && hw_api_capabilities_.produces_distance_sensor);
+     528          96 :   timer_min_height_        = nh_.createTimer(ros::Rate(_min_height_checking_rate_), &UavManager::timerMinHeight, this, false,
+     529          96 :                                       _min_height_enabled_ && hw_api_capabilities_.produces_distance_sensor);
+     530             : 
+     531          45 :   bool should_check_throttle = hw_api_capabilities_.accepts_actuator_cmd || hw_api_capabilities_.accepts_control_group_cmd ||
+     532          93 :                                hw_api_capabilities_.accepts_attitude_rate_cmd || hw_api_capabilities_.accepts_attitude_cmd;
+     533             : 
+     534             :   timer_maxthrottle_ =
+     535          48 :       nh_.createTimer(ros::Rate(_maxthrottle_timer_rate_), &UavManager::timerMaxthrottle, this, false, _maxthrottle_timer_enabled_ && should_check_throttle);
+     536             : 
+     537             :   // | ----------------------- finish init ---------------------- |
+     538             : 
+     539          48 :   is_initialized_ = true;
+     540             : 
+     541          48 :   ROS_INFO("[UavManager]: initialized");
+     542             : 
+     543          48 :   ROS_DEBUG("[UavManager]: debug output is enabled");
+     544          48 : }
+     545             : 
+     546             : //}
+     547             : 
+     548             : //}
+     549             : 
+     550             : // | ---------------------- state machine --------------------- |
+     551             : 
+     552             : /* //{ changeLandingState() */
+     553             : 
+     554           4 : void UavManager::changeLandingState(LandingStates_t new_state) {
+     555             : 
+     556           4 :   previous_state_landing_ = current_state_landing_;
+     557           4 :   current_state_landing_  = new_state;
+     558             : 
+     559           4 :   switch (current_state_landing_) {
+     560             : 
+     561           2 :     case LANDING_STATE: {
+     562             : 
+     563           2 :       if (sh_mass_estimate_.hasMsg() && (ros::Time::now() - sh_mass_estimate_.lastMsgTime()).toSec() < 1.0) {
+     564             : 
+     565             :         // copy member variables
+     566           2 :         auto mass_esimtate = sh_mass_estimate_.getMsg();
+     567             : 
+     568           2 :         landing_uav_mass_ = mass_esimtate->data;
+     569             :       }
+     570             : 
+     571           2 :       break;
+     572             :     };
+     573             : 
+     574           2 :     default: {
+     575           2 :       break;
+     576             :     }
+     577             :   }
+     578             : 
+     579             :   // just for ROS_INFO
+     580           4 :   ROS_INFO("[UavManager]: Switching landing state %s -> %s", state_names[previous_state_landing_], state_names[current_state_landing_]);
+     581           4 : }
+     582             : 
+     583             : //}
+     584             : 
+     585             : // --------------------------------------------------------------
+     586             : // |                           timers                           |
+     587             : // --------------------------------------------------------------
+     588             : 
+     589             : /* timerHwApiCapabilities() //{ */
+     590             : 
+     591          48 : void UavManager::timerHwApiCapabilities(const ros::TimerEvent& event) {
+     592             : 
+     593          96 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerHwApiCapabilities", 1.0, 1.0, event);
+     594          96 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::timerHwApiCapabilities", scope_timer_logger_, scope_timer_enabled_);
+     595             : 
+     596          48 :   if (!sh_hw_api_capabilities_.hasMsg()) {
+     597           0 :     ROS_INFO_THROTTLE(1.0, "[ControlManager]: waiting for HW API capabilities");
+     598           0 :     return;
+     599             :   }
+     600             : 
+     601          48 :   hw_api_capabilities_ = *sh_hw_api_capabilities_.getMsg();
+     602             : 
+     603          48 :   ROS_INFO("[ControlManager]: got HW API capabilities, initializing");
+     604             : 
+     605          48 :   initialize();
+     606             : 
+     607          48 :   timer_hw_api_capabilities_.stop();
+     608             : }
+     609             : 
+     610             : //}
+     611             : 
+     612             : /* //{ timerLanding() */
+     613             : 
+     614         177 : void UavManager::timerLanding(const ros::TimerEvent& event) {
+     615             : 
+     616         177 :   if (!is_initialized_)
+     617           0 :     return;
+     618             : 
+     619         354 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerLanding", _landing_timer_rate_, 0.1, event);
+     620         354 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("UavManager::timerLanding", scope_timer_logger_, scope_timer_enabled_);
+     621             : 
+     622         177 :   auto land_there_reference = mrs_lib::get_mutexed(mutex_land_there_reference_, land_there_reference_);
+     623             : 
+     624             :   // copy member variables
+     625         177 :   auto control_manager_diagnostics = sh_control_manager_diag_.getMsg();
+     626         177 :   auto odometry                    = sh_odometry_.getMsg();
+     627         177 :   auto tracker_cmd                 = sh_tracker_cmd_.getMsg();
+     628             : 
+     629         177 :   std::optional<double> desired_throttle;
+     630             : 
+     631         177 :   if (sh_throttle_.hasMsg() && (ros::Time::now() - sh_throttle_.lastMsgTime()).toSec() < 1.0) {
+     632         177 :     desired_throttle = sh_throttle_.getMsg()->data;
+     633             :   }
+     634             : 
+     635         177 :   auto res = transformer_->transformSingle(land_there_reference, odometry->header.frame_id);
+     636             : 
+     637         177 :   mrs_msgs::ReferenceStamped land_there_current_frame;
+     638             : 
+     639         177 :   if (res) {
+     640         177 :     land_there_current_frame = res.value();
+     641             :   } else {
+     642             : 
+     643           0 :     ROS_ERROR("[UavManager]: could not transform the reference into the current frame! land by yourself pls.");
+     644           0 :     return;
+     645             :   }
+     646             : 
+     647         177 :   if (current_state_landing_ == IDLE_STATE) {
+     648             : 
+     649           0 :     return;
+     650             : 
+     651         177 :   } else if (current_state_landing_ == FLY_THERE_STATE) {
+     652             : 
+     653           0 :     auto [pos_x, pos_y, pos_z] = mrs_lib::getPosition(*tracker_cmd);
+     654           0 :     auto [ref_x, ref_y, ref_z] = mrs_lib::getPosition(land_there_current_frame);
+     655             : 
+     656           0 :     double pos_heading = tracker_cmd->heading;
+     657             : 
+     658           0 :     double ref_heading = 0;
+     659             :     try {
+     660           0 :       ref_heading = mrs_lib::getHeading(land_there_current_frame);
+     661             :     }
+     662           0 :     catch (mrs_lib::AttitudeConverter::GetHeadingException& e) {
+     663           0 :       ROS_ERROR_THROTTLE(1.0, "[UavManager]: exception caught: '%s'", e.what());
+     664           0 :       return;
+     665             :     }
+     666             : 
+     667           0 :     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_ &&
+     668           0 :         fabs(radians::diff(pos_heading, ref_heading)) < _landing_tracking_tolerance_heading_) {
+     669             : 
+     670           0 :       auto [success, message] = landWithDescendImpl();
+     671             : 
+     672           0 :       if (!success) {
+     673             : 
+     674           0 :         ROS_ERROR_THROTTLE(1.0, "[UavManager]: call for landing failed: '%s'", message.c_str());
+     675             :       }
+     676             : 
+     677           0 :     } else if (!control_manager_diagnostics->tracker_status.have_goal && control_manager_diagnostics->flying_normally) {
+     678             : 
+     679           0 :       ROS_WARN_THROTTLE(1.0, "[UavManager]: the tracker does not have a goal while flying home, setting the reference again");
+     680             : 
+     681           0 :       mrs_msgs::ReferenceStamped reference_out;
+     682             : 
+     683             :       {
+     684           0 :         std::scoped_lock lock(mutex_land_there_reference_);
+     685             : 
+     686             :         // get the current altitude in land_there_reference_.header.frame_id;
+     687           0 :         geometry_msgs::PoseStamped current_pose;
+     688           0 :         current_pose.header.stamp     = ros::Time::now();
+     689           0 :         current_pose.header.frame_id  = _uav_name_ + "/fcu";
+     690           0 :         current_pose.pose.position.x  = 0;
+     691           0 :         current_pose.pose.position.y  = 0;
+     692           0 :         current_pose.pose.position.z  = 0;
+     693           0 :         current_pose.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+     694             : 
+     695           0 :         auto response = transformer_->transformSingle(current_pose, land_there_reference_.header.frame_id);
+     696             : 
+     697           0 :         if (response) {
+     698             : 
+     699           0 :           land_there_reference_.reference.position.z = response.value().pose.position.z;
+     700           0 :           ROS_DEBUG("[UavManager]: current altitude is %.2f m", land_there_reference_.reference.position.z);
+     701             : 
+     702             :         } else {
+     703             : 
+     704           0 :           std::stringstream ss;
+     705           0 :           ss << "could not transform current height to " << land_there_reference_.header.frame_id;
+     706           0 :           ROS_ERROR_STREAM("[UavManager]: " << ss.str());
+     707             :         }
+     708             : 
+     709           0 :         reference_out.header.frame_id = land_there_reference_.header.frame_id;
+     710           0 :         reference_out.header.stamp    = ros::Time::now();
+     711           0 :         reference_out.reference       = land_there_reference_.reference;
+     712             :       }
+     713             : 
+     714           0 :       emergencyReferenceSrv(reference_out);
+     715             :     }
+     716             : 
+     717         177 :   } else if (current_state_landing_ == LANDING_STATE) {
+     718             : 
+     719             :     // we should not attempt to finish the landing if some other tracked was activated
+     720         177 :     if (_landing_tracker_name_ == sh_control_manager_diag_.getMsg()->active_tracker) {
+     721             : 
+     722         177 :       if (desired_throttle) {
+     723             : 
+     724             :         // recalculate the mass based on the throttle
+     725         177 :         throttle_mass_estimate_ = mrs_lib::quadratic_throttle_model::throttleToForce(_throttle_model_, desired_throttle.value()) / _g_;
+     726         177 :         ROS_INFO_THROTTLE(1.0, "[UavManager]: landing: initial mass: %.2f throttle_mass_estimate: %.2f", landing_uav_mass_, throttle_mass_estimate_);
+     727             : 
+     728             :         // condition for automatic motor turn off
+     729         177 :         if (((throttle_mass_estimate_ < _landing_cutoff_mass_factor_ * landing_uav_mass_) || desired_throttle < 0.01)) {
+     730             : 
+     731          44 :           if (!throttle_under_threshold_) {
+     732             : 
+     733           2 :             throttle_mass_estimate_first_time_ = ros::Time::now();
+     734           2 :             throttle_under_threshold_          = true;
+     735             :           }
+     736             : 
+     737          44 :           ROS_INFO_THROTTLE(0.5, "[UavManager]: throttle is under cutoff factor for %.2f s", (ros::Time::now() - throttle_mass_estimate_first_time_).toSec());
+     738             : 
+     739             :         } else {
+     740             : 
+     741         133 :           throttle_under_threshold_ = false;
+     742             :         }
+     743             : 
+     744         177 :         if (throttle_under_threshold_ && ((ros::Time::now() - throttle_mass_estimate_first_time_).toSec() > _landing_cutoff_mass_timeout_)) {
+     745             : 
+     746           2 :           switchTrackerSrv(_null_tracker_name_);
+     747             : 
+     748           2 :           setControlCallbacksSrv(true);
+     749             : 
+     750           2 :           if (_landing_disarm_) {
+     751             : 
+     752           2 :             ROS_INFO("[UavManager]: disarming after landing");
+     753             : 
+     754           2 :             disarmSrv();
+     755             :           }
+     756             : 
+     757           2 :           changeLandingState(IDLE_STATE);
+     758             : 
+     759           2 :           ROS_INFO("[UavManager]: landing finished");
+     760             : 
+     761           2 :           timer_landing_.stop();
+     762             :         }
+     763             : 
+     764             :       } else {
+     765             : 
+     766           0 :         auto odometry = sh_odometry_.getMsg();
+     767             : 
+     768           0 :         double z_vel = odometry->twist.twist.linear.z;
+     769             : 
+     770           0 :         ROS_INFO_THROTTLE(1.0, "[UavManager]: landing: z-velocity: %.2f", z_vel);
+     771             : 
+     772             :         // condition for automatic motor turn off
+     773           0 :         if (z_vel > -0.1) {
+     774             : 
+     775           0 :           if (!velocity_under_threshold_) {
+     776             : 
+     777           0 :             velocity_under_threshold_first_time_ = ros::Time::now();
+     778           0 :             velocity_under_threshold_            = true;
+     779             :           }
+     780             : 
+     781           0 :           ROS_INFO_THROTTLE(0.5, "[UavManager]: velocity over threshold for %.2f s", (ros::Time::now() - velocity_under_threshold_first_time_).toSec());
+     782             : 
+     783             :         } else {
+     784             : 
+     785           0 :           velocity_under_threshold_ = false;
+     786             :         }
+     787             : 
+     788           0 :         if (velocity_under_threshold_ && ((ros::Time::now() - velocity_under_threshold_first_time_).toSec() > 3.0)) {
+     789             : 
+     790           0 :           switchTrackerSrv(_null_tracker_name_);
+     791             : 
+     792           0 :           setControlCallbacksSrv(true);
+     793             : 
+     794           0 :           if (_landing_disarm_) {
+     795             : 
+     796           0 :             ROS_INFO("[UavManager]: disarming after landing");
+     797             : 
+     798           0 :             disarmSrv();
+     799             :           }
+     800             : 
+     801           0 :           changeLandingState(IDLE_STATE);
+     802             : 
+     803           0 :           ROS_INFO("[UavManager]: landing finished");
+     804             : 
+     805           0 :           timer_landing_.stop();
+     806             :         }
+     807             :       }
+     808             : 
+     809             :     } else {
+     810             : 
+     811           0 :       ROS_WARN_THROTTLE(1.0, "[UavManager]: incorrect tracker detected during landing!");
+     812             :     }
+     813             :   }
+     814             : }
+     815             : 
+     816             : //}
+     817             : 
+     818             : /* //{ timerTakeoff() */
+     819             : 
+     820         383 : void UavManager::timerTakeoff(const ros::TimerEvent& event) {
+     821             : 
+     822         383 :   if (!is_initialized_)
+     823           1 :     return;
+     824             : 
+     825         766 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerTakeoff", _takeoff_timer_rate_, 0.1, event);
+     826         766 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("UavManager::timerTakeoff", scope_timer_logger_, scope_timer_enabled_);
+     827             : 
+     828         383 :   auto control_manager_diagnostics = sh_control_manager_diag_.getMsg();
+     829             : 
+     830         383 :   if (waiting_for_takeoff_) {
+     831             : 
+     832           9 :     if (control_manager_diagnostics->active_tracker == _takeoff_tracker_name_ && control_manager_diagnostics->tracker_status.have_goal) {
+     833             : 
+     834           8 :       waiting_for_takeoff_ = false;
+     835             :     } else {
+     836             : 
+     837           1 :       ROS_WARN_THROTTLE(1.0, "[UavManager]: waiting for takeoff confirmation from the ControlManager");
+     838           1 :       return;
+     839             :     }
+     840             :   }
+     841             : 
+     842         382 :   if (takingoff_) {
+     843             : 
+     844         382 :     if (control_manager_diagnostics->active_tracker != _takeoff_tracker_name_ || !control_manager_diagnostics->tracker_status.have_goal) {
+     845             : 
+     846           8 :       ROS_INFO("[UavManager]: take off finished, switching to %s", _after_takeoff_tracker_name_.c_str());
+     847             : 
+     848           8 :       switchTrackerSrv(_after_takeoff_tracker_name_);
+     849             : 
+     850           8 :       switchControllerSrv(_after_takeoff_controller_name_);
+     851             : 
+     852           8 :       setOdometryCallbacksSrv(true);
+     853             : 
+     854           8 :       if (_after_takeoff_pirouette_) {
+     855             : 
+     856           0 :         pirouetteSrv();
+     857             :       }
+     858             : 
+     859           8 :       timer_takeoff_.stop();
+     860             :     }
+     861             :   }
+     862             : }
+     863             : 
+     864             : //}
+     865             : 
+     866             : /* //{ timerMaxHeight() */
+     867             : 
+     868        8369 : void UavManager::timerMaxHeight(const ros::TimerEvent& event) {
+     869             : 
+     870        8369 :   if (!is_initialized_)
+     871        5161 :     return;
+     872             : 
+     873       16738 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerMaxHeight", _max_height_checking_rate_, 0.1, event);
+     874       16738 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("UavManager::timerMaxHeight", scope_timer_logger_, scope_timer_enabled_);
+     875             : 
+     876        8369 :   if (!sh_max_height_.hasMsg() || !sh_height_.hasMsg() || !sh_odometry_.hasMsg()) {
+     877        2814 :     ROS_WARN_THROTTLE(10.0, "[UavManager]: maxHeightTimer() not spinning, missing data");
+     878        2814 :     return;
+     879             :   }
+     880             : 
+     881        5555 :   auto control_manager_diag = sh_control_manager_diag_.getMsg();
+     882             : 
+     883        5555 :   if (!control_manager_diag->flying_normally) {
+     884        2347 :     return;
+     885             :   }
+     886             : 
+     887        3208 :   auto   odometry = sh_odometry_.getMsg();
+     888        3208 :   double height   = sh_height_.getMsg()->value;
+     889             : 
+     890             :   // transform max z to the height frame
+     891        3208 :   geometry_msgs::PointStamped point;
+     892        3208 :   point.header  = sh_max_height_.getMsg()->header;
+     893        3208 :   point.point.z = sh_max_height_.getMsg()->value;
+     894             : 
+     895        3208 :   auto res = transformer_->transformSingle(point, sh_height_.getMsg()->header.frame_id);
+     896             : 
+     897             :   double max_z_in_height;
+     898             : 
+     899        3208 :   if (res) {
+     900        3208 :     max_z_in_height = res->point.z;
+     901             :   } else {
+     902           0 :     ROS_WARN_THROTTLE(1.0, "[UavManager]: timerMaxHeight() not working, cannot transform max z to the height frame");
+     903           0 :     return;
+     904             :   }
+     905             : 
+     906        3208 :   auto [odometry_x, odometry_y, odometry_z] = mrs_lib::getPosition(odometry);
+     907             : 
+     908        3208 :   double odometry_heading = 0;
+     909             :   try {
+     910        3208 :     odometry_heading = mrs_lib::getHeading(odometry);
+     911             :   }
+     912           0 :   catch (mrs_lib::AttitudeConverter::GetHeadingException& e) {
+     913           0 :     ROS_ERROR_THROTTLE(1.0, "[UavManager]: exception caught: '%s'", e.what());
+     914           0 :     return;
+     915             :   }
+     916             : 
+     917        3208 :   if (height > max_z_in_height) {
+     918             : 
+     919           0 :     ROS_WARN_THROTTLE(1.0, "[UavManager]: max height exceeded: %.2f >  %.2f, triggering safety goto", height, max_z_in_height);
+     920             : 
+     921           0 :     mrs_msgs::ReferenceStamped reference_out;
+     922           0 :     reference_out.header.frame_id = odometry->header.frame_id;
+     923           0 :     reference_out.header.stamp    = ros::Time::now();
+     924             : 
+     925           0 :     reference_out.reference.position.x = odometry_x;
+     926           0 :     reference_out.reference.position.y = odometry_y;
+     927           0 :     reference_out.reference.position.z = odometry_z + ((max_z_in_height - _max_height_offset_) - height);
+     928             : 
+     929           0 :     reference_out.reference.heading = odometry_heading;
+     930             : 
+     931           0 :     setControlCallbacksSrv(false);
+     932             : 
+     933           0 :     bool success = emergencyReferenceSrv(reference_out);
+     934             : 
+     935           0 :     if (success) {
+     936             : 
+     937           0 :       ROS_INFO("[UavManager]: descending");
+     938             : 
+     939           0 :       fixing_max_height_ = true;
+     940             : 
+     941             :     } else {
+     942             : 
+     943           0 :       ROS_ERROR_THROTTLE(1.0, "[UavManager]: could not descend");
+     944             : 
+     945           0 :       setControlCallbacksSrv(true);
+     946             :     }
+     947             :   }
+     948             : 
+     949        3208 :   if (fixing_max_height_ && height < max_z_in_height) {
+     950             : 
+     951           0 :     setControlCallbacksSrv(true);
+     952             : 
+     953           0 :     ROS_WARN_THROTTLE(1.0, "[UavManager]: safe height reached");
+     954             : 
+     955           0 :     fixing_max_height_ = false;
+     956             :   }
+     957             : }
+     958             : 
+     959             : //}
+     960             : 
+     961             : /* //{ timerMinHeight() */
+     962             : 
+     963        8369 : void UavManager::timerMinHeight(const ros::TimerEvent& event) {
+     964             : 
+     965        8369 :   if (!is_initialized_)
+     966        5161 :     return;
+     967             : 
+     968        8369 :   ROS_INFO_ONCE("[UavManager]: min height timer spinning");
+     969             : 
+     970       16738 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerMinHeight", _min_height_checking_rate_, 0.1, event);
+     971       16738 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("UavManager::timerMinHeight", scope_timer_logger_, scope_timer_enabled_);
+     972             : 
+     973        8369 :   if (!sh_odometry_.hasMsg() || !sh_height_.hasMsg() || !sh_control_manager_diag_.hasMsg()) {
+     974        2810 :     ROS_WARN_THROTTLE(10.0, "[UavManager]: minHeightTimer() not spinning, missing data");
+     975        2810 :     return;
+     976             :   }
+     977             : 
+     978        5559 :   auto control_manager_diag = sh_control_manager_diag_.getMsg();
+     979             : 
+     980        5559 :   if (!control_manager_diag->flying_normally) {
+     981        2351 :     return;
+     982             :   }
+     983             : 
+     984        3208 :   auto   odometry = sh_odometry_.getMsg();
+     985        3208 :   double height   = sh_height_.getMsg()->value;
+     986             : 
+     987        3208 :   auto [odometry_x, odometry_y, odometry_z] = mrs_lib::getPosition(odometry);
+     988             : 
+     989        3208 :   double odometry_heading = 0;
+     990             :   try {
+     991        3208 :     odometry_heading = mrs_lib::getHeading(odometry);
+     992             :   }
+     993           0 :   catch (mrs_lib::AttitudeConverter::GetHeadingException& e) {
+     994           0 :     ROS_ERROR_THROTTLE(1.0, "[UavManager]: exception caught: '%s'", e.what());
+     995           0 :     return;
+     996             :   }
+     997             : 
+     998        3208 :   if (height < _min_height_) {
+     999             : 
+    1000           0 :     ROS_WARN_THROTTLE(1.0, "[UavManager]: min height breached: %.2f < %.2f, triggering safety goto", height, _min_height_);
+    1001             : 
+    1002           0 :     mrs_msgs::ReferenceStamped reference_out;
+    1003           0 :     reference_out.header.frame_id = odometry->header.frame_id;
+    1004           0 :     reference_out.header.stamp    = ros::Time::now();
+    1005             : 
+    1006           0 :     reference_out.reference.position.x = odometry_x;
+    1007           0 :     reference_out.reference.position.y = odometry_y;
+    1008           0 :     reference_out.reference.position.z = odometry_z + ((_min_height_ + _min_height_offset_) - height);
+    1009             : 
+    1010           0 :     reference_out.reference.heading = odometry_heading;
+    1011             : 
+    1012           0 :     setControlCallbacksSrv(false);
+    1013             : 
+    1014           0 :     bool success = emergencyReferenceSrv(reference_out);
+    1015             : 
+    1016           0 :     if (success) {
+    1017             : 
+    1018           0 :       ROS_INFO("[UavManager]: ascending");
+    1019             : 
+    1020           0 :       fixing_min_height_ = true;
+    1021             : 
+    1022             :     } else {
+    1023             : 
+    1024           0 :       ROS_ERROR_THROTTLE(1.0, "[UavManager]: could not ascend");
+    1025             : 
+    1026           0 :       setControlCallbacksSrv(true);
+    1027             :     }
+    1028             :   }
+    1029             : 
+    1030        3208 :   if (fixing_min_height_ && height > _min_height_) {
+    1031             : 
+    1032           0 :     setControlCallbacksSrv(true);
+    1033             : 
+    1034           0 :     ROS_WARN_THROTTLE(1.0, "[UavManager]: safe height reached");
+    1035             : 
+    1036           0 :     fixing_min_height_ = false;
+    1037             :   }
+    1038             : }
+    1039             : 
+    1040             : //}
+    1041             : 
+    1042             : /* //{ timerFlightTime() */
+    1043             : 
+    1044          61 : void UavManager::timerFlightTime(const ros::TimerEvent& event) {
+    1045             : 
+    1046          61 :   if (!is_initialized_)
+    1047           0 :     return;
+    1048             : 
+    1049         183 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerFlightTime", _flighttime_timer_rate_, 0.1, event);
+    1050         183 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("UavManager::timerFlightTime", scope_timer_logger_, scope_timer_enabled_);
+    1051             : 
+    1052          61 :   auto flighttime = mrs_lib::get_mutexed(mutex_flighttime_, flighttime_);
+    1053             : 
+    1054          61 :   flighttime += 1.0 / _flighttime_timer_rate_;
+    1055             : 
+    1056          61 :   mrs_msgs::Float64 flight_time;
+    1057          61 :   flight_time.value = flighttime;
+    1058             : 
+    1059             :   // if enabled, start the timer for measuring the flight time
+    1060          61 :   if (_flighttime_timer_enabled_) {
+    1061             : 
+    1062           0 :     if (flighttime > _flighttime_max_time_) {
+    1063             : 
+    1064           0 :       flighttime = 0;
+    1065           0 :       timer_flighttime_.stop();
+    1066             : 
+    1067           0 :       ROS_INFO("[UavManager]: max flight time reached, landing");
+    1068             : 
+    1069           0 :       landImpl();
+    1070             :     }
+    1071             :   }
+    1072             : 
+    1073          61 :   mrs_lib::set_mutexed(mutex_flighttime_, flighttime, flighttime_);
+    1074             : }
+    1075             : 
+    1076             : //}
+    1077             : 
+    1078             : /* //{ timerMaxthrottle() */
+    1079             : 
+    1080       19462 : void UavManager::timerMaxthrottle(const ros::TimerEvent& event) {
+    1081             : 
+    1082       19462 :   if (!is_initialized_)
+    1083        6117 :     return;
+    1084             : 
+    1085       19462 :   if (!sh_throttle_.hasMsg() || (ros::Time::now() - sh_throttle_.lastMsgTime()).toSec() > 1.0) {
+    1086        6117 :     return;
+    1087             :   }
+    1088             : 
+    1089       13345 :   ROS_INFO_ONCE("[UavManager]: max throttle timer spinning");
+    1090             : 
+    1091       40035 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerMaxthrottle", _maxthrottle_timer_rate_, 0.03, event);
+    1092       40035 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("UavManager::timerMaxthrottle", scope_timer_logger_, scope_timer_enabled_);
+    1093             : 
+    1094       13345 :   auto desired_throttle = sh_throttle_.getMsg()->data;
+    1095             : 
+    1096       13345 :   if (desired_throttle >= _maxthrottle_max_throttle_) {
+    1097             : 
+    1098           0 :     if (!maxthrottle_above_threshold_) {
+    1099             : 
+    1100           0 :       maxthrottle_first_time_      = ros::Time::now();
+    1101           0 :       maxthrottle_above_threshold_ = true;
+    1102           0 :       ROS_WARN_THROTTLE(1.0, "[UavManager]: max throttle exceeded threshold (%.2f/%.2f)", desired_throttle, _maxthrottle_max_throttle_);
+    1103             : 
+    1104             :     } else {
+    1105             : 
+    1106           0 :       ROS_WARN_THROTTLE(0.1, "[UavManager]: throttle over threshold (%.2f/%.2f) for %.2f s", desired_throttle, _maxthrottle_max_throttle_,
+    1107             :                         (ros::Time::now() - maxthrottle_first_time_).toSec());
+    1108             :     }
+    1109             : 
+    1110             :   } else {
+    1111             : 
+    1112       13345 :     maxthrottle_above_threshold_ = false;
+    1113             :   }
+    1114             : 
+    1115       13345 :   if (maxthrottle_above_threshold_ && (ros::Time::now() - maxthrottle_first_time_).toSec() > _maxthrottle_ungrip_timeout_) {
+    1116             : 
+    1117           0 :     ROS_WARN_THROTTLE(1.0, "[UavManager]: throttle over threshold (%.2f/%.2f) for more than %.2f s, ungripping payload", desired_throttle,
+    1118             :                       _maxthrottle_max_throttle_, _maxthrottle_ungrip_timeout_);
+    1119             : 
+    1120           0 :     ungripSrv();
+    1121             :   }
+    1122             : 
+    1123       13345 :   if (maxthrottle_above_threshold_ && (ros::Time::now() - maxthrottle_first_time_).toSec() > _maxthrottle_eland_timeout_) {
+    1124             : 
+    1125           0 :     timer_maxthrottle_.stop();
+    1126             : 
+    1127           0 :     ROS_ERROR_THROTTLE(1.0, "[UavManager]: throttle over threshold (%.2f/%.2f) for more than %.2f s, calling for emergency landing", desired_throttle,
+    1128             :                        _maxthrottle_max_throttle_, _maxthrottle_eland_timeout_);
+    1129             : 
+    1130           0 :     elandSrv();
+    1131             :   }
+    1132             : }
+    1133             : 
+    1134             : //}
+    1135             : 
+    1136             : /* //{ timerDiagnostics() */
+    1137             : 
+    1138         819 : void UavManager::timerDiagnostics(const ros::TimerEvent& event) {
+    1139             : 
+    1140         819 :   if (!is_initialized_)
+    1141           0 :     return;
+    1142             : 
+    1143        2457 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerDiagnostics", _maxthrottle_timer_rate_, 0.03, event);
+    1144        2457 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("UavManager::timerDiagnostics", scope_timer_logger_, scope_timer_enabled_);
+    1145             : 
+    1146         819 :   bool got_gps_est = false;
+    1147         819 :   bool got_rtk_est = false;
+    1148             : 
+    1149         819 :   if (sh_estimation_diagnostics_.hasMsg()) {  // get current position in lat-lon
+    1150             : 
+    1151        1272 :     auto                     estimation_diag  = sh_estimation_diagnostics_.getMsg();
+    1152         636 :     std::vector<std::string> state_estimators = estimation_diag.get()->switchable_state_estimators;
+    1153             : 
+    1154        1080 :     got_gps_est = std::find(state_estimators.begin(), state_estimators.end(), "gps_garmin") != state_estimators.end() ||
+    1155         444 :                   std::find(state_estimators.begin(), state_estimators.end(), "gps_baro") != state_estimators.end();
+    1156         636 :     got_rtk_est = std::find(state_estimators.begin(), state_estimators.end(), "rtk") != state_estimators.end();
+    1157             :   }
+    1158             : 
+    1159        1638 :   mrs_msgs::UavManagerDiagnostics diag;
+    1160             : 
+    1161         819 :   diag.stamp    = ros::Time::now();
+    1162         819 :   diag.uav_name = _uav_name_;
+    1163             : 
+    1164         819 :   auto flighttime = mrs_lib::get_mutexed(mutex_flighttime_, flighttime_);
+    1165             : 
+    1166             :   // fill in the acumulated flight time
+    1167         819 :   diag.flight_time = flighttime;
+    1168             : 
+    1169         819 :   if (sh_odometry_.hasMsg()) {  // get current position in lat-lon
+    1170             : 
+    1171         638 :     if (got_gps_est || got_rtk_est) {
+    1172             : 
+    1173        1190 :       nav_msgs::Odometry odom = *sh_odometry_.getMsg();
+    1174             : 
+    1175        1190 :       geometry_msgs::PoseStamped uav_pose;
+    1176         595 :       uav_pose.pose = mrs_lib::getPose(odom);
+    1177             : 
+    1178        1785 :       auto res = transformer_->transformSingle(uav_pose, "latlon_origin");
+    1179             : 
+    1180         595 :       if (res) {
+    1181         595 :         diag.cur_latitude  = res.value().pose.position.x;
+    1182         595 :         diag.cur_longitude = res.value().pose.position.y;
+    1183             :       }
+    1184             :     }
+    1185             :   }
+    1186             : 
+    1187         819 :   if (takeoff_successful_) {
+    1188             : 
+    1189          72 :     if (got_gps_est || got_rtk_est) {
+    1190             : 
+    1191         144 :       auto land_there_reference = mrs_lib::get_mutexed(mutex_land_there_reference_, land_there_reference_);
+    1192             : 
+    1193         216 :       auto res = transformer_->transformSingle(land_there_reference, "latlon_origin");
+    1194             : 
+    1195          72 :       if (res) {
+    1196          72 :         diag.home_latitude  = res.value().reference.position.x;
+    1197          72 :         diag.home_longitude = res.value().reference.position.y;
+    1198             :       }
+    1199             :     }
+    1200             :   }
+    1201             : 
+    1202         819 :   ph_diag_.publish(diag);
+    1203             : }
+    1204             : 
+    1205             : //}
+    1206             : 
+    1207             : /* //{ timerMidairActivation() */
+    1208             : 
+    1209          37 : void UavManager::timerMidairActivation([[maybe_unused]] const ros::TimerEvent& event) {
+    1210             : 
+    1211          37 :   if (!is_initialized_)
+    1212           0 :     return;
+    1213             : 
+    1214          37 :   ROS_INFO_THROTTLE(0.1, "[UavManager]: waiting for OFFBOARD");
+    1215             : 
+    1216          37 :   if (sh_hw_api_status_.getMsg()->offboard) {
+    1217             : 
+    1218          37 :     ROS_INFO("[UavManager]: OFFBOARD detected");
+    1219             : 
+    1220          37 :     setOdometryCallbacksSrv(true);
+    1221             : 
+    1222             :     {
+    1223          37 :       bool controller_switched = switchControllerSrv(_midair_activation_after_controller_);
+    1224             : 
+    1225          37 :       if (!controller_switched) {
+    1226             : 
+    1227           0 :         ROS_ERROR("[UavManager]: could not activate '%s'", _midair_activation_after_controller_.c_str());
+    1228             : 
+    1229           0 :         ehoverSrv();
+    1230             : 
+    1231           0 :         timer_midair_activation_.stop();
+    1232             : 
+    1233           0 :         return;
+    1234             :       }
+    1235             :     }
+    1236             : 
+    1237             :     {
+    1238          37 :       bool tracker_switched = switchTrackerSrv(_midair_activation_after_tracker_);
+    1239             : 
+    1240          37 :       if (!tracker_switched) {
+    1241             : 
+    1242           0 :         ROS_ERROR("[UavManager]: could not activate '%s'", _midair_activation_after_tracker_.c_str());
+    1243             : 
+    1244           0 :         ehoverSrv();
+    1245             : 
+    1246           0 :         timer_midair_activation_.stop();
+    1247             : 
+    1248           0 :         return;
+    1249             :       }
+    1250             :     }
+    1251             : 
+    1252          37 :     timer_midair_activation_.stop();
+    1253             : 
+    1254          37 :     return;
+    1255             :   }
+    1256             : 
+    1257           0 :   if ((ros::Time::now() - midair_activation_started_).toSec() > 0.5) {
+    1258             : 
+    1259           0 :     ROS_ERROR("[UavManager]: waiting for OFFBOARD timeouted, reverting");
+    1260             : 
+    1261           0 :     toggleControlOutput(false);
+    1262             : 
+    1263           0 :     timer_midair_activation_.stop();
+    1264             : 
+    1265           0 :     return;
+    1266             :   }
+    1267             : }
+    1268             : 
+    1269             : //}
+    1270             : 
+    1271             : // --------------------------------------------------------------
+    1272             : // |                          callbacks                         |
+    1273             : // --------------------------------------------------------------
+    1274             : 
+    1275             : // | --------------------- topic callbacks -------------------- |
+    1276             : 
+    1277             : /* //{ callbackHwApiGNSS() */
+    1278             : 
+    1279       39927 : void UavManager::callbackHwApiGNSS(const sensor_msgs::NavSatFix::ConstPtr msg) {
+    1280             : 
+    1281       39927 :   if (!is_initialized_)
+    1282          17 :     return;
+    1283             : 
+    1284      119730 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackHwApiGNSS");
+    1285      119730 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("UavManager::callbackHwApiGNSS", scope_timer_logger_, scope_timer_enabled_);
+    1286             : 
+    1287       39910 :   transformer_->setLatLon(msg->latitude, msg->longitude);
+    1288             : }
+    1289             : 
+    1290             : //}
+    1291             : 
+    1292             : /* //{ callbackOdometry() */
+    1293             : 
+    1294       66181 : void UavManager::callbackOdometry(const nav_msgs::Odometry::ConstPtr msg) {
+    1295             : 
+    1296       66181 :   if (!is_initialized_)
+    1297           0 :     return;
+    1298             : 
+    1299       66181 :   transformer_->setDefaultFrame(msg->header.frame_id);
+    1300             : }
+    1301             : 
+    1302             : //}
+    1303             : 
+    1304             : // | -------------------- service callbacks ------------------- |
+    1305             : 
+    1306             : /* //{ callbackTakeoff() */
+    1307             : 
+    1308           8 : bool UavManager::callbackTakeoff([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    1309             : 
+    1310           8 :   if (!is_initialized_)
+    1311           0 :     return false;
+    1312             : 
+    1313           8 :   ROS_INFO("[UavManager]: takeoff called by service");
+    1314             : 
+    1315             :   /* preconditions //{ */
+    1316             : 
+    1317             :   {
+    1318           8 :     std::stringstream ss;
+    1319             : 
+    1320           8 :     if (!sh_odometry_.hasMsg()) {
+    1321           0 :       ss << "can not takeoff, missing odometry!";
+    1322           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1323           0 :       res.message = ss.str();
+    1324           0 :       res.success = false;
+    1325           0 :       return true;
+    1326             :     }
+    1327             : 
+    1328           8 :     if (!sh_hw_api_status_.hasMsg() || (ros::Time::now() - sh_hw_api_status_.lastMsgTime()).toSec() > 5.0) {
+    1329           0 :       ss << "can not takeoff, missing HW API status!";
+    1330           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1331           0 :       res.message = ss.str();
+    1332           0 :       res.success = false;
+    1333           0 :       return true;
+    1334             :     }
+    1335             : 
+    1336           8 :     if (!sh_hw_api_status_.getMsg()->armed) {
+    1337           0 :       ss << "can not takeoff, UAV not armed!";
+    1338           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1339           0 :       res.message = ss.str();
+    1340           0 :       res.success = false;
+    1341           0 :       return true;
+    1342             :     }
+    1343             : 
+    1344           8 :     if (!sh_hw_api_status_.getMsg()->offboard) {
+    1345           0 :       ss << "can not takeoff, UAV not in offboard mode!";
+    1346           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1347           0 :       res.message = ss.str();
+    1348           0 :       res.success = false;
+    1349           0 :       return true;
+    1350             :     }
+    1351             : 
+    1352             :     {
+    1353           8 :       if (!sh_control_manager_diag_.hasMsg() && (ros::Time::now() - sh_control_manager_diag_.lastMsgTime()).toSec() > 5.0) {
+    1354           0 :         ss << "can not takeoff, missing control manager diagnostics!";
+    1355           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1356           0 :         res.message = ss.str();
+    1357           0 :         res.success = false;
+    1358           0 :         return true;
+    1359             :       }
+    1360             : 
+    1361           8 :       if (_null_tracker_name_ != sh_control_manager_diag_.getMsg()->active_tracker) {
+    1362           0 :         ss << "can not takeoff, need '" << _null_tracker_name_ << "' to be active!";
+    1363           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1364           0 :         res.message = ss.str();
+    1365           0 :         res.success = false;
+    1366           0 :         return true;
+    1367             :       }
+    1368             :     }
+    1369             : 
+    1370           8 :     if (!sh_controller_diagnostics_.hasMsg()) {
+    1371           0 :       ss << "can not takeoff, missing controller diagnostics!";
+    1372           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1373           0 :       res.message = ss.str();
+    1374           0 :       res.success = false;
+    1375           0 :       return true;
+    1376             :     }
+    1377             : 
+    1378           8 :     if (_gain_manager_required_ && (ros::Time::now() - sh_gains_diag_.lastMsgTime()).toSec() > 5.0) {
+    1379           0 :       ss << "can not takeoff, GainManager is not running!";
+    1380           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1381           0 :       res.message = ss.str();
+    1382           0 :       res.success = false;
+    1383           0 :       return true;
+    1384             :     }
+    1385             : 
+    1386           8 :     if (_constraint_manager_required_ && (ros::Time::now() - sh_constraints_diag_.lastMsgTime()).toSec() > 5.0) {
+    1387           0 :       ss << "can not takeoff, ConstraintManager is not running!";
+    1388           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1389           0 :       res.message = ss.str();
+    1390           0 :       res.success = false;
+    1391           0 :       return true;
+    1392             :     }
+    1393             : 
+    1394           8 :     if (!sh_control_manager_diag_.getMsg()->output_enabled) {
+    1395             : 
+    1396           0 :       ss << "can not takeoff, Control Manager's output is disabled!";
+    1397           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1398           0 :       res.message = ss.str();
+    1399           0 :       res.success = false;
+    1400           0 :       return true;
+    1401             :     }
+    1402             : 
+    1403           8 :     if (number_of_takeoffs_ > 0) {
+    1404             : 
+    1405           0 :       auto last_mass_difference = mrs_lib::get_mutexed(mutex_last_mass_difference_, last_mass_difference_);
+    1406             : 
+    1407           0 :       if (last_mass_difference > 1.0) {
+    1408             : 
+    1409           0 :         ss << std::setprecision(2);
+    1410           0 :         ss << "can not takeoff, estimated mass difference is too large: " << _null_tracker_name_ << "!";
+    1411           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1412           0 :         res.message = ss.str();
+    1413           0 :         res.success = false;
+    1414           0 :         return true;
+    1415             :       }
+    1416             :     }
+    1417             :   }
+    1418             : 
+    1419             :   //}
+    1420             : 
+    1421          16 :   auto control_manager_diagnostics = sh_control_manager_diag_.getMsg();
+    1422          16 :   auto odometry                    = sh_odometry_.getMsg();
+    1423           8 :   auto [odom_x, odom_y, odom_z]    = mrs_lib::getPosition(sh_odometry_.getMsg());
+    1424             : 
+    1425             :   double odom_heading;
+    1426             :   try {
+    1427           8 :     odom_heading = mrs_lib::getHeading(sh_odometry_.getMsg());
+    1428             :   }
+    1429           0 :   catch (mrs_lib::AttitudeConverter::GetHeadingException& e) {
+    1430           0 :     ROS_ERROR_THROTTLE(1.0, "[UavManager]: exception caught: '%s'", e.what());
+    1431             : 
+    1432           0 :     std::stringstream ss;
+    1433           0 :     ss << "could not calculate current heading";
+    1434           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1435           0 :     res.message = ss.str();
+    1436           0 :     res.success = false;
+    1437           0 :     return true;
+    1438             :   }
+    1439             : 
+    1440           8 :   ROS_INFO("[UavManager]: taking off");
+    1441             : 
+    1442           8 :   setOdometryCallbacksSrv(false);
+    1443             : 
+    1444             :   // activating the takeoff controller
+    1445             :   {
+    1446           8 :     std::string old_controller      = sh_control_manager_diag_.getMsg()->active_controller;
+    1447           8 :     bool        controller_switched = switchControllerSrv(_takeoff_controller_name_);
+    1448             : 
+    1449             :     // if it fails, activate back the old controller
+    1450             :     // this is no big deal since the control outputs are not used
+    1451             :     // until NullTracker is active
+    1452           8 :     if (!controller_switched) {
+    1453             : 
+    1454           0 :       std::stringstream ss;
+    1455           0 :       ss << "could not activate '" << _takeoff_controller_name_ << "' for takeoff";
+    1456           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1457           0 :       res.success = false;
+    1458           0 :       res.message = ss.str();
+    1459             : 
+    1460           0 :       switchControllerSrv(old_controller);
+    1461             : 
+    1462           0 :       return true;
+    1463             :     }
+    1464             :   }
+    1465             : 
+    1466             :   // activate the takeoff tracker
+    1467             :   {
+    1468           8 :     std::string old_tracker      = sh_control_manager_diag_.getMsg()->active_tracker;
+    1469           8 :     bool        tracker_switched = switchTrackerSrv(_takeoff_tracker_name_);
+    1470             : 
+    1471             :     // if it fails, activate back the old tracker
+    1472           8 :     if (!tracker_switched) {
+    1473             : 
+    1474           0 :       std::stringstream ss;
+    1475           0 :       ss << "could not activate '" << _takeoff_tracker_name_ << "' for takeoff";
+    1476           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1477           0 :       res.success = false;
+    1478           0 :       res.message = ss.str();
+    1479             : 
+    1480           0 :       switchTrackerSrv(old_tracker);
+    1481             : 
+    1482           0 :       return true;
+    1483             :     }
+    1484             :   }
+    1485             : 
+    1486             :   // let's sleep before calling take off.. the motors are rumping-up anyway
+    1487             :   // this solves on-time-happening race condition in the landoff tracker
+    1488           8 :   ros::Duration(0.3).sleep();
+    1489             : 
+    1490             :   // now the takeoff tracker and controller are active
+    1491             :   // the UAV is basically hovering on the ground
+    1492             :   // (the controller is probably rumping up the throttle now)
+    1493             : 
+    1494             :   // call the takeoff service at the takeoff tracker
+    1495             :   {
+    1496           8 :     bool takeoff_successful = takeoffSrv();
+    1497             : 
+    1498             :     // if the takeoff was not successful, switch to NullTracker
+    1499           8 :     if (takeoff_successful) {
+    1500             : 
+    1501             :       // save the current spot for later landing
+    1502             :       {
+    1503           8 :         std::scoped_lock lock(mutex_land_there_reference_);
+    1504             : 
+    1505           8 :         land_there_reference_.header               = odometry->header;
+    1506           8 :         land_there_reference_.reference.position.x = odom_x;
+    1507           8 :         land_there_reference_.reference.position.y = odom_y;
+    1508           8 :         land_there_reference_.reference.position.z = odom_z;
+    1509           8 :         land_there_reference_.reference.heading    = odom_heading;
+    1510             :       }
+    1511             : 
+    1512           8 :       timer_flighttime_.start();
+    1513             : 
+    1514          16 :       std::stringstream ss;
+    1515           8 :       ss << "taking off";
+    1516           8 :       res.success = true;
+    1517           8 :       res.message = ss.str();
+    1518           8 :       ROS_INFO_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1519             : 
+    1520           8 :       takingoff_ = true;
+    1521           8 :       number_of_takeoffs_++;
+    1522           8 :       waiting_for_takeoff_ = true;
+    1523             : 
+    1524             :       // start the takeoff timer
+    1525           8 :       timer_takeoff_.start();
+    1526             : 
+    1527           8 :       takeoff_successful_ = takeoff_successful;
+    1528             : 
+    1529             :     } else {
+    1530             : 
+    1531           0 :       std::stringstream ss;
+    1532           0 :       ss << "takeoff was not successful";
+    1533           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1534           0 :       res.success = false;
+    1535           0 :       res.message = ss.str();
+    1536             : 
+    1537             :       // if the call for takeoff fails, call for emergency landing
+    1538           0 :       elandSrv();
+    1539             :     }
+    1540             :   }
+    1541             : 
+    1542           8 :   return true;
+    1543             : }
+    1544             : 
+    1545             : //}
+    1546             : 
+    1547             : /* //{ callbackLand() */
+    1548             : 
+    1549           2 : bool UavManager::callbackLand([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    1550             : 
+    1551           2 :   if (!is_initialized_)
+    1552           0 :     return false;
+    1553             : 
+    1554           2 :   ROS_INFO("[UavManager]: land called by service");
+    1555             : 
+    1556             :   /* preconditions //{ */
+    1557             : 
+    1558             :   {
+    1559           2 :     std::stringstream ss;
+    1560             : 
+    1561           2 :     if (!sh_odometry_.hasMsg()) {
+    1562           0 :       ss << "can not land, missing odometry!";
+    1563           0 :       res.message = ss.str();
+    1564           0 :       res.success = false;
+    1565           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1566           0 :       return true;
+    1567             :     }
+    1568             : 
+    1569             :     {
+    1570           2 :       if (!sh_control_manager_diag_.hasMsg()) {
+    1571           0 :         ss << "can not land, missing control manager diagnostics!";
+    1572           0 :         res.message = ss.str();
+    1573           0 :         res.success = false;
+    1574           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1575           0 :         return true;
+    1576             :       }
+    1577             : 
+    1578           2 :       if (_null_tracker_name_ == sh_control_manager_diag_.getMsg()->active_tracker) {
+    1579           0 :         ss << "can not land, '" << _null_tracker_name_ << "' is active!";
+    1580           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1581           0 :         res.message = ss.str();
+    1582           0 :         res.success = false;
+    1583           0 :         return true;
+    1584             :       }
+    1585             :     }
+    1586             : 
+    1587           2 :     if (!sh_controller_diagnostics_.hasMsg()) {
+    1588           0 :       ss << "can not land, missing controller diagnostics!";
+    1589           0 :       res.message = ss.str();
+    1590           0 :       res.success = false;
+    1591           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1592           0 :       return true;
+    1593             :     }
+    1594             : 
+    1595           2 :     if (!sh_tracker_cmd_.hasMsg()) {
+    1596           0 :       ss << "can not land, missing position cmd!";
+    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             : 
+    1604             :   //}
+    1605             : 
+    1606           2 :   auto [success, message] = landWithDescendImpl();
+    1607             : 
+    1608           2 :   res.message = message;
+    1609           2 :   res.success = success;
+    1610             : 
+    1611           2 :   return true;
+    1612             : }
+    1613             : 
+    1614             : //}
+    1615             : 
+    1616             : /* //{ callbackLandHome() */
+    1617             : 
+    1618           0 : bool UavManager::callbackLandHome([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    1619             : 
+    1620           0 :   if (!is_initialized_)
+    1621           0 :     return false;
+    1622             : 
+    1623           0 :   ROS_INFO("[UavManager]: land home called by service");
+    1624             : 
+    1625             :   /* preconditions //{ */
+    1626             : 
+    1627             :   {
+    1628           0 :     std::stringstream ss;
+    1629             : 
+    1630           0 :     if (number_of_takeoffs_ == 0) {
+    1631           0 :       ss << "can not land home, did not takeoff before!";
+    1632           0 :       res.message = ss.str();
+    1633           0 :       res.success = false;
+    1634           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1635           0 :       return true;
+    1636             :     }
+    1637             : 
+    1638           0 :     if (!sh_odometry_.hasMsg()) {
+    1639           0 :       ss << "can not land, missing odometry!";
+    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             :     {
+    1647           0 :       if (!sh_control_manager_diag_.hasMsg()) {
+    1648           0 :         ss << "can not land, missing tracker status!";
+    1649           0 :         res.message = ss.str();
+    1650           0 :         res.success = false;
+    1651           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1652           0 :         return true;
+    1653             :       }
+    1654             : 
+    1655           0 :       if (_null_tracker_name_ == sh_control_manager_diag_.getMsg()->active_tracker) {
+    1656           0 :         ss << "can not land, '" << _null_tracker_name_ << "' is active!";
+    1657           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1658           0 :         res.message = ss.str();
+    1659           0 :         res.success = false;
+    1660           0 :         return true;
+    1661             :       }
+    1662             :     }
+    1663             : 
+    1664           0 :     if (!sh_controller_diagnostics_.hasMsg()) {
+    1665           0 :       ss << "can not land, missing controller diagnostics command!";
+    1666           0 :       res.message = ss.str();
+    1667           0 :       res.success = false;
+    1668           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1669           0 :       return true;
+    1670             :     }
+    1671             : 
+    1672           0 :     if (!sh_tracker_cmd_.hasMsg()) {
+    1673           0 :       ss << "can not land, missing position cmd!";
+    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           0 :     if (fixing_max_height_) {
+    1681           0 :       ss << "can not land, descedning to safe height!";
+    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           0 :     if (current_state_landing_ != IDLE_STATE) {
+    1689           0 :       ss << "can not land, already landing!";
+    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             : 
+    1697             :   //}
+    1698             : 
+    1699           0 :   ungripSrv();
+    1700             : 
+    1701           0 :   mrs_msgs::ReferenceStamped reference_out;
+    1702             : 
+    1703             :   {
+    1704           0 :     std::scoped_lock lock(mutex_land_there_reference_);
+    1705             : 
+    1706             :     // get the current altitude in land_there_reference_.header.frame_id;
+    1707           0 :     geometry_msgs::PoseStamped current_pose;
+    1708           0 :     current_pose.header.stamp     = ros::Time::now();
+    1709           0 :     current_pose.header.frame_id  = _uav_name_ + "/fcu";
+    1710           0 :     current_pose.pose.position.x  = 0;
+    1711           0 :     current_pose.pose.position.y  = 0;
+    1712           0 :     current_pose.pose.position.z  = 0;
+    1713           0 :     current_pose.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    1714             : 
+    1715           0 :     auto response = transformer_->transformSingle(current_pose, land_there_reference_.header.frame_id);
+    1716             : 
+    1717           0 :     if (response) {
+    1718             : 
+    1719           0 :       land_there_reference_.reference.position.z = response.value().pose.position.z;
+    1720           0 :       ROS_DEBUG("[UavManager]: current altitude is %.2f m", land_there_reference_.reference.position.z);
+    1721             : 
+    1722             :     } else {
+    1723             : 
+    1724           0 :       std::stringstream ss;
+    1725           0 :       ss << "could not transform current height to " << land_there_reference_.header.frame_id;
+    1726           0 :       ROS_ERROR_STREAM("[UavManager]: " << ss.str());
+    1727             : 
+    1728           0 :       res.success = false;
+    1729           0 :       res.message = ss.str();
+    1730           0 :       return true;
+    1731             :     }
+    1732             : 
+    1733           0 :     reference_out.header.frame_id = land_there_reference_.header.frame_id;
+    1734           0 :     reference_out.header.stamp    = ros::Time::now();
+    1735           0 :     reference_out.reference       = land_there_reference_.reference;
+    1736             :   }
+    1737             : 
+    1738           0 :   bool service_success = emergencyReferenceSrv(reference_out);
+    1739             : 
+    1740           0 :   if (service_success) {
+    1741             : 
+    1742           0 :     std::stringstream ss;
+    1743           0 :     ss << "flying home for landing";
+    1744           0 :     ROS_INFO_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1745             : 
+    1746           0 :     res.success = true;
+    1747           0 :     res.message = ss.str();
+    1748             : 
+    1749             :     // stop the eventual takeoff
+    1750           0 :     waiting_for_takeoff_ = false;
+    1751           0 :     takingoff_           = false;
+    1752           0 :     timer_takeoff_.stop();
+    1753             : 
+    1754           0 :     throttle_under_threshold_          = false;
+    1755           0 :     throttle_mass_estimate_first_time_ = ros::Time(0);
+    1756             : 
+    1757           0 :     changeLandingState(FLY_THERE_STATE);
+    1758             : 
+    1759           0 :     timer_landing_.start();
+    1760             : 
+    1761             :   } else {
+    1762             : 
+    1763           0 :     std::stringstream ss;
+    1764           0 :     ss << "can not fly home for landing";
+    1765           0 :     ROS_ERROR_STREAM("[UavManager]: " << ss.str());
+    1766             : 
+    1767           0 :     res.success = false;
+    1768           0 :     res.message = ss.str();
+    1769             :   }
+    1770             : 
+    1771           0 :   return true;
+    1772             : }
+    1773             : 
+    1774             : //}
+    1775             : 
+    1776             : /* //{ callbackLandThere() */
+    1777             : 
+    1778           0 : bool UavManager::callbackLandThere(mrs_msgs::ReferenceStampedSrv::Request& req, mrs_msgs::ReferenceStampedSrv::Response& res) {
+    1779             : 
+    1780           0 :   if (!is_initialized_)
+    1781           0 :     return false;
+    1782             : 
+    1783           0 :   ROS_INFO("[UavManager]: land there called by service");
+    1784             : 
+    1785             :   /* preconditions //{ */
+    1786             : 
+    1787             :   {
+    1788           0 :     std::stringstream ss;
+    1789             : 
+    1790           0 :     if (!sh_odometry_.hasMsg()) {
+    1791           0 :       ss << "can not land, missing odometry!";
+    1792           0 :       res.message = ss.str();
+    1793           0 :       res.success = false;
+    1794           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1795           0 :       return true;
+    1796             :     }
+    1797             : 
+    1798             :     {
+    1799           0 :       if (!sh_control_manager_diag_.hasMsg()) {
+    1800           0 :         ss << "can not land, missing tracker status!";
+    1801           0 :         res.message = ss.str();
+    1802           0 :         res.success = false;
+    1803           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1804           0 :         return true;
+    1805             :       }
+    1806             : 
+    1807           0 :       if (_null_tracker_name_ == sh_control_manager_diag_.getMsg()->active_tracker) {
+    1808           0 :         ss << "can not land, '" << _null_tracker_name_ << "' is active!";
+    1809           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1810           0 :         res.message = ss.str();
+    1811           0 :         res.success = false;
+    1812           0 :         return true;
+    1813             :       }
+    1814             :     }
+    1815             : 
+    1816           0 :     if (!sh_controller_diagnostics_.hasMsg()) {
+    1817           0 :       ss << "can not land, missing controller diagnostics!";
+    1818           0 :       res.message = ss.str();
+    1819           0 :       res.success = false;
+    1820           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1821           0 :       return true;
+    1822             :     }
+    1823             : 
+    1824           0 :     if (!sh_tracker_cmd_.hasMsg()) {
+    1825           0 :       ss << "can not land, missing position cmd!";
+    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           0 :     if (fixing_max_height_) {
+    1833           0 :       ss << "can not land, descedning to safe height!";
+    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             : 
+    1841             :   //}
+    1842             : 
+    1843           0 :   ungripSrv();
+    1844             : 
+    1845           0 :   mrs_msgs::ReferenceStamped reference_out;
+    1846             : 
+    1847             :   {
+    1848           0 :     std::scoped_lock lock(mutex_land_there_reference_);
+    1849             : 
+    1850           0 :     land_there_reference_.header    = req.header;
+    1851           0 :     land_there_reference_.reference = req.reference;
+    1852             : 
+    1853           0 :     reference_out.header.frame_id = land_there_reference_.header.frame_id;
+    1854           0 :     reference_out.header.stamp    = ros::Time::now();
+    1855           0 :     reference_out.reference       = land_there_reference_.reference;
+    1856             :   }
+    1857             : 
+    1858           0 :   bool service_success = emergencyReferenceSrv(reference_out);
+    1859             : 
+    1860           0 :   if (service_success) {
+    1861             : 
+    1862           0 :     std::stringstream ss;
+    1863           0 :     ss << "flying there for landing";
+    1864           0 :     ROS_INFO_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1865             : 
+    1866           0 :     res.success = true;
+    1867           0 :     res.message = ss.str();
+    1868             : 
+    1869             :     // stop the eventual takeoff
+    1870           0 :     waiting_for_takeoff_ = false;
+    1871           0 :     takingoff_           = false;
+    1872           0 :     timer_takeoff_.stop();
+    1873             : 
+    1874           0 :     throttle_under_threshold_          = false;
+    1875           0 :     throttle_mass_estimate_first_time_ = ros::Time(0);
+    1876             : 
+    1877           0 :     changeLandingState(FLY_THERE_STATE);
+    1878             : 
+    1879           0 :     timer_landing_.start();
+    1880             : 
+    1881             :   } else {
+    1882             : 
+    1883           0 :     std::stringstream ss;
+    1884           0 :     ss << "can not fly there for landing";
+    1885           0 :     ROS_ERROR_STREAM("[UavManager]: " << ss.str());
+    1886             : 
+    1887           0 :     res.success = false;
+    1888           0 :     res.message = ss.str();
+    1889             :   }
+    1890             : 
+    1891           0 :   return true;
+    1892             : }
+    1893             : 
+    1894             : //}
+    1895             : 
+    1896             : /* //{ callbackMidairActivation() */
+    1897             : 
+    1898          37 : bool UavManager::callbackMidairActivation([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    1899             : 
+    1900          37 :   if (!is_initialized_)
+    1901           0 :     return false;
+    1902             : 
+    1903          37 :   ROS_INFO("[UavManager]: midair activation called by service");
+    1904             : 
+    1905             :   /* preconditions //{ */
+    1906             : 
+    1907             :   {
+    1908          37 :     std::stringstream ss;
+    1909             : 
+    1910          37 :     if (!sh_odometry_.hasMsg()) {
+    1911           0 :       ss << "can not activate, missing odometry!";
+    1912           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1913           0 :       res.message = ss.str();
+    1914           0 :       res.success = false;
+    1915           0 :       return true;
+    1916             :     }
+    1917             : 
+    1918          37 :     if (!sh_hw_api_status_.hasMsg() || (ros::Time::now() - sh_hw_api_status_.lastMsgTime()).toSec() > 5.0) {
+    1919           0 :       ss << "can not activate, missing HW API status!";
+    1920           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1921           0 :       res.message = ss.str();
+    1922           0 :       res.success = false;
+    1923           0 :       return true;
+    1924             :     }
+    1925             : 
+    1926          37 :     if (!sh_hw_api_status_.getMsg()->armed) {
+    1927           0 :       ss << "can not activate, UAV not armed!";
+    1928           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1929           0 :       res.message = ss.str();
+    1930           0 :       res.success = false;
+    1931           0 :       return true;
+    1932             :     }
+    1933             : 
+    1934          37 :     if (sh_hw_api_status_.getMsg()->offboard) {
+    1935           0 :       ss << "can not activate, UAV already in offboard mode!";
+    1936           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1937           0 :       res.message = ss.str();
+    1938           0 :       res.success = false;
+    1939           0 :       return true;
+    1940             :     }
+    1941             : 
+    1942             :     {
+    1943          37 :       if (!sh_control_manager_diag_.hasMsg()) {
+    1944           0 :         ss << "can not activate, missing control manager diagnostics!";
+    1945           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1946           0 :         res.message = ss.str();
+    1947           0 :         res.success = false;
+    1948           0 :         return true;
+    1949             :       }
+    1950             : 
+    1951          37 :       if (_null_tracker_name_ != sh_control_manager_diag_.getMsg()->active_tracker) {
+    1952           0 :         ss << "can not activate, need '" << _null_tracker_name_ << "' to be active!";
+    1953           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1954           0 :         res.message = ss.str();
+    1955           0 :         res.success = false;
+    1956           0 :         return true;
+    1957             :       }
+    1958             :     }
+    1959             : 
+    1960          37 :     if (!sh_controller_diagnostics_.hasMsg()) {
+    1961           0 :       ss << "can not activate, missing controller diagnostics!";
+    1962           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1963           0 :       res.message = ss.str();
+    1964           0 :       res.success = false;
+    1965           0 :       return true;
+    1966             :     }
+    1967             : 
+    1968          37 :     if (_gain_manager_required_ && (ros::Time::now() - sh_gains_diag_.lastMsgTime()).toSec() > 5.0) {
+    1969           0 :       ss << "can not activate, GainManager is not running!";
+    1970           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1971           0 :       res.message = ss.str();
+    1972           0 :       res.success = false;
+    1973           0 :       return true;
+    1974             :     }
+    1975             : 
+    1976          37 :     if (_constraint_manager_required_ && (ros::Time::now() - sh_constraints_diag_.lastMsgTime()).toSec() > 5.0) {
+    1977           0 :       ss << "can not activate, ConstraintManager is not running!";
+    1978           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1979           0 :       res.message = ss.str();
+    1980           0 :       res.success = false;
+    1981           0 :       return true;
+    1982             :     }
+    1983             : 
+    1984          37 :     if (number_of_takeoffs_ > 0) {
+    1985           0 :       ss << "can not activate, we flew already!";
+    1986           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1987           0 :       res.message = ss.str();
+    1988           0 :       res.success = false;
+    1989           0 :       return true;
+    1990             :     }
+    1991             :   }
+    1992             : 
+    1993             :   //}
+    1994             : 
+    1995          37 :   auto [success, message] = midairActivationImpl();
+    1996             : 
+    1997          37 :   res.message = message;
+    1998          37 :   res.success = success;
+    1999             : 
+    2000          37 :   return true;
+    2001             : }
+    2002             : 
+    2003             : //}
+    2004             : 
+    2005             : // | ------------------------ routines ------------------------ |
+    2006             : 
+    2007             : /* landImpl() //{ */
+    2008             : 
+    2009           2 : std::tuple<bool, std::string> UavManager::landImpl(void) {
+    2010             : 
+    2011             :   // activating the landing controller
+    2012             :   {
+    2013           2 :     std::string old_controller      = sh_control_manager_diag_.getMsg()->active_controller;
+    2014           2 :     bool        controller_switched = switchControllerSrv(_landing_controller_name_);
+    2015             : 
+    2016             :     // if it fails, activate eland
+    2017             :     // Tomas: I pressume that its more important to get the UAV to the ground rather than
+    2018             :     // just throw out error.
+    2019           2 :     if (!controller_switched) {
+    2020             : 
+    2021           0 :       std::stringstream ss;
+    2022           0 :       ss << "could not activate '" << _takeoff_controller_name_ << "' for landing";
+    2023           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2024             : 
+    2025           0 :       elandSrv();
+    2026             : 
+    2027           0 :       return std::tuple(false, ss.str());
+    2028             :     }
+    2029             :   }
+    2030             : 
+    2031             :   // activate the landing tracker
+    2032             :   {
+    2033           2 :     std::string old_tracker      = sh_control_manager_diag_.getMsg()->active_tracker;
+    2034           2 :     bool        tracker_switched = switchTrackerSrv(_landing_tracker_name_);
+    2035             : 
+    2036             :     // if it fails, activate eland
+    2037             :     // Tomas: I pressume that its more important to get the UAV to the ground rather than
+    2038             :     // just throw out error.
+    2039           2 :     if (!tracker_switched) {
+    2040             : 
+    2041           0 :       std::stringstream ss;
+    2042           0 :       ss << "could not activate '" << _takeoff_tracker_name_ << "' for landing";
+    2043           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2044             : 
+    2045           0 :       elandSrv();
+    2046             : 
+    2047           0 :       return std::tuple(false, ss.str());
+    2048             :     }
+    2049             :   }
+    2050             : 
+    2051             :   // call the landing service
+    2052             :   {
+    2053           2 :     bool land_successful = landSrv();
+    2054             : 
+    2055           2 :     if (land_successful) {
+    2056             : 
+    2057             :       // stop the eventual takeoff
+    2058           2 :       waiting_for_takeoff_ = false;
+    2059           2 :       takingoff_           = false;
+    2060           2 :       timer_takeoff_.stop();
+    2061             : 
+    2062             :       // stop counting the flight time
+    2063           2 :       timer_flighttime_.stop();
+    2064             : 
+    2065           4 :       auto controller_diagnostics = sh_controller_diagnostics_.getMsg();
+    2066             : 
+    2067             :       // remember the last valid mass estimated
+    2068             :       // used during subsequent takeoff
+    2069           2 :       if (controller_diagnostics->mass_estimator) {
+    2070           2 :         last_mass_difference_ = controller_diagnostics->mass_difference;
+    2071             :       }
+    2072             : 
+    2073           2 :       setOdometryCallbacksSrv(false);
+    2074             : 
+    2075           2 :       changeLandingState(LANDING_STATE);
+    2076             : 
+    2077           2 :       throttle_under_threshold_          = false;
+    2078           2 :       throttle_mass_estimate_first_time_ = ros::Time(0);
+    2079             : 
+    2080           2 :       timer_landing_.start();
+    2081             : 
+    2082           2 :       std::stringstream ss;
+    2083           2 :       ss << "landing initiated";
+    2084           2 :       ROS_INFO_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2085             : 
+    2086           2 :       return std::tuple(true, ss.str());
+    2087             : 
+    2088             :     } else {
+    2089             : 
+    2090           0 :       std::stringstream ss;
+    2091           0 :       ss << "could not land";
+    2092           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2093             : 
+    2094           0 :       elandSrv();
+    2095             : 
+    2096           0 :       return std::tuple(false, ss.str());
+    2097             :     }
+    2098             :   }
+    2099             : }
+    2100             : 
+    2101             : //}
+    2102             : 
+    2103             : /* landWithDescendImpl() //{ */
+    2104             : 
+    2105           2 : std::tuple<bool, std::string> UavManager::landWithDescendImpl(void) {
+    2106             : 
+    2107             :   // if the height information is available
+    2108           2 :   if (sh_height_.hasMsg()) {
+    2109             : 
+    2110           2 :     double height = sh_height_.getMsg()->value;
+    2111             : 
+    2112           2 :     if (height > 0 && height >= _landing_descend_height_ + 1.0) {
+    2113             : 
+    2114           0 :       auto odometry = sh_odometry_.getMsg();
+    2115             : 
+    2116           0 :       ungripSrv();
+    2117             : 
+    2118             :       {
+    2119           0 :         std::scoped_lock lock(mutex_land_there_reference_);
+    2120             : 
+    2121             :         // FOR FUTURE ME: Do not change this, we need it to be filled for the final check later
+    2122           0 :         land_there_reference_.header.frame_id      = "";
+    2123           0 :         land_there_reference_.header.stamp         = ros::Time::now();
+    2124           0 :         land_there_reference_.reference.position.x = odometry->pose.pose.position.x;
+    2125           0 :         land_there_reference_.reference.position.y = odometry->pose.pose.position.y;
+    2126           0 :         land_there_reference_.reference.position.z = odometry->pose.pose.position.z - (height - _landing_descend_height_);
+    2127           0 :         land_there_reference_.reference.heading    = mrs_lib::AttitudeConverter(odometry->pose.pose.orientation).getHeading();
+    2128             :       }
+    2129             : 
+    2130           0 :       bool service_success = emergencyReferenceSrv(land_there_reference_);
+    2131             : 
+    2132           0 :       if (service_success) {
+    2133             : 
+    2134           0 :         std::stringstream ss;
+    2135           0 :         ss << "flying down for landing";
+    2136           0 :         ROS_INFO_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2137             : 
+    2138             :         // stop the eventual takeoff
+    2139           0 :         waiting_for_takeoff_ = false;
+    2140           0 :         takingoff_           = false;
+    2141           0 :         timer_takeoff_.stop();
+    2142             : 
+    2143           0 :         changeLandingState(FLY_THERE_STATE);
+    2144             : 
+    2145           0 :         throttle_under_threshold_          = false;
+    2146           0 :         throttle_mass_estimate_first_time_ = ros::Time(0);
+    2147             : 
+    2148           0 :         timer_landing_.start();
+    2149             : 
+    2150           0 :         return std::tuple(true, ss.str());
+    2151             : 
+    2152             :       } else {
+    2153             : 
+    2154           0 :         std::stringstream ss;
+    2155           0 :         ss << "can not fly down for landing";
+    2156           0 :         ROS_ERROR_STREAM("[UavManager]: " << ss.str());
+    2157             :       }
+    2158             :     }
+    2159             :   }
+    2160             : 
+    2161           4 :   auto [success, message] = landImpl();
+    2162             : 
+    2163           2 :   return std::tuple(success, message);
+    2164             : }
+    2165             : 
+    2166             : //}
+    2167             : 
+    2168             : /* midairActivationImpl() //{ */
+    2169             : 
+    2170          37 : std::tuple<bool, std::string> UavManager::midairActivationImpl(void) {
+    2171             : 
+    2172             :   // 1. activate the mid-air activation controller
+    2173             :   // the controller will output hover-like control output
+    2174          74 :   std::string old_controller;
+    2175             :   {
+    2176          37 :     old_controller           = sh_control_manager_diag_.getMsg()->active_controller;
+    2177          37 :     bool controller_switched = switchControllerSrv(_midair_activation_during_controller_);
+    2178             : 
+    2179          37 :     if (!controller_switched) {
+    2180             : 
+    2181           0 :       std::stringstream ss;
+    2182           0 :       ss << "could not activate '" << _midair_activation_during_controller_ << "' for midair activation";
+    2183           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2184             : 
+    2185           0 :       return std::tuple(false, ss.str());
+    2186             :     }
+    2187             :   }
+    2188             : 
+    2189             :   // 2. turn Control Manager's output ON
+    2190             :   {
+    2191          37 :     bool output_enabled = toggleControlOutput(true);
+    2192             : 
+    2193          37 :     if (!output_enabled) {
+    2194             : 
+    2195           0 :       switchControllerSrv(old_controller);
+    2196             : 
+    2197           0 :       std::stringstream ss;
+    2198           0 :       ss << "could not enable Control Manager's output";
+    2199           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2200             : 
+    2201           0 :       return std::tuple(false, ss.str());
+    2202             :     }
+    2203             :   }
+    2204             : 
+    2205             :   // 3. activate the mid-air activation tracker
+    2206             :   // this will cause the Control Manager to output something else than min-throttle
+    2207          74 :   std::string old_tracker;
+    2208             :   {
+    2209          37 :     old_tracker = sh_control_manager_diag_.getMsg()->active_tracker;
+    2210             : 
+    2211          37 :     bool tracker_switched = switchTrackerSrv(_midair_activation_during_tracker_);
+    2212             : 
+    2213          37 :     if (!tracker_switched) {
+    2214             : 
+    2215           0 :       switchControllerSrv(old_controller);
+    2216           0 :       toggleControlOutput(false);
+    2217             : 
+    2218           0 :       std::stringstream ss;
+    2219           0 :       ss << "could not activate '" << _midair_activation_during_tracker_ << "' for midair activation";
+    2220           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2221             : 
+    2222           0 :       return std::tuple(false, ss.str());
+    2223             :     }
+    2224             :   }
+    2225             : 
+    2226             :   // 4. wait for 50 ms, that should be enough for the Pixhawk to start getting data
+    2227          37 :   ros::Duration(0.05).sleep();
+    2228             : 
+    2229             :   // 5. turn on the OFFBOARD MODE
+    2230             :   // since now, the UAV should be under our control
+    2231             :   {
+    2232          37 :     bool offboard_set = offboardSrv(true);
+    2233             : 
+    2234          37 :     if (!offboard_set) {
+    2235             : 
+    2236           0 :       switchTrackerSrv(old_tracker);
+    2237           0 :       switchControllerSrv(old_controller);
+    2238           0 :       toggleControlOutput(false);
+    2239             : 
+    2240           0 :       std::stringstream ss;
+    2241           0 :       ss << "could not activate offboard mode";
+    2242           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2243             : 
+    2244           0 :       return std::tuple(false, ss.str());
+    2245             :     }
+    2246             :   }
+    2247             : 
+    2248             :   // remember this time, later check for timeout
+    2249          37 :   midair_activation_started_ = ros::Time::now();
+    2250             : 
+    2251             :   // start the timer which should check if the offboard is on, activate proper controller and tracker or timeout
+    2252          37 :   timer_midair_activation_.start();
+    2253             : 
+    2254          37 :   std::stringstream ss;
+    2255          37 :   ss << "midair activation initiated, starting the timer";
+    2256          37 :   ROS_INFO_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2257             : 
+    2258          37 :   return std::tuple(true, ss.str());
+    2259             : }
+    2260             : 
+    2261             : //}
+    2262             : 
+    2263             : // | ----------------- service client wrappers ---------------- |
+    2264             : 
+    2265             : /* setOdometryCallbacksSrv() //{ */
+    2266             : 
+    2267          55 : void UavManager::setOdometryCallbacksSrv(const bool& input) {
+    2268             : 
+    2269          55 :   ROS_INFO("[UavManager]: switching odometry callbacks to %s", input ? "ON" : "OFF");
+    2270             : 
+    2271         110 :   std_srvs::SetBool srv;
+    2272             : 
+    2273          55 :   srv.request.data = input;
+    2274             : 
+    2275          55 :   bool res = sch_odometry_callbacks_.call(srv);
+    2276             : 
+    2277          55 :   if (res) {
+    2278             : 
+    2279          55 :     if (!srv.response.success) {
+    2280           0 :       ROS_WARN("[UavManager]: service call for toggle odometry callbacks returned: %s.", srv.response.message.c_str());
+    2281             :     }
+    2282             : 
+    2283             :   } else {
+    2284           0 :     ROS_ERROR("[UavManager]: service call for toggle odometry callbacks failed!");
+    2285             :   }
+    2286          55 : }
+    2287             : 
+    2288             : //}
+    2289             : 
+    2290             : /* setControlCallbacksSrv() //{ */
+    2291             : 
+    2292           2 : void UavManager::setControlCallbacksSrv(const bool& input) {
+    2293             : 
+    2294           2 :   ROS_INFO("[UavManager]: switching control callbacks to %s", input ? "ON" : "OFF");
+    2295             : 
+    2296           4 :   std_srvs::SetBool srv;
+    2297             : 
+    2298           2 :   srv.request.data = input;
+    2299             : 
+    2300           2 :   bool res = sch_control_callbacks_.call(srv);
+    2301             : 
+    2302           2 :   if (res) {
+    2303             : 
+    2304           2 :     if (!srv.response.success) {
+    2305           0 :       ROS_WARN("[UavManager]: service call for setting control callbacks returned: %s.", srv.response.message.c_str());
+    2306             :     }
+    2307             : 
+    2308             :   } else {
+    2309           0 :     ROS_ERROR("[UavManager]: service call for setting control callbacks failed!");
+    2310             :   }
+    2311           2 : }
+    2312             : 
+    2313             : //}
+    2314             : 
+    2315             : /* ungripSrv() //{ */
+    2316             : 
+    2317           0 : void UavManager::ungripSrv(void) {
+    2318             : 
+    2319           0 :   ROS_DEBUG_THROTTLE(1.0, "[UavManager]: ungripping payload");
+    2320             : 
+    2321           0 :   std_srvs::Trigger srv;
+    2322             : 
+    2323           0 :   bool res = sch_ungrip_.call(srv);
+    2324             : 
+    2325           0 :   if (res) {
+    2326             : 
+    2327           0 :     if (!srv.response.success) {
+    2328           0 :       ROS_DEBUG_THROTTLE(1.0, "[UavManager]: service call for ungripping payload returned: %s.", srv.response.message.c_str());
+    2329             :     }
+    2330             : 
+    2331             :   } else {
+    2332           0 :     ROS_DEBUG_THROTTLE(1.0, "[UavManager]: service call for ungripping payload failed!");
+    2333             :   }
+    2334           0 : }
+    2335             : 
+    2336             : //}
+    2337             : 
+    2338             : /* toggleControlOutput() //{ */
+    2339             : 
+    2340          37 : bool UavManager::toggleControlOutput(const bool& input) {
+    2341             : 
+    2342          37 :   ROS_DEBUG_THROTTLE(1.0, "[UavManager]: toggling control output %s", input ? "ON" : "OFF");
+    2343             : 
+    2344          74 :   std_srvs::SetBool srv;
+    2345             : 
+    2346          37 :   srv.request.data = input;
+    2347             : 
+    2348          37 :   bool res = sch_toggle_control_output_.call(srv);
+    2349             : 
+    2350          37 :   if (res) {
+    2351             : 
+    2352          37 :     if (!srv.response.success) {
+    2353           0 :       ROS_DEBUG_THROTTLE(1.0, "[UavManager]: service call for control output returned: %s.", srv.response.message.c_str());
+    2354           0 :       return false;
+    2355             :     } else {
+    2356          37 :       return true;
+    2357             :     }
+    2358             : 
+    2359             :   } else {
+    2360           0 :     ROS_DEBUG_THROTTLE(1.0, "[UavManager]: service call for control output failed!");
+    2361           0 :     return false;
+    2362             :   }
+    2363             : }
+    2364             : 
+    2365             : //}
+    2366             : 
+    2367             : /* offboardSrv() //{ */
+    2368             : 
+    2369          37 : bool UavManager::offboardSrv(const bool in) {
+    2370             : 
+    2371          37 :   ROS_DEBUG_THROTTLE(1.0, "[UavManager]: setting offboard to %d", in);
+    2372             : 
+    2373          74 :   std_srvs::Trigger srv;
+    2374             : 
+    2375          37 :   bool res = sch_offboard_.call(srv);
+    2376             : 
+    2377          37 :   if (!res) {
+    2378             : 
+    2379           0 :     ROS_DEBUG_THROTTLE(1.0, "[UavManager]: service call for offboard failed!");
+    2380           0 :     return false;
+    2381             : 
+    2382             :   } else {
+    2383             : 
+    2384          37 :     if (!srv.response.success) {
+    2385           0 :       ROS_DEBUG_THROTTLE(1.0, "[UavManager]: service call for offboard failed, returned: %s", srv.response.message.c_str());
+    2386           0 :       return false;
+    2387             :     } else {
+    2388          37 :       return true;
+    2389             :     }
+    2390             :   }
+    2391             : }
+    2392             : 
+    2393             : //}
+    2394             : 
+    2395             : /* pirouetteSrv() //{ */
+    2396             : 
+    2397           0 : void UavManager::pirouetteSrv(void) {
+    2398             : 
+    2399           0 :   std_srvs::Trigger srv;
+    2400             : 
+    2401           0 :   bool res = sch_pirouette_.call(srv);
+    2402             : 
+    2403           0 :   if (res) {
+    2404             : 
+    2405           0 :     if (!srv.response.success) {
+    2406           0 :       ROS_WARN_THROTTLE(1.0, "[UavManager]: service call for pirouette returned: %s.", srv.response.message.c_str());
+    2407             :     }
+    2408             : 
+    2409             :   } else {
+    2410           0 :     ROS_ERROR_THROTTLE(1.0, "[UavManager]: service call for pirouette failed!");
+    2411             :   }
+    2412           0 : }
+    2413             : 
+    2414             : //}
+    2415             : 
+    2416             : /* disarmSrv() //{ */
+    2417             : 
+    2418           2 : void UavManager::disarmSrv(void) {
+    2419             : 
+    2420           4 :   std_srvs::SetBool srv;
+    2421             : 
+    2422           2 :   srv.request.data = false;
+    2423             : 
+    2424           2 :   bool res = sch_arm_.call(srv);
+    2425             : 
+    2426           2 :   if (res) {
+    2427             : 
+    2428           2 :     if (!srv.response.success) {
+    2429           0 :       ROS_WARN_THROTTLE(1.0, "[UavManager]: service call disarming returned: %s.", srv.response.message.c_str());
+    2430             :     }
+    2431             : 
+    2432             :   } else {
+    2433           0 :     ROS_ERROR_THROTTLE(1.0, "[UavManager]: service call for disarming failed!");
+    2434             :   }
+    2435           2 : }
+    2436             : 
+    2437             : //}
+    2438             : 
+    2439             : /* switchControllerSrv() //{ */
+    2440             : 
+    2441          92 : bool UavManager::switchControllerSrv(const std::string& controller) {
+    2442             : 
+    2443          92 :   ROS_INFO_STREAM("[UavManager]: activating controller '" << controller << "'");
+    2444             : 
+    2445         184 :   mrs_msgs::String srv;
+    2446          92 :   srv.request.value = controller;
+    2447             : 
+    2448          92 :   bool res = sch_switch_controller_.call(srv);
+    2449             : 
+    2450          92 :   if (res) {
+    2451             : 
+    2452          92 :     if (!srv.response.success) {
+    2453           0 :       ROS_WARN("[UavManager]: service call for switching controller returned: '%s'", srv.response.message.c_str());
+    2454             :     }
+    2455             : 
+    2456          92 :     return srv.response.success;
+    2457             : 
+    2458             :   } else {
+    2459             : 
+    2460           0 :     ROS_ERROR("[UavManager]: service call for switching controller failed!");
+    2461             : 
+    2462           0 :     return false;
+    2463             :   }
+    2464             : }
+    2465             : 
+    2466             : //}
+    2467             : 
+    2468             : /* switchTrackerSrv() //{ */
+    2469             : 
+    2470          94 : bool UavManager::switchTrackerSrv(const std::string& tracker) {
+    2471             : 
+    2472          94 :   ROS_INFO_STREAM("[UavManager]: activating tracker '" << tracker << "'");
+    2473             : 
+    2474             : 
+    2475         188 :   mrs_msgs::String srv;
+    2476          94 :   srv.request.value = tracker;
+    2477             : 
+    2478          94 :   bool res = sch_switch_tracker_.call(srv);
+    2479             : 
+    2480          94 :   if (res) {
+    2481             : 
+    2482          94 :     if (!srv.response.success) {
+    2483           0 :       ROS_WARN("[UavManager]: service call for switching tracker returned: '%s'", srv.response.message.c_str());
+    2484             :     }
+    2485             : 
+    2486          94 :     return srv.response.success;
+    2487             : 
+    2488             :   } else {
+    2489             : 
+    2490           0 :     ROS_ERROR("[UavManager]: service call for switching tracker failed!");
+    2491             : 
+    2492           0 :     return false;
+    2493             :   }
+    2494             : }
+    2495             : 
+    2496             : //}
+    2497             : 
+    2498             : /* landSrv() //{ */
+    2499             : 
+    2500           2 : bool UavManager::landSrv(void) {
+    2501             : 
+    2502           2 :   ROS_INFO("[UavManager]: calling for landing");
+    2503             : 
+    2504           4 :   std_srvs::Trigger srv;
+    2505             : 
+    2506           2 :   bool res = sch_land_.call(srv);
+    2507             : 
+    2508           2 :   if (res) {
+    2509             : 
+    2510           2 :     if (!srv.response.success) {
+    2511           0 :       ROS_WARN("[UavManager]: service call for landing returned: '%s'", srv.response.message.c_str());
+    2512             :     }
+    2513             : 
+    2514           2 :     return srv.response.success;
+    2515             : 
+    2516             :   } else {
+    2517             : 
+    2518           0 :     ROS_ERROR("[UavManager]: service call for landing failed!");
+    2519             : 
+    2520           0 :     return false;
+    2521             :   }
+    2522             : }
+    2523             : 
+    2524             : //}
+    2525             : 
+    2526             : /* elandSrv() //{ */
+    2527             : 
+    2528           0 : bool UavManager::elandSrv(void) {
+    2529             : 
+    2530           0 :   ROS_INFO("[UavManager]: calling for eland");
+    2531             : 
+    2532           0 :   std_srvs::Trigger srv;
+    2533             : 
+    2534           0 :   bool res = sch_eland_.call(srv);
+    2535             : 
+    2536           0 :   if (res) {
+    2537             : 
+    2538           0 :     if (!srv.response.success) {
+    2539           0 :       ROS_WARN("[UavManager]: service call for eland returned: '%s'", srv.response.message.c_str());
+    2540             :     }
+    2541             : 
+    2542           0 :     return srv.response.success;
+    2543             : 
+    2544             :   } else {
+    2545             : 
+    2546           0 :     ROS_ERROR("[UavManager]: service call for eland failed!");
+    2547             : 
+    2548           0 :     return false;
+    2549             :   }
+    2550             : }
+    2551             : 
+    2552             : //}
+    2553             : 
+    2554             : /* ehoverSrv() //{ */
+    2555             : 
+    2556           0 : bool UavManager::ehoverSrv(void) {
+    2557             : 
+    2558           0 :   ROS_INFO("[UavManager]: calling for ehover");
+    2559             : 
+    2560           0 :   std_srvs::Trigger srv;
+    2561             : 
+    2562           0 :   bool res = sch_ehover_.call(srv);
+    2563             : 
+    2564           0 :   if (res) {
+    2565             : 
+    2566           0 :     if (!srv.response.success) {
+    2567           0 :       ROS_WARN("[UavManager]: service call for ehover returned: '%s'", srv.response.message.c_str());
+    2568             :     }
+    2569             : 
+    2570           0 :     return srv.response.success;
+    2571             : 
+    2572             :   } else {
+    2573             : 
+    2574           0 :     ROS_ERROR("[UavManager]: service call for ehover failed!");
+    2575             : 
+    2576           0 :     return false;
+    2577             :   }
+    2578             : }
+    2579             : 
+    2580             : //}
+    2581             : 
+    2582             : /* takeoffSrv() //{ */
+    2583             : 
+    2584           8 : bool UavManager::takeoffSrv(void) {
+    2585             : 
+    2586           8 :   ROS_INFO("[UavManager]: calling for takeoff to height '%.2f m'", _takeoff_height_);
+    2587             : 
+    2588          16 :   mrs_msgs::Vec1 srv;
+    2589             : 
+    2590           8 :   srv.request.goal = _takeoff_height_;
+    2591             : 
+    2592           8 :   bool res = sch_takeoff_.call(srv);
+    2593             : 
+    2594           8 :   if (res) {
+    2595             : 
+    2596           8 :     if (!srv.response.success) {
+    2597           0 :       ROS_WARN("[UavManager]: service call for takeoff returned: '%s'", srv.response.message.c_str());
+    2598             :     }
+    2599             : 
+    2600           8 :     return srv.response.success;
+    2601             : 
+    2602             :   } else {
+    2603             : 
+    2604           0 :     ROS_ERROR("[UavManager]: service call for takeoff failed!");
+    2605             : 
+    2606           0 :     return false;
+    2607             :   }
+    2608             : }
+    2609             : 
+    2610             : //}
+    2611             : 
+    2612             : /* emergencyReferenceSrv() //{ */
+    2613             : 
+    2614           0 : bool UavManager::emergencyReferenceSrv(const mrs_msgs::ReferenceStamped& goal) {
+    2615             : 
+    2616           0 :   ROS_INFO_THROTTLE(1.0, "[UavManager]: calling for emergency reference");
+    2617             : 
+    2618           0 :   mrs_msgs::ReferenceStampedSrv srv;
+    2619             : 
+    2620           0 :   srv.request.header    = goal.header;
+    2621           0 :   srv.request.reference = goal.reference;
+    2622             : 
+    2623           0 :   bool res = sch_emergency_reference_.call(srv);
+    2624             : 
+    2625           0 :   if (res) {
+    2626             : 
+    2627           0 :     if (!srv.response.success) {
+    2628           0 :       ROS_WARN_THROTTLE(1.0, "[UavManager]: service call for emergency reference returned: '%s'", srv.response.message.c_str());
+    2629             :     }
+    2630             : 
+    2631           0 :     return srv.response.success;
+    2632             : 
+    2633             :   } else {
+    2634             : 
+    2635           0 :     ROS_ERROR_THROTTLE(1.0, "[UavManager]: service call for emergency reference failed!");
+    2636             : 
+    2637           0 :     return false;
+    2638             :   }
+    2639             : }
+    2640             : 
+    2641             : //}
+    2642             : 
+    2643             : }  // namespace uav_manager
+    2644             : 
+    2645             : }  // namespace mrs_uav_managers
+    2646             : 
+    2647             : #include <pluginlib/class_list_macros.h>
+    2648          48 : PLUGINLIB_EXPORT_CLASS(mrs_uav_managers::uav_manager::UavManager, nodelet::Nodelet)
+
+
+
+ + + + +
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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:2023-12-14 21:42:20Functions:33100.0 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::garmin_agl::GarminAgl::GarminAgl()41
mrs_uav_state_estimators::garmin_agl::GarminAgl::~GarminAgl()41
mrs_uav_state_estimators::garmin_agl::GarminAgl::~GarminAgl().241
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl/garmin_agl.h.func.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl/garmin_agl.h.func.html new file mode 100644 index 0000000000..2eec5f8ad2 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl/garmin_agl.h.func.html @@ -0,0 +1,92 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl/garmin_agl.h - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl - garmin_agl.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2023-12-14 21:42:20Functions:33100.0 %
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mrs_uav_state_estimators::garmin_agl::GarminAgl::GarminAgl()41
mrs_uav_state_estimators::garmin_agl::GarminAgl::~GarminAgl()41
mrs_uav_state_estimators::garmin_agl::GarminAgl::~GarminAgl().241
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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..caffdfc9a0 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl/garmin_agl.h.gcov.html @@ -0,0 +1,159 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl/garmin_agl.h + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl - garmin_agl.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2023-12-14 21:42:20Functions:33100.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #ifndef ESTIMATORS_STATE_GARMIN_AGL_H
+       2             : #define ESTIMATORS_STATE_GARMIN_AGL_H
+       3             : 
+       4             : /* includes //{ */
+       5             : 
+       6             : #include <ros/ros.h>
+       7             : 
+       8             : #include <mrs_msgs/Float64Stamped.h>
+       9             : 
+      10             : #include <mrs_lib/lkf.h>
+      11             : #include <mrs_lib/profiler.h>
+      12             : #include <mrs_lib/param_loader.h>
+      13             : #include <mrs_lib/subscribe_handler.h>
+      14             : #include <mrs_lib/publisher_handler.h>
+      15             : #include <mrs_lib/attitude_converter.h>
+      16             : #include <mrs_lib/transformer.h>
+      17             : 
+      18             : #include <mrs_uav_managers/agl_estimator.h>
+      19             : 
+      20             : #include <mrs_uav_state_estimators/estimators/altitude/alt_generic.h>
+      21             : 
+      22             : //}
+      23             : 
+      24             : namespace mrs_uav_state_estimators
+      25             : {
+      26             : 
+      27             : namespace garmin_agl
+      28             : {
+      29             : const char name[]         = "garmin_agl";
+      30             : const char frame_id[]     = "garmin_agl_origin";
+      31             : const char package_name[] = "mrs_uav_state_estimators";
+      32             : 
+      33             : const bool is_core_plugin = true;
+      34             : 
+      35             : class GarminAgl : public mrs_uav_managers::AglEstimator {
+      36             : 
+      37             : private:
+      38             :   std::unique_ptr<AltGeneric> est_agl_garmin_;
+      39             :   const std::string           est_agl_name_ = "garmin_agl";
+      40             : 
+      41             :   const bool is_core_plugin_;
+      42             : 
+      43             :   ros::Timer timer_update_;
+      44             :   int        _update_timer_rate_;
+      45             :   void       timerUpdate(const ros::TimerEvent &event);
+      46             : 
+      47             :   ros::Timer timer_check_health_;
+      48             :   int        _check_health_timer_rate_;
+      49             :   void       timerCheckHealth(const ros::TimerEvent &event);
+      50             : 
+      51             :   bool isConverged();
+      52             : 
+      53             :   void waitForEstimationInitialization();
+      54             : 
+      55             : public:
+      56          41 :   GarminAgl() : AglEstimator(garmin_agl::name, garmin_agl::frame_id, garmin_agl::package_name), is_core_plugin_(is_core_plugin) {
+      57          41 :   }
+      58             : 
+      59          82 :   ~GarminAgl(void) {
+      60          82 :   }
+      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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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl/garmin_agl.h.gcov.overview.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl/garmin_agl.h.gcov.overview.html new file mode 100644 index 0000000000..01180ec6c9 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl/garmin_agl.h.gcov.overview.html @@ -0,0 +1,39 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl/garmin_agl.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/aglHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2023-12-14 21:42:20Functions:33100.0 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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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)86
mrs_uav_state_estimators::AltGeneric::~AltGeneric()86
mrs_uav_state_estimators::AltGeneric::~AltGeneric().286
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Date:2023-12-14 21:42:20Functions:33100.0 %
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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)86
mrs_uav_state_estimators::AltGeneric::~AltGeneric()86
mrs_uav_state_estimators::AltGeneric::~AltGeneric().286
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Date:2023-12-14 21:42:20Functions:33100.0 %
Legend: Lines: + hit + not hit +
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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          86 :   AltGeneric(const std::string &name, const std::string &ns_frame_id, const std::string &parent_state_est_name, const bool is_core_plugin)
+     114          86 :       : AltitudeEstimator<alt_generic::n_states>(name, ns_frame_id), parent_state_est_name_(parent_state_est_name), is_core_plugin_(is_core_plugin) {
+     115          86 :   }
+     116             : 
+     117         172 :   ~AltGeneric(void) {
+     118         172 :   }
+     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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+ + 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..80d1ebb0b2 --- /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:2023-12-14 21:42:20Functions: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&)86
mrs_uav_state_estimators::AltitudeEstimator<3>::~AltitudeEstimator().286
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+
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/altitude_estimator.h.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..ced23c26b3 --- /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:2023-12-14 21:42:20Functions: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&)86
mrs_uav_state_estimators::AltitudeEstimator<3>::~AltitudeEstimator()0
mrs_uav_state_estimators::AltitudeEstimator<3>::~AltitudeEstimator().286
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+
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/altitude_estimator.h.gcov.frameset.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/altitude_estimator.h.gcov.frameset.html new file mode 100644 index 0000000000..c89e621d6c --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/altitude_estimator.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/altitude_estimator.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/altitude_estimator.h.gcov.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/altitude_estimator.h.gcov.html new file mode 100644 index 0000000000..40b6dc80c4 --- /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:2023-12-14 21:42:20Functions: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          86 :   AltitudeEstimator(const std::string& name, const std::string& frame_id) : PartialEstimator<n_states, 1>(altitude::type, name, frame_id) {
+      31          86 :   }
+      32             : 
+      33          86 :   virtual ~AltitudeEstimator(void) {
+      34          86 :   }
+      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..52d4fe077f --- /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:2023-12-14 21:42:20Functions:5683.3 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
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Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
altitude_estimator.h +
100.0%
+ 		100.0 %4 / 466.7 %2 / 3
<unnamed>100.0 %4 / 466.7 %2 / 3
alt_generic.h +
100.0%
+ 		100.0 %5 / 5100.0 %3 / 3
<unnamed>100.0 %5 / 5100.0 %3 / 3
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/index-detail-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..583766d1ee --- /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
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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:2023-12-14 21:42:20Functions:5683.3 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
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Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
altitude_estimator.h +
100.0%
+ 		100.0 %4 / 466.7 %2 / 3
<unnamed>100.0 %4 / 466.7 %2 / 3
alt_generic.h +
100.0%
+ 		100.0 %5 / 5100.0 %3 / 3
<unnamed>100.0 %5 / 5100.0 %3 / 3
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/index-detail.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/index-detail.html new file mode 100644 index 0000000000..6eb80e0245 --- /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
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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:2023-12-14 21:42:20Functions:5683.3 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
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Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
alt_generic.h +
100.0%
+ 		100.0 %5 / 5100.0 %3 / 3
<unnamed>100.0 %5 / 5100.0 %3 / 3
altitude_estimator.h +
100.0%
+ 		100.0 %4 / 466.7 %2 / 3
<unnamed>100.0 %4 / 466.7 %2 / 3
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/index-sort-f.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/index-sort-f.html new file mode 100644 index 0000000000..dc057b6253 --- /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:2023-12-14 21:42:20Functions: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..43db9b1232 --- /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
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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:2023-12-14 21:42:20Functions: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..979986ee20 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/index.html @@ -0,0 +1,112 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitudeHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:99100.0 %
Date:2023-12-14 21:42:20Functions: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..adb97099fe --- /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
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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:37065556.5 %
Date:2023-12-14 21:42:20Functions:496773.1 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
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>::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&)45
mrs_uav_state_estimators::Correction<1>::createProcessorFromName(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::NodeHandle&)47
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)>)47
mrs_uav_state_estimators::Correction<2>::getName[abi:cxx11]() const94
mrs_uav_state_estimators::Correction<2>::getPrintName[abi:cxx11]() const96
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)>)131
mrs_uav_state_estimators::Correction<2>::getNamespacedName[abi:cxx11]() const198
mrs_uav_state_estimators::Correction<1>::getName[abi:cxx11]() const262
mrs_uav_state_estimators::Correction<1>::getPrintName[abi:cxx11]() const317
mrs_uav_state_estimators::Correction<1>::getNamespacedName[abi:cxx11]() const425
mrs_uav_state_estimators::Correction<1>::callbackRtk(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)995
mrs_uav_state_estimators::Correction<2>::callbackRtk(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)998
mrs_uav_state_estimators::Correction<1>::getCorrectionFromRtk(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)1038
mrs_uav_state_estimators::Correction<1>::transformRtkToFcu(geometry_msgs::PoseStamped_<std::allocator<void> > const&) const1038
mrs_uav_state_estimators::Correction<2>::getCorrectionFromRtk(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)1055
mrs_uav_state_estimators::Correction<2>::transformRtkToFcu(geometry_msgs::PoseStamped_<std::allocator<void> > const&) const1055
mrs_uav_state_estimators::Correction<2>::getRawCorrection()2353
mrs_uav_state_estimators::Correction<2>::getProcessedCorrection()2353
mrs_uav_state_estimators::Correction<2>::callbackVector(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>)4422
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> >)4432
mrs_uav_state_estimators::Correction<2>::getCorrectionFromVector(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>)4432
mrs_uav_state_estimators::Correction<1>::getProcessedCorrection()5142
mrs_uav_state_estimators::Correction<1>::getRawCorrection()5143
mrs_uav_state_estimators::Correction<1>::callbackPoint(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)61558
mrs_uav_state_estimators::Correction<1>::getCorrectionFromPoint(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)61620
mrs_uav_state_estimators::Correction<2>::isMsgComing()71742
mrs_uav_state_estimators::Correction<2>::isHealthy()71742
mrs_uav_state_estimators::Correction<2>::callbackPoint(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)84495
mrs_uav_state_estimators::Correction<2>::getCorrectionFromPoint(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)84538
mrs_uav_state_estimators::Correction<1>::callbackVector(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>)87314
mrs_uav_state_estimators::Correction<1>::getZVelUntilted(geometry_msgs::Vector3_<std::allocator<void> > const&, std_msgs::Header_<std::allocator<void> > const&)87359
mrs_uav_state_estimators::Correction<1>::getCorrectionFromVector(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>)87359
mrs_uav_state_estimators::Correction<2>::applyCorrection(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, ros::Time const&)89897
mrs_uav_state_estimators::Correction<2>::setR(double)89999
mrs_uav_state_estimators::Correction<2>::process(Eigen::Matrix<double, 2, 1, 0, 2, 1>&)89999
mrs_uav_state_estimators::Correction<2>::getStateId() const90101
mrs_uav_state_estimators::Correction<1>::callbackRange(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>)97272
mrs_uav_state_estimators::Correction<1>::getCorrectionFromRange(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>)100179
mrs_uav_state_estimators::Correction<2>::publishCorrection(mrs_uav_state_estimators::Correction<2>::MeasurementStamped const&, mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >&)179998
mrs_uav_state_estimators::Correction<1>::isHealthy()199837
mrs_uav_state_estimators::Correction<1>::isMsgComing()199881
mrs_uav_state_estimators::Correction<1>::getStateId() const244685
mrs_uav_state_estimators::Correction<1>::setR(double)244692
mrs_uav_state_estimators::Correction<1>::applyCorrection(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, ros::Time const&)245207
mrs_uav_state_estimators::Correction<1>::process(Eigen::Matrix<double, 1, 1, 0, 1, 1>&)246124
mrs_uav_state_estimators::Correction<2>::getR()449891
mrs_uav_state_estimators::Correction<1>::publishCorrection(mrs_uav_state_estimators::Correction<1>::MeasurementStamped const&, mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >&)490623
mrs_uav_state_estimators::Correction<1>::getR()735183
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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..ac418dfd0d --- /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:37065556.5 %
Date:2023-12-14 21:42:20Functions:496773.1 %
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>)995
mrs_uav_state_estimators::Correction<1>::isMsgComing()199881
mrs_uav_state_estimators::Correction<1>::callbackPoint(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)61558
mrs_uav_state_estimators::Correction<1>::callbackRange(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>)97272
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>)87314
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&)245207
mrs_uav_state_estimators::Correction<1>::getZVelUntilted(geometry_msgs::Vector3_<std::allocator<void> > const&, std_msgs::Header_<std::allocator<void> > const&)87359
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()5143
mrs_uav_state_estimators::Correction<1>::publishCorrection(mrs_uav_state_estimators::Correction<1>::MeasurementStamped const&, mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >&)490623
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>)1038
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>)61620
mrs_uav_state_estimators::Correction<1>::getCorrectionFromRange(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>)100179
mrs_uav_state_estimators::Correction<1>::getProcessedCorrection()5142
mrs_uav_state_estimators::Correction<1>::createProcessorFromName(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::NodeHandle&)47
mrs_uav_state_estimators::Correction<1>::getCorrectionFromVector(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>)87359
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()735183
mrs_uav_state_estimators::Correction<1>::setR(double)244692
mrs_uav_state_estimators::Correction<1>::process(Eigen::Matrix<double, 1, 1, 0, 1, 1>&)246124
mrs_uav_state_estimators::Correction<1>::isHealthy()199837
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)>)131
mrs_uav_state_estimators::Correction<2>::callbackRtk(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)998
mrs_uav_state_estimators::Correction<2>::isMsgComing()71742
mrs_uav_state_estimators::Correction<2>::callbackPoint(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)84495
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> >)4432
mrs_uav_state_estimators::Correction<2>::callbackVector(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>)4422
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&)89897
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()2353
mrs_uav_state_estimators::Correction<2>::publishCorrection(mrs_uav_state_estimators::Correction<2>::MeasurementStamped const&, mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >&)179998
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>)1055
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>)84538
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()2353
mrs_uav_state_estimators::Correction<2>::createProcessorFromName(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::NodeHandle&)45
mrs_uav_state_estimators::Correction<2>::getCorrectionFromVector(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>)4432
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()449891
mrs_uav_state_estimators::Correction<2>::setR(double)89999
mrs_uav_state_estimators::Correction<2>::process(Eigen::Matrix<double, 2, 1, 0, 2, 1>&)89999
mrs_uav_state_estimators::Correction<2>::isHealthy()71742
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)>)47
mrs_uav_state_estimators::Correction<1>::getStateId() const244685
mrs_uav_state_estimators::Correction<1>::getPrintName[abi:cxx11]() const317
mrs_uav_state_estimators::Correction<1>::getNamespacedName[abi:cxx11]() const425
mrs_uav_state_estimators::Correction<1>::transformRtkToFcu(geometry_msgs::PoseStamped_<std::allocator<void> > const&) const1038
mrs_uav_state_estimators::Correction<1>::getName[abi:cxx11]() const262
mrs_uav_state_estimators::Correction<2>::getStateId() const90101
mrs_uav_state_estimators::Correction<2>::getPrintName[abi:cxx11]() const96
mrs_uav_state_estimators::Correction<2>::getNamespacedName[abi:cxx11]() const198
mrs_uav_state_estimators::Correction<2>::transformRtkToFcu(geometry_msgs::PoseStamped_<std::allocator<void> > const&) const1055
mrs_uav_state_estimators::Correction<2>::getName[abi:cxx11]() const94
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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:37065556.5 %
Date:2023-12-14 21:42:20Functions:496773.1 %
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         178 : 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         178 :       fun_apply_correction_(fun_apply_correction) {
+     235             : 
+     236             :   // | --------------------- load parameters -------------------- |
+     237             : 
+     238         356 :   std::string msg_type_string;
+     239             : 
+     240         178 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch->nodelet_name) + "/" + getNamespacedName() + "/");
+     241             : 
+     242         178 :   ph->param_loader->loadParam("message/type", msg_type_string);
+     243         178 :   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         178 :   msg_type_ = map_msg_type.at(msg_type_string);
+     248             : 
+     249         178 :   ph->param_loader->loadParam("message/topic", msg_topic_);
+     250         178 :   msg_topic_ = "/" + ch_->uav_name + "/" + msg_topic_;
+     251         178 :   ph->param_loader->loadParam("message/limit/delay", msg_delay_limit_);
+     252         178 :   msg_delay_warn_limit_ = msg_delay_limit_ / 2;  // maybe specify this as a param?
+     253         178 :   ph->param_loader->loadParam("message/limit/time_since_last", time_since_last_msg_limit_);
+     254             : 
+     255             :   int state_id_tmp;
+     256         178 :   ph->param_loader->loadParam("state_id", state_id_tmp);
+     257         178 :   if (state_id_tmp < n_StateId_t) {
+     258         178 :     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         178 :   if (state_id_ == StateId_t::VELOCITY) {
+     265          47 :     ph->param_loader->loadParam("body_frame", is_in_body_frame_, true);
+     266             :   }
+     267             : 
+     268         178 :   ph->param_loader->loadParam("noise", R_);
+     269         178 :   ph->param_loader->loadParam("noise_unhealthy_coeff", R_coeff_);
+     270         178 :   default_R_ = R_;
+     271             : 
+     272             :   // | --------------- processors initialization --------------- |
+     273         178 :   ph->param_loader->loadParam("processors", processor_names_);
+     274             : 
+     275         270 :   for (auto proc_name : processor_names_) {
+     276          92 :     processors_[proc_name] = createProcessorFromName(proc_name, nh);
+     277             :   }
+     278             : 
+     279             :   // | ------------- initialize dynamic reconfigure ------------- |
+     280         178 :   drmgr_               = std::make_unique<drmgr_t>(ros::NodeHandle("~/" + getNamespacedName()), getPrintName());
+     281         178 :   drmgr_->config.noise = R_;
+     282         178 :   drmgr_->update_config(drmgr_->config);
+     283             : 
+     284             :   // | -------------- initialize subscribe handlers ------------- |
+     285         356 :   mrs_lib::SubscribeHandlerOptions shopts;
+     286         178 :   shopts.nh                 = nh;
+     287         178 :   shopts.node_name          = getPrintName();
+     288         178 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     289         178 :   shopts.threadsafe         = true;
+     290         178 :   shopts.autostart          = true;
+     291         178 :   shopts.queue_size         = 10;
+     292         178 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     293             : 
+     294         178 :   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          56 :     case MessageType_t::RANGE: {
+     309          56 :       sh_range_                   = mrs_lib::SubscribeHandler<sensor_msgs::Range>(shopts, msg_topic_, &Correction::callbackRange, this);
+     310          56 :       const std::size_t found     = ros::this_node::getName().find_last_of("/");
+     311         112 :       std::string       node_name = ros::this_node::getName().substr(found + 1);
+     312         112 :       ser_toggle_range_ =
+     313          56 :           nh.advertiseService(ros::this_node::getName() + "/" + getNamespacedName() + "/toggle_range_in", &Correction::callbackToggleRange, this);
+     314          56 :       break;
+     315             :     }
+     316           4 :     case MessageType_t::RTK_GPS: {
+     317           4 :       sh_rtk_ = mrs_lib::SubscribeHandler<mrs_msgs::RtkGps>(shopts, msg_topic_, &Correction::callbackRtk, this);
+     318           4 :       break;
+     319             :     }
+     320          71 :     case MessageType_t::POINT: {
+     321          71 :       sh_point_ = mrs_lib::SubscribeHandler<geometry_msgs::PointStamped>(shopts, msg_topic_, &Correction::callbackPoint, this);
+     322          71 :       break;
+     323             :     }
+     324          47 :     case MessageType_t::VECTOR: {
+     325          47 :       sh_vector_ = mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped>(shopts, msg_topic_, &Correction::callbackVector, this);
+     326          47 :       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         178 :   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         178 :   if (ch_->debug_topics.correction) {
+     351         178 :     ph_correction_raw_  = mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection>(nh, est_name_ + "/correction/" + getName() + "/raw", 10);
+     352         178 :     ph_correction_proc_ = mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection>(nh, est_name_ + "/correction/" + getName() + "/proc", 10);
+     353             :   }
+     354         178 :   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         178 :   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         178 :   healthy_time_ = ros::Time(0);
+     365             : 
+     366         178 :   is_initialized_ = true;
+     367         178 : }
+     368             : /*//}*/
+     369             : 
+     370             : /*//{ getName() */
+     371             : template <int n_measurements>
+     372         356 : std::string Correction<n_measurements>::getName() const {
+     373         356 :   return name_;
+     374             : }
+     375             : /*//}*/
+     376             : 
+     377             : /*//{ getNamespacedName() */
+     378             : template <int n_measurements>
+     379         623 : std::string Correction<n_measurements>::getNamespacedName() const {
+     380         623 :   return est_name_ + "/" + name_;
+     381             : }
+     382             : /*//}*/
+     383             : 
+     384             : /*//{ getPrintName() */
+     385             : template <int n_measurements>
+     386         413 : std::string Correction<n_measurements>::getPrintName() const {
+     387         413 :   return ch_->nodelet_name + "/" + est_name_ + "/" + name_;
+     388             : }
+     389             : /*//}*/
+     390             : 
+     391             : /*//{ getR() */
+     392             : template <int n_measurements>
+     393     1185074 : double Correction<n_measurements>::getR() {
+     394     1185074 :   std::scoped_lock lock(mtx_R_);
+     395     1185001 :   default_R_ = drmgr_->config.noise;
+     396     2369645 :   return R_;
+     397             : }
+     398             : /*//}*/
+     399             : 
+     400             : /*//{ setR() */
+     401             : template <int n_measurements>
+     402      334691 : void Correction<n_measurements>::setR(const double R) {
+     403      334691 :   std::scoped_lock lock(mtx_R_);
+     404      334652 :   R_ = R;
+     405      334646 : }
+     406             : /*//}*/
+     407             : 
+     408             : /*//{ getStateId() */
+     409             : template <int n_measurements>
+     410      334786 : StateId_t Correction<n_measurements>::getStateId() const {
+     411      334786 :   return state_id_;
+     412             : }
+     413             : /*//}*/
+     414             : 
+     415             : /*//{ isHealthy() */
+     416             : template <int n_measurements>
+     417      271579 : bool Correction<n_measurements>::isHealthy() {
+     418             : 
+     419      271579 :   if (!is_initialized_) {
+     420           0 :     return false;
+     421             :   }
+     422             : 
+     423      271498 :   is_dt_ok_ = isMsgComing();
+     424             : 
+     425      271627 :   if (!is_delay_ok_) {
+     426           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: delay not ok", getPrintName().c_str());
+     427             :   }
+     428             : 
+     429      271561 :   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      271527 :   is_healthy_ = is_healthy_ && is_dt_ok_ && is_delay_ok_;
+     440             : 
+     441      271555 :   return is_healthy_;
+     442             : }
+     443             : /*//}*/
+     444             : 
+     445             : /*//{ getRawCorrection() */
+     446             : template <int n_measurements>
+     447        7496 : std::optional<typename Correction<n_measurements>::MeasurementStamped> Correction<n_measurements>::getRawCorrection() {
+     448             : 
+     449        7496 :   if (!is_initialized_) {
+     450           0 :     return {};
+     451             :   }
+     452             : 
+     453        7473 :   MeasurementStamped measurement_stamped;
+     454             : 
+     455        7457 :   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        4145 :     case MessageType_t::RANGE: {
+     516             : 
+     517        4145 :       if (!range_enabled_) {
+     518           0 :         ROS_INFO_THROTTLE(1.0, "[%s]: fusing range corrections is disabled", getPrintName().c_str());
+     519        3317 :         return {};
+     520             :       }
+     521             : 
+     522        4145 :       if (!sh_range_.hasMsg()) {
+     523         859 :         return {};
+     524             :       }
+     525             : 
+     526        3287 :       auto msg                  = sh_range_.getMsg();
+     527        3284 :       measurement_stamped.stamp = msg->header.stamp;
+     528             :       /* checkMsgDelay(measurement_stamped.stamp); */
+     529             : 
+     530             :       /* if (!is_delay_ok_) { */
+     531             :       /*   return {}; */
+     532             :       /* } */
+     533             : 
+     534        3285 :       auto res = getCorrectionFromRange(msg);
+     535        3287 :       if (res) {
+     536         829 :         measurement_stamped.value = res.value();
+     537             :       } else {
+     538        2458 :         return {};
+     539             :       }
+     540         829 :       break;
+     541             :     }
+     542             : 
+     543         100 :     case MessageType_t::RTK_GPS: {
+     544             : 
+     545         100 :       if (!sh_rtk_.hasMsg()) {
+     546           0 :         ROS_ERROR_THROTTLE(1.0, " no rtk msgs so far");
+     547          13 :         return {};
+     548             :       }
+     549             : 
+     550         100 :       auto msg                  = sh_rtk_.getMsg();
+     551         100 :       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         100 :       auto res = getCorrectionFromRtk(msg);
+     560         100 :       if (res) {
+     561          87 :         measurement_stamped.value = res.value();
+     562             :       } else {
+     563          13 :         ROS_ERROR_THROTTLE(1.0, "[%s]: could not get rtk correction", ros::this_node::getName().c_str());
+     564          13 :         return {};
+     565             :       }
+     566             : 
+     567          87 :       break;
+     568             :     }
+     569             : 
+     570        3086 :     case MessageType_t::POINT: {
+     571             : 
+     572        3086 :       if (!sh_point_.hasMsg()) {
+     573        2981 :         return {};
+     574             :       }
+     575             : 
+     576         105 :       auto msg                  = sh_point_.getMsg();
+     577         105 :       measurement_stamped.stamp = msg->header.stamp;
+     578             :       /* checkMsgDelay(measurement_stamped.stamp); */
+     579             : 
+     580             :       /* if (!is_delay_ok_) { */
+     581             :       /*   return {}; */
+     582             :       /* } */
+     583         105 :       auto res = getCorrectionFromPoint(msg);
+     584         105 :       if (res) {
+     585         105 :         measurement_stamped.value = res.value();
+     586             :       } else {
+     587           0 :         return {};
+     588             :       }
+     589         105 :       break;
+     590             :     }
+     591             : 
+     592         164 :     case MessageType_t::VECTOR: {
+     593             : 
+     594         164 :       if (!sh_vector_.hasMsg()) {
+     595         117 :         return {};
+     596             :       }
+     597             : 
+     598          55 :       auto msg                  = sh_vector_.getMsg();
+     599          55 :       measurement_stamped.stamp = msg->header.stamp;
+     600             :       /* checkMsgDelay(measurement_stamped.stamp); */
+     601             : 
+     602             :       /* if (!is_delay_ok_) { */
+     603             :       /*   return {}; */
+     604             :       /* } */
+     605          55 :       auto res = getCorrectionFromVector(msg);
+     606          55 :       if (res) {
+     607          47 :         measurement_stamped.value = res.value();
+     608             :       } else {
+     609           8 :         return {};
+     610             :       }
+     611          47 :       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        1068 :   is_nan_free_ = true;
+     645        2238 :   for (int i = 0; i < measurement_stamped.value.rows(); i++) {
+     646        1170 :     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        1068 :   got_first_msg_ = true;
+     654        1068 :   publishCorrection(measurement_stamped, ph_correction_raw_);
+     655             : 
+     656        1068 :   return measurement_stamped;
+     657             : }
+     658             : /*//}*/
+     659             : 
+     660             : /*//{ getProcessedCorrection() */
+     661             : template <int n_measurements>
+     662        7495 : std::optional<typename Correction<n_measurements>::MeasurementStamped> Correction<n_measurements>::getProcessedCorrection() {
+     663             : 
+     664        7495 :   MeasurementStamped measurement_stamped;
+     665        7484 :   auto               res = getRawCorrection();
+     666        7494 :   if (res) {
+     667        1068 :     MeasurementStamped measurement_stamped = res.value();
+     668        1068 :     if (process(measurement_stamped.value)) {
+     669         295 :       publishCorrection(measurement_stamped, ph_correction_proc_);
+     670         295 :       return measurement_stamped;
+     671             :     } else {
+     672         773 :       return {};  // invalid correction
+     673             :     }
+     674             :   } else {
+     675        6428 :     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       97272 : void Correction<n_measurements>::callbackRange(const sensor_msgs::Range::ConstPtr msg) {
+     943             : 
+     944       97272 :   if (!is_initialized_) {
+     945           0 :     return;
+     946             :   }
+     947             : 
+     948       97000 :   auto res = getCorrectionFromRange(msg);
+     949       97427 :   if (res) {
+     950       95360 :     applyCorrection(res.value(), msg->header.stamp);
+     951             :   }
+     952             : }
+     953             : /*//}*/
+     954             : 
+     955             : /*//{ getCorrectionFromRange() */
+     956             : template <int n_measurements>
+     957      100179 : std::optional<typename Correction<n_measurements>::measurement_t> Correction<n_measurements>::getCorrectionFromRange(const sensor_msgs::RangeConstPtr msg) {
+     958             : 
+     959      100179 :   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      100179 :   if (!std::isfinite(msg->range)) {
+     965          25 :     ROS_ERROR_THROTTLE(1.0, "[%s]: received value: %f. Not using this correction.", getPrintName().c_str(), msg->range);
+     966          25 :     return {};
+     967             :   }
+     968             : 
+     969      200568 :   geometry_msgs::PoseStamped range_point;
+     970             : 
+     971      100052 :   range_point.header           = msg->header;
+     972      100451 :   range_point.pose.position.x  = msg->range;
+     973       99759 :   range_point.pose.position.y  = 0;
+     974       99759 :   range_point.pose.position.z  = 0;
+     975       99759 :   range_point.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+     976             : 
+     977      200844 :   auto res = ch_->transformer->transformSingle(range_point, ch_->frames.ns_fcu_untilted);
+     978             : 
+     979      100689 :   Correction::measurement_t measurement;
+     980             : 
+     981      100689 :   if (res) {
+     982       96190 :     measurement(0) = -res.value().pose.position.z;
+     983       96190 :     return measurement;
+     984             :   } else {
+     985        4499 :     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        4499 :     return {};
+     988             :   }
+     989             : }
+     990             : /*//}*/
+     991             : 
+     992             : /*//{ callbackRtk() */
+     993             : template <int n_measurements>
+     994        1993 : void Correction<n_measurements>::callbackRtk(const mrs_msgs::RtkGps::ConstPtr msg) {
+     995             : 
+     996        1993 :   if (!is_initialized_) {
+     997           0 :     return;
+     998             :   }
+     999             : 
+    1000        1993 :   auto res = getCorrectionFromRtk(msg);
+    1001        1993 :   if (res) {
+    1002        1984 :     applyCorrection(res.value(), msg->header.stamp);
+    1003             :   }
+    1004             : }
+    1005             : /*//}*/
+    1006             : 
+    1007             : /*//{ getCorrectionFromRtk() */
+    1008             : template <int n_measurements>
+    1009        2093 : std::optional<typename Correction<n_measurements>::measurement_t> Correction<n_measurements>::getCorrectionFromRtk(const mrs_msgs::RtkGpsConstPtr msg) {
+    1010             : 
+    1011        4186 :   geometry_msgs::PoseStamped rtk_pos;
+    1012             : 
+    1013        2093 :   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        2093 :   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        2093 :   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        2093 :   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        2093 :   rtk_pos.header = msg->header;
+    1034        2093 :   mrs_lib::UTM(msg->gps.latitude, msg->gps.longitude, &rtk_pos.pose.position.x, &rtk_pos.pose.position.y);
+    1035        2093 :   rtk_pos.pose.position.z  = msg->gps.altitude;
+    1036        2093 :   rtk_pos.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    1037             : 
+    1038        2093 :   rtk_pos.pose.position.x -= ch_->world_origin.x;
+    1039        2093 :   rtk_pos.pose.position.y -= ch_->world_origin.y;
+    1040             : 
+    1041        2093 :   Correction::measurement_t measurement;
+    1042             : 
+    1043             :   // transform the RTK position from antenna to FCU
+    1044        2093 :   auto res = transformRtkToFcu(rtk_pos);
+    1045        2093 :   if (res) {
+    1046        2093 :     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        2093 :   switch (est_type_) {
+    1053             : 
+    1054             :     // handle lateral estimators
+    1055        1055 :     case EstimatorType_t::LATERAL: {
+    1056             : 
+    1057        1055 :       switch (state_id_) {
+    1058             : 
+    1059        1055 :         case StateId_t::POSITION: {
+    1060        1055 :           measurement(0) = rtk_pos.pose.position.x;
+    1061        1055 :           measurement(1) = rtk_pos.pose.position.y;
+    1062        1055 :           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        1038 :     case EstimatorType_t::ALTITUDE: {
+    1076             : 
+    1077        1038 :       switch (state_id_) {
+    1078             : 
+    1079        1038 :         case StateId_t::POSITION: {
+    1080        1038 :           measurement(0) = rtk_pos.pose.position.z;
+    1081        1038 :           if (!got_avg_init_rtk_z_) {
+    1082          22 :             getAvgRtkInitZ(measurement(0));
+    1083          22 :             return {};
+    1084             :           }
+    1085        1016 :           measurement(0) -= rtk_init_z_avg_;
+    1086        1016 :           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      146053 : void Correction<n_measurements>::callbackPoint(const geometry_msgs::PointStamped::ConstPtr msg) {
+    1113             : 
+    1114      146053 :   if (!is_initialized_) {
+    1115           0 :     return;
+    1116             :   }
+    1117             : 
+    1118      146053 :   auto res = getCorrectionFromPoint(msg);
+    1119      146053 :   if (res) {
+    1120      146053 :     applyCorrection(res.value(), msg->header.stamp);
+    1121             :   }
+    1122             : }
+    1123             : /*//}*/
+    1124             : 
+    1125             : /*//{ getCorrectionFromPoint() */
+    1126             : template <int n_measurements>
+    1127      146158 : std::optional<typename Correction<n_measurements>::measurement_t> Correction<n_measurements>::getCorrectionFromPoint(
+    1128             :     const geometry_msgs::PointStampedConstPtr msg) {
+    1129             : 
+    1130      146158 :   switch (est_type_) {
+    1131             : 
+    1132             :     // handle lateral estimators
+    1133       84538 :     case EstimatorType_t::LATERAL: {
+    1134             : 
+    1135       84538 :       switch (state_id_) {
+    1136             : 
+    1137       84538 :         case StateId_t::POSITION: {
+    1138       84538 :           measurement_t measurement;
+    1139       84538 :           measurement(0) = msg->point.x;
+    1140       84538 :           measurement(1) = msg->point.y;
+    1141       84538 :           return measurement;
+    1142             :           break;
+    1143             :         }
+    1144             : 
+    1145           0 :         default: {
+    1146           0 :           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       61620 :     case EstimatorType_t::ALTITUDE: {
+    1155             : 
+    1156       61620 :       switch (state_id_) {
+    1157             : 
+    1158       61620 :         case StateId_t::POSITION: {
+    1159       61620 :           measurement_t measurement;
+    1160       61620 :           measurement(0) = msg->point.z;
+    1161       61620 :           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           0 :     default: {
+    1174           0 :       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       91736 : void Correction<n_measurements>::callbackVector(const geometry_msgs::Vector3Stamped::ConstPtr msg) {
+    1188             : 
+    1189       91736 :   if (!is_initialized_) {
+    1190           0 :     return;
+    1191             :   }
+    1192             : 
+    1193       91736 :   auto res = getCorrectionFromVector(msg);
+    1194       91736 :   if (res) {
+    1195       91715 :     applyCorrection(res.value(), msg->header.stamp);
+    1196             :   }
+    1197             : }
+    1198             : /*//}*/
+    1199             : 
+    1200             : /*//{ getCorrectionFromVector() */
+    1201             : template <int n_measurements>
+    1202       91791 : std::optional<typename Correction<n_measurements>::measurement_t> Correction<n_measurements>::getCorrectionFromVector(
+    1203             :     const geometry_msgs::Vector3StampedConstPtr msg) {
+    1204             : 
+    1205       91791 :   switch (est_type_) {
+    1206             : 
+    1207             :     // handle lateral estimators
+    1208        4432 :     case EstimatorType_t::LATERAL: {
+    1209             : 
+    1210        4432 :       switch (state_id_) {
+    1211             : 
+    1212        4432 :         case StateId_t::VELOCITY: {
+    1213        4432 :           auto res = getVelInFrame(msg->vector, msg->header, ns_frame_id_ + "_att_only");
+    1214        4432 :           if (res) {
+    1215        4406 :             measurement_t measurement;
+    1216        4406 :             measurement = res.value();
+    1217        4406 :             return measurement;
+    1218             :           } else {
+    1219          26 :             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       87359 :     case EstimatorType_t::ALTITUDE: {
+    1234             : 
+    1235       87359 :       switch (state_id_) {
+    1236             : 
+    1237       87359 :         case StateId_t::VELOCITY: {
+    1238       87359 :           auto res = getZVelUntilted(msg->vector, msg->header);
+    1239       87359 :           if (res) {
+    1240       87356 :             measurement_t measurement;
+    1241       87356 :             measurement = res.value();
+    1242       87356 :             return measurement;
+    1243             :           } else {
+    1244           3 :             return {};
+    1245             :           }
+    1246             :           break;
+    1247             :         }
+    1248             : 
+    1249           0 :         default: {
+    1250           0 :           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           0 :   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      335104 : void Correction<n_measurements>::applyCorrection(const measurement_t& meas, const ros::Time& stamp) {
+    1342             : 
+    1343             :   {
+    1344      335104 :     std::scoped_lock lock(mtx_msg_time_);
+    1345      335098 :     if (first_timestamp_) {
+    1346         177 :       prev_msg_time_   = stamp - ros::Duration(0.01);
+    1347         178 :       msg_time_        = stamp;
+    1348         178 :       healthy_time_    = ros::Time(0);
+    1349         178 :       first_timestamp_ = false;
+    1350             :     }
+    1351             : 
+    1352      335103 :     prev_msg_time_ = msg_time_;
+    1353      335103 :     msg_time_      = stamp;
+    1354      335103 :     healthy_time_ += msg_time_ - prev_msg_time_;
+    1355             :   }
+    1356             : 
+    1357      335046 :   MeasurementStamped meas_stamped;
+    1358      335024 :   meas_stamped.value = meas;
+    1359      335038 :   meas_stamped.stamp = stamp;
+    1360      335038 :   publishCorrection(meas_stamped, ph_correction_raw_);
+    1361      335105 :   if (process(meas_stamped.value)) {
+    1362      334311 :     publishCorrection(meas_stamped, ph_correction_proc_);
+    1363      334393 :     fun_apply_correction_(meas_stamped, getR(), getStateId());
+    1364             :   }
+    1365      334907 : }
+    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       87359 : 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      174718 :   geometry_msgs::PointStamped vel;
+    1408       87359 :   vel.point.x = msg.x;
+    1409       87359 :   vel.point.y = msg.y;
+    1410       87359 :   vel.point.z = msg.z;
+    1411       87359 :   vel.header  = header;
+    1412             :   /* vel.header.frame_id = ch_->frames.ns_fcu; */
+    1413       87359 :   vel.header.stamp = header.stamp;
+    1414             : 
+    1415      174718 :   auto res = ch_->transformer->transformSingle(vel, ch_->frames.ns_fcu_untilted);
+    1416       87359 :   if (res) {
+    1417       87356 :     measurement_t measurement;
+    1418       87356 :     measurement(0) = res.value().point.z;
+    1419       87356 :     return measurement;
+    1420             :   } else {
+    1421           3 :     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           3 :     return {};
+    1423             :   }
+    1424             : }
+    1425             : /*//}*/
+    1426             : 
+    1427             : /*//{ getVelInFrame() */
+    1428             : template <int n_measurements>
+    1429        4432 : 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        4432 :   measurement_t measurement;
+    1434             : 
+    1435        8864 :   geometry_msgs::Vector3Stamped vel;
+    1436        4432 :   vel.header = source_header;
+    1437        4432 :   vel.vector = vel_in;
+    1438             :   /* body.vector.x = vel.x; */
+    1439             :   /* body.vector.y = vel.y; */
+    1440             :   /* body.vector.z = vel.z; */
+    1441             : 
+    1442        8864 :   geometry_msgs::Vector3Stamped transformed_vel;
+    1443        8864 :   auto                          res = ch_->transformer->transformSingle(vel, target_frame);
+    1444        4432 :   if (res) {
+    1445        4406 :     transformed_vel = res.value();
+    1446        4406 :     measurement(0)  = transformed_vel.vector.x;
+    1447        4406 :     measurement(1)  = transformed_vel.vector.y;
+    1448        4406 :     return measurement;
+    1449             :   } else {
+    1450          26 :     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          26 :     return {};
+    1452             :   }
+    1453             : }
+    1454             : /*//}*/
+    1455             : 
+    1456             : /*//{ transformRtkToFcu() */
+    1457             : template <int n_measurements>
+    1458        2093 : std::optional<geometry_msgs::Pose> Correction<n_measurements>::transformRtkToFcu(const geometry_msgs::PoseStamped& pose_in) const {
+    1459             : 
+    1460        4186 :   geometry_msgs::PoseStamped pose_tmp = pose_in;
+    1461             : 
+    1462             :   // inject current orientation into rtk pose
+    1463        4186 :   auto res1 = ch_->transformer->getTransform(ch_->frames.ns_fcu_untilted, ch_->frames.ns_fcu, ros::Time::now());
+    1464        2093 :   if (res1) {
+    1465        2093 :     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        2093 :   tf2::Transform             tf_utm_to_antenna = Support::tf2FromPose(pose_tmp.pose);
+    1474        4186 :   geometry_msgs::PoseStamped utm_in_antenna;
+    1475        2093 :   utm_in_antenna.pose            = Support::poseFromTf2(tf_utm_to_antenna.inverse());
+    1476        2093 :   utm_in_antenna.header.stamp    = pose_in.header.stamp;
+    1477        2093 :   utm_in_antenna.header.frame_id = ch_->frames.ns_rtk_antenna;
+    1478             : 
+    1479             :   // transform to fcu
+    1480        4186 :   geometry_msgs::PoseStamped utm_in_fcu;
+    1481        2093 :   utm_in_fcu.header.frame_id = ch_->frames.ns_fcu;
+    1482        2093 :   utm_in_fcu.header.stamp    = pose_in.header.stamp;
+    1483        4186 :   auto res2                  = ch_->transformer->transformSingle(utm_in_antenna, ch_->frames.ns_fcu);
+    1484             : 
+    1485        2093 :   if (res2) {
+    1486        2093 :     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        2093 :   tf2::Transform      tf_fcu_to_utm = Support::tf2FromPose(utm_in_fcu.pose);
+    1494        2093 :   geometry_msgs::Pose fcu_in_utm    = Support::poseFromTf2(tf_fcu_to_utm.inverse());
+    1495             : 
+    1496        2093 :   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      271623 : bool Correction<n_measurements>::isMsgComing() {
+    1589             : 
+    1590      271623 :   const ros::Time msg_time = mrs_lib::get_mutexed(mtx_msg_time_, msg_time_);
+    1591      271540 :   const double    delta    = ros::Time::now().toSec() - msg_time.toSec();
+    1592             : 
+    1593      271536 :   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      271481 :   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      271481 :   return true;
+    1604             : }  // namespace mrs_uav_state_estimators
+    1605             : /*//}*/
+    1606             : 
+    1607             : /*//{ createProcessorFromName() */
+    1608             : template <int n_measurements>
+    1609          92 : std::shared_ptr<Processor<n_measurements>> Correction<n_measurements>::createProcessorFromName(const std::string& name, ros::NodeHandle& nh) {
+    1610             : 
+    1611          92 :   if (name == "median_filter") {
+    1612          15 :     return std::make_shared<ProcMedianFilter<n_measurements>>(nh, getNamespacedName(), name, ch_, ph_);
+    1613          77 :   } else if (name == "saturate") {
+    1614          19 :     return std::make_shared<ProcSaturate<n_measurements>>(nh, getNamespacedName(), name, ch_, ph_, state_id_, fun_get_state_);
+    1615          58 :   } else if (name == "excessive_tilt") {
+    1616          15 :     return std::make_shared<ProcExcessiveTilt<n_measurements>>(nh, getNamespacedName(), name, ch_, ph_);
+    1617          43 :   } else if (name == "tf_to_world") {
+    1618          43 :     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      336123 : bool Correction<n_measurements>::process(Correction<n_measurements>::measurement_t& measurement) {
+    1630             : 
+    1631      336123 :   bool ok_flag   = true;
+    1632      336123 :   bool fuse_flag = true;
+    1633             : 
+    1634      488637 :   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      152516 :     auto [is_ok, should_fuse] = processors_[proc_name]->process(measurement);
+    1638      152513 :     ok_flag &= is_ok;
+    1639      152513 :     fuse_flag &= should_fuse;
+    1640             :   }
+    1641      336119 :   if (fuse_flag) {
+    1642      334634 :     if (!ok_flag) {
+    1643           3 :       setR(default_R_ * R_coeff_);
+    1644           3 :       ROS_INFO_THROTTLE(1.0, "[%s]: set R to %.4f", getPrintName().c_str(), default_R_ * R_coeff_);
+    1645           3 :       return true;
+    1646             :     } else {
+    1647      334631 :       setR(default_R_);
+    1648      334606 :       return true;
+    1649             :     }
+    1650             :   }
+    1651        1485 :   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      670621 : void Correction<n_measurements>::publishCorrection(const MeasurementStamped&                                 measurement_stamped,
+    1670             :                                                    mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection>& ph_corr) {
+    1671             : 
+    1672      670621 :   if (!ch_->debug_topics.correction) {
+    1673           0 :     return;
+    1674             :   }
+    1675             : 
+    1676     1341487 :   mrs_msgs::EstimatorCorrection msg;
+    1677      670557 :   msg.header.stamp    = measurement_stamped.stamp;
+    1678      670557 :   msg.header.frame_id = ns_frame_id_;
+    1679      670792 :   msg.name            = name_;
+    1680      670803 :   msg.estimator_name  = est_name_;
+    1681      670827 :   msg.state_id        = state_id_;
+    1682      670827 :   msg.covariance.resize(n_measurements * n_measurements);
+    1683     1520986 :   for (int i = 0; i < measurement_stamped.value.rows(); i++) {
+    1684      850562 :     msg.state.push_back(measurement_stamped.value(i));
+    1685      850722 :     msg.covariance[n_measurements * i + i] = getR();
+    1686             :   }
+    1687             : 
+    1688      670297 :   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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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:2023-12-14 21:42:20Functions: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..4eef228486 --- /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 + + + + + + + + + + + + + + +
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Test:MRS UAV System - Test coverage reportLines:050.0 %
Date:2023-12-14 21:42:20Functions:030.0 %
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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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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:2023-12-14 21:42:20Functions: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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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:2023-12-14 21:42:20Functions: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)45
mrs_uav_state_estimators::HdgPassthrough::~HdgPassthrough()45
mrs_uav_state_estimators::HdgPassthrough::~HdgPassthrough().245
+
+
+ + + +
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..ef9df4ccc8 --- /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:2023-12-14 21:42:20Functions: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)45
mrs_uav_state_estimators::HdgPassthrough::~HdgPassthrough()45
mrs_uav_state_estimators::HdgPassthrough::~HdgPassthrough().245
+
+
+ + + +
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..a8b340ca64 --- /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:2023-12-14 21:42:20Functions: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          45 :   HdgPassthrough(const std::string &name, const std::string &ns_frame_id, const std::string &parent_state_est_name, const bool is_core_plugin)
+      70          45 :       : HeadingEstimator<hdg_passthrough::n_states>(name, ns_frame_id), parent_state_est_name_(parent_state_est_name), is_core_plugin_(is_core_plugin) {
+      71          45 :   }
+      72             : 
+      73          90 :   ~HdgPassthrough(void) {
+      74          90 :   }
+      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..5729017b64 --- /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:2023-12-14 21:42:20Functions: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&)45
+
+
+ + + +
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..d11696113d --- /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:2023-12-14 21:42:20Functions: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&)45
+
+
+ + + +
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..a87076eafd --- /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:2023-12-14 21:42:20Functions: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          45 :   HeadingEstimator(const std::string& name, const std::string& frame_id) : PartialEstimator<n_states, 1>(heading::type, name, frame_id) {
+      23          45 :   }
+      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..2a3b7f5ca2 --- /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:2023-12-14 21:42:20Functions: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..8b38711dc2 --- /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:2023-12-14 21:42:20Functions: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..0ab0aaacda --- /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:2023-12-14 21:42:20Functions: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..c92c9e7b37 --- /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:2023-12-14 21:42:20Functions: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..c908b96c6e --- /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:2023-12-14 21:42:20Functions: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..9a0be986f7 --- /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:2023-12-14 21:42:20Functions: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..4d910a1a39 --- /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:40469158.5 %
Date:2023-12-14 21:42:20Functions:689174.7 %
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 +
56.5%56.5%
+ 		56.5 %370 / 65573.1 %49 / 67
<unnamed>56.5 %370 / 65573.1 %49 / 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..30f89792ad --- /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:40469158.5 %
Date:2023-12-14 21:42:20Functions:689174.7 %
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 +
56.5%56.5%
+ 		56.5 %370 / 65573.1 %49 / 67
<unnamed>56.5 %370 / 65573.1 %49 / 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..390f9ba932 --- /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:40469158.5 %
Date:2023-12-14 21:42:20Functions:689174.7 %
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 +
56.5%56.5%
+ 		56.5 %370 / 65573.1 %49 / 67
<unnamed>56.5 %370 / 65573.1 %49 / 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..d3ff3cb1de --- /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:40469158.5 %
Date:2023-12-14 21:42:20Functions:689174.7 %
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 +
56.5%56.5%
+ 		56.5 %370 / 65573.1 %49 / 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..4608eeb55c --- /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:40469158.5 %
Date:2023-12-14 21:42:20Functions:689174.7 %
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 +
56.5%56.5%
+ 		56.5 %370 / 65573.1 %49 / 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..49ef2653d7 --- /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:40469158.5 %
Date:2023-12-14 21:42:20Functions:689174.7 %
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 +
56.5%56.5%
+ 		56.5 %370 / 65573.1 %49 / 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..661b49b114 --- /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:2023-12-14 21:42:20Functions: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..8a9bd90679 --- /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:2023-12-14 21:42:20Functions: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.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/index-detail.html new file mode 100644 index 0000000000..16d4aaef4d --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/index-detail.html @@ -0,0 +1,128 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateralHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:99100.0 %
Date:2023-12-14 21:42:20Functions:5683.3 %
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lateral_estimator.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:2023-12-14 21:42:20Functions:5683.3 %
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lateral_estimator.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:2023-12-14 21:42:20Functions:5683.3 %
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lateral_estimator.h +
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lat_generic.h +
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Generated by: LCOV version 1.14
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateralHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:99100.0 %
Date:2023-12-14 21:42:20Functions: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:2023-12-14 21:42:20Functions:33100.0 %
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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> ()>)45
mrs_uav_state_estimators::LatGeneric::~LatGeneric()45
mrs_uav_state_estimators::LatGeneric::~LatGeneric().245
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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:2023-12-14 21:42:20Functions: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> ()>)45
mrs_uav_state_estimators::LatGeneric::~LatGeneric()45
mrs_uav_state_estimators::LatGeneric::~LatGeneric().245
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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..65bf1ee0cc --- /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:2023-12-14 21:42:20Functions: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          45 :   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          45 :       : 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          45 :   }
+     121             : 
+     122          90 :   ~LatGeneric(void) {
+     123          90 :   }
+     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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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:2023-12-14 21:42:20Functions:2366.7 %
Legend: Lines: + hit + not hit +
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+ +
+ + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::LateralEstimator<6>::~LateralEstimator()0
mrs_uav_state_estimators::LateralEstimator<6>::LateralEstimator(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)45
mrs_uav_state_estimators::LateralEstimator<6>::~LateralEstimator().245
+
+
+ + + +
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..bcb130d3bf --- /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:2023-12-14 21:42:20Functions:2366.7 %
Legend: Lines: + hit + not hit +
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+ +
+ + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::LateralEstimator<6>::LateralEstimator(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)45
mrs_uav_state_estimators::LateralEstimator<6>::~LateralEstimator()0
mrs_uav_state_estimators::LateralEstimator<6>::~LateralEstimator().245
+
+
+ + + +
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..9cd0d3af7a --- /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:2023-12-14 21:42:20Functions: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          45 :   LateralEstimator(const std::string& name, const std::string& frame_id) : PartialEstimator<n_states, lateral::n_axes>(lateral::type, name, frame_id) {
+      24          45 :   }
+      25             : 
+      26          45 :   ~LateralEstimator(void) {
+      27          45 :   }
+      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..b6dbf6a224 --- /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:2023-12-14 21:42:20Functions: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&)45
mrs_uav_state_estimators::PartialEstimator<2, 1>::~PartialEstimator().245
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&)45
mrs_uav_state_estimators::PartialEstimator<6, 2>::~PartialEstimator().245
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&)86
mrs_uav_state_estimators::PartialEstimator<3, 1>::~PartialEstimator().286
mrs_uav_state_estimators::PartialEstimator<3, 1>::stateIdToIndex(int const&, int const&) const22985
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&) const55509
mrs_uav_state_estimators::PartialEstimator<6, 2>::publishOutput() const55509
mrs_uav_state_estimators::PartialEstimator<6, 2>::getStatesAsVector() const55509
mrs_uav_state_estimators::PartialEstimator<6, 2>::getCovarianceAsVector() const55509
mrs_uav_state_estimators::PartialEstimator<2, 1>::publishOutput() const69826
mrs_uav_state_estimators::PartialEstimator<2, 1>::getStatesAsVector() const69826
mrs_uav_state_estimators::PartialEstimator<2, 1>::getCovarianceAsVector() const69826
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&) const103139
mrs_uav_state_estimators::PartialEstimator<3, 1>::getCovarianceAsVector() const103355
mrs_uav_state_estimators::PartialEstimator<3, 1>::publishOutput() const103367
mrs_uav_state_estimators::PartialEstimator<3, 1>::getStatesAsVector() const103378
mrs_uav_state_estimators::PartialEstimator<6, 2>::stateIdToIndex(int const&, int const&) const1000719
+
+
+ + + +
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..78e71e6e62 --- /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:2023-12-14 21:42:20Functions: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&)45
mrs_uav_state_estimators::PartialEstimator<2, 1>::~PartialEstimator()0
mrs_uav_state_estimators::PartialEstimator<2, 1>::~PartialEstimator().245
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&)86
mrs_uav_state_estimators::PartialEstimator<3, 1>::~PartialEstimator()0
mrs_uav_state_estimators::PartialEstimator<3, 1>::~PartialEstimator().286
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&)45
mrs_uav_state_estimators::PartialEstimator<6, 2>::~PartialEstimator()0
mrs_uav_state_estimators::PartialEstimator<6, 2>::~PartialEstimator().245
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() const69826
mrs_uav_state_estimators::PartialEstimator<2, 1>::stateIdToIndex(int const&, int const&) const0
mrs_uav_state_estimators::PartialEstimator<2, 1>::getStatesAsVector() const69826
mrs_uav_state_estimators::PartialEstimator<2, 1>::getCovarianceAsVector() const69826
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&) const103139
mrs_uav_state_estimators::PartialEstimator<3, 1>::publishOutput() const103367
mrs_uav_state_estimators::PartialEstimator<3, 1>::stateIdToIndex(int const&, int const&) const22985
mrs_uav_state_estimators::PartialEstimator<3, 1>::getStatesAsVector() const103378
mrs_uav_state_estimators::PartialEstimator<3, 1>::getCovarianceAsVector() const103355
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&) const55509
mrs_uav_state_estimators::PartialEstimator<6, 2>::publishOutput() const55509
mrs_uav_state_estimators::PartialEstimator<6, 2>::stateIdToIndex(int const&, int const&) const1000719
mrs_uav_state_estimators::PartialEstimator<6, 2>::getStatesAsVector() const55509
mrs_uav_state_estimators::PartialEstimator<6, 2>::getCovarianceAsVector() const55509
+
+
+ + + +
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..87f78a3ab7 --- /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:2023-12-14 21:42:20Functions: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         176 :   PartialEstimator(const std::string &type, const std::string &name, const std::string &frame_id) : Estimator(type, name, frame_id) {
+      62         176 :   }
+      63             : 
+      64         176 :   ~PartialEstimator(void) {
+      65         176 :   }
+      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      228713 : std::vector<double> PartialEstimator<n_states, n_axes>::getStatesAsVector(void) const {
+     103      228713 :   const states_t      states = getStates();
+     104      228678 :   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     1011405 :   for (int i = 0; i < states.size(); i++) {
+     109      782650 :     states_vec.push_back(states(i));
+     110             :   }
+     111      457348 :   return states_vec;
+     112             : }
+     113             : /*//}*/
+     114             : 
+     115             : /*//{ getCovarianceAsvector() */
+     116             : template <int n_states, int n_axes>
+     117      228690 : std::vector<double> PartialEstimator<n_states, n_axes>::getCovarianceAsVector(void) const {
+     118      228690 :   const covariance_t  covariance = getCovarianceMatrix();
+     119      228655 :   std::vector<double> covariance_vec;
+     120             :   /* for (auto cov : covariance.reshaped<Eigen::RowMajor>(covariance.size())) { */
+     121             :   /*   covariance_vec.push_back(*cov); */
+     122             :   /* } */
+     123     1011030 :   for (int i = 0; i < covariance.rows(); i++) {
+     124     3989543 :     for (int j = 0; j < covariance.cols(); j++) {
+     125     3206862 :       covariance_vec.push_back(covariance(i, j));
+     126             :     }
+     127             :   }
+     128      457320 :   return covariance_vec;
+     129             : }
+     130             : /*//}*/
+     131             : 
+     132             : /*//{ stateIdToIndex() */
+     133             : template <int n_states, int n_axes>
+     134     1023704 : int PartialEstimator<n_states, n_axes>::stateIdToIndex(const int &state_id_in, const int &axis_in) const {
+     135     1023704 :   return state_id_in * _n_axes_ + axis_in;
+     136             : }
+     137             : /*//}*/
+     138             : 
+     139             : /*//{ publishOutput() */
+     140             : template <int n_states, int n_axes>
+     141      228702 : void PartialEstimator<n_states, n_axes>::publishOutput() const {
+     142             : 
+     143      228702 :   if (!ch_->debug_topics.output) {
+     144           0 :     return;
+     145             :   }
+     146             : 
+     147      457385 :   mrs_msgs::EstimatorOutput msg;
+     148      228652 :   msg.header.stamp    = ros::Time::now();
+     149      228715 :   msg.header.frame_id = getFrameId();
+     150      228706 :   msg.state           = getStatesAsVector();
+     151      228585 :   msg.covariance      = getCovarianceAsVector();
+     152             : 
+     153      228599 :   ph_output_.publish(msg);
+     154             : }
+     155             : /*//}*/
+     156             : 
+     157             : /*//{ publishInput() */
+     158             : template <int n_states, int n_axes>
+     159             : template <typename u_t>
+     160      158648 : void PartialEstimator<n_states, n_axes>::publishInput(const u_t &u, const ros::Time& stamp) const {
+     161             : 
+     162      158648 :   if (!ch_->debug_topics.input) {
+     163           0 :     return;
+     164             :   }
+     165             : 
+     166      316604 :   mrs_msgs::Float64ArrayStamped msg;
+     167      157686 :   msg.header.stamp = stamp;
+     168      371699 :   for (int i = 0; i < u.rows(); i++) {
+     169      213054 :     msg.values.push_back(u(i));
+     170             :   }
+     171             : 
+     172      158278 :   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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Date:2023-12-14 21:42:20Functions:33100.0 %
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mrs_uav_state_estimators::passthrough::Passthrough::~Passthrough()3
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Date:2023-12-14 21:42:20Functions:33100.0 %
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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           3 :   Passthrough() : StateEstimator(passthrough::name, passthrough::frame_id, passthrough::package_name), is_core_plugin_(is_core_plugin) {
+      67           3 :   }
+      68             : 
+      69           6 :   ~Passthrough(void) {
+      70           6 :   }
+      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:2023-12-14 21:42:20Functions: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)45
mrs_uav_state_estimators::StateGeneric::~StateGeneric().245
+
+
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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..530da2ae2a --- /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:2023-12-14 21:42:20Functions:2366.7 %
Legend: Lines: + hit + not hit +
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mrs_uav_state_estimators::StateGeneric::StateGeneric(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool)45
mrs_uav_state_estimators::StateGeneric::~StateGeneric()0
mrs_uav_state_estimators::StateGeneric::~StateGeneric().245
+
+
+ + + +
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..71f5f85b32 --- /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:2023-12-14 21:42:20Functions: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          45 :   StateGeneric(const std::string &name, const bool is_core_plugin)
+      79          45 :       : StateEstimator(name, name + "_origin", state_generic::package_name), is_core_plugin_(is_core_plugin) {
+      80          45 :   }
+      81             : 
+      82          45 :   ~StateGeneric(void) {
+      83          45 :   }
+      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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Test:MRS UAV System - Test coverage reportLines:12217470.1 %
Date:2023-12-14 21:42:20Functions:173450.0 %
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
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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<unnamed>68.3 %28 / 4133.3 %2 / 6
proc_tf_to_world.h +
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<unnamed>74.5 %35 / 4737.5 %3 / 8
proc_saturate.h +
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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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+ + + + +
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Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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63.9%63.9%
+ 		63.9 %23 / 3633.3 %2 / 6
<unnamed>63.9 %23 / 3633.3 %2 / 6
proc_excessive_tilt.h +
68.3%68.3%
+ 		68.3 %28 / 4133.3 %2 / 6
<unnamed>68.3 %28 / 4133.3 %2 / 6
processor.h +
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+ 		70.0 %7 / 1075.0 %6 / 8
<unnamed>70.0 %7 / 1075.0 %6 / 8
proc_saturate.h +
72.5%72.5%
+ 		72.5 %29 / 4066.7 %4 / 6
<unnamed>72.5 %29 / 4066.7 %4 / 6
proc_tf_to_world.h +
74.5%74.5%
+ 		74.5 %35 / 4737.5 %3 / 8
<unnamed>74.5 %35 / 4737.5 %3 / 8
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+ + + + +
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Test:MRS UAV System - Test coverage reportLines:12217470.1 %
Date:2023-12-14 21:42:20Functions:173450.0 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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proc_excessive_tilt.h +
68.3%68.3%
+ 		68.3 %28 / 4133.3 %2 / 6
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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
proc_saturate.h +
72.5%72.5%
+ 		72.5 %29 / 4066.7 %4 / 6
<unnamed>72.5 %29 / 4066.7 %4 / 6
proc_tf_to_world.h +
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+ 		74.5 %35 / 4737.5 %3 / 8
<unnamed>74.5 %35 / 4737.5 %3 / 8
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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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-f.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/index-sort-f.html new file mode 100644 index 0000000000..069ea9a149 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/index-sort-f.html @@ -0,0 +1,142 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors + + + + + + + + + + + + + + +
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Test:MRS UAV System - Test coverage reportLines:12217470.1 %
Date:2023-12-14 21:42:20Functions: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_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 +
74.5%74.5%
+ 		74.5 %35 / 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
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/index-sort-l.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/index-sort-l.html new file mode 100644 index 0000000000..837635ae64 --- /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 + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processorsHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:12217470.1 %
Date:2023-12-14 21:42:20Functions: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_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%
+ 		72.5 %29 / 4066.7 %4 / 6
proc_tf_to_world.h +
74.5%74.5%
+ 		74.5 %35 / 4737.5 %3 / 8
+
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/index.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/index.html new file mode 100644 index 0000000000..b4247118e9 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/index.html @@ -0,0 +1,142 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processorsHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:12217470.1 %
Date:2023-12-14 21:42:20Functions: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 +
74.5%74.5%
+ 		74.5 %35 / 4737.5 %3 / 8
processor.h +
70.0%70.0%
+ 		70.0 %7 / 1075.0 %6 / 8
+
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+ + + + +
Generated by: LCOV version 1.14
+
+ + + 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..ecc9caf4de --- /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
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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:2023-12-14 21:42:20Functions:2633.3 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

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&)15
mrs_uav_state_estimators::ProcExcessiveTilt<1>::process(Eigen::Matrix<double, 1, 1, 0, 1, 1>&)21969
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + 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..1808affcd0 --- /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:2023-12-14 21:42:20Functions:2633.3 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

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>&)21969
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&)15
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
+
+
+ + + +
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..04364062b5 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_excessive_tilt.h.gcov.html @@ -0,0 +1,206 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_excessive_tilt.h + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors - proc_excessive_tilt.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:284168.3 %
Date:2023-12-14 21:42:20Functions: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          15 : 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          15 :     : Processor<n_measurements>(nh, correction_name, name, ch, ph) {
+      45             : 
+      46             :   // | --------------------- load parameters -------------------- |
+      47          15 :   ph->param_loader->setPrefix(ch->package_name + "/" + Support::toSnakeCase(ch->nodelet_name) + "/" + Processor<n_measurements>::getNamespacedName() + "/");
+      48             : 
+      49          15 :   ph->param_loader->loadParam("orientation_topic", orientation_topic_);
+      50             :   double max_tilt;
+      51          15 :   ph->param_loader->loadParam("max_tilt", max_tilt);
+      52             : 
+      53          15 :   max_tilt = M_PI * (max_tilt / 180.0);
+      54             : 
+      55          15 :   max_tilt_sq_ = std::pow(max_tilt, 2);
+      56             : 
+      57          15 :   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          15 :   mrs_lib::SubscribeHandlerOptions shopts;
+      64          15 :   shopts.nh                 = nh;
+      65          15 :   shopts.node_name          = Processor<n_measurements>::getPrintName();
+      66          15 :   shopts.no_message_timeout = ros::Duration(1.0);
+      67          15 :   shopts.threadsafe         = true;
+      68          15 :   shopts.autostart          = true;
+      69          15 :   shopts.queue_size         = 10;
+      70          15 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+      71             : 
+      72          15 :   sh_orientation_ = mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped>(shopts, "/" + ch->uav_name + "/" + orientation_topic_);
+      73          15 : }
+      74             : /*//}*/
+      75             : 
+      76             : /*//{ process() */
+      77             : template <int n_measurements>
+      78       21969 : std::tuple<bool, bool> ProcExcessiveTilt<n_measurements>::process(measurement_t& measurement) {
+      79             : 
+      80       21969 :   if (!Processor<n_measurements>::enabled_) {
+      81           0 :     return {true, true};
+      82             :   }
+      83             : 
+      84       21969 :   if (!sh_orientation_.hasMsg()) {
+      85           0 :     return {false, false};
+      86             :   }
+      87             : 
+      88       21969 :   bool ok_flag     = true;
+      89       21969 :   bool should_fuse = true;
+      90             : 
+      91             :   try {
+      92       21969 :     Eigen::Matrix3d orientation_R = mrs_lib::AttitudeConverter(sh_orientation_.getMsg()->quaternion);
+      93             : 
+      94       21968 :     const double tilt = mrs_lib::geometry::angleBetween(Eigen::Vector3d(0, 0, 1), orientation_R.col(2));
+      95             : 
+      96       21969 :     const bool is_excessive_tilt = std::pow(tilt, 2) > max_tilt_sq_;
+      97             : 
+      98       21967 :     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       21968 :   return {ok_flag, should_fuse};
+     110             : }
+     111             : /*//}*/
+     112             : 
+     113             : /*//{ reset() */
+     114             : template <int n_measurements>
+     115           0 : void ProcExcessiveTilt<n_measurements>::reset() {
+     116             :   // no need to do anything
+     117           0 : }
+     118             : /*//}*/
+     119             : 
+     120             : }  // namespace mrs_uav_state_estimators
+     121             : 
+     122             : #endif  // PROCESSORS_PROC_EXCESSIVE_TILT_H
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_excessive_tilt.h.gcov.png b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_excessive_tilt.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..b64a252cab730e64e7e46966d4a4e6187ae9facd GIT binary patch literal 656 zcmV;B0&o3^P)2i$Eh$_a1ffbCT**)NUE|Y6jd4E=SUmi7Q$-F96_Fewyni(}s z8H0^6tmnSunwqp;B?-iQBu~`s;jK0u*OC-l;Z5Ys$lp==NYoYb-EkG;j$#=aohb^A zxVIw9f>6Q96v!N|V`^ZI1H|4neH=Q$4G>C#U=C;w|JZ<$n#o3HGK^`ZTPo(aw=>Y% zzB1#x?l9&V0|MQ>Ul@IbO5jqACP8pC?h0+-6628-4W2XVGHK_b0-on5*kxbW=QcA2t_n<dA`)n{kiFQy@)L%bU+m{=J%6!JwI^2f)b#rDD!qJ%x^-mM`xIlI q49GSm>wgvaPj~7ls(-H<<@^E?wHgS_z&(2a0000 + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_median_filter.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_median_filter.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:233663.9 %
Date:2023-12-14 21:42:20Functions:2633.3 %
Legend: Lines: + hit + not hit +
+
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::ProcMedianFilter<1>::reset()0
mrs_uav_state_estimators::ProcMedianFilter<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&)15
mrs_uav_state_estimators::ProcMedianFilter<1>::process(Eigen::Matrix<double, 1, 1, 0, 1, 1>&)21965
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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_median_filter.h.func.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_median_filter.h.func.html new file mode 100644 index 0000000000..489354ab06 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_median_filter.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_median_filter.h - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors - proc_median_filter.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:233663.9 %
Date:2023-12-14 21:42:20Functions:2633.3 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::ProcMedianFilter<1>::reset()0
mrs_uav_state_estimators::ProcMedianFilter<1>::process(Eigen::Matrix<double, 1, 1, 0, 1, 1>&)21965
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&)15
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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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_median_filter.h.gcov.frameset.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_median_filter.h.gcov.frameset.html new file mode 100644 index 0000000000..6b6962ed34 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_median_filter.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_median_filter.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_median_filter.h.gcov.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_median_filter.h.gcov.html new file mode 100644 index 0000000000..b514c54a6b --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_median_filter.h.gcov.html @@ -0,0 +1,192 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_median_filter.h + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors - proc_median_filter.h (source / functions)HitTotalCoverage
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Date:2023-12-14 21:42:20Functions:2633.3 %
Legend: Lines: + hit + not hit +
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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          15 : 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          15 :     : Processor<n_measurements>(nh, correction_name, name, ch, ph) {
+      41             : 
+      42             :   // | --------------------- load parameters -------------------- |
+      43          15 :   ph->param_loader->setPrefix(ch->package_name + "/" + Support::toSnakeCase(ch->nodelet_name) + "/" + Processor<n_measurements>::getNamespacedName() + "/");
+      44             : 
+      45          15 :   ph->param_loader->loadParam("buffer_size", buffer_size_);
+      46          15 :   ph->param_loader->loadParam("max_diff", max_diff_);
+      47             : 
+      48          15 :   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          15 :   const double min_valid = std::numeric_limits<double>::lowest();
+      55          15 :   const double max_valid = std::numeric_limits<double>::max();
+      56             : 
+      57             :   // initialize median filter
+      58          30 :   for (int i = 0; i < n_measurements; i++) {
+      59          15 :     vec_mf_.push_back(mrs_lib::MedianFilter(buffer_size_, min_valid, max_valid, max_diff_));
+      60             :   }
+      61          15 : }
+      62             : /*//}*/
+      63             : 
+      64             : /*//{ process() */
+      65             : template <int n_measurements>
+      66       21965 : std::tuple<bool, bool> ProcMedianFilter<n_measurements>::process(measurement_t& measurement) {
+      67             : 
+      68       21965 :   if (!Processor<n_measurements>::enabled_) {
+      69           0 :     return {true, true};
+      70             :   }
+      71             : 
+      72       21965 :   bool ok_flag     = true;
+      73       21965 :   bool should_fuse = true;
+      74       43934 :   for (int i = 0; i < measurement.rows(); i++) {
+      75       21968 :     vec_mf_[i].add(measurement(i));
+      76       21969 :     if (vec_mf_[i].full()) {
+      77       20484 :       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        1485 :       ROS_WARN_THROTTLE(1.0, "[%s]: median filter not full yet", Processor<n_measurements>::getPrintName().c_str());
+      88        1485 :       ok_flag     = false;
+      89        1485 :       should_fuse = false;
+      90             :     }
+      91             :   }
+      92             : 
+      93       21969 :   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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Generated by: LCOV version 1.14
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+ + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_median_filter.h.gcov.png b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_median_filter.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..6923330e664ef60437c8a503a26089bc19866de0 GIT binary patch literal 635 zcmV->0)+jEP)|!_b`VE3^Lar_duazn?*P542Yg*&@;(Y2Dc4#e6hU;_|6R+NifR9fC38Z1>2d zrafk7b^)|k)UBv>lh(@J0r&mP=ECXD!yoWFU&8|g+@~h?V-6_58_JdWh~r7YY=j$` ze}+6-$gm+2U~77&zy}EzNm43lYtl11FdJj61!-HNE|Hp)4-!Y*xE0#=tI0hwaawf3 z8%E8pAiUVuz?-w@GC{gbz3ds=CnB|iOMUU5TS2F2{opi6rerWVnll+N zkR>#)AKzG#BeSO1rcBHDK1Uswfi}Iir!vbP?Hb4%Q-ARJp<$-x@P^dvLHfzR)yCkh z#{e=1=~=p@RcbG@ApOuPQIbOo~h_YFnh{sDB+ V&znIPT!#Pv002ovPDHLkV1lH}D0lz> literal 0 HcmV?d00001 diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_saturate.h.func-sort-c.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_saturate.h.func-sort-c.html new file mode 100644 index 0000000000..f237b12848 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_saturate.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_saturate.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_saturate.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:294072.5 %
Date:2023-12-14 21:42:20Functions:4666.7 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::ProcSaturate<1>::reset()0
mrs_uav_state_estimators::ProcSaturate<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)>)2
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)>)17
mrs_uav_state_estimators::ProcSaturate<2>::process(Eigen::Matrix<double, 2, 1, 0, 2, 1>&)1055
mrs_uav_state_estimators::ProcSaturate<1>::process(Eigen::Matrix<double, 1, 1, 0, 1, 1>&)22985
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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_saturate.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:294072.5 %
Date:2023-12-14 21:42:20Functions:4666.7 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::ProcSaturate<1>::reset()0
mrs_uav_state_estimators::ProcSaturate<1>::process(Eigen::Matrix<double, 1, 1, 0, 1, 1>&)22985
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)>)17
mrs_uav_state_estimators::ProcSaturate<2>::reset()0
mrs_uav_state_estimators::ProcSaturate<2>::process(Eigen::Matrix<double, 2, 1, 0, 2, 1>&)1055
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)>)2
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Generated by: LCOV version 1.14
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Date:2023-12-14 21:42:20Functions:4666.7 %
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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          19 : 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          19 :     : Processor<n_measurements>(nh, correction_name, name, ch, ph), state_id_(state_id), fun_get_state_(fun_get_state) {
+      46             : 
+      47             :   // | --------------------- load parameters -------------------- |
+      48          19 :   ph->param_loader->setPrefix(ch->package_name + "/" + Support::toSnakeCase(ch->nodelet_name) + "/" + Processor<n_measurements>::getNamespacedName() + "/");
+      49             : 
+      50          19 :   ph->param_loader->loadParam("start_enabled", this->start_enabled_);
+      51          19 :   this->enabled_ = this->start_enabled_;
+      52          19 :   ph->param_loader->loadParam("keep_enabled", keep_enabled_);
+      53          19 :   ph->param_loader->loadParam("min", saturate_min_);
+      54          19 :   ph->param_loader->loadParam("max", saturate_max_);
+      55          19 :   ph->param_loader->loadParam("limit", innovation_limit_);
+      56             : 
+      57          19 :   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          19 : }
+      62             : /*//}*/
+      63             : 
+      64             : /*//{ process() */
+      65             : template <int n_measurements>
+      66       24040 : std::tuple<bool, bool> ProcSaturate<n_measurements>::process(measurement_t& measurement) {
+      67             : 
+      68             :   // if no saturation is required, processing is successful
+      69       24040 :   if (!this->enabled_) {
+      70           0 :     return {true, true};
+      71             :   }
+      72             : 
+      73       24040 :   bool ok_flag     = true;
+      74       24040 :   bool should_fuse = true;
+      75       48219 :   for (int i = 0; i < measurement.rows(); i++) {
+      76       25090 :     const double state = fun_get_state_(state_id_, i);
+      77       25090 :     ROS_INFO_ONCE("[%s]: first state[%d][%d]: %.2f", Processor<n_measurements>::getNamespacedName().c_str(), state_id_, i, state);
+      78             : 
+      79       25090 :     if (measurement(i) > state + innovation_limit_ || measurement(i) < state - innovation_limit_) {
+      80         911 :       return {true, true};  // do not even try to saturate, trigger innovation-based switch to other estimator
+      81             :     }
+      82             : 
+      83       24179 :     if (measurement(i) > state + saturate_max_) {
+      84         201 :       const double saturated = state + saturate_max_;
+      85         201 :       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         201 :       measurement(i) = saturated;
+      88         201 :       ok_flag        = false;
+      89         201 :       should_fuse    = true;
+      90       23978 :     } 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       23129 :   if (!this->keep_enabled_ && ok_flag) {
+     102           0 :     this->enabled_ = false;
+     103             :   }
+     104             : 
+     105       23129 :   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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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors - proc_tf_to_world.h (source / functions)HitTotalCoverage
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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&)43
mrs_uav_state_estimators::ProcTfToWorld<2>::callbackGnss(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)32136
mrs_uav_state_estimators::ProcTfToWorld<2>::process(Eigen::Matrix<double, 2, 1, 0, 2, 1>&)84537
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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:354774.5 %
Date:2023-12-14 21:42:20Functions:3837.5 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::ProcTfToWorld<1>::callbackGnss(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)0
mrs_uav_state_estimators::ProcTfToWorld<1>::reset()0
mrs_uav_state_estimators::ProcTfToWorld<1>::process(Eigen::Matrix<double, 1, 1, 0, 1, 1>&)0
mrs_uav_state_estimators::ProcTfToWorld<1>::ProcTfToWorld(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)0
mrs_uav_state_estimators::ProcTfToWorld<2>::callbackGnss(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)32136
mrs_uav_state_estimators::ProcTfToWorld<2>::reset()0
mrs_uav_state_estimators::ProcTfToWorld<2>::process(Eigen::Matrix<double, 2, 1, 0, 2, 1>&)84537
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&)43
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Date:2023-12-14 21:42:20Functions:3837.5 %
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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          43 : 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          43 :     : Processor<n_measurements>(nh, correction_name, name, ch, ph) {
+      50             : 
+      51          43 :   ph->param_loader->setPrefix(ch->package_name + "/" + Support::toSnakeCase(ch->nodelet_name) + "/" + Processor<n_measurements>::getNamespacedName() + "/");
+      52             : 
+      53          43 :   ph->param_loader->loadParam("gnss_topic", gnss_topic_);
+      54             : 
+      55          43 :   gnss_topic_ = "/" + ch->uav_name + "/" + gnss_topic_;
+      56             : 
+      57          43 :   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          43 :   mrs_lib::SubscribeHandlerOptions shopts;
+      64          43 :   shopts.nh                 = nh;
+      65          43 :   shopts.node_name          = Processor<n_measurements>::getPrintName();
+      66          43 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+      67          43 :   shopts.threadsafe         = true;
+      68          43 :   shopts.autostart          = true;
+      69          43 :   shopts.queue_size         = 10;
+      70          43 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+      71             : 
+      72          43 :   sh_gnss_ = mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix>(shopts, gnss_topic_, &ProcTfToWorld::callbackGnss, this);
+      73             : 
+      74          43 :   is_initialized_ = true;
+      75          43 : }
+      76             : /*//}*/
+      77             : 
+      78             : /*//{ callbackGnss() */
+      79             : template <int n_measurements>
+      80       32136 : void ProcTfToWorld<n_measurements>::callbackGnss(const sensor_msgs::NavSatFix::ConstPtr msg) {
+      81             : 
+      82       32136 :   if (!is_initialized_) {
+      83           0 :     return;
+      84             :   }
+      85             : 
+      86       32136 :   if (got_gnss_) {
+      87       32093 :     return;
+      88             :   }
+      89             : 
+      90          43 :   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          43 :   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          43 :   mrs_lib::UTM(msg->latitude, msg->longitude, &gnss_x_, &gnss_y_);
+      99          43 :   got_gnss_ = true;
+     100             : }
+     101             : /*//}*/
+     102             : 
+     103             : /*//{ process() */
+     104             : template <int n_measurements>
+     105       84537 : std::tuple<bool, bool> ProcTfToWorld<n_measurements>::process(measurement_t& measurement) {
+     106             : 
+     107       84537 :   if (!Processor<n_measurements>::enabled_) {
+     108           0 :     return {true, true};
+     109             :   }
+     110             : 
+     111       84537 :   if (!got_gnss_) {
+     112           0 :     ROS_WARN_THROTTLE(1.0, "[%s]: Missing GNSS data on topic: %s", Processor<n_measurements>::getPrintName().c_str(), gnss_topic_.c_str());
+     113           0 :     return {false, false};
+     114             :   }
+     115             : 
+     116       84537 :   if (!is_gnss_offset_calculated_) {
+     117             : 
+     118          45 :     gnss_x_                    = (gnss_x_ - measurement(0)) - Processor<n_measurements>::ch_->world_origin.x;
+     119          45 :     gnss_y_                    = (gnss_y_ - measurement(1)) - Processor<n_measurements>::ch_->world_origin.y;
+     120          45 :     is_gnss_offset_calculated_ = true;
+     121             :   }
+     122             : 
+     123       84537 :   measurement(0) += gnss_x_;
+     124       84538 :   measurement(1) += gnss_y_;
+     125       84538 :   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
+
+
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LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors - processor.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:71070.0 %
Date:2023-12-14 21:42:20Functions: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<1>::getPrintName[abi:cxx11]() const32
mrs_uav_state_estimators::Processor<2>::getPrintName[abi:cxx11]() const43
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&)45
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&)47
mrs_uav_state_estimators::Processor<2>::getNamespacedName[abi:cxx11]() const47
mrs_uav_state_estimators::Processor<1>::getNamespacedName[abi:cxx11]() const64
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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..56db26c139 --- /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:2023-12-14 21:42:20Functions: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&)47
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&)45
mrs_uav_state_estimators::Processor<1>::getPrintName[abi:cxx11]() const32
mrs_uav_state_estimators::Processor<1>::getNamespacedName[abi:cxx11]() const64
mrs_uav_state_estimators::Processor<2>::getPrintName[abi:cxx11]() const43
mrs_uav_state_estimators::Processor<2>::getNamespacedName[abi:cxx11]() const47
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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..8dbaba159a --- /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:2023-12-14 21:42:20Functions:6875.0 %
Legend: Lines: + hit + not hit +
+
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+
          Line data    Source code
+
+       1             : #pragma once
+       2             : #ifndef PROCESSORS_PROCESSOR_H
+       3             : #define PROCESSORS_PROCESSOR_H
+       4             : 
+       5             : namespace mrs_uav_state_estimators
+       6             : {
+       7             : 
+       8             : using namespace mrs_uav_managers::estimation_manager;
+       9             : 
+      10             : template <int n_measurements>
+      11             : class Processor {
+      12             : 
+      13             : public:
+      14             :   typedef Eigen::Matrix<double, n_measurements, 1> measurement_t;
+      15             : 
+      16             : public:
+      17             :   std::string getName() const;
+      18             :   std::string getNamespacedName() const;
+      19             :   std::string getPrintName() const;
+      20             : 
+      21             :   void toggle(bool enable);
+      22             : 
+      23             :   virtual std::tuple<bool, bool> process(measurement_t& measurement) = 0;
+      24             :   virtual void                   reset()                             = 0;
+      25             : 
+      26             : protected:
+      27          92 :   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          92 :       : correction_name_(correction_name), name_(name), ch_(ch), ph_(ph) {
+      30          92 :   }  // 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         111 : std::string Processor<n_measurements>::getNamespacedName() const {
+      52         111 :   return correction_name_ + "/" + name_;
+      53             : }
+      54             : /*//}*/
+      55             : 
+      56             : /*//{ getPrintName() */
+      57             : template <int n_measurements>
+      58          75 : std::string Processor<n_measurements>::getPrintName() const {
+      59          75 :   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
+
+
+
+ + + + +
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.overview.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/processor.h.gcov.overview.html new file mode 100644 index 0000000000..804fb09cf2 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/processor.h.gcov.overview.html @@ -0,0 +1,38 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/processor.h + + + + + + + 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/processor.h.gcov.png b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/processor.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..5bde3e19271072329a6f5996af74c7f1cd4876bb GIT binary patch literal 436 zcmV;l0ZaagP)Ir7GwQk%4-g?oskOT)R(R$vYpnS+meZL^Ea=M0kJaxFSTc z32H$x9|fX3-#CC~#B?1rr;fx2&axu4p2Hm<8V4}X(NOjTn@>QGHiL*QhiTGJcM{QI zcEYd_=+;(>BBbidsb8hWiI0LEB;K?W4L$!}-{}$`SjR_JkDuK120ePg%olHM&$>x#~P3jjH@25qq;e;xFU5X@e8u zL5hL(9u|*xjz%}DKZxi46(Npi-`BmtM&E7WPzx=rL|%qa+ju<_$wWjHLqq#-Pk!}9 ej;eT@U+_NbxtO|J!@K?f0000 + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/agl/garmin_agl.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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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:7510472.1 %
Date:2023-12-14 21:42:20Functions: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()41
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&)41
mrs_uav_state_estimators::garmin_agl::GarminAgl::start()41
mrs_uav_state_estimators::garmin_agl::GarminAgl::timerCheckHealth(ros::TimerEvent const&)632
mrs_uav_state_estimators::garmin_agl::GarminAgl::timerUpdate(ros::TimerEvent const&)59618
mrs_uav_state_estimators::garmin_agl::GarminAgl::getUavAglHeight() const63673
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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/agl - garmin_agl.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:7510472.1 %
Date:2023-12-14 21:42:20Functions:61060.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()41
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&)41
mrs_uav_state_estimators::garmin_agl::GarminAgl::isConverged()0
mrs_uav_state_estimators::garmin_agl::GarminAgl::timerUpdate(ros::TimerEvent const&)59618
mrs_uav_state_estimators::garmin_agl::GarminAgl::timerCheckHealth(ros::TimerEvent const&)632
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()41
mrs_uav_state_estimators::garmin_agl::GarminAgl::getUavAglHeight() const63673
mrs_uav_state_estimators::garmin_agl::GarminAgl::getHeightCovariance() const0
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/src/estimators/agl/garmin_agl.cpp.gcov.frameset.html b/mrs_uav_state_estimators/src/estimators/agl/garmin_agl.cpp.gcov.frameset.html new file mode 100644 index 0000000000..bd433a3da0 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/agl/garmin_agl.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/agl/garmin_agl.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/src/estimators/agl/garmin_agl.cpp.gcov.html b/mrs_uav_state_estimators/src/estimators/agl/garmin_agl.cpp.gcov.html new file mode 100644 index 0000000000..c3d55880a8 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/agl/garmin_agl.cpp.gcov.html @@ -0,0 +1,318 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/agl/garmin_agl.cpp + + + + + + + + + + + + + + +
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Test:MRS UAV System - Test coverage reportLines:7510472.1 %
Date:2023-12-14 21:42:20Functions: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          41 : void GarminAgl::initialize(ros::NodeHandle &nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) {
+      15             : 
+      16          41 :   ch_ = ch;
+      17          41 :   ph_ = ph;
+      18          41 :   nh_ = nh;
+      19             : 
+      20          41 :   ns_frame_id_ = ch_->uav_name + "/" + frame_id_;
+      21             : 
+      22             :   // | --------------------- load parameters -------------------- |
+      23             : 
+      24          41 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getName() + "/");
+      25             : 
+      26          41 :   if (is_core_plugin_) {
+      27             : 
+      28          41 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/private/" + getName() + "/" + getName() + ".yaml");
+      29          41 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/public/" + getName() + "/" + getName() + ".yaml");
+      30             :   }
+      31             : 
+      32          41 :   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          41 :   _update_timer_rate_       = 100;                                                                                          // TODO: parametrize
+      39          41 :   timer_update_             = nh.createTimer(ros::Rate(_update_timer_rate_), &GarminAgl::timerUpdate, this, false, false);  // not running after init
+      40          41 :   _check_health_timer_rate_ = 1;                                                                                            // TODO: parametrize
+      41          41 :   timer_check_health_       = nh.createTimer(ros::Rate(_check_health_timer_rate_), &GarminAgl::timerCheckHealth, this);
+      42             : 
+      43             :   // | --------------- subscribers initialization --------------- |
+      44          82 :   mrs_lib::SubscribeHandlerOptions shopts;
+      45          41 :   shopts.nh                 = nh;
+      46          41 :   shopts.node_name          = getPrintName();
+      47          41 :   shopts.no_message_timeout = ros::Duration(0.5);
+      48          41 :   shopts.threadsafe         = true;
+      49          41 :   shopts.autostart          = true;
+      50          41 :   shopts.queue_size         = 10;
+      51          41 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+      52             : 
+      53             :   // | ---------------- publishers initialization --------------- |
+      54          41 :   ph_agl_height_ = mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>(nh, Support::toSnakeCase(getName()) + "/agl_height", 10);
+      55          41 :   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          41 :   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          41 :   est_agl_garmin_ = std::make_unique<AltGeneric>(est_agl_name_, frame_id_, getName(), is_core_plugin_);
+      65          41 :   est_agl_garmin_->initialize(nh, ch_, ph_);
+      66             : 
+      67          41 :   max_flight_z_ = est_agl_garmin_->getMaxFlightZ();
+      68             : 
+      69             :   // | ------------------ initialize published messages ------------------ |
+      70          41 :   agl_height_init_.header.frame_id     = ns_frame_id_;
+      71          41 :   agl_height_cov_init_.header.frame_id = ns_frame_id_;
+      72             : 
+      73             :   // | ------------------ finish initialization ----------------- |
+      74             : 
+      75          41 :   if (changeState(INITIALIZED_STATE)) {
+      76          41 :     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          41 : }
+      81             : /*//}*/
+      82             : 
+      83             : /*//{ start() */
+      84          41 : bool GarminAgl::start(void) {
+      85             : 
+      86             : 
+      87          41 :   if (isInState(READY_STATE)) {
+      88             : 
+      89             :     bool est_agl_garmin_start_successful;
+      90             : 
+      91          41 :     if (est_agl_garmin_->isStarted() || est_agl_garmin_->isRunning()) {
+      92           0 :       est_agl_garmin_start_successful = true;
+      93             :     } else {
+      94          41 :       est_agl_garmin_start_successful = est_agl_garmin_->start();
+      95             :     }
+      96             : 
+      97          41 :     if (est_agl_garmin_start_successful) {
+      98          41 :       timer_update_.start();
+      99          41 :       changeState(STARTED_STATE);
+     100          41 :       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       59618 : void GarminAgl::timerUpdate(const ros::TimerEvent &event) {
+     147             : 
+     148       59618 :   if (!isInitialized()) {
+     149           0 :     return;
+     150             :   }
+     151             : 
+     152       59618 :   const ros::Time time_now = ros::Time::now();
+     153             : 
+     154      119236 :   mrs_msgs::Float64Stamped agl_height = agl_height_init_;
+     155       59618 :   agl_height.header.stamp             = time_now;
+     156       59618 :   agl_height.value                    = est_agl_garmin_->getState(POSITION);
+     157             : 
+     158      119236 :   mrs_msgs::Float64ArrayStamped agl_height_cov;
+     159       59618 :   agl_height_cov.header.stamp = time_now;
+     160             : 
+     161       59618 :   const int n_states = 2;  // TODO this should be defined somewhere else
+     162       59618 :   agl_height_cov.values.resize(n_states * n_states);
+     163       59618 :   agl_height_cov.values.at(n_states * POSITION + POSITION) = est_agl_garmin_->getCovariance(POSITION);
+     164       59618 :   agl_height_cov.values.at(n_states * VELOCITY + VELOCITY) = est_agl_garmin_->getCovariance(VELOCITY);
+     165             : 
+     166       59618 :   mrs_lib::set_mutexed(mtx_agl_height_, agl_height, agl_height_);
+     167       59618 :   mrs_lib::set_mutexed(mtx_agl_height_cov_, agl_height_cov, agl_height_cov_);
+     168             : 
+     169       59618 :   publishAglHeight();
+     170       59618 :   publishCovariance();
+     171       59618 :   publishDiagnostics();
+     172             : }
+     173             : /*//}*/
+     174             : 
+     175             : /*//{ timerCheckHealth() */
+     176         632 : void GarminAgl::timerCheckHealth(const ros::TimerEvent &event) {
+     177             : 
+     178         632 :   if (!isInitialized()) {
+     179           0 :     return;
+     180             :   }
+     181             : 
+     182         632 :   if (isInState(INITIALIZED_STATE)) {
+     183             : 
+     184          55 :     if (est_agl_garmin_->isReady()) {
+     185          41 :       changeState(READY_STATE);
+     186          41 :       ROS_INFO("[%s]: Estimator is ready to start", getPrintName().c_str());
+     187             :     } else {
+     188          14 :       ROS_INFO("[%s]: %s subestimators to be ready", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     189          14 :       return;
+     190             :     }
+     191             :   }
+     192             : 
+     193             : 
+     194         618 :   if (isInState(STARTED_STATE)) {
+     195          43 :     ROS_INFO("[%s]: %s for convergence of LKF", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     196             : 
+     197          43 :     if (est_agl_garmin_->isRunning()) {
+     198          41 :       ROS_INFO("[%s]: Subestimators converged", getPrintName().c_str());
+     199          41 :       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       63673 : mrs_msgs::Float64Stamped GarminAgl::getUavAglHeight() const {
+     219       63673 :   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          41 : PLUGINLIB_EXPORT_CLASS(mrs_uav_state_estimators::garmin_agl::GarminAgl, mrs_uav_managers::AglEstimator)
+
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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&)86
mrs_uav_state_estimators::AltGeneric::isConverged()86
mrs_uav_state_estimators::AltGeneric::callbackReconfigure(mrs_uav_state_estimators::AltitudeEstimatorConfig&, unsigned int)86
mrs_uav_state_estimators::AltGeneric::setState(double const&, int const&)193
mrs_uav_state_estimators::AltGeneric::getNamespacedName[abi:cxx11]() const561
mrs_uav_state_estimators::AltGeneric::getPrintName[abi:cxx11]() const724
mrs_uav_state_estimators::AltGeneric::start()1015
mrs_uav_state_estimators::AltGeneric::getState(int const&, int const&) const22985
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) const22985
mrs_uav_state_estimators::AltGeneric::getInnovation(int const&) const68902
mrs_uav_state_estimators::AltGeneric::setInputCoeff(double const&)103341
mrs_uav_state_estimators::AltGeneric::getCovarianceMatrix() const103343
mrs_uav_state_estimators::AltGeneric::setDt(double const&)103358
mrs_uav_state_estimators::AltGeneric::getStates() const103368
mrs_uav_state_estimators::AltGeneric::timerUpdate(ros::TimerEvent const&)139672
mrs_uav_state_estimators::AltGeneric::generateA()206708
mrs_uav_state_estimators::AltGeneric::generateB()206753
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&)244454
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) const244456
mrs_uav_state_estimators::AltGeneric::doCorrection(mrs_uav_state_estimators::Correction<1>::MeasurementStamped const&, double, mrs_uav_managers::estimation_manager::StateId_t const&)244485
mrs_uav_state_estimators::AltGeneric::getCovariance(int const&) const257030
mrs_uav_state_estimators::AltGeneric::getState(int const&) const446266
+
+
+ + + +
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..fa58eed305 --- /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:2023-12-14 21:42:20Functions: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&)86
mrs_uav_state_estimators::AltGeneric::isConverged()86
mrs_uav_state_estimators::AltGeneric::timerUpdate(ros::TimerEvent const&)139672
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&)244454
mrs_uav_state_estimators::AltGeneric::doCorrection(mrs_uav_state_estimators::Correction<1>::MeasurementStamped const&, double, mrs_uav_managers::estimation_manager::StateId_t const&)244485
mrs_uav_state_estimators::AltGeneric::setInputCoeff(double const&)103341
mrs_uav_state_estimators::AltGeneric::timerCheckHealth(ros::TimerEvent const&)0
mrs_uav_state_estimators::AltGeneric::callbackReconfigure(mrs_uav_state_estimators::AltitudeEstimatorConfig&, unsigned int)86
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&)103358
mrs_uav_state_estimators::AltGeneric::start()1015
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()206708
mrs_uav_state_estimators::AltGeneric::generateB()206753
mrs_uav_state_estimators::AltGeneric::setStates(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)0
mrs_uav_state_estimators::AltGeneric::getPrintName[abi:cxx11]() const724
mrs_uav_state_estimators::AltGeneric::getCovariance(int const&) const257030
mrs_uav_state_estimators::AltGeneric::getCovariance(int const&, int const&) const0
mrs_uav_state_estimators::AltGeneric::getInnovation(int const&) const68902
mrs_uav_state_estimators::AltGeneric::getInnovation(int const&, int const&) const0
mrs_uav_state_estimators::AltGeneric::getNamespacedName[abi:cxx11]() const561
mrs_uav_state_estimators::AltGeneric::getCovarianceMatrix() const103343
mrs_uav_state_estimators::AltGeneric::getState(int const&) const446266
mrs_uav_state_estimators::AltGeneric::getState(int const&, int const&) const22985
mrs_uav_state_estimators::AltGeneric::getStates() const103368
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) const244456
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) const22985
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+
+ + + +
Generated by: LCOV version 1.14
+
+ + + 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..8c26b3f75a --- /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:2023-12-14 21:42:20Functions: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          86 : void AltGeneric::initialize(ros::NodeHandle &nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) {
+      15             : 
+      16          86 :   ch_ = ch;
+      17          86 :   ph_ = ph;
+      18             : 
+      19          86 :   ns_frame_id_ = ch_->uav_name + "/" + frame_id_;
+      20             : 
+      21             :   // clang-format off
+      22          86 :   dt_ = 0.01;
+      23          86 :   input_coeff_ = 10;
+      24          86 :   default_input_coeff_ = 10;
+      25             : 
+      26          86 :   generateA();
+      27          86 :   generateB();
+      28             : 
+      29          86 :   H_ <<
+      30          86 :     1, 0, 0;
+      31             : 
+      32             :   // clang-format on
+      33             : 
+      34             :   // | --------------- initialize parameter loader -------------- |
+      35             : 
+      36          86 :   if (is_core_plugin_) {
+      37             : 
+      38          86 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/private/" + parent_state_est_name_ + "/" + getName() + ".yaml");
+      39          86 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/public/" + parent_state_est_name_ + "/" + getName() + ".yaml");
+      40             :   }
+      41             : 
+      42          86 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getNamespacedName() + "/");
+      43             : 
+      44             :   // | --------------------- load parameters -------------------- |
+      45             : 
+      46          86 :   ph->param_loader->loadParam("max_flight_z", max_flight_z_);
+      47          86 :   ph->param_loader->loadParam("innovation/limit", pos_innovation_limit_);
+      48          86 :   ph->param_loader->loadParam("innovation/action", exc_innovation_action_name_);
+      49          86 :   exc_innovation_action_ = map_exc_inno_action.at(exc_innovation_action_name_);
+      50          86 :   ph->param_loader->loadParam("repredictor/enabled", is_repredictor_enabled_);
+      51          86 :   if (is_repredictor_enabled_) {
+      52           0 :     ph->param_loader->loadParam("repredictor/buffer_size", rep_buffer_size_);
+      53             :   }
+      54             : 
+      55             :   // | --------------- corrections initialization --------------- |
+      56          86 :   ph->param_loader->loadParam("corrections", correction_names_);
+      57             : 
+      58         217 :   for (auto corr_name : correction_names_) {
+      59         131 :     corrections_.push_back(std::make_shared<Correction<alt_generic::n_measurements>>(
+      60       23247 :         nh, getNamespacedName(), corr_name, ns_frame_id_, EstimatorType_t::ALTITUDE, ch_, ph_, [this](int a, int b) { return this->getState(a, b); },
+      61      244456 :         [this](const Correction<alt_generic::n_measurements>::MeasurementStamped &meas, const double R, const StateId_t state) {
+      62      244456 :           return this->doCorrection(meas, R, state);
+      63             :         }));
+      64             :   }
+      65             : 
+      66          86 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getNamespacedName() + "/");
+      67             : 
+      68             :   // | ----------- initialize process noise covariance ---------- |
+      69          86 :   Q_ = Q_t::Zero();
+      70             :   double tmp_noise;
+      71          86 :   ph->param_loader->loadParam("process_noise/pos", tmp_noise);
+      72          86 :   Q_(POSITION, POSITION) = tmp_noise;
+      73          86 :   ph->param_loader->loadParam("process_noise/vel", tmp_noise);
+      74          86 :   Q_(VELOCITY, VELOCITY) = tmp_noise;
+      75          86 :   ph->param_loader->loadParam("process_noise/acc", tmp_noise);
+      76          86 :   Q_(ACCELERATION, ACCELERATION) = tmp_noise;
+      77             : 
+      78             :   // | ------- check if all parameters loaded successfully ------ |
+      79          86 :   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          86 :       std::make_unique<drmgr_t>(ros::NodeHandle("~/" + getNamespacedName()), true, getPrintName(), boost::bind(&AltGeneric::callbackReconfigure, this, _1, _2));
+      87          86 :   drmgr_->config.pos = Q_(POSITION, POSITION);
+      88          86 :   drmgr_->config.vel = Q_(VELOCITY, VELOCITY);
+      89          86 :   drmgr_->config.acc = Q_(ACCELERATION, ACCELERATION);
+      90          86 :   drmgr_->update_config(drmgr_->config);
+      91             : 
+      92             :   // | --------------- Kalman filter intialization -------------- |
+      93          86 :   const x_t        x0 = x_t::Zero();
+      94          86 :   const P_t        P0 = 1e3 * P_t::Identity();
+      95          86 :   const statecov_t sc0({x0, P0});
+      96          86 :   sc_ = sc0;
+      97             : 
+      98          86 :   lkf_ = std::make_shared<lkf_t>(A_, B_, H_);
+      99          86 :   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          86 :   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         172 :   mrs_lib::SubscribeHandlerOptions shopts;
+     121          86 :   shopts.nh                 = nh;
+     122          86 :   shopts.node_name          = getPrintName();
+     123          86 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     124          86 :   shopts.threadsafe         = true;
+     125          86 :   shopts.autostart          = true;
+     126          86 :   shopts.queue_size         = 10;
+     127          86 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     128             : 
+     129          86 :   sh_control_input_ = mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput>(shopts, "control_input_in");
+     130             : 
+     131             :   // | ---------------- publishers initialization --------------- |
+     132          86 :   if (ch_->debug_topics.input) {
+     133          86 :     ph_input_ = mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped>(nh, getNamespacedName() + "/input", 10);
+     134             :   }
+     135          86 :   if (ch_->debug_topics.output) {
+     136          86 :     ph_output_ = mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput>(nh, getNamespacedName() + "/output", 10);
+     137             :   }
+     138          86 :   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          86 :   if (changeState(INITIALIZED_STATE)) {
+     145          86 :     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          86 : }
+     150             : /*//}*/
+     151             : 
+     152             : /*//{ start() */
+     153        1015 : bool AltGeneric::start(void) {
+     154             : 
+     155        1015 :   if (isInState(READY_STATE)) {
+     156             :     /* timer_update_.start(); */
+     157          86 :     changeState(STARTED_STATE);
+     158          86 :     return true;
+     159             : 
+     160             :   } else {
+     161         929 :     ROS_WARN_THROTTLE(1.0, "[%s]: Estimator must be in READY_STATE to start it", getPrintName().c_str());
+     162         929 :     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      139672 : void AltGeneric::timerUpdate(const ros::TimerEvent &event) {
+     213             : 
+     214             : 
+     215      139672 :   if (!isInitialized()) {
+     216       36247 :     return;
+     217             :   }
+     218             : 
+     219      139608 :   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        3565 :     case READY_STATE: {
+     227        3565 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s estimator start", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     228        3565 :       break;
+     229             :     }
+     230             : 
+     231        5030 :     case INITIALIZED_STATE: {
+     232             :       // initialize the estimator with current corrections
+     233        5222 :       for (auto correction : corrections_) {
+     234        5130 :         auto res = correction->getProcessedCorrection();
+     235        5137 :         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        4946 :           ROS_INFO_THROTTLE(1.0, "[%s]: %s correction %s", getPrintName().c_str(), Support::waiting_for_string.c_str(),
+     241             :                             correction->getNamespacedName().c_str());
+     242        4946 :           return;
+     243             :         }
+     244             :       }
+     245          86 :       changeState(READY_STATE);
+     246          86 :       ROS_INFO_THROTTLE(1.0, "[%s]: Ready to start", getPrintName().c_str());
+     247          86 :       break;
+     248             :     }
+     249             : 
+     250          86 :     case STARTED_STATE: {
+     251          86 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s for convergence of LKF", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     252             : 
+     253          86 :       if (isConverged()) {
+     254          86 :         ROS_INFO_THROTTLE(1.0, "[%s]: LKF converged", getPrintName().c_str());
+     255          86 :         changeState(RUNNING_STATE);
+     256             :       }
+     257          86 :       break;
+     258             :     }
+     259             : 
+     260      130904 :     case RUNNING_STATE: {
+     261      330709 :       for (auto correction : corrections_) {
+     262      199768 :         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      130994 :       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      134817 :   if (sh_control_input_.newMsg()) {
+     313       48371 :     is_input_ready_ = true;
+     314             :   }
+     315             : 
+     316             :   // check age of input
+     317      134631 :   if (is_input_ready_ && (ros::Time::now() - sh_control_input_.lastMsgTime()).toSec() > 0.1) {
+     318          14 :     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          14 :     is_input_ready_ = false;
+     321             :   }
+     322             : 
+     323      134574 :   if (!isRunning() && !isStarted()) {
+     324        3648 :     return;
+     325             :   }
+     326             : 
+     327      130929 :   if (first_iter_) {
+     328          86 :     first_iter_ = false;
+     329          86 :     return;
+     330             :   }
+     331             : 
+     332      130843 :   double dt = (event.current_real - event.last_real).toSec();
+     333      130881 :   if (dt <= 0.0) {
+     334       27560 :     return;
+     335             :   }
+     336             : 
+     337      103321 :   if (!is_repredictor_enabled_) {  // repredictor requires constant dt TODO: how to handle repredictor + variable rate?
+     338      103133 :     setDt(dt);
+     339             :   }
+     340             : 
+     341             :   // prediction step
+     342      103444 :   u_t       u;
+     343      103129 :   ros::Time input_stamp;
+     344      103202 :   if (is_input_ready_) {
+     345       60194 :     mrs_msgs::EstimatorInputConstPtr msg            = sh_control_input_.getMsg();
+     346       60247 :     const tf2::Vector3               des_acc_global = getAccGlobal(msg, 0);  // we don't care about heading
+     347       60377 :     input_stamp                                     = msg->header.stamp;
+     348       60027 :     setInputCoeff(default_input_coeff_);
+     349       60278 :     u(0) = des_acc_global.getZ();
+     350             :   } else {
+     351       42830 :     ROS_DEBUG_THROTTLE(1.0, "[%s]: not receiving control input, estimation suboptimal, potentially unstable", getPrintName().c_str());
+     352       42962 :     input_stamp = ros::Time::now();
+     353       42983 :     setInputCoeff(0);
+     354       42929 :     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      102786 :   statecov_t sc = mrs_lib::get_mutexed(mutex_sc_, sc_);
+     367      102795 :   Q_t        Q  = mrs_lib::get_mutexed(mtx_Q_, Q_);
+     368             : 
+     369             :   try {
+     370             :     // Apply the prediction step
+     371      205958 :     std::scoped_lock lock(mutex_lkf_);
+     372      102917 :     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      102917 :       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      102458 :   mrs_lib::set_mutexed(mutex_sc_, sc, sc_);
+     385             : 
+     386             :   // publishing
+     387      102877 :   publishInput(u, input_stamp);
+     388      103377 :   publishOutput();
+     389      103379 :   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      244485 : void AltGeneric::doCorrection(const Correction<alt_generic::n_measurements>::MeasurementStamped &meas, const double R, const StateId_t &state_id) {
+     489      244485 :   doCorrection(meas.value, R, state_id, meas.stamp);
+     490      244328 : }
+     491             : /*//}*/
+     492             : 
+     493             : /*//{ doCorrection() */
+     494      244454 : void AltGeneric::doCorrection(const z_t &z, const double R, const StateId_t &H_idx, const ros::Time &meas_stamp) {
+     495             : 
+     496      244454 :   if (!isInitialized()) {
+     497        1006 :     return;
+     498             :   }
+     499             : 
+     500             :   // we do not want to perform corrections until the estimator is initialized
+     501      244359 :   if (!(isInState(SMStates_t::READY_STATE) || isInState(SMStates_t::RUNNING_STATE) || isInState(SMStates_t::STARTED_STATE))) {
+     502        1006 :     return;
+     503             :   }
+     504             : 
+     505             :   // for position state check the innovation
+     506      243241 :   if (H_idx == POSITION) {
+     507      156850 :     std::scoped_lock lock(mtx_innovation_);
+     508             : 
+     509      156905 :     is_mitigating_jump_ = false;
+     510      156970 :     innovation_(0)      = z(0) - getState(POSITION);
+     511             : 
+     512      156859 :     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      156881 :     innovation_ok_ = true;
+     541             :   }
+     542             : 
+     543      243240 :   statecov_t sc = mrs_lib::get_mutexed(mutex_sc_, sc_);
+     544             :   try {
+     545             :     // Apply the correction step
+     546             :     {
+     547      485116 :       std::scoped_lock lock(mutex_lkf_);
+     548      243367 :       H_        = H_t::Zero();
+     549      243320 :       H_(H_idx) = 1;
+     550      243029 :       lkf_->H   = H_;
+     551      242671 :       if (is_repredictor_enabled_) {
+     552             : 
+     553           0 :         lkf_rep_->addMeasurement(z, R_t::Ones() * R, meas_stamp, models_[H_idx]);
+     554             :       } else {
+     555      242671 :         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      241891 :   mrs_lib::set_mutexed(mutex_sc_, sc, sc_);
+     565             : }  // namespace mrs_uav_state_estimators
+     566             : /*//}*/
+     567             : 
+     568             : /*//{ isConverged() */
+     569          86 : bool AltGeneric::isConverged() {
+     570             : 
+     571             :   // TODO: check convergence by rate of change of determinant
+     572             : 
+     573          86 :   return true;
+     574             : }
+     575             : /*//}*/
+     576             : 
+     577             : /*//{ getState() */
+     578       22985 : double AltGeneric::getState(const int &state_id_in, const int &axis_in) const {
+     579       22985 :   return getState(stateIdToIndex(state_id_in, 0));
+     580             : }
+     581             : 
+     582      446266 : double AltGeneric::getState(const int &state_idx_in) const {
+     583      446266 :   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      103368 : AltGeneric::states_t AltGeneric::getStates(void) const {
+     599      206708 :   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      257030 : double AltGeneric::getCovariance(const int &state_idx_in) const {
+     615      257030 :   return mrs_lib::get_mutexed(mutex_sc_, sc_).P(state_idx_in, state_idx_in);
+     616             : }
+     617             : /*//}*/
+     618             : 
+     619             : /*//{ getCovarianceMatrix() */
+     620      103343 : AltGeneric::covariance_t AltGeneric::getCovarianceMatrix(void) const {
+     621      206630 :   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       68902 : double AltGeneric::getInnovation(const int &state_idx) const {
+     633       68902 :   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      103358 : void AltGeneric::setDt(const double &dt) {
+     643      103358 :   dt_ = dt;
+     644      103358 :   generateA();
+     645      103150 :   generateB();
+     646      206392 :   std::scoped_lock lock(mutex_lkf_);
+     647      103222 :   lkf_->A = A_;
+     648      103221 :   lkf_->B = B_;
+     649      103149 : }
+     650             : /*//}*/
+     651             : 
+     652             : /*//{ setInputCoeff() */
+     653      103341 : void AltGeneric::setInputCoeff(const double &input_coeff) {
+     654      103341 :   input_coeff_ = input_coeff;
+     655      103341 :   generateA();
+     656      103067 :   generateB();
+     657      205966 :   std::scoped_lock lock(mutex_lkf_);
+     658      102848 :   lkf_->A = A_;
+     659      103024 :   lkf_->B = B_;
+     660      103073 : }
+     661             : /*//}*/
+     662             : 
+     663             : /*//{ generateA() */
+     664      206708 : void AltGeneric::generateA() {
+     665             : 
+     666             :   // clang-format off
+     667      206708 :     A_ <<
+     668      206090 :       1, dt_, 0.5 * dt_ * dt_,
+     669      206185 :       0, 1, dt_,
+     670      206387 :       0, 0, 1-(input_coeff_ * dt_);
+     671             :   // clang-format on
+     672      206086 : }
+     673             : /*//}*/
+     674             : 
+     675             : /*//{ generateB() */
+     676      206753 : void AltGeneric::generateB() {
+     677             : 
+     678             :   // clang-format off
+     679      206753 :     B_ <<
+     680             :       0,
+     681      205798 :       0,
+     682      205887 :       (input_coeff_ * dt_);
+     683             :   // clang-format on
+     684      205799 : }
+     685             : /*//}*/
+     686             : 
+     687             : /*//{ callbackReconfigure() */
+     688          86 : void AltGeneric::callbackReconfigure(AltitudeEstimatorConfig &config, [[maybe_unused]] uint32_t level) {
+     689             : 
+     690          86 :   if (!isInitialized()) {
+     691          86 :     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         561 : std::string AltGeneric::getNamespacedName() const {
+     704        1122 :   return parent_state_est_name_ + "/" + getName();
+     705             : }
+     706             : /*//}*/
+     707             : 
+     708             : /*//{ getPrintName() */
+     709         724 : std::string AltGeneric::getPrintName() const {
+     710        1448 :   return ch_->nodelet_name + "/" + parent_state_est_name_ + "/" + getName();
+     711             : }
+     712             : /*//}*/
+     713             : };  // namespace mrs_uav_state_estimators
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
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Test:MRS UAV System - Test coverage reportLines:20937156.3 %
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Test:MRS UAV System - Test coverage reportLines:20937156.3 %
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Test:MRS UAV System - Test coverage reportLines:20937156.3 %
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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:2023-12-14 21:42:20Functions:0310.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::HdgGeneric::initialize(ros::NodeHandle&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)0
mrs_uav_state_estimators::HdgGeneric::isConverged()0
mrs_uav_state_estimators::HdgGeneric::timerUpdate(ros::TimerEvent const&)0
mrs_uav_state_estimators::HdgGeneric::doCorrection(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, double, mrs_uav_managers::estimation_manager::StateId_t const&, ros::Time const&)0
mrs_uav_state_estimators::HdgGeneric::doCorrection(mrs_uav_state_estimators::Correction<1>::MeasurementStamped const&, double, mrs_uav_managers::estimation_manager::StateId_t const&)0
mrs_uav_state_estimators::HdgGeneric::setInputCoeff(double const&)0
mrs_uav_state_estimators::HdgGeneric::timerCheckHealth(ros::TimerEvent const&)0
mrs_uav_state_estimators::HdgGeneric::callbackReconfigure(mrs_uav_state_estimators::HeadingEstimatorConfig&, unsigned int)0
mrs_uav_state_estimators::HdgGeneric::setCovarianceMatrix(Eigen::Matrix<double, 2, 2, 0, 2, 2> const&)0
mrs_uav_state_estimators::HdgGeneric::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
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LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/src/estimators/heading - hdg_generic.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:03350.0 %
Date:2023-12-14 21:42:20Functions:0310.0 %
Legend: Lines: + hit + not hit +
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+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::HdgGeneric::initialize(ros::NodeHandle&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)0
mrs_uav_state_estimators::HdgGeneric::isConverged()0
mrs_uav_state_estimators::HdgGeneric::timerUpdate(ros::TimerEvent const&)0
mrs_uav_state_estimators::HdgGeneric::doCorrection(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, double, mrs_uav_managers::estimation_manager::StateId_t const&, ros::Time const&)0
mrs_uav_state_estimators::HdgGeneric::doCorrection(mrs_uav_state_estimators::Correction<1>::MeasurementStamped const&, double, mrs_uav_managers::estimation_manager::StateId_t const&)0
mrs_uav_state_estimators::HdgGeneric::setInputCoeff(double const&)0
mrs_uav_state_estimators::HdgGeneric::timerCheckHealth(ros::TimerEvent const&)0
mrs_uav_state_estimators::HdgGeneric::callbackReconfigure(mrs_uav_state_estimators::HeadingEstimatorConfig&, unsigned int)0
mrs_uav_state_estimators::HdgGeneric::setCovarianceMatrix(Eigen::Matrix<double, 2, 2, 0, 2, 2> const&)0
mrs_uav_state_estimators::HdgGeneric::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
+
+
+ + + +
Generated by: LCOV version 1.14
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+ + + 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..d56e6b7a28 --- /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:2023-12-14 21:42:20Functions: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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+ + 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..f5454b4c83 --- /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
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Current view:top level - mrs_uav_state_estimators/src/estimators/heading - hdg_passthrough.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:8713166.4 %
Date:2023-12-14 21:42:20Functions:122352.2 %
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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&)45
mrs_uav_state_estimators::HdgPassthrough::start()74
mrs_uav_state_estimators::HdgPassthrough::getNamespacedName[abi:cxx11]() const90
mrs_uav_state_estimators::HdgPassthrough::getPrintName[abi:cxx11]() const287
mrs_uav_state_estimators::HdgPassthrough::timerUpdate(ros::TimerEvent const&)69826
mrs_uav_state_estimators::HdgPassthrough::getCovarianceMatrix() const69826
mrs_uav_state_estimators::HdgPassthrough::getStates() const69826
mrs_uav_state_estimators::HdgPassthrough::timerCheckHealth(ros::TimerEvent const&)72239
mrs_uav_state_estimators::HdgPassthrough::callbackAngularVelocity(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>)86687
mrs_uav_state_estimators::HdgPassthrough::callbackOrientation(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>)89368
mrs_uav_state_estimators::HdgPassthrough::setState(double const&, int const&)176050
mrs_uav_state_estimators::HdgPassthrough::getState(int const&) const240400
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/src/estimators/heading/hdg_passthrough.cpp.func.html b/mrs_uav_state_estimators/src/estimators/heading/hdg_passthrough.cpp.func.html new file mode 100644 index 0000000000..f044f95ea6 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/heading/hdg_passthrough.cpp.func.html @@ -0,0 +1,172 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/heading/hdg_passthrough.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/src/estimators/heading - hdg_passthrough.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:8713166.4 %
Date:2023-12-14 21:42:20Functions: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&)45
mrs_uav_state_estimators::HdgPassthrough::timerUpdate(ros::TimerEvent const&)69826
mrs_uav_state_estimators::HdgPassthrough::timerCheckHealth(ros::TimerEvent const&)72239
mrs_uav_state_estimators::HdgPassthrough::callbackOrientation(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>)89368
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>)86687
mrs_uav_state_estimators::HdgPassthrough::pause()0
mrs_uav_state_estimators::HdgPassthrough::reset()0
mrs_uav_state_estimators::HdgPassthrough::start()74
mrs_uav_state_estimators::HdgPassthrough::setState(double const&, int const&)176050
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]() const287
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]() const90
mrs_uav_state_estimators::HdgPassthrough::getCovarianceMatrix() const69826
mrs_uav_state_estimators::HdgPassthrough::getState(int const&) const240400
mrs_uav_state_estimators::HdgPassthrough::getState(int const&, int const&) const0
mrs_uav_state_estimators::HdgPassthrough::getStates() const69826
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/src/estimators/heading/hdg_passthrough.cpp.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..c8990c34fa --- /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
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Current view:top level - mrs_uav_state_estimators/src/estimators/heading - hdg_passthrough.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:8713166.4 %
Date:2023-12-14 21:42:20Functions:122352.2 %
Legend: Lines: + hit + not hit +
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          Line data    Source code
+
+       1             : #define VERSION "0.0.6.0"
+       2             : 
+       3             : /* includes //{ */
+       4             : 
+       5             : #include <mrs_uav_state_estimators/estimators/heading/hdg_passthrough.h>
+       6             : 
+       7             : //}
+       8             : 
+       9             : namespace mrs_uav_state_estimators
+      10             : 
+      11             : {
+      12             : 
+      13             : /* initialize() //{*/
+      14          45 : void HdgPassthrough::initialize(ros::NodeHandle &nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) {
+      15             : 
+      16          45 :   ch_ = ch;
+      17          45 :   ph_ = ph;
+      18             : 
+      19          45 :   ns_frame_id_ = ch_->uav_name + "/" + frame_id_;
+      20             : 
+      21          45 :   hdg_state_      = states_t::Zero();
+      22          45 :   hdg_covariance_ = covariance_t::Zero();
+      23             : 
+      24             :   // | --------------- param loader initialization --------------- |
+      25             : 
+      26          45 :   if (is_core_plugin_) {
+      27             : 
+      28          45 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/private/" + parent_state_est_name_ + "/" + getName() + ".yaml");
+      29          45 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/public/" + parent_state_est_name_ + "/" + getName() + ".yaml");
+      30             :   }
+      31             : 
+      32          45 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getNamespacedName() + "/");
+      33             : 
+      34             :   // | --------------------- load parameters -------------------- |
+      35          45 :   ph->param_loader->loadParam("max_flight_z", max_flight_z_);
+      36             : 
+      37          45 :   ph->param_loader->loadParam("topics/orientation", orient_topic_);
+      38          45 :   ph->param_loader->loadParam("topics/angular_velocity", ang_vel_topic_);
+      39             : 
+      40          45 :   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          45 :   timer_update_       = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &HdgPassthrough::timerUpdate, this, false, false);  // not running after init
+      47          45 :   timer_check_health_ = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &HdgPassthrough::timerCheckHealth, this);
+      48             : 
+      49             :   // | --------------- subscribers initialization --------------- |
+      50             :   // subscriber to odometry
+      51          90 :   mrs_lib::SubscribeHandlerOptions shopts;
+      52          45 :   shopts.nh                 = nh;
+      53          45 :   shopts.node_name          = getPrintName();
+      54          45 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+      55          45 :   shopts.threadsafe         = true;
+      56          45 :   shopts.autostart          = true;
+      57          45 :   shopts.queue_size         = 10;
+      58          45 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+      59             : 
+      60          90 :   sh_orientation_ = mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped>(shopts, "/" + ch_->uav_name + "/" + orient_topic_,
+      61          45 :                                                                                 &HdgPassthrough::callbackOrientation, this);
+      62          90 :   sh_ang_vel_     = mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped>(shopts, "/" + ch_->uav_name + "/" + ang_vel_topic_,
+      63          45 :                                                                          &HdgPassthrough::callbackAngularVelocity, this);
+      64             : 
+      65             :   // | ---------------- publishers initialization --------------- |
+      66          45 :   if (ch_->debug_topics.output) {
+      67          45 :     ph_output_ = mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput>(nh, getNamespacedName() + "/output", 10);
+      68             :   }
+      69          45 :   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          45 :   if (changeState(INITIALIZED_STATE)) {
+      76          45 :     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          45 : }
+      81             : /*//}*/
+      82             : 
+      83             : /*//{ start() */
+      84          74 : bool HdgPassthrough::start(void) {
+      85             : 
+      86          74 :   if (isInState(READY_STATE)) {
+      87          45 :     timer_update_.start();
+      88          45 :     changeState(STARTED_STATE);
+      89          45 :     return true;
+      90             : 
+      91             :   } else {
+      92          29 :     ROS_WARN_THROTTLE(1.0, "[%s]: Estimator must be in READY_STATE to start it", getPrintName().c_str());
+      93          29 :     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       89368 : void HdgPassthrough::callbackOrientation(const geometry_msgs::QuaternionStamped::ConstPtr msg) {
+     129             : 
+     130       89368 :   if (!isInitialized()) {
+     131           5 :     return;
+     132             :   }
+     133             : 
+     134             :   double hdg;
+     135             :   try {
+     136       89363 :     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       89363 :   setState(hdg, POSITION);
+     143             : 
+     144       89363 :   if (!isError()) {
+     145       89363 :     mrs_lib::set_mutexed(mutex_last_valid_hdg_, hdg, last_valid_hdg_);
+     146             :   }
+     147             : }
+     148             : /*//}*/
+     149             : 
+     150             : /*//{ callbackAngularVelocity() */
+     151       86687 : void HdgPassthrough::callbackAngularVelocity(const geometry_msgs::Vector3Stamped::ConstPtr msg) {
+     152             : 
+     153       86687 :   if (!isInitialized() || !sh_orientation_.hasMsg()) {
+     154           0 :     return;
+     155             :   }
+     156             : 
+     157             :   double hdg_rate;
+     158             :   try {
+     159       86687 :     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       86687 :   setState(hdg_rate, VELOCITY);
+     166             : }
+     167             : /*//}*/
+     168             : 
+     169             : /* timerUpdate() //{*/
+     170       69826 : void HdgPassthrough::timerUpdate(const ros::TimerEvent &event) {
+     171             : 
+     172             : 
+     173       69826 :   if (!isInitialized()) {
+     174           0 :     return;
+     175             :   }
+     176             : 
+     177       69826 :   publishOutput();
+     178       69826 :   publishDiagnostics();
+     179             : }
+     180             : /*//}*/
+     181             : 
+     182             : /*//{ timerCheckHealth() */
+     183       72239 : void HdgPassthrough::timerCheckHealth(const ros::TimerEvent &event) {
+     184             : 
+     185       72239 :   if (!isInitialized()) {
+     186           0 :     return;
+     187             :   }
+     188             : 
+     189       72239 :   if (isInState(INITIALIZED_STATE) && is_orient_ready_ && is_ang_vel_ready_) {
+     190             : 
+     191          45 :     changeState(READY_STATE);
+     192          45 :     ROS_INFO_THROTTLE(1.0, "[%s]: Ready to start", getPrintName().c_str());
+     193             :   }
+     194             : 
+     195       72239 :   if (isInState(STARTED_STATE)) {
+     196             : 
+     197          45 :     ROS_INFO_THROTTLE(1.0, "[%s]: Estimator Running", getPrintName().c_str());
+     198          45 :     changeState(RUNNING_STATE);
+     199             :   }
+     200             : 
+     201       72239 :   if (sh_orientation_.hasMsg()) {
+     202       70717 :     is_orient_ready_ = true;
+     203             :   } else {
+     204        1522 :     ROS_WARN_THROTTLE(1.0, "[%s]: has not received orientation yet", getPrintName().c_str());
+     205             :   }
+     206             : 
+     207       72239 :   if (sh_ang_vel_.hasMsg()) {
+     208       69931 :     is_ang_vel_ready_ = true;
+     209             :   } else {
+     210        2308 :     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      240400 : double HdgPassthrough::getState(const int &state_idx_in) const {
+     221      240400 :   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      176050 : void HdgPassthrough::setState(const double &state_in, const int &state_idx_in) {
+     231             : 
+     232      176050 :   const double prev_hdg_state   = mrs_lib::get_mutexed(mtx_hdg_state_, hdg_state_(state_idx_in));
+     233      176050 :   prev_hdg_state_(state_idx_in) = prev_hdg_state;
+     234      176050 :   mrs_lib::set_mutexed(mtx_hdg_state_, state_in, hdg_state_(state_idx_in));
+     235             : 
+     236      176049 :   const double innovation = mrs_lib::geometry::radians::dist(mrs_lib::geometry::radians(state_in), mrs_lib::geometry::radians(prev_hdg_state));
+     237      176047 :   mrs_lib::set_mutexed(mtx_innovation_, innovation, innovation_(state_idx_in));
+     238      176050 : }
+     239             : /*//}*/
+     240             : 
+     241             : /*//{ getStates() */
+     242       69826 : HdgPassthrough::states_t HdgPassthrough::getStates(void) const {
+     243       69826 :   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       69826 : HdgPassthrough::covariance_t HdgPassthrough::getCovarianceMatrix(void) const {
+     265       69826 :   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          90 : std::string HdgPassthrough::getNamespacedName() const {
+     293         180 :   return parent_state_est_name_ + "/" + getName();
+     294             : }
+     295             : /*//}*/
+     296             : 
+     297             : /*//{ getPrintName() */
+     298         287 : std::string HdgPassthrough::getPrintName() const {
+     299         574 :   return ch_->nodelet_name + "/" + parent_state_est_name_ + "/" + getName();
+     300             : }
+     301             : /*//}*/
+     302             : 
+     303             : };  // namespace mrs_uav_state_estimators
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Generated by: LCOV version 1.14
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Test:MRS UAV System - Test coverage reportLines:8746618.7 %
Date:2023-12-14 21:42:20Functions:125422.2 %
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Test:MRS UAV System - Test coverage reportLines:8746618.7 %
Date:2023-12-14 21:42:20Functions:125422.2 %
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Test:MRS UAV System - Test coverage reportLines:8746618.7 %
Date:2023-12-14 21:42:20Functions:125422.2 %
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Test:MRS UAV System - Test coverage reportLines:8746618.7 %
Date:2023-12-14 21:42:20Functions:125422.2 %
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Test:MRS UAV System - Test coverage reportLines:8746618.7 %
Date:2023-12-14 21:42:20Functions:125422.2 %
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Current view:top level - mrs_uav_state_estimators/src/estimators/headingHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:8746618.7 %
Date:2023-12-14 21:42:20Functions:125422.2 %
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66.4%66.4%
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Test:MRS UAV System - Test coverage reportLines:23640558.3 %
Date:2023-12-14 21:42:20Functions:253083.3 %
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58.3%58.3%
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Test:MRS UAV System - Test coverage reportLines:23640558.3 %
Date:2023-12-14 21:42:20Functions:253083.3 %
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lat_generic.cpp +
58.3%58.3%
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Current view:top level - mrs_uav_state_estimators/src/estimators/lateralHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:23640558.3 %
Date:2023-12-14 21:42:20Functions:253083.3 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Current view:top level - mrs_uav_state_estimators/src/estimators/lateralHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:23640558.3 %
Date:2023-12-14 21:42:20Functions:253083.3 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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lat_generic.cpp +
58.3%58.3%
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Test:MRS UAV System - Test coverage reportLines:23640558.3 %
Date:2023-12-14 21:42:20Functions:253083.3 %
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Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
lat_generic.cpp +
58.3%58.3%
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Current view:top level - mrs_uav_state_estimators/src/estimators/lateralHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:23640558.3 %
Date:2023-12-14 21:42:20Functions:253083.3 %
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Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
lat_generic.cpp +
58.3%58.3%
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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:2023-12-14 21:42:20Functions: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::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&)45
mrs_uav_state_estimators::LatGeneric::isConverged()45
mrs_uav_state_estimators::LatGeneric::callbackReconfigure(mrs_uav_state_estimators::LateralEstimatorConfig&, unsigned int)45
mrs_uav_state_estimators::LatGeneric::start()131
mrs_uav_state_estimators::LatGeneric::setState(double const&, int const&)204
mrs_uav_state_estimators::LatGeneric::setState(double const&, int const&, int const&)204
mrs_uav_state_estimators::LatGeneric::getNamespacedName[abi:cxx11]() const272
mrs_uav_state_estimators::LatGeneric::getPrintName[abi:cxx11]() const416
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) const2105
mrs_uav_state_estimators::LatGeneric::setInputCoeff(double const&)55509
mrs_uav_state_estimators::LatGeneric::setDt(double const&)55509
mrs_uav_state_estimators::LatGeneric::getCovarianceMatrix() const55509
mrs_uav_state_estimators::LatGeneric::getStates() const55509
mrs_uav_state_estimators::LatGeneric::timerUpdate(ros::TimerEvent const&)72118
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&)89897
mrs_uav_state_estimators::LatGeneric::doCorrection(mrs_uav_state_estimators::Correction<2>::MeasurementStamped const&, double, mrs_uav_managers::estimation_manager::StateId_t const&)89897
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) const89897
mrs_uav_state_estimators::LatGeneric::generateA()111063
mrs_uav_state_estimators::LatGeneric::generateB()111063
mrs_uav_state_estimators::LatGeneric::getInnovation(int const&) const137804
mrs_uav_state_estimators::LatGeneric::getInnovation(int const&, int const&) const137804
mrs_uav_state_estimators::LatGeneric::getCovariance(int const&) const275608
mrs_uav_state_estimators::LatGeneric::getCovariance(int const&, int const&) const275608
mrs_uav_state_estimators::LatGeneric::getState(int const&) const586299
mrs_uav_state_estimators::LatGeneric::getState(int const&, int const&) const586299
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/src/estimators/lateral/lat_generic.cpp.func.html b/mrs_uav_state_estimators/src/estimators/lateral/lat_generic.cpp.func.html new file mode 100644 index 0000000000..099e2e0c5a --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/lateral/lat_generic.cpp.func.html @@ -0,0 +1,200 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/lateral/lat_generic.cpp - functions + + + + + + + + + + + + + + +
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:2023-12-14 21:42:20Functions: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&)45
mrs_uav_state_estimators::LatGeneric::isConverged()45
mrs_uav_state_estimators::LatGeneric::timerUpdate(ros::TimerEvent const&)72118
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&)89897
mrs_uav_state_estimators::LatGeneric::doCorrection(mrs_uav_state_estimators::Correction<2>::MeasurementStamped const&, double, mrs_uav_managers::estimation_manager::StateId_t const&)89897
mrs_uav_state_estimators::LatGeneric::setInputCoeff(double const&)55509
mrs_uav_state_estimators::LatGeneric::timerCheckHealth(ros::TimerEvent const&)0
mrs_uav_state_estimators::LatGeneric::callbackReconfigure(mrs_uav_state_estimators::LateralEstimatorConfig&, unsigned int)45
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&)55509
mrs_uav_state_estimators::LatGeneric::start()131
mrs_uav_state_estimators::LatGeneric::setState(double const&, int const&)204
mrs_uav_state_estimators::LatGeneric::setState(double const&, int const&, int const&)204
mrs_uav_state_estimators::LatGeneric::generateA()111063
mrs_uav_state_estimators::LatGeneric::generateB()111063
mrs_uav_state_estimators::LatGeneric::setStates(Eigen::Matrix<double, 6, 1, 0, 6, 1> const&)0
mrs_uav_state_estimators::LatGeneric::getPrintName[abi:cxx11]() const416
mrs_uav_state_estimators::LatGeneric::getCovariance(int const&) const275608
mrs_uav_state_estimators::LatGeneric::getCovariance(int const&, int const&) const275608
mrs_uav_state_estimators::LatGeneric::getInnovation(int const&) const137804
mrs_uav_state_estimators::LatGeneric::getInnovation(int const&, int const&) const137804
mrs_uav_state_estimators::LatGeneric::getNamespacedName[abi:cxx11]() const272
mrs_uav_state_estimators::LatGeneric::getCovarianceMatrix() const55509
mrs_uav_state_estimators::LatGeneric::getState(int const&) const586299
mrs_uav_state_estimators::LatGeneric::getState(int const&, int const&) const586299
mrs_uav_state_estimators::LatGeneric::getStates() const55509
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) const89897
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) const2105
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+
+ + + +
Generated by: LCOV version 1.14
+
+ + + 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..4a1dd33a48 --- /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:2023-12-14 21:42:20Functions: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          45 : void LatGeneric::initialize(ros::NodeHandle &nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) {
+      14             : 
+      15          45 :   ch_ = ch;
+      16          45 :   ph_ = ph;
+      17             : 
+      18          45 :   ns_frame_id_ = ch_->uav_name + "/" + frame_id_;
+      19             : 
+      20             :   // clang-format off
+      21          45 :   dt_ = 0.01;
+      22          45 :   input_coeff_ = 10;
+      23          45 :   default_input_coeff_ = 10;
+      24             : 
+      25          45 :   generateA();
+      26          45 :   generateB();
+      27             : 
+      28          45 :   H_ <<
+      29          45 :     1, 0, 0, 0, 0, 0,
+      30          45 :     0, 1, 0, 0, 0, 0;
+      31             : 
+      32             :   // clang-format on
+      33             : 
+      34             :   // | --------------- initialize parameter loader -------------- |
+      35             : 
+      36          45 :   if (is_core_plugin_) {
+      37             : 
+      38          45 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/private/" + parent_state_est_name_ + "/" + getName() + ".yaml");
+      39          45 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/public/" + parent_state_est_name_ + "/" + getName() + ".yaml");
+      40             :   }
+      41             : 
+      42          45 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getNamespacedName() + "/");
+      43             : 
+      44             :   // | --------------------- load parameters -------------------- |
+      45          45 :   ph->param_loader->loadParam("hdg_source_topic", hdg_source_topic_);
+      46          45 :   ph->param_loader->loadParam("max_flight_z", max_flight_z_);
+      47          45 :   ph->param_loader->loadParam("innovation/limit", pos_innovation_limit_);
+      48          45 :   ph->param_loader->loadParam("innovation/action", exc_innovation_action_name_);
+      49          45 :   exc_innovation_action_ = map_exc_inno_action.at(exc_innovation_action_name_);
+      50          45 :   ph->param_loader->loadParam("repredictor/enabled", is_repredictor_enabled_);
+      51          45 :   if (is_repredictor_enabled_) {
+      52           0 :     ph->param_loader->loadParam("repredictor/buffer_size", rep_buffer_size_);
+      53             :   }
+      54             : 
+      55             :   // | --------------- corrections initialization --------------- |
+      56          45 :   ph->param_loader->loadParam("corrections", correction_names_);
+      57             : 
+      58          92 :   for (auto corr_name : correction_names_) {
+      59          47 :     corrections_.push_back(std::make_shared<Correction<lat_generic::n_measurements>>(
+      60        2199 :         nh, getNamespacedName(), corr_name, ns_frame_id_, EstimatorType_t::LATERAL, ch_, ph_, [this](int a, int b) { return this->getState(a, b); },
+      61       89897 :         [this](const Correction<lat_generic::n_measurements>::MeasurementStamped &meas, const double R, const StateId_t state) {
+      62       89897 :           return this->doCorrection(meas, R, state);
+      63             :         }));
+      64             :   }
+      65             : 
+      66             :   // | ------- check if all parameters loaded successfully ------ |
+      67          45 :   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          45 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getNamespacedName() + "/");
+      73             : 
+      74             :   // | ----------- initialize process noise covariance ---------- |
+      75          45 :   Q_ = Q_t::Zero();
+      76             :   double tmp_noise;
+      77          45 :   ph->param_loader->loadParam("process_noise/pos", tmp_noise);
+      78          45 :   Q_(stateIdToIndex(POSITION, AXIS_X), stateIdToIndex(POSITION, AXIS_X)) = tmp_noise;
+      79          45 :   Q_(stateIdToIndex(POSITION, AXIS_Y), stateIdToIndex(POSITION, AXIS_Y)) = tmp_noise;
+      80          45 :   ph->param_loader->loadParam("process_noise/vel", tmp_noise);
+      81          45 :   Q_(stateIdToIndex(VELOCITY, AXIS_X), stateIdToIndex(VELOCITY, AXIS_X)) = tmp_noise;
+      82          45 :   Q_(stateIdToIndex(VELOCITY, AXIS_Y), stateIdToIndex(VELOCITY, AXIS_Y)) = tmp_noise;
+      83          45 :   ph->param_loader->loadParam("process_noise/acc", tmp_noise);
+      84          45 :   Q_(stateIdToIndex(ACCELERATION, AXIS_X), stateIdToIndex(ACCELERATION, AXIS_X)) = tmp_noise;
+      85          45 :   Q_(stateIdToIndex(ACCELERATION, AXIS_Y), stateIdToIndex(ACCELERATION, AXIS_Y)) = tmp_noise;
+      86             : 
+      87             :   // | ------------- initialize dynamic reconfigure ------------- |
+      88             :   drmgr_ =
+      89          45 :       std::make_unique<drmgr_t>(ros::NodeHandle("~/" + getNamespacedName()), true, getPrintName(), boost::bind(&LatGeneric::callbackReconfigure, this, _1, _2));
+      90          45 :   drmgr_->config.pos = Q_(stateIdToIndex(POSITION, AXIS_X), stateIdToIndex(POSITION, AXIS_X));
+      91          45 :   drmgr_->config.vel = Q_(stateIdToIndex(VELOCITY, AXIS_X), stateIdToIndex(VELOCITY, AXIS_X));
+      92          45 :   drmgr_->config.acc = Q_(stateIdToIndex(ACCELERATION, AXIS_X), stateIdToIndex(ACCELERATION, AXIS_X));
+      93          45 :   drmgr_->update_config(drmgr_->config);
+      94             : 
+      95             :   // | --------------- Kalman filter intialization -------------- |
+      96          45 :   const x_t        x0 = x_t::Zero();
+      97          45 :   const P_t        P0 = 1e3 * P_t::Identity();
+      98          45 :   const statecov_t sc0({x0, P0});
+      99          45 :   sc_ = sc0;
+     100             : 
+     101          45 :   lkf_ = std::make_shared<lkf_t>(A_, B_, H_);
+     102          45 :   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          45 :   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          90 :   mrs_lib::SubscribeHandlerOptions shopts;
+     125          45 :   shopts.nh                 = nh;
+     126          45 :   shopts.node_name          = getPrintName();
+     127          45 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     128          45 :   shopts.threadsafe         = true;
+     129          45 :   shopts.autostart          = true;
+     130          45 :   shopts.queue_size         = 10;
+     131          45 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     132             : 
+     133          45 :   sh_control_input_ = mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput>(shopts, "control_input_in");
+     134             :   sh_hdg_state_ =
+     135          45 :       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          45 :   if (ch_->debug_topics.input) {
+     139          45 :     ph_input_ = mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped>(nh, getNamespacedName() + "/input", 10);
+     140             :   }
+     141          45 :   if (ch_->debug_topics.output) {
+     142          45 :     ph_output_ = mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput>(nh, getNamespacedName() + "/output", 10);
+     143             :   }
+     144          45 :   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          45 :   if (changeState(INITIALIZED_STATE)) {
+     151          45 :     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          45 : }
+     156             : /*//}*/
+     157             : 
+     158             : /*//{ start() */
+     159         131 : bool LatGeneric::start(void) {
+     160             : 
+     161         131 :   if (isInState(READY_STATE)) {
+     162             :     /* timer_update_.start(); */
+     163          45 :     changeState(STARTED_STATE);
+     164          45 :     return true;
+     165             : 
+     166             :   } else {
+     167          86 :     ROS_WARN_THROTTLE(1.0, "[%s]: Estimator must be in READY_STATE to start it", getPrintName().c_str());
+     168          86 :     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       72118 : void LatGeneric::timerUpdate(const ros::TimerEvent &event) {
+     219             : 
+     220       72118 :   if (!isInitialized()) {
+     221       16609 :     return;
+     222             :   }
+     223             : 
+     224       72108 :   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          20 :     case READY_STATE: {
+     232          20 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s estimator start", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     233          20 :       break;
+     234             :     }
+     235             : 
+     236        2296 :     case INITIALIZED_STATE: {
+     237             :       // initialize the estimator with current corrections
+     238        2398 :       for (auto correction : corrections_) {
+     239        2353 :         auto res = correction->getProcessedCorrection();
+     240        2353 :         if (res) {
+     241         102 :           auto measurement_stamped = res.value(); 
+     242         102 :           setState(measurement_stamped.value(AXIS_X), correction->getStateId(), AXIS_X);
+     243         102 :           setState(measurement_stamped.value(AXIS_Y), correction->getStateId(), AXIS_Y);
+     244         102 :           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        2251 :           ROS_INFO_THROTTLE(1.0, "[%s]: %s correction %s", getPrintName().c_str(), Support::waiting_for_string.c_str(), correction->getNamespacedName().c_str());
+     248        2251 :           return;
+     249             :         }
+     250             :       }
+     251          45 :       ROS_INFO_THROTTLE(1.0, "[%s]: Ready to start", getPrintName().c_str());
+     252          45 :       changeState(READY_STATE);
+     253          45 :       break;
+     254             :     }
+     255             : 
+     256          45 :     case STARTED_STATE: {
+     257          45 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s convergence of LKF", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     258          45 :       if (isConverged()) {
+     259          45 :         ROS_INFO_THROTTLE(1.0, "[%s]: LKF converged", getPrintName().c_str());
+     260          45 :         changeState(RUNNING_STATE);
+     261             :       }
+     262          45 :       break;
+     263             :     }
+     264             : 
+     265       69747 :     case RUNNING_STATE: {
+     266      141489 :       for (auto correction : corrections_) {
+     267       71742 :         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       69747 :       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       69857 :   if (sh_control_input_.newMsg()) {
+     319       29407 :     is_input_ready_ = true;
+     320             :   }
+     321             : 
+     322             :   // check age of input
+     323       69857 :   if (is_input_ready_ && (ros::Time::now() - sh_control_input_.lastMsgTime()).toSec() > 0.1) {  // TODO: parametrize, if older than say 1 second, eland
+     324           7 :     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           7 :     is_input_ready_ = false;
+     327             :   }
+     328             : 
+     329       69857 :   if (fun_get_hdg_()) {
+     330       69768 :     is_hdg_state_ready_ = true;
+     331             :   }
+     332             : 
+     333       69857 :   if (!isRunning() && !isStarted()) {
+     334          58 :     return;
+     335             :   }
+     336             : 
+     337       69799 :   if (first_iter_) {
+     338          45 :     first_iter_ = false;
+     339          45 :     return;
+     340             :   }
+     341             : 
+     342             :   // obtain dt for state prediction
+     343       69754 :   double dt = (event.current_real - event.last_real).toSec();
+     344       69754 :   if (dt <= 0.0) {  // sometimes the timer ticks twice simultaneously in simulation - we ignore the second tick
+     345       14245 :     return;
+     346             :   }
+     347             : 
+     348       55509 :   if (!is_repredictor_enabled_) {  // repredictor requires constant dt TODO: how to handle repredictor + variable rate?
+     349       55509 :     setDt(dt);
+     350             :   }
+     351             : 
+     352             :   // obtain unbiased desired control acceleration in the estimator frame that will be used as input to the estimator
+     353       55509 :   u_t       u;
+     354       55509 :   ros::Time input_stamp;
+     355       55509 :   if (is_input_ready_ && is_hdg_state_ready_) {
+     356       31928 :     auto res = fun_get_hdg_();
+     357       31928 :     if (!res) {
+     358           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: could not obtain heading", getPrintName().c_str());
+     359           0 :       return;
+     360             :     }
+     361             : 
+     362       31928 :     const tf2::Vector3 des_acc_global = getAccGlobal(sh_control_input_.getMsg(), res.value());
+     363       31928 :     input_stamp                       = sh_control_input_.getMsg()->header.stamp;
+     364       31928 :     setInputCoeff(default_input_coeff_);
+     365       31928 :     u(0) = des_acc_global.getX();
+     366       31928 :     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       23581 :     ROS_DEBUG_THROTTLE(1.0, "[%s]: not receiving control input, estimation suboptimal, potentially unstable", getPrintName().c_str());
+     370       23581 :     input_stamp = ros::Time::now();
+     371       23581 :     setInputCoeff(0);
+     372       23581 :     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       55509 :   statecov_t sc = mrs_lib::get_mutexed(mutex_sc_, sc_);
+     386       55509 :   Q_t        Q  = mrs_lib::get_mutexed(mtx_Q_, Q_);
+     387             : 
+     388             :   // prediction step
+     389             :   try {
+     390             :     // Apply the prediction step
+     391      111018 :     std::scoped_lock lock(mutex_lkf_);
+     392       55509 :     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       55509 :       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       55509 :   mrs_lib::set_mutexed(mutex_sc_, sc, sc_);
+     406             : 
+     407             :   // publishing
+     408       55509 :   publishInput(u, input_stamp);
+     409       55509 :   publishOutput();
+     410       55509 :   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       89897 : void LatGeneric::doCorrection(const Correction<lat_generic::n_measurements>::MeasurementStamped &meas, const double R, const StateId_t &state_id) {
+     514       89897 :   doCorrection(meas.value, R, state_id, meas.stamp);
+     515       89897 : }
+     516             : /*//}*/
+     517             : 
+     518             : /*//{ doCorrection() */
+     519       89897 : void LatGeneric::doCorrection(const z_t &z, const double R, const StateId_t &state_id, const ros::Time &meas_stamp) {
+     520             : 
+     521       89897 :   if (!isInitialized()) {
+     522         105 :     return;
+     523             :   }
+     524             : 
+     525             :   // we do not want to perform corrections until the estimator is initialized
+     526       89895 :   if (!(isInState(SMStates_t::READY_STATE) || isInState(SMStates_t::RUNNING_STATE) || isInState(SMStates_t::STARTED_STATE))) {
+     527         103 :     return;
+     528             :   }
+     529             : 
+     530             :   // for position state check the innovation
+     531       89792 :   if (state_id == POSITION) {
+     532             :     {
+     533       85392 :       std::scoped_lock lock(mtx_innovation_);
+     534             : 
+     535       85392 :       is_mitigating_jump_ = false;
+     536       85392 :       innovation_(0)      = z(0) - getState(POSITION, AXIS_X);
+     537       85392 :       innovation_(1)      = z(1) - getState(POSITION, AXIS_Y);
+     538             : 
+     539       85392 :       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       85392 :       innovation_ok_ = true;
+     572             :     }
+     573             :   }
+     574             : 
+     575       89792 :   statecov_t sc = mrs_lib::get_mutexed(mutex_sc_, sc_);
+     576             :   try {
+     577             :     // Apply the correction step
+     578      179584 :     std::scoped_lock lock(mutex_lkf_);
+     579       89792 :     H_                           = H_t::Zero();
+     580       89792 :     H_(AXIS_X, state_id * 2)     = 1;
+     581       89792 :     H_(AXIS_Y, state_id * 2 + 1) = 1;
+     582       89792 :     lkf_->H                      = H_;
+     583             : 
+     584       89792 :     if (is_repredictor_enabled_) {
+     585             : 
+     586           0 :       lkf_rep_->addMeasurement(z, R_t::Ones() * R, meas_stamp, models_[state_id]);
+     587             :     } else {
+     588       89792 :       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       89792 :   mrs_lib::set_mutexed(mutex_sc_, sc, sc_);
+     597             : }  // namespace mrs_uav_state_estimators
+     598             : /*//}*/
+     599             : 
+     600             : /*//{ isConverged() */
+     601          45 : bool LatGeneric::isConverged() {
+     602             : 
+     603             :   // TODO: check convergence by rate of change of determinant
+     604             : 
+     605          45 :   return true;
+     606             : }
+     607             : /*//}*/
+     608             : 
+     609             : /*//{ getState() */
+     610      586299 : double LatGeneric::getState(const int &state_id_in, const int &axis_in) const {
+     611      586299 :   return getState(stateIdToIndex(state_id_in, axis_in));
+     612             : }
+     613             : 
+     614      586299 : double LatGeneric::getState(const int &state_idx_in) const {
+     615      586299 :   return mrs_lib::get_mutexed(mutex_sc_, sc_).x(state_idx_in);
+     616             : }
+     617             : /*//}*/
+     618             : 
+     619             : /*//{ setState() */
+     620         204 : void LatGeneric::setState(const double &state_in, const int &state_id_in, const int &axis_in) {
+     621         204 :   setState(state_in, stateIdToIndex(state_id_in, axis_in));
+     622         204 : }
+     623             : 
+     624         204 : void LatGeneric::setState(const double &state_in, const int &state_idx_in) {
+     625         204 :   mrs_lib::set_mutexed(mutex_sc_, state_in, sc_.x(state_idx_in));
+     626         204 : }
+     627             : /*//}*/
+     628             : 
+     629             : /*//{ getStates() */
+     630       55509 : LatGeneric::states_t LatGeneric::getStates(void) const {
+     631      111018 :   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      275608 : double LatGeneric::getCovariance(const int &state_id_in, const int &axis_in) const {
+     643      275608 :   return getCovariance(stateIdToIndex(state_id_in, axis_in));
+     644             : }
+     645             : 
+     646      275608 : double LatGeneric::getCovariance(const int &state_idx_in) const {
+     647      275608 :   return mrs_lib::get_mutexed(mutex_sc_, sc_).P(state_idx_in, state_idx_in);
+     648             : }
+     649             : /*//}*/
+     650             : 
+     651             : /*//{ getCovarianceMatrix() */
+     652       55509 : LatGeneric::covariance_t LatGeneric::getCovarianceMatrix(void) const {
+     653      111018 :   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      137804 : double LatGeneric::getInnovation(const int &state_idx) const {
+     665      137804 :   return mrs_lib::get_mutexed(mtx_innovation_, innovation_)(state_idx);
+     666             : }
+     667             : 
+     668      137804 : double LatGeneric::getInnovation(const int &state_id_in, const int &axis_in) const {
+     669      137804 :   return getInnovation(stateIdToIndex(state_id_in, axis_in));
+     670             : }
+     671             : /*//}*/
+     672             : 
+     673             : /*//{ setDt() */
+     674       55509 : void LatGeneric::setDt(const double &dt) {
+     675       55509 :   dt_ = dt;
+     676       55509 :   generateA();
+     677       55509 :   generateB();
+     678      111018 :   std::scoped_lock lock(mutex_lkf_);
+     679       55509 :   lkf_->A = A_;
+     680       55509 :   lkf_->B = B_;
+     681       55509 : }
+     682             : /*//}*/
+     683             : 
+     684             : /*//{ setInputCoeff() */
+     685       55509 : void LatGeneric::setInputCoeff(const double &input_coeff) {
+     686       55509 :   input_coeff_ = input_coeff;
+     687       55509 :   generateA();
+     688       55509 :   generateB();
+     689      111018 :   std::scoped_lock lock(mutex_lkf_);
+     690       55509 :   lkf_->A = A_;
+     691       55509 :   lkf_->B = B_;
+     692       55509 : }
+     693             : /*//}*/
+     694             : 
+     695             : /*//{ generateA() */
+     696      111063 : void LatGeneric::generateA() {
+     697             : 
+     698             :   // clang-format off
+     699      111063 :     A_ <<
+     700      111063 :       1, 0, dt_, 0, 0.5 * dt_ * dt_, 0,
+     701      111063 :       0, 1, 0, dt_, 0, 0.5 * dt_ * dt_,
+     702      111063 :       0, 0, 1, 0, dt_, 0,
+     703      111063 :       0, 0, 0, 1, 0, dt_,
+     704      111063 :       0, 0, 0, 0, 1-(input_coeff_ * dt_), 0,
+     705      111063 :       0, 0, 0, 0, 0, 1-(input_coeff_ * dt_);
+     706             :   // clang-format on
+     707      111063 : }
+     708             : /*//}*/
+     709             : 
+     710             : /*//{ generateB() */
+     711      111063 : void LatGeneric::generateB() {
+     712             : 
+     713             :   // clang-format off
+     714      111063 :     B_ <<
+     715      111063 :       0, 0,
+     716      111063 :       0, 0,
+     717      111063 :       0, 0,
+     718      111063 :       0, 0,
+     719      111063 :       input_coeff_ * dt_, 0,
+     720      111063 :       0, input_coeff_ * dt_;
+     721             :   // clang-format on
+     722      111063 : }
+     723             : /*//}*/
+     724             : 
+     725             : /*//{ callbackReconfigure() */
+     726          45 : void LatGeneric::callbackReconfigure(LateralEstimatorConfig &config, [[maybe_unused]] uint32_t level) {
+     727             : 
+     728          45 :   if (!isInitialized()) {
+     729          45 :     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         272 : std::string LatGeneric::getNamespacedName() const {
+     745         544 :   return parent_state_est_name_ + "/" + getName();
+     746             : }
+     747             : /*//}*/
+     748             : 
+     749             : /*//{ getPrintName() */
+     750         416 : std::string LatGeneric::getPrintName() const {
+     751         832 :   return ch_->nodelet_name + "/" + parent_state_est_name_ + "/" + getName();
+     752             : }
+     753             : /*//}*/
+     754             : };  // namespace mrs_uav_state_estimators
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/src/estimators/lateral/lat_generic.cpp.gcov.overview.html b/mrs_uav_state_estimators/src/estimators/lateral/lat_generic.cpp.gcov.overview.html new file mode 100644 index 0000000000..557944d153 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/lateral/lat_generic.cpp.gcov.overview.html @@ -0,0 +1,209 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/lateral/lat_generic.cpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
+ Top

+ Overview +
+ + diff --git a/mrs_uav_state_estimators/src/estimators/lateral/lat_generic.cpp.gcov.png b/mrs_uav_state_estimators/src/estimators/lateral/lat_generic.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..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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Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()28
mrs_uav_state_estimators::gps_baro::GpsBaro::GpsBaro()28
mrs_uav_state_estimators::gps_baro::GpsBaro::~GpsBaro()28
mrs_uav_state_estimators::gps_baro::GpsBaro::~GpsBaro().228
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Current view:top level - mrs_uav_state_estimators/src/estimators/state - gps_baro.cpp (source / functions)HitTotalCoverage
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(anonymous namespace)::ProxyExec0::ProxyExec0()28
mrs_uav_state_estimators::gps_baro::GpsBaro::GpsBaro()28
mrs_uav_state_estimators::gps_baro::GpsBaro::~GpsBaro()28
mrs_uav_state_estimators::gps_baro::GpsBaro::~GpsBaro().228
+
+
+ + + +
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Date:2023-12-14 21:42:20Functions:44100.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #include <mrs_uav_state_estimators/estimators/state/state_generic.h>
+       2             : 
+       3             : namespace mrs_uav_state_estimators
+       4             : {
+       5             : 
+       6             : namespace gps_baro
+       7             : {
+       8             : 
+       9             : const char estimator_name[] = "gps_baro";
+      10             : const bool is_core_plugin = true;
+      11             : 
+      12             : class GpsBaro : public StateGeneric {
+      13             : public:
+      14          28 :   GpsBaro() : StateGeneric(estimator_name, is_core_plugin) {
+      15          28 :   }
+      16             : 
+      17          56 :   ~GpsBaro(void) {
+      18          56 :   }
+      19             : };
+      20             : 
+      21             : }  // namespace gps_baro
+      22             : }  // namespace mrs_uav_state_estimators
+      23             : 
+      24             : #include <pluginlib/class_list_macros.h>
+      25          28 : PLUGINLIB_EXPORT_CLASS(mrs_uav_state_estimators::gps_baro::GpsBaro, mrs_uav_managers::StateEstimator)
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/src/estimators/state/gps_baro.cpp.gcov.overview.html b/mrs_uav_state_estimators/src/estimators/state/gps_baro.cpp.gcov.overview.html new file mode 100644 index 0000000000..2b03dc176f --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/gps_baro.cpp.gcov.overview.html @@ -0,0 +1,27 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/gps_baro.cpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + + +
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+ + diff --git a/mrs_uav_state_estimators/src/estimators/state/gps_baro.cpp.gcov.png b/mrs_uav_state_estimators/src/estimators/state/gps_baro.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..32cb0dad19f40488be4eb0ccd03a6cbd7fc1ac32 GIT binary patch literal 231 zcmeAS@N?(olHy`uVBq!ia0vp^0YEIt!VDxsGPYO&DTx4|5ZC|z|E~gq + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/gps_garmin.cpp - functions + + + + + + + + + + + + + + +
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Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2023-12-14 21:42:20Functions:44100.0 %
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(anonymous namespace)::ProxyExec0::ProxyExec0()15
mrs_uav_state_estimators::gps_garmin::GpsGarmin::GpsGarmin()15
mrs_uav_state_estimators::gps_garmin::GpsGarmin::~GpsGarmin()15
mrs_uav_state_estimators::gps_garmin::GpsGarmin::~GpsGarmin().215
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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:2023-12-14 21:42:20Functions: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()15
mrs_uav_state_estimators::gps_garmin::GpsGarmin::GpsGarmin()15
mrs_uav_state_estimators::gps_garmin::GpsGarmin::~GpsGarmin()15
mrs_uav_state_estimators::gps_garmin::GpsGarmin::~GpsGarmin().215
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+ + + diff --git a/mrs_uav_state_estimators/src/estimators/state/gps_garmin.cpp.gcov.frameset.html b/mrs_uav_state_estimators/src/estimators/state/gps_garmin.cpp.gcov.frameset.html new file mode 100644 index 0000000000..716d11d216 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/gps_garmin.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/gps_garmin.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/src/estimators/state/gps_garmin.cpp.gcov.html b/mrs_uav_state_estimators/src/estimators/state/gps_garmin.cpp.gcov.html new file mode 100644 index 0000000000..5dac67f505 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/gps_garmin.cpp.gcov.html @@ -0,0 +1,109 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/gps_garmin.cpp + + + + + + + + + + + + + + +
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Date:2023-12-14 21:42:20Functions: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          15 :   GpsGarmin() : StateGeneric(estimator_name, is_core_plugin) {
+      15          15 :   }
+      16             : 
+      17          30 :   ~GpsGarmin(void) {
+      18          30 :   }
+      19             : };
+      20             : 
+      21             : }  // namespace gps_garmin
+      22             : }  // namespace mrs_uav_state_estimators
+      23             : 
+      24             : #include <pluginlib/class_list_macros.h>
+      25          15 : PLUGINLIB_EXPORT_CLASS(mrs_uav_state_estimators::gps_garmin::GpsGarmin, mrs_uav_managers::StateEstimator)
+
+
+
+ + + + +
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state_generic.cpp +
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passthrough.cpp +
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Test:MRS UAV System - Test coverage reportLines:9712776.4 %
Date:2023-12-14 21:42:20Functions:5955.6 %
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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()3
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&)3
mrs_uav_state_estimators::passthrough::Passthrough::start()3
mrs_uav_state_estimators::passthrough::Passthrough::timerUpdate(ros::TimerEvent const&)4120
mrs_uav_state_estimators::passthrough::Passthrough::timerCheckHealth(ros::TimerEvent const&)4169
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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:2023-12-14 21:42:20Functions:5955.6 %
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Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()3
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&)3
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&)4120
mrs_uav_state_estimators::passthrough::Passthrough::timerCheckHealth(ros::TimerEvent const&)4169
mrs_uav_state_estimators::passthrough::Passthrough::pause()0
mrs_uav_state_estimators::passthrough::Passthrough::reset()0
mrs_uav_state_estimators::passthrough::Passthrough::start()3
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Current view:top level - mrs_uav_state_estimators/src/estimators/state - passthrough.cpp (source / functions)HitTotalCoverage
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Date:2023-12-14 21:42:20Functions:5955.6 %
Legend: Lines: + hit + not hit +
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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           3 : void Passthrough::initialize(ros::NodeHandle &nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) {
+      15             : 
+      16           3 :   ch_ = ch;
+      17           3 :   ph_ = ph;
+      18             : 
+      19           3 :   ns_frame_id_ = ch_->uav_name + "/" + frame_id_;
+      20             : 
+      21             :   // | --------------- param loader initialization -------------- |
+      22             : 
+      23           3 :   if (is_core_plugin_) {
+      24             : 
+      25           3 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/private/" + getName() + "/" + getName() + ".yaml");
+      26           3 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/public/" + getName() + "/" + getName() + ".yaml");
+      27             :   }
+      28             : 
+      29           3 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getName() + "/");
+      30             : 
+      31             :   // | --------------------- load parameters -------------------- |
+      32           3 :   ph->param_loader->loadParam("max_flight_z", max_flight_z_);
+      33           3 :   ph->param_loader->loadParam("message/topic", msg_topic_);
+      34           3 :   msg_topic_ = "/" + ch_->uav_name + "/" + msg_topic_;
+      35             : 
+      36             :   // | ------------------ timers initialization ----------------- |
+      37           3 :   timer_update_       = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &Passthrough::timerUpdate, this, false, false);  // not running after init
+      38           3 :   timer_check_health_ = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &Passthrough::timerCheckHealth, this);
+      39             : 
+      40             :   // | --------------- subscribers initialization --------------- |
+      41           6 :   mrs_lib::SubscribeHandlerOptions shopts;
+      42           3 :   shopts.nh                 = nh;
+      43           3 :   shopts.node_name          = getPrintName();
+      44           3 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+      45           3 :   shopts.threadsafe         = true;
+      46           3 :   shopts.autostart          = true;
+      47           3 :   shopts.queue_size         = 10;
+      48           3 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+      49             : 
+      50           3 :   sh_passthrough_odom_ = mrs_lib::SubscribeHandler<nav_msgs::Odometry>(shopts, msg_topic_);
+      51             : 
+      52             :   // | ---------------- publishers initialization --------------- |
+      53           3 :   ph_odom_ = mrs_lib::PublisherHandler<nav_msgs::Odometry>(nh, Support::toSnakeCase(getName()) + "/odom", 10);  // needed for tf
+      54           3 :   if (ch_->debug_topics.state) {
+      55           3 :     ph_uav_state_ = mrs_lib::PublisherHandler<mrs_msgs::UavState>(nh, Support::toSnakeCase(getName()) + "/uav_state", 10);
+      56             :   }
+      57           3 :   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           3 :   if (ch_->debug_topics.innovation) {
+      62           0 :     ph_innovation_ = mrs_lib::PublisherHandler<nav_msgs::Odometry>(nh, Support::toSnakeCase(getName()) + "/innovation", 10);
+      63             :   }
+      64           3 :   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           3 :   uav_state_init_.header.frame_id = ns_frame_id_;
+      70           3 :   uav_state_init_.child_frame_id  = ch_->frames.ns_fcu;
+      71             : 
+      72           3 :   uav_state_init_.estimator_horizontal = est_lat_name_;
+      73           3 :   uav_state_init_.estimator_vertical   = est_alt_name_;
+      74           3 :   uav_state_init_.estimator_heading    = est_hdg_name_;
+      75             : 
+      76           3 :   innovation_init_.header.frame_id         = ns_frame_id_;
+      77           3 :   innovation_init_.child_frame_id          = ch_->frames.ns_fcu;
+      78           3 :   innovation_init_.pose.pose.orientation.w = 1.0;
+      79             : 
+      80             :   // | ------------------ finish initialization ----------------- |
+      81             : 
+      82           3 :   if (changeState(INITIALIZED_STATE)) {
+      83           3 :     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           3 : }
+      88             : /*//}*/
+      89             : 
+      90             : /*//{ start() */
+      91           3 : bool Passthrough::start(void) {
+      92             : 
+      93             : 
+      94           3 :   if (isInState(READY_STATE)) {
+      95             : 
+      96           3 :     timer_update_.start();
+      97           3 :     changeState(STARTED_STATE);
+      98           3 :     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        4120 : void Passthrough::timerUpdate(const ros::TimerEvent &event) {
+     140             : 
+     141             : 
+     142        4120 :   if (!isInitialized()) {
+     143           0 :     return;
+     144             :   }
+     145             : 
+     146        4120 :   const ros::Time time_now = ros::Time::now();
+     147             : 
+     148        8240 :   nav_msgs::OdometryConstPtr msg = sh_passthrough_odom_.getMsg();
+     149             : 
+     150        4120 :   if (first_iter_) {
+     151           3 :     prev_msg_   = msg;
+     152           3 :     first_iter_ = false;
+     153             :   }
+     154             : 
+     155        8240 :   mrs_msgs::UavState uav_state = uav_state_init_;
+     156             : 
+     157        4120 :   uav_state.header.stamp = time_now;
+     158             : 
+     159        4120 :   uav_state.pose.position    = msg->pose.pose.position;
+     160        4120 :   uav_state.pose.orientation = msg->pose.pose.orientation;
+     161             : 
+     162        4120 :   uav_state.velocity.linear  = Support::rotateVector(msg->twist.twist.linear, msg->pose.pose.orientation);
+     163        4120 :   uav_state.velocity.angular = msg->twist.twist.angular;
+     164             : 
+     165        8240 :   const nav_msgs::Odometry odom = Support::uavStateToOdom(uav_state);
+     166             : 
+     167        8240 :   nav_msgs::Odometry innovation = innovation_init_;
+     168        4120 :   innovation.header.stamp       = time_now;
+     169             : 
+     170        4120 :   innovation.pose.pose.position.x = prev_msg_->pose.pose.position.x - msg->pose.pose.position.x;
+     171        4120 :   innovation.pose.pose.position.y = prev_msg_->pose.pose.position.y - msg->pose.pose.position.y;
+     172        4120 :   innovation.pose.pose.position.z = prev_msg_->pose.pose.position.z - msg->pose.pose.position.z;
+     173             : 
+     174        8240 :   mrs_msgs::Float64ArrayStamped pose_covariance, twist_covariance;
+     175        4120 :   pose_covariance.header.stamp  = time_now;
+     176        4120 :   twist_covariance.header.stamp = time_now;
+     177             : 
+     178        4120 :   const int n_states = 6;  // TODO this should be defined somewhere else
+     179        4120 :   pose_covariance.values.resize(n_states * n_states);
+     180        4120 :   pose_covariance.values.at(n_states * AXIS_X + AXIS_X) = 1e-10;
+     181        4120 :   pose_covariance.values.at(n_states * AXIS_Y + AXIS_Y) = 1e-10;
+     182        4120 :   pose_covariance.values.at(n_states * AXIS_Z + AXIS_Z) = 1e-10;
+     183             : 
+     184        4120 :   twist_covariance.values.resize(n_states * n_states);
+     185        4120 :   twist_covariance.values.at(n_states * AXIS_X + AXIS_X) = 1e-10;
+     186        4120 :   twist_covariance.values.at(n_states * AXIS_Y + AXIS_Y) = 1e-10;
+     187        4120 :   twist_covariance.values.at(n_states * AXIS_Z + AXIS_Z) = 1e-10;
+     188             : 
+     189        4120 :   mrs_lib::set_mutexed(mtx_uav_state_, uav_state, uav_state_);
+     190        4120 :   mrs_lib::set_mutexed(mtx_odom_, odom, odom_);
+     191        4120 :   mrs_lib::set_mutexed(mtx_innovation_, innovation, innovation_);
+     192        4120 :   mrs_lib::set_mutexed(mtx_covariance_, pose_covariance, pose_covariance_);
+     193        4120 :   mrs_lib::set_mutexed(mtx_covariance_, twist_covariance, twist_covariance_);
+     194             : 
+     195        4120 :   publishUavState();
+     196        4120 :   publishOdom();
+     197        4120 :   publishCovariance();
+     198        4120 :   publishInnovation();
+     199        4120 :   publishDiagnostics();
+     200             : 
+     201        4120 :   prev_msg_ = msg;
+     202             : }
+     203             : /*//}*/
+     204             : 
+     205             : /*//{ timerCheckHealth() */
+     206        4169 : void Passthrough::timerCheckHealth(const ros::TimerEvent &event) {
+     207             : 
+     208        4169 :   if (!isInitialized()) {
+     209           0 :     return;
+     210             :   }
+     211             : 
+     212        4169 :   if (isInState(INITIALIZED_STATE)) {
+     213             : 
+     214          47 :     if (sh_passthrough_odom_.hasMsg()) {
+     215           3 :       changeState(READY_STATE);
+     216           3 :       ROS_INFO_THROTTLE(1.0, "[%s]: Estimator is ready to start", getPrintName().c_str());
+     217             :     } else {
+     218          44 :       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          44 :       return;
+     220             :     }
+     221             :   }
+     222             : 
+     223             : 
+     224        4125 :   if (isInState(STARTED_STATE)) {
+     225             : 
+     226           3 :     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           3 : PLUGINLIB_EXPORT_CLASS(mrs_uav_state_estimators::passthrough::Passthrough, mrs_uav_managers::StateEstimator)
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/src/estimators/state/passthrough.cpp.gcov.overview.html b/mrs_uav_state_estimators/src/estimators/state/passthrough.cpp.gcov.overview.html new file mode 100644 index 0000000000..5a663b9a3d --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/passthrough.cpp.gcov.overview.html @@ -0,0 +1,85 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/passthrough.cpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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+ + diff --git a/mrs_uav_state_estimators/src/estimators/state/passthrough.cpp.gcov.png b/mrs_uav_state_estimators/src/estimators/state/passthrough.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..952c0015116d8270a63eb96783a0d220ca31918b GIT binary patch literal 1098 zcmV-Q1hxB#P)*X4RlZ_&k1 zGc8g-$K^HUkd6ySr`IJT(GA`oh&Ewanxd7GDkrHx-G6~5!K6tj00plC`J#>X(!ZLw zsSrNL%aJa@XZ^Q?PujuVp%cO3@+GSU5y2#$(u9x;WJJZdhi^4WcLEHi8H$V!$AZIx zBSVXJQiG)>9c6-ZK%ZUsZ5o*YV-}QMC1Y-FAk!4-jEsQ>a6rd7S^`an%hWO0kKVE6 zS`au|U>dp{m>OOLg5_9{or`V)foqIrng<6wkV%-Mq^kL&STF5ZmxcN-aM{yel#OvI zUQAoC9JxhGq+1-&znr%1bad?dStJZR>%e1U(SVL+x%(5*1-X&v<0zZlC7Mr3eY6QV zN4?!l)E<{bc?XaH(L#h6$Ruj}a0>$(K*0n;2{^3d{a?qk1_TU5SbEdEfUmS%^}Vp8 z`A7>Co#mlH0)I%_UThhskjJZ$nsS zw?!e`?S2%>!HN1hAHtSDKj`+DS=QyAxayrz2Rq7Ed@kFzh2bzn9G1oR4cM8e*X zxPGDmow`7y|8VV$K7*BpiKl%_ABs-lOj4(CIX8q&b9F=kW`F(cY)KmR0B zZ~SaHvj*I#>3!g!j-Fpyg;HR}J(NaI{Rpl&f&_c{NJ&tkaFPx;Kgs12z#9gjl6v$7 zu*2$%YHPMb@ QfB*mh07*qoM6N<$f+&#(bpQYW literal 0 HcmV?d00001 diff --git a/mrs_uav_state_estimators/src/estimators/state/rtk.cpp.func-sort-c.html b/mrs_uav_state_estimators/src/estimators/state/rtk.cpp.func-sort-c.html new file mode 100644 index 0000000000..7e8931e3d6 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/rtk.cpp.func-sort-c.html @@ -0,0 +1,96 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/rtk.cpp - functions + + + + + + + + + + + + + + +
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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 %
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mrs_uav_state_estimators::rtk::Rtk::~Rtk().22
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Current view:top level - mrs_uav_state_estimators/src/estimators/state - rtk.cpp (source / functions)HitTotalCoverage
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Date:2023-12-14 21:42:20Functions:44100.0 %
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mrs_uav_state_estimators::rtk::Rtk::~Rtk()2
mrs_uav_state_estimators::rtk::Rtk::~Rtk().22
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+
          Line data    Source code
+
+       1             : #include <mrs_uav_state_estimators/estimators/state/state_generic.h>
+       2             : 
+       3             : namespace mrs_uav_state_estimators
+       4             : {
+       5             : 
+       6             : namespace rtk
+       7             : {
+       8             : 
+       9             : const char estimator_name[] = "rtk";
+      10             : const bool is_core_plugin = true;
+      11             : 
+      12             : class Rtk : public StateGeneric {
+      13             : public:
+      14           2 :   Rtk() : StateGeneric(estimator_name, is_core_plugin) {
+      15           2 :   }
+      16             : 
+      17           4 :   ~Rtk(void) {
+      18           4 :   }
+      19             : };
+      20             : 
+      21             : }  // namespace rtk
+      22             : }  // namespace mrs_uav_state_estimators
+      23             : 
+      24             : #include <pluginlib/class_list_macros.h>
+      25           2 : PLUGINLIB_EXPORT_CLASS(mrs_uav_state_estimators::rtk::Rtk, mrs_uav_managers::StateEstimator)
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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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 + + +
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+ + 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/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..80f1299049 --- /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 + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_state_estimators/src/estimators/state - state_generic.cpp (source / functions)HitTotalCoverage
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Date:2023-12-14 21:42:20Functions:71258.3 %
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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&)45
mrs_uav_state_estimators::StateGeneric::start()991
mrs_uav_state_estimators::StateGeneric::updateUavState()68902
mrs_uav_state_estimators::StateGeneric::timerUpdate(ros::TimerEvent const&)72274
mrs_uav_state_estimators::StateGeneric::timerPubAttitude(ros::TimerEvent const&)72276
mrs_uav_state_estimators::StateGeneric::getHeading() const101785
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()() const101785
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+ + + 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..ab6e11dd47 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/state_generic.cpp.func.html @@ -0,0 +1,128 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/state_generic.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/src/estimators/state - state_generic.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:19429366.2 %
Date:2023-12-14 21:42:20Functions:71258.3 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::StateGeneric::initialize(ros::NodeHandle&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)45
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&)72274
mrs_uav_state_estimators::StateGeneric::updateUavState()68902
mrs_uav_state_estimators::StateGeneric::timerCheckHealth(ros::TimerEvent const&)0
mrs_uav_state_estimators::StateGeneric::timerPubAttitude(ros::TimerEvent const&)72276
mrs_uav_state_estimators::StateGeneric::pause()0
mrs_uav_state_estimators::StateGeneric::reset()0
mrs_uav_state_estimators::StateGeneric::start()991
mrs_uav_state_estimators::StateGeneric::getHeading() const101785
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()() const101785
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/src/estimators/state/state_generic.cpp.gcov.frameset.html b/mrs_uav_state_estimators/src/estimators/state/state_generic.cpp.gcov.frameset.html new file mode 100644 index 0000000000..ae1b3eba16 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/state_generic.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/state_generic.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/src/estimators/state/state_generic.cpp.gcov.html b/mrs_uav_state_estimators/src/estimators/state/state_generic.cpp.gcov.html new file mode 100644 index 0000000000..6984eb3e08 --- /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
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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:2023-12-14 21:42:20Functions: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          45 : void StateGeneric::initialize(ros::NodeHandle &parent_nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) {
+      12             : 
+      13          45 :   ch_ = ch;
+      14          45 :   ph_ = ph;
+      15             : 
+      16          90 :   ros::NodeHandle nh(parent_nh);
+      17             : 
+      18          45 :   if (is_core_plugin_) {
+      19             : 
+      20          45 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/private/" + getName() + "/" + getName() + ".yaml");
+      21          45 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/public/" + getName() + "/" + getName() + ".yaml");
+      22             :   }
+      23             : 
+      24          45 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getName() + "/");
+      25             : 
+      26          45 :   ph->param_loader->loadParam("estimators/lateral/name", est_lat_name_);
+      27          45 :   ph->param_loader->loadParam("estimators/altitude/name", est_alt_name_);
+      28          45 :   ph->param_loader->loadParam("estimators/heading/name", est_hdg_name_);
+      29          45 :   ph->param_loader->loadParam("estimators/heading/passthrough", is_hdg_passthrough_);
+      30             : 
+      31          45 :   ph->param_loader->loadParam("override_frame_id/enabled", is_override_frame_id_);
+      32          45 :   if (is_override_frame_id_) {
+      33           0 :     ph->param_loader->loadParam("override_frame_id/frame_id", frame_id_);
+      34             :   }
+      35             : 
+      36          90 :   std::string topic_orientation;
+      37          45 :   ph->param_loader->loadParam("topics/orientation", topic_orientation);
+      38          45 :   topic_orientation_ = "/" + ch_->uav_name + "/" + topic_orientation;
+      39          90 :   std::string topic_angular_velocity;
+      40          45 :   ph->param_loader->loadParam("topics/angular_velocity", topic_angular_velocity);
+      41          45 :   topic_angular_velocity_ = "/" + ch_->uav_name + "/" + topic_angular_velocity;
+      42             : 
+      43          45 :   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          45 :   ns_frame_id_ = ch_->uav_name + "/" + frame_id_;
+      49             : 
+      50             :   // | ------------------ timers initialization ----------------- |
+      51          45 :   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          45 :   timer_pub_attitude_ = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &StateGeneric::timerPubAttitude, this);
+      54             : 
+      55             :   // | --------------- subscribers initialization --------------- |
+      56          90 :   mrs_lib::SubscribeHandlerOptions shopts;
+      57          45 :   shopts.nh                 = nh;
+      58          45 :   shopts.node_name          = getPrintName();
+      59          45 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+      60          45 :   shopts.threadsafe         = true;
+      61          45 :   shopts.autostart          = true;
+      62          45 :   shopts.queue_size         = 10;
+      63          45 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+      64             : 
+      65          45 :   sh_hw_api_orient_  = mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped>(shopts, topic_orientation_);
+      66          45 :   sh_hw_api_ang_vel_ = mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped>(shopts, topic_angular_velocity_);
+      67             : 
+      68             :   // | ---------------- publishers initialization --------------- |
+      69          45 :   ph_odom_     = mrs_lib::PublisherHandler<nav_msgs::Odometry>(nh, Support::toSnakeCase(getName()) + "/odom", 10);
+      70          45 :   ph_attitude_ = mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped>(nh, Support::toSnakeCase(getName()) + "/attitude", 10);
+      71             : 
+      72          45 :   if (ch_->debug_topics.state) {
+      73          45 :     ph_uav_state_ = mrs_lib::PublisherHandler<mrs_msgs::UavState>(nh, Support::toSnakeCase(getName()) + "/uav_state", 10);
+      74             :   }
+      75          45 :   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          45 :   if (ch_->debug_topics.innovation) {
+      80           0 :     ph_innovation_ = mrs_lib::PublisherHandler<nav_msgs::Odometry>(nh, Support::toSnakeCase(getName()) + "/innovation", 10);
+      81             :   }
+      82          45 :   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          90 :   std::vector<double> max_altitudes;
+      88             : 
+      89          45 :   if (is_hdg_passthrough_) {
+      90          45 :     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          45 :   est_hdg_->initialize(nh, ch_, ph_);
+      95          45 :   max_altitudes.push_back(est_hdg_->getMaxFlightZ());
+      96             : 
+      97      101830 :   est_lat_ = std::make_unique<LatGeneric>(est_lat_name_, frame_id_, getName(), is_core_plugin_, [this](void) { return this->getHeading(); });
+      98          45 :   est_lat_->initialize(nh, ch_, ph_);
+      99          45 :   max_altitudes.push_back(est_lat_->getMaxFlightZ());
+     100             : 
+     101          45 :   est_alt_ = std::make_unique<AltGeneric>(est_alt_name_, frame_id_, getName(), is_core_plugin_);
+     102          45 :   est_alt_->initialize(nh, ch_, ph_);
+     103          45 :   max_altitudes.push_back(est_alt_->getMaxFlightZ());
+     104             : 
+     105          45 :   max_flight_z_ = *std::min_element(max_altitudes.begin(), max_altitudes.end());
+     106             : 
+     107             :   // | ------------------ initialize published messages ------------------ |
+     108          45 :   uav_state_init_.header.frame_id = ns_frame_id_;
+     109          45 :   uav_state_init_.child_frame_id  = ch_->frames.ns_fcu;
+     110             : 
+     111          45 :   uav_state_init_.estimator_horizontal = est_lat_name_;
+     112          45 :   uav_state_init_.estimator_vertical   = est_alt_name_;
+     113          45 :   uav_state_init_.estimator_heading    = est_hdg_name_;
+     114             : 
+     115          45 :   innovation_init_.header.frame_id         = ns_frame_id_;
+     116          45 :   innovation_init_.child_frame_id          = ch_->frames.ns_fcu;
+     117          45 :   innovation_init_.pose.pose.orientation.w = 1.0;
+     118             : 
+     119             :   // | ------------------ finish initialization ----------------- |
+     120             : 
+     121          45 :   if (changeState(INITIALIZED_STATE)) {
+     122          45 :     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          45 : }
+     127             : /*//}*/
+     128             : 
+     129             : /*//{ start() */
+     130         991 : bool StateGeneric::start(void) {
+     131             : 
+     132         991 :   if (isInState(READY_STATE)) {
+     133             : 
+     134             :     bool est_lat_start_successful, est_alt_start_successful, est_hdg_start_successful;
+     135             : 
+     136         991 :     if (est_lat_->isStarted() || est_lat_->isRunning()) {
+     137         860 :       est_lat_start_successful = true;
+     138             :     } else {
+     139         131 :       est_lat_start_successful = est_lat_->start();
+     140             :     }
+     141             : 
+     142         991 :     if (est_alt_->isStarted() || est_alt_->isRunning()) {
+     143          17 :       est_alt_start_successful = true;
+     144             :     } else {
+     145         974 :       est_alt_start_successful = est_alt_->start();
+     146             :     }
+     147             : 
+     148         991 :     if (est_hdg_->isStarted() || est_hdg_->isRunning()) {
+     149         917 :       timer_pub_attitude_.start();
+     150         917 :       est_hdg_start_successful = true;
+     151             :     } else {
+     152          74 :       est_hdg_start_successful = est_hdg_->start();
+     153             :     }
+     154             : 
+     155         991 :     if (est_lat_start_successful && est_alt_start_successful && est_hdg_start_successful) {
+     156             :       /* timer_update_.start(); */
+     157          45 :       changeState(STARTED_STATE);
+     158          45 :       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         946 :   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       72274 : void StateGeneric::timerUpdate(const ros::TimerEvent &event) {
+     209             : 
+     210             : 
+     211       72274 :   if (!isInitialized()) {
+     212        3372 :     return;
+     213             :   }
+     214             : 
+     215      143918 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("StateGeneric::timerUpdate", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     216             : 
+     217       71959 :   switch (getCurrentSmState()) {
+     218             : 
+     219           0 :     case UNINITIALIZED_STATE: {
+     220           0 :       break;
+     221             :     }
+     222        2082 :     case INITIALIZED_STATE: {
+     223             : 
+     224        2082 :       if (sh_hw_api_orient_.hasMsg() && sh_hw_api_ang_vel_.hasMsg()) {
+     225          45 :         if (est_lat_->isInitialized() && est_alt_->isInitialized() && est_hdg_->isInitialized()) {
+     226          45 :           changeState(READY_STATE);
+     227          45 :           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        2037 :         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        2037 :         return;
+     235             :       }
+     236             : 
+     237          45 :       break;
+     238             :     }
+     239             : 
+     240         958 :     case READY_STATE: {
+     241         958 :       break;
+     242             :     }
+     243             : 
+     244          62 :     case STARTED_STATE: {
+     245             : 
+     246          62 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s convergence of LKF", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     247             : 
+     248          62 :       if (est_lat_->isRunning() && est_alt_->isRunning() && est_hdg_->isRunning()) {
+     249          45 :         ROS_INFO_THROTTLE(1.0, "[%s]: Subestimators converged", getPrintName().c_str());
+     250          45 :         changeState(RUNNING_STATE);
+     251             :       } else {
+     252          17 :         return;
+     253             :       }
+     254          45 :       break;
+     255             :     }
+     256             : 
+     257       68857 :     case RUNNING_STATE: {
+     258       68857 :       if (est_lat_->isError() || est_alt_->isError() || est_hdg_->isError()) {
+     259           0 :         changeState(ERROR_STATE);
+     260             :       }
+     261       68857 :       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       69905 :   if (!isRunning() && !isStarted()) {
+     277        1003 :     return;
+     278             :   }
+     279             : 
+     280       68902 :   updateUavState();
+     281             : 
+     282       68902 :   publishUavState();
+     283       68902 :   publishOdom();
+     284       68902 :   publishCovariance();
+     285       68902 :   publishInnovation();
+     286       68902 :   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       72276 : void StateGeneric::timerPubAttitude(const ros::TimerEvent &event) {
+     366             : 
+     367       72276 :   if (!isInitialized()) {
+     368        2463 :     return;
+     369             :   }
+     370             : 
+     371      143920 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("StateGeneric::timerPubAttitude", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     372             : 
+     373       71960 :   if (!sh_hw_api_orient_.hasMsg()) {
+     374        1497 :     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        1497 :     return;
+     376             :   }
+     377             : 
+     378       70463 :   if (!est_hdg_->isRunning() && !isError()) {
+     379         650 :     ROS_WARN_THROTTLE(1.0, "[%s]: cannot publish attitude, heading estimator is not running", getPrintName().c_str());
+     380         650 :     return;
+     381             :   }
+     382             : 
+     383       69813 :   scope_timer.checkpoint("checks");
+     384             : 
+     385       69813 :   const ros::Time time_now = ros::Time::now();
+     386             : 
+     387       69813 :   geometry_msgs::QuaternionStamped att;
+     388       69813 :   att.header.stamp    = time_now;
+     389       69813 :   att.header.frame_id = ns_frame_id_ + "_att_only";
+     390             : 
+     391             :   double hdg;
+     392       69813 :   if (isError()) {
+     393           0 :     hdg = est_hdg_->getLastValidHdg();
+     394             :   } else {
+     395       69813 :     hdg = est_hdg_->getState(POSITION);
+     396             :   }
+     397             : 
+     398       69813 :   auto res = rotateQuaternionByHeading(sh_hw_api_orient_.getMsg()->quaternion, hdg);
+     399       69813 :   if (res) {
+     400       69813 :     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       69813 :   scope_timer.checkpoint("rotate");
+     407             : 
+     408       69813 :   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       69813 :   scope_timer.checkpoint("nan check");
+     414             : 
+     415       69813 :   ph_attitude_.publish(att);
+     416       69813 :   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       68902 : void StateGeneric::updateUavState() {
+     432             : 
+     433       68902 :   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       68902 :   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      137804 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("StateGeneric::updateUavState", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     443             : 
+     444       68902 :   const ros::Time time_now = ros::Time::now();
+     445             : 
+     446       68902 :   mrs_msgs::UavState uav_state = uav_state_init_;
+     447       68902 :   uav_state.header.stamp       = time_now;
+     448             : 
+     449             :   // do not rotate orientation if passthrough hdg
+     450       68902 :   if (est_hdg_name_ == "hdg_passthrough") {
+     451           0 :     uav_state.pose.orientation = sh_hw_api_orient_.getMsg()->quaternion;
+     452             :   } else {
+     453             :     double hdg;
+     454       68902 :     if (isError()) {
+     455           0 :       hdg = est_hdg_->getLastValidHdg();
+     456             :     } else {
+     457       68902 :       hdg = est_hdg_->getState(POSITION);
+     458             :     }
+     459             : 
+     460       68902 :     auto res = rotateQuaternionByHeading(sh_hw_api_orient_.getMsg()->quaternion, hdg);
+     461       68902 :     if (res) {
+     462       68902 :       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       68902 :   scope_timer.checkpoint("rotate orientation");
+     470             : 
+     471       68902 :   uav_state.velocity.angular = sh_hw_api_ang_vel_.getMsg()->vector;
+     472             : 
+     473       68902 :   uav_state.pose.position.x = est_lat_->getState(POSITION, AXIS_X);
+     474       68902 :   uav_state.pose.position.y = est_lat_->getState(POSITION, AXIS_Y);
+     475       68902 :   uav_state.pose.position.z = est_alt_->getState(POSITION);
+     476             : 
+     477       68902 :   uav_state.velocity.linear.x = est_lat_->getState(VELOCITY, AXIS_X);  // in global frame
+     478       68902 :   uav_state.velocity.linear.y = est_lat_->getState(VELOCITY, AXIS_Y);  // in global frame
+     479       68902 :   uav_state.velocity.linear.z = est_alt_->getState(VELOCITY);          // in global frame
+     480             : 
+     481       68902 :   uav_state.acceleration.linear.x = est_lat_->getState(ACCELERATION, AXIS_X);  // in global frame
+     482       68902 :   uav_state.acceleration.linear.y = est_lat_->getState(ACCELERATION, AXIS_Y);  // in global frame
+     483       68902 :   uav_state.acceleration.linear.z = est_alt_->getState(ACCELERATION);          // in global frame
+     484             : 
+     485       68902 :   scope_timer.checkpoint("fill uav state");
+     486             : 
+     487      137804 :   const nav_msgs::Odometry odom = Support::uavStateToOdom(uav_state);
+     488       68902 :   scope_timer.checkpoint("uav state to odom");
+     489             : 
+     490      137804 :   nav_msgs::Odometry innovation = innovation_init_;
+     491       68902 :   innovation.header.stamp       = time_now;
+     492             : 
+     493       68902 :   innovation.pose.pose.position.x = est_lat_->getInnovation(POSITION, AXIS_X);
+     494       68902 :   innovation.pose.pose.position.y = est_lat_->getInnovation(POSITION, AXIS_Y);
+     495       68902 :   innovation.pose.pose.position.z = est_alt_->getInnovation(POSITION);
+     496             : 
+     497       68902 :   is_mitigating_jump_ = est_alt_->isMitigatingJump() || est_lat_->isMitigatingJump() || est_hdg_->isMitigatingJump();
+     498             : 
+     499       68902 :   scope_timer.checkpoint("innovation");
+     500             : 
+     501      137804 :   mrs_msgs::Float64ArrayStamped pose_covariance, twist_covariance;
+     502       68902 :   pose_covariance.header.stamp  = time_now;
+     503       68902 :   twist_covariance.header.stamp = time_now;
+     504             : 
+     505       68902 :   const int n_states = 6;  // TODO this should be defined somewhere else
+     506       68902 :   pose_covariance.values.resize(n_states * n_states);
+     507       68902 :   pose_covariance.values.at(n_states * AXIS_X + AXIS_X) = est_lat_->getCovariance(POSITION, AXIS_X);
+     508       68902 :   pose_covariance.values.at(n_states * AXIS_Y + AXIS_Y) = est_lat_->getCovariance(POSITION, AXIS_Y);
+     509       68902 :   pose_covariance.values.at(n_states * AXIS_Z + AXIS_Z) = est_alt_->getCovariance(POSITION);
+     510             : 
+     511       68902 :   twist_covariance.values.resize(n_states * n_states);
+     512       68902 :   twist_covariance.values.at(n_states * AXIS_X + AXIS_X) = est_lat_->getCovariance(VELOCITY, AXIS_X);
+     513       68902 :   twist_covariance.values.at(n_states * AXIS_Y + AXIS_Y) = est_lat_->getCovariance(VELOCITY, AXIS_Y);
+     514       68902 :   twist_covariance.values.at(n_states * AXIS_Z + AXIS_Z) = est_alt_->getCovariance(VELOCITY);
+     515             : 
+     516       68902 :   scope_timer.checkpoint("covariance");
+     517             : 
+     518       68902 :   mrs_lib::set_mutexed(mtx_uav_state_, uav_state, uav_state_);
+     519       68902 :   mrs_lib::set_mutexed(mtx_odom_, odom, odom_);
+     520       68902 :   mrs_lib::set_mutexed(mtx_innovation_, innovation, innovation_);
+     521       68902 :   mrs_lib::set_mutexed(mtx_covariance_, pose_covariance, pose_covariance_);
+     522       68902 :   mrs_lib::set_mutexed(mtx_covariance_, twist_covariance, twist_covariance_);
+     523             : }
+     524             : /*//}*/
+     525             : 
+     526             : /*//{ getHeading() */
+     527      101785 : std::optional<double> StateGeneric::getHeading() const {
+     528      101785 :   if (!est_hdg_->isRunning()) {
+     529          89 :     return {};
+     530             :   }
+     531      101696 :   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.overview.html b/mrs_uav_state_estimators/src/estimators/state/state_generic.cpp.gcov.overview.html new file mode 100644 index 0000000000..200fa9f980 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/state_generic.cpp.gcov.overview.html @@ -0,0 +1,158 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/state_generic.cpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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LCOV - code coverage report
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Current view:top level - mrs_uav_testing/src - test_generic.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:16519285.9 %
Date:2023-12-14 21:42:20Functions:121392.3 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_testing::TestGeneric::hasGoal()0
mrs_uav_testing::TestGeneric::gotoRel[abi:cxx11](double const&, double const&, double const&, double const&)1
mrs_uav_testing::TestGeneric::spawnGazeboUav[abi:cxx11]()2
mrs_uav_testing::TestGeneric::takeoff[abi:cxx11]()7
mrs_uav_testing::TestGeneric::gotoAbs[abi:cxx11](double const&, double const&, double const&, double const&)19
mrs_uav_testing::TestGeneric::activateMidAir[abi:cxx11]()24
mrs_uav_testing::TestGeneric::initialize()32
mrs_uav_testing::TestGeneric::TestGeneric()32
mrs_uav_testing::TestGeneric::isOutputEnabled()561
mrs_uav_testing::TestGeneric::isAtPosition(double const&, double const&, double const&, double const&, double const&)1364
mrs_uav_testing::TestGeneric::isFlyingNormally()1395
mrs_uav_testing::TestGeneric::mrsSystemReady()2160
mrs_uav_testing::TestGeneric::sleep(double const&)3301
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Generated by: LCOV version 1.14
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Current view:top level - mrs_uav_testing/src - test_generic.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:16519285.9 %
Date:2023-12-14 21:42:20Functions:121392.3 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_testing::TestGeneric::initialize()32
mrs_uav_testing::TestGeneric::isAtPosition(double const&, double const&, double const&, double const&, double const&)1364
mrs_uav_testing::TestGeneric::activateMidAir[abi:cxx11]()24
mrs_uav_testing::TestGeneric::mrsSystemReady()2160
mrs_uav_testing::TestGeneric::spawnGazeboUav[abi:cxx11]()2
mrs_uav_testing::TestGeneric::isOutputEnabled()561
mrs_uav_testing::TestGeneric::isFlyingNormally()1395
mrs_uav_testing::TestGeneric::sleep(double const&)3301
mrs_uav_testing::TestGeneric::gotoAbs[abi:cxx11](double const&, double const&, double const&, double const&)19
mrs_uav_testing::TestGeneric::gotoRel[abi:cxx11](double const&, double const&, double const&, double const&)1
mrs_uav_testing::TestGeneric::hasGoal()0
mrs_uav_testing::TestGeneric::takeoff[abi:cxx11]()7
mrs_uav_testing::TestGeneric::TestGeneric()32
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Current view:top level - mrs_uav_testing/src - test_generic.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:16519285.9 %
Date:2023-12-14 21:42:20Functions:121392.3 %
Legend: Lines: + hit + not hit +
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+
          Line data    Source code
+
+       1             : #include <mrs_uav_testing/test_generic.h>
+       2             : 
+       3             : namespace mrs_uav_testing
+       4             : {
+       5             : 
+       6             : /* constructors //{ */
+       7             : 
+       8          32 : TestGeneric::TestGeneric() {
+       9             : 
+      10          32 :   initialize();
+      11          32 : }
+      12             : 
+      13             : //}
+      14             : 
+      15             : /* initialize() //{ */
+      16             : 
+      17          32 : void TestGeneric::initialize(void) {
+      18             : 
+      19          32 :   nh_ = ros::NodeHandle("~");
+      20             : 
+      21          32 :   ROS_INFO("[%s]: ROS node initialized", name_.c_str());
+      22             : 
+      23          32 :   ros::Time::waitForValid();
+      24             : 
+      25          32 :   spinner_ = make_shared<ros::AsyncSpinner>(4);
+      26          32 :   spinner_->start();
+      27             : 
+      28             :   // | ----------------------- load params ---------------------- |
+      29             : 
+      30          32 :   pl_ = std::make_shared<mrs_lib::ParamLoader>(nh_, "Test");
+      31             : 
+      32          32 :   pl_->loadParam("uav_name", _uav_name_, std::string());
+      33          32 :   pl_->loadParam("test_name", _test_name_, std::string());
+      34          32 :   pl_->loadParam("gazebo_spawner_params", _gazebo_spawner_params_, std::string());
+      35             : 
+      36          32 :   name_ = _uav_name_ + "/" + _test_name_;
+      37             : 
+      38             :   // | ----------------------- transformer ---------------------- |
+      39             : 
+      40          32 :   transformer_ = std::make_shared<mrs_lib::Transformer>(nh_, "Test");
+      41          32 :   transformer_->setDefaultPrefix(_uav_name_);
+      42          32 :   transformer_->retryLookupNewest(true);
+      43             : 
+      44             :   // | ----------------------- subscribers ---------------------- |
+      45             : 
+      46          64 :   shopts_.nh                 = nh_;
+      47          32 :   shopts_.node_name          = name_;
+      48          32 :   shopts_.no_message_timeout = mrs_lib::no_timeout;
+      49          32 :   shopts_.threadsafe         = true;
+      50          32 :   shopts_.autostart          = true;
+      51          32 :   shopts_.queue_size         = 10;
+      52          32 :   shopts_.transport_hints    = ros::TransportHints().tcpNoDelay();
+      53          32 : 
+      54             :   sh_control_manager_diag_ = mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics>(shopts_, "/" + _uav_name_ + "/control_manager/diagnostics");
+      55          32 :   sh_uav_manager_diag_     = mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics>(shopts_, "/" + _uav_name_ + "/uav_manager/diagnostics");
+      56          32 :   sh_estim_manager_diag_   = mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics>(shopts_, "/" + _uav_name_ + "/estimation_manager/diagnostics");
+      57          32 :   sh_constraint_manager_diag_ =
+      58          32 :       mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics>(shopts_, "/" + _uav_name_ + "/constraint_manager/diagnostics");
+      59          32 :   sh_gain_manager_diag_   = mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics>(shopts_, "/" + _uav_name_ + "/gain_manager/diagnostics");
+      60          32 :   sh_uav_state_           = mrs_lib::SubscribeHandler<mrs_msgs::UavState>(shopts_, "/" + _uav_name_ + "/estimation_manager/uav_state");
+      61          32 :   sh_gazebo_spawner_diag_ = mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics>(shopts_, "/mrs_drone_spawner/diagnostics");
+      62             : 
+      63          32 :   sh_hw_api_status_ = mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus>(shopts_, "/" + _uav_name_ + "/hw_api/status");
+      64             : 
+      65             :   // | --------------------- service clients -------------------- |
+      66             : 
+      67          32 :   sch_arming_            = mrs_lib::ServiceClientHandler<std_srvs::SetBool>(nh_, "/" + _uav_name_ + "/hw_api/arming");
+      68          32 :   sch_offboard_          = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "/" + _uav_name_ + "/hw_api/offboard");
+      69          32 :   sch_midair_activation_ = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "/" + _uav_name_ + "/uav_manager/midair_activation");
+      70          32 :   sch_spawn_gazebo_uav_  = mrs_lib::ServiceClientHandler<mrs_msgs::String>(nh_, "/mrs_drone_spawner/spawn");
+      71             : 
+      72          32 :   sch_goto_          = mrs_lib::ServiceClientHandler<mrs_msgs::Vec4>(nh_, "/" + _uav_name_ + "/control_manager/goto");
+      73          32 :   sch_goto_relative_ = mrs_lib::ServiceClientHandler<mrs_msgs::Vec4>(nh_, "/" + _uav_name_ + "/control_manager/goto_relative");
+      74             : 
+      75             :   sch_path_ = mrs_lib::ServiceClientHandler<mrs_msgs::PathSrv>(nh_, "/" + _uav_name_ + "/trajectory_generation/path");
+      76             : 
+      77          32 :   // | --------------------- finish the init -------------------- |
+      78          32 : 
+      79             :   ROS_INFO("[%s]: initialized", name_.c_str());
+      80             : }
+      81             : 
+      82             : //}
+      83             : 
+      84           8 : // | --------------------- action methods --------------------- |
+      85             : 
+      86             : /* spawnGazeboUav() //{ */
+      87             : 
+      88             : tuple<bool, string> TestGeneric::spawnGazeboUav() {
+      89             : 
+      90           8 :   // | ------------ wait for the spawner to be ready ------------ |
+      91           0 : 
+      92             :   while (true) {
+      93             : 
+      94           8 :     if (!ros::ok()) {
+      95             :       return {false, "shut down from outside"};
+      96           8 :     }
+      97           2 : 
+      98             :     ROS_INFO_THROTTLE(1.0, "[%s]: waiting for the Gazebo drone spawner", name_.c_str());
+      99             : 
+     100           6 :     if (sh_gazebo_spawner_diag_.hasMsg()) {
+     101           6 :       break;
+     102             :     }
+     103             : 
+     104             :     sleep(0.1);
+     105           2 :   }
+     106             : 
+     107             :   // | -------------------------- wait  ------------------------- |
+     108             : 
+     109             :   sleep(1.0);
+     110             : 
+     111           2 :   // | ------------------- call spawn service ------------------- |
+     112             : 
+     113           2 :   {
+     114             : 
+     115           2 :     mrs_msgs::String srv;
+     116             : 
+     117           2 :     srv.request.value = _gazebo_spawner_params_;
+     118           0 : 
+     119             :     bool service_call = sch_spawn_gazebo_uav_.call(srv);
+     120             : 
+     121             :     if (!service_call || !srv.response.success) {
+     122             :       return {false, "gazebo drone spawner service call failed"};
+     123             :     }
+     124             :   }
+     125             : 
+     126           2 :   // | ------------------ wait while processing ----------------- |
+     127           0 : 
+     128             :   while (true) {
+     129             : 
+     130           2 :     if (!ros::ok()) {
+     131             :       return {false, "shut down from outside"};
+     132           2 :     }
+     133           2 : 
+     134             :     ROS_INFO_THROTTLE(1.0, "[%s]: waiting for the drone to spawn", name_.c_str());
+     135             : 
+     136           0 :     if (!sh_gazebo_spawner_diag_.getMsg()->processing) {
+     137           0 :       break;
+     138             :     }
+     139           2 : 
+     140             :     sleep(0.1);
+     141             :   }
+     142             : 
+     143             :   return {true, "drone spawned"};
+     144             : }
+     145             : 
+     146        3301 : //}
+     147             : 
+     148        3301 : /* sleep() //{ */
+     149        3301 : 
+     150             : void TestGeneric::sleep(const double &duration) {
+     151             : 
+     152             :   ros::Duration(duration).sleep();
+     153             : }
+     154             : 
+     155         510 : //}
+     156             : 
+     157             : /* takeoff() //{ */
+     158             : 
+     159             : tuple<bool, string> TestGeneric::takeoff(void) {
+     160             : 
+     161         510 :   // | ---------------- wait for ready to takeoff --------------- |
+     162           0 : 
+     163             :   while (true) {
+     164             : 
+     165         510 :     if (!ros::ok()) {
+     166             :       return {false, "shut down from outside"};
+     167         510 :     }
+     168           7 : 
+     169           7 :     ROS_INFO_THROTTLE(1.0, "[%s]: waiting for the MRS UAV System", name_.c_str());
+     170             : 
+     171             :     if (mrsSystemReady()) {
+     172         503 :       ROS_INFO("[%s]: MRS UAV System is ready", name_.c_str());
+     173         503 :       break;
+     174             :     }
+     175             : 
+     176             :     sleep(0.1);
+     177           7 :   }
+     178             : 
+     179             :   // | ---------------------- arm the drone --------------------- |
+     180           7 : 
+     181           7 :   ROS_INFO("[%s]: arming the drone", name_.c_str());
+     182             : 
+     183             :   {
+     184           7 :     std_srvs::SetBool srv;
+     185             :     srv.request.data = true;
+     186           7 : 
+     187           0 :     {
+     188             :       bool service_call = sch_arming_.call(srv);
+     189             : 
+     190             :       if (!service_call || !srv.response.success) {
+     191             :         return {false, "arming service call failed"};
+     192             :       }
+     193             :     }
+     194           7 :   }
+     195             : 
+     196             :   // | ---------------------- wait a second --------------------- |
+     197             : 
+     198           7 :   sleep(2.0);
+     199           3 : 
+     200             :   // | --------------------- check if armed --------------------- |
+     201             : 
+     202             :   if (!sh_hw_api_status_.getMsg()->armed) {
+     203             :     return {false, "not armed"};
+     204             :   }
+     205           4 : 
+     206             :   // | ------------------- switch to offboard ------------------- |
+     207             : 
+     208           4 :   {
+     209             :     std_srvs::Trigger srv;
+     210           4 : 
+     211           0 :     {
+     212             :       bool service_call = sch_offboard_.call(srv);
+     213             : 
+     214             :       if (!service_call || !srv.response.success) {
+     215             :         return {false, "offboard service call failed"};
+     216             :       }
+     217             :     }
+     218           4 :   }
+     219             : 
+     220             :   // | -------------------------- wait -------------------------- |
+     221             : 
+     222           4 :   sleep(0.1);
+     223           0 : 
+     224             :   // | ------------------ check if in offboard ------------------ |
+     225             : 
+     226             :   if (!sh_hw_api_status_.getMsg()->offboard) {
+     227             :     return {false, "not in offboard"};
+     228             :   }
+     229             : 
+     230         409 :   // | --------------- wait for takeoff to finish --------------- |
+     231           0 : 
+     232             :   while (true) {
+     233             : 
+     234         409 :     if (!ros::ok()) {
+     235             :       return {false, "shut down from outside"};
+     236         409 :     }
+     237             : 
+     238           4 :     ROS_INFO_THROTTLE(1.0, "[%s]: waiting for the takeoff to finish", name_.c_str());
+     239             : 
+     240             :     if (sh_control_manager_diag_.getMsg()->flying_normally) {
+     241         405 : 
+     242         405 :       return {true, "takeoff finished"};
+     243             :     }
+     244             : 
+     245             :     sleep(0.1);
+     246             :   }
+     247             : 
+     248             :   return {false, "reached end of the method without assertion"};
+     249             : }
+     250             : 
+     251        1588 : //}
+     252             : 
+     253             : /* activateMidAir() //{ */
+     254             : 
+     255             : tuple<bool, string> TestGeneric::activateMidAir(void) {
+     256             : 
+     257        1588 :   // | ---------------- wait for ready to takeoff --------------- |
+     258           0 : 
+     259             :   while (true) {
+     260             : 
+     261        1588 :     if (!ros::ok()) {
+     262             :       return {false, "shut down from outside"};
+     263        1588 :     }
+     264          24 : 
+     265          24 :     ROS_INFO_THROTTLE(1.0, "[%s]: waiting for the MRS UAV System", name_.c_str());
+     266             : 
+     267             :     if (mrsSystemReady()) {
+     268        1564 :       ROS_INFO("[%s]: MRS UAV System is ready", name_.c_str());
+     269        1564 :       break;
+     270             :     }
+     271             : 
+     272             :     sleep(0.1);
+     273          24 :   }
+     274             : 
+     275             :   // | ---------------------- arm the drone --------------------- |
+     276          24 : 
+     277          24 :   ROS_INFO("[%s]: arming the drone", name_.c_str());
+     278             : 
+     279             :   {
+     280          24 :     std_srvs::SetBool srv;
+     281             :     srv.request.data = true;
+     282          24 : 
+     283           0 :     {
+     284             :       bool service_call = sch_arming_.call(srv);
+     285             : 
+     286             :       if (!service_call || !srv.response.success) {
+     287             :         return {false, "arming service call failed"};
+     288             :       }
+     289             :     }
+     290          24 :   }
+     291             : 
+     292             :   // | -------------------------- wait -------------------------- |
+     293             : 
+     294          24 :   sleep(0.1);
+     295           0 : 
+     296             :   // | --------------------- check if armed --------------------- |
+     297             : 
+     298             :   if (!sh_hw_api_status_.getMsg()->armed) {
+     299             :     return {false, "not armed"};
+     300             :   }
+     301          24 : 
+     302             :   // | ----------------- call midair activation ----------------- |
+     303             : 
+     304          24 :   {
+     305             :     std_srvs::Trigger srv;
+     306          24 : 
+     307           0 :     {
+     308             :       bool service_call = sch_midair_activation_.call(srv);
+     309             : 
+     310             :       if (!service_call || !srv.response.success) {
+     311             :         return {false, "midair activation service call failed"};
+     312             :       }
+     313             :     }
+     314             :   }
+     315             : 
+     316         112 :   // | --------------- wait for takeoff to finish --------------- |
+     317           0 : 
+     318             :   while (true) {
+     319             : 
+     320         112 :     if (!ros::ok()) {
+     321             :       return {false, "shut down from outside"};
+     322         112 :     }
+     323             : 
+     324          24 :     ROS_INFO_THROTTLE(1.0, "[%s]: waiting for the midair activation to finish", name_.c_str());
+     325             : 
+     326             :     if (sh_control_manager_diag_.getMsg()->flying_normally) {
+     327          88 : 
+     328          88 :       return {true, "midair activation finished"};
+     329             :     }
+     330             : 
+     331             :     sleep(0.1);
+     332             :   }
+     333             : 
+     334             :   return {false, "reached end of the method without assertion"};
+     335             : }
+     336             : 
+     337        2160 : //}
+     338             : 
+     339        2160 : /* gotoAbs() //{ */
+     340        2160 : 
+     341        2160 : tuple<bool, string> TestGeneric::gotoAbs(const double &x, const double &y, const double &z, const double &hdg) {
+     342        2160 : 
+     343        2160 :   mrs_msgs::Vec4 srv;
+     344             : 
+     345        2160 :   srv.request.goal[0] = x;
+     346             :   srv.request.goal[1] = y;
+     347             :   srv.request.goal[2] = z;
+     348             :   srv.request.goal[3] = hdg;
+     349             : 
+     350             :   {
+     351             :     bool service_call = sch_goto_.call(srv);
+     352        1395 : 
+     353             :     if (!service_call || !srv.response.success) {
+     354        1395 :       return {false, "goto service call failed"};
+     355        1395 :     }
+     356             :   }
+     357           0 : 
+     358             :   // | -------------------- check for result -------------------- |
+     359             : 
+     360             :   while (true) {
+     361             : 
+     362             :     if (!ros::ok()) {
+     363             :       return {false, "shut down from outside"};
+     364             :     }
+     365         561 : 
+     366             :     if (!isFlyingNormally()) {
+     367         561 :       return {false, "not flying normally"};
+     368         561 :     }
+     369             : 
+     370           0 :     auto diag = sh_estim_manager_diag_.getMsg();
+     371             : 
+     372             :     auto current_hdg = mrs_lib::AttitudeConverter(diag->pose.orientation).getHeading();
+     373             : 
+     374             :     if (abs(x - diag->pose.position.x) < 0.1 && abs(y - diag->pose.position.y) < 0.1 && abs(z - diag->pose.position.z) < 0.1 && abs(hdg - current_hdg) < 0.1) {
+     375             : 
+     376             :       return {true, "goal reached"};
+     377             :     }
+     378           0 : 
+     379             :     if (isAtPosition(x, y, z, hdg, 0.1)) {
+     380           0 :       return {true, "goal reached"};
+     381           0 :     }
+     382             : 
+     383           0 :     ros::Duration(0.1).sleep();
+     384             :   }
+     385             : 
+     386             :   return {false, "reached end of the method without assertion"};
+     387             : }
+     388             : 
+     389             : //}
+     390             : 
+     391          19 : /* gotoRel() //{ */
+     392             : 
+     393          38 : tuple<bool, string> TestGeneric::gotoRel(const double &x, const double &y, const double &z, const double &hdg) {
+     394             : 
+     395          19 :   auto start_pose = sh_estim_manager_diag_.getMsg()->pose.position;
+     396          19 :   auto start_hdg  = mrs_lib::AttitudeConverter(sh_estim_manager_diag_.getMsg()->pose.orientation).getHeading();
+     397          19 : 
+     398          19 :   {
+     399             :     mrs_msgs::Vec4 srv;
+     400             : 
+     401          19 :     srv.request.goal[0] = x;
+     402             :     srv.request.goal[1] = y;
+     403          19 :     srv.request.goal[2] = z;
+     404           0 :     srv.request.goal[3] = hdg;
+     405             : 
+     406             :     {
+     407             :       bool service_call = sch_goto_relative_.call(srv);
+     408             : 
+     409             :       if (!service_call || !srv.response.success) {
+     410             :         return {false, "goto relative service call failed"};
+     411             :       }
+     412        1334 :     }
+     413           0 :   }
+     414             : 
+     415             :   // | -------------------- check for result -------------------- |
+     416        1334 : 
+     417           0 :   while (true) {
+     418             : 
+     419             :     if (!ros::ok()) {
+     420        1334 :       return {false, "shut down from outside"};
+     421             :     }
+     422        1334 : 
+     423             :     if (!isFlyingNormally()) {
+     424        1334 :       return {false, "not flying normally"};
+     425             :     }
+     426           7 : 
+     427             :     if (isAtPosition(start_pose.x + x, start_pose.y + y, start_pose.z + z, start_hdg + hdg, 0.1)) {
+     428             :       return {true, "goal reached"};
+     429        1327 :     }
+     430          12 : 
+     431             :     ros::Duration(0.1).sleep();
+     432             :   }
+     433        1315 : 
+     434        1315 :   return {false, "reached end of the method without assertion"};
+     435             : }
+     436             : 
+     437             : //}
+     438             : 
+     439             : /* setPathSrv() //{ */
+     440             : 
+     441             : tuple<bool, string> TestGeneric::setPathSrv(const mrs_msgs::Path &path_in) {
+     442             : 
+     443           1 :   mrs_msgs::PathSrv srv;
+     444             :   srv.request.path = path_in;
+     445           1 : 
+     446           1 :   {
+     447             :     bool service_call = sch_path_.call(srv);
+     448             : 
+     449           1 :     if (!service_call || !srv.response.success) {
+     450             :       return {false, "path service call failed"};
+     451           1 :     }
+     452           1 :   }
+     453           1 : 
+     454           1 :   return {true, "path set"};
+     455             : }
+     456             : 
+     457           1 : //}
+     458             : 
+     459           1 : // | ------------------------- getters ------------------------ |
+     460           0 : 
+     461             : /* isAtPosition() //{ */
+     462             : 
+     463             : bool TestGeneric::isAtPosition(const double &x, const double &y, const double &z, const double &hdg, const double &pos_tolerance) {
+     464             : 
+     465             :   auto uav_state = sh_uav_state_.getMsg();
+     466             : 
+     467             :   auto current_hdg = mrs_lib::AttitudeConverter(uav_state->pose.orientation).getHeading();
+     468             : 
+     469          37 :   if (abs(x - uav_state->pose.position.x) < pos_tolerance && abs(y - uav_state->pose.position.y) < pos_tolerance &&
+     470           0 :       abs(z - uav_state->pose.position.z) < pos_tolerance && abs(hdg - current_hdg) < 0.1) {
+     471             : 
+     472             :     return true;
+     473          37 : 
+     474           0 :   } else {
+     475             : 
+     476             :     return false;
+     477          37 :   }
+     478           1 : }
+     479             : 
+     480             : //}
+     481          36 : 
+     482             : /* getActiveController() //{ */
+     483             : 
+     484             : std::string TestGeneric::getActiveTracker(void) {
+     485             : 
+     486             :   if (!sh_control_manager_diag_.getMsg()) {
+     487             :     return "";
+     488             :   }
+     489             : 
+     490             :   return sh_control_manager_diag_.getMsg()->active_tracker;
+     491        1364 : }
+     492             : 
+     493        2728 : //}
+     494             : 
+     495        1364 : /* getActiveController() //{ */
+     496             : 
+     497        1423 : std::string TestGeneric::getActiveController(void) {
+     498        1423 : 
+     499             :   if (!sh_control_manager_diag_.getMsg()) {
+     500          13 :     return "";
+     501             :   }
+     502             : 
+     503             :   return sh_control_manager_diag_.getMsg()->active_controller;
+     504        1351 : }
+     505             : 
+     506             : //}
+     507             : 
+     508             : /* hasGoal() //{ */
+     509             : 
+     510             : bool TestGeneric::hasGoal(void) {
+     511             : 
+     512             :   if (sh_control_manager_diag_.hasMsg()) {
+     513             :     return sh_control_manager_diag_.getMsg()->tracker_status.have_goal;
+     514             :   } else {
+     515             :     return false;
+     516             :   }
+     517             : }
+     518             : 
+     519             : //}
+     520             : 
+     521             : /* mrsSystemReady() //{ */
+     522             : 
+     523             : bool TestGeneric::mrsSystemReady(void) {
+     524             : 
+     525             :   bool got_control_manager_diag    = sh_control_manager_diag_.hasMsg();
+     526             :   bool got_estimation_manager_diag = sh_estim_manager_diag_.hasMsg();
+     527             :   bool got_uav_manager_diag        = sh_uav_manager_diag_.hasMsg();
+     528             :   bool got_gain_manager_diag       = sh_gain_manager_diag_.hasMsg();
+     529             :   bool got_constraint_manager_diag = sh_constraint_manager_diag_.hasMsg();
+     530             : 
+     531             :   return got_control_manager_diag && got_estimation_manager_diag && got_uav_manager_diag && got_gain_manager_diag && got_constraint_manager_diag;
+     532             : }
+     533             : 
+     534             : //}
+     535             : 
+     536             : /* isFlyingNormally() //{ */
+     537             : 
+     538             : bool TestGeneric::isFlyingNormally(void) {
+     539             : 
+     540             :   if (sh_control_manager_diag_.hasMsg()) {
+     541             :     return sh_control_manager_diag_.getMsg()->flying_normally;
+     542             :   } else {
+     543             :     return false;
+     544             :   }
+     545             : }
+     546             : 
+     547             : //}
+     548             : 
+     549             : /* isOutputEnabled() //{ */
+     550             : 
+     551             : bool TestGeneric::isOutputEnabled(void) {
+     552             : 
+     553             :   if (sh_control_manager_diag_.hasMsg()) {
+     554             :     return sh_control_manager_diag_.getMsg()->output_enabled;
+     555             :   } else {
+     556             :     return false;
+     557             :   }
+     558             : }
+     559             : 
+     560             : //}
+     561             : 
+     562             : }  // namespace mrs_uav_testing
+
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Date:2023-12-14 21:42:20Functions:71838.9 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_trackers::joy_tracker::JoyTracker::resetStatic()0
mrs_uav_trackers::joy_tracker::JoyTracker::setReference(boost::shared_ptr<mrs_msgs::ReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::joy_tracker::JoyTracker::gotoTrajectoryStart(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::joy_tracker::JoyTracker::setVelocityReference(boost::shared_ptr<mrs_msgs::VelocityReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::joy_tracker::JoyTracker::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_trackers::joy_tracker::JoyTracker::stopTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::joy_tracker::JoyTracker::startTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::joy_tracker::JoyTracker::resumeTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::joy_tracker::JoyTracker::hover(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::joy_tracker::JoyTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)0
mrs_uav_trackers::joy_tracker::JoyTracker::getStatus()0
mrs_uav_trackers::joy_tracker::JoyTracker::setTrajectoryReference(boost::shared_ptr<mrs_msgs::TrajectoryReferenceSrvRequest_<std::allocator<void> > const> const&)1
mrs_uav_trackers::joy_tracker::JoyTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)2
mrs_uav_trackers::joy_tracker::JoyTracker::deactivate()10
(anonymous namespace)::ProxyExec0::ProxyExec0()48
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>)48
mrs_uav_trackers::joy_tracker::JoyTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)147
mrs_uav_trackers::joy_tracker::JoyTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)43352
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Test:MRS UAV System - Test coverage reportLines:6314244.4 %
Date:2023-12-14 21:42:20Functions:71838.9 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()48
mrs_uav_trackers::joy_tracker::JoyTracker::deactivate()10
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>)48
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&)147
mrs_uav_trackers::joy_tracker::JoyTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)2
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&)1
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&)43352
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
+
+
+ + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_trackers/src/joy_tracker/joy_tracker.cpp.gcov.frameset.html b/mrs_uav_trackers/src/joy_tracker/joy_tracker.cpp.gcov.frameset.html new file mode 100644 index 0000000000..8092e9ce7e --- /dev/null +++ b/mrs_uav_trackers/src/joy_tracker/joy_tracker.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trackers/src/joy_tracker/joy_tracker.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_trackers/src/joy_tracker/joy_tracker.cpp.gcov.html b/mrs_uav_trackers/src/joy_tracker/joy_tracker.cpp.gcov.html new file mode 100644 index 0000000000..ca73474c12 --- /dev/null +++ b/mrs_uav_trackers/src/joy_tracker/joy_tracker.cpp.gcov.html @@ -0,0 +1,588 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trackers/src/joy_tracker/joy_tracker.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_trackers/src/joy_tracker - joy_tracker.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:6314244.4 %
Date:2023-12-14 21:42:20Functions:71838.9 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : /* includes //{ */
+       2             : 
+       3             : #include <ros/ros.h>
+       4             : #include <ros/package.h>
+       5             : 
+       6             : #include <mrs_uav_managers/tracker.h>
+       7             : 
+       8             : #include <nav_msgs/Odometry.h>
+       9             : #include <sensor_msgs/Joy.h>
+      10             : 
+      11             : #include <mrs_lib/profiler.h>
+      12             : #include <mrs_lib/mutex.h>
+      13             : #include <mrs_lib/attitude_converter.h>
+      14             : #include <mrs_lib/subscribe_handler.h>
+      15             : #include <mrs_lib/geometry/cyclic.h>
+      16             : 
+      17             : #include <mrs_msgs/VelocityReferenceSrv.h>
+      18             : 
+      19             : //}
+      20             : 
+      21             : /* defines //{ */
+      22             : 
+      23             : #define STOP_THR 1e-3
+      24             : 
+      25             : //}
+      26             : 
+      27             : /* using //{ */
+      28             : 
+      29             : using vec2_t = mrs_lib::geometry::vec_t<2>;
+      30             : using vec3_t = mrs_lib::geometry::vec_t<3>;
+      31             : 
+      32             : using radians  = mrs_lib::geometry::radians;
+      33             : using sradians = mrs_lib::geometry::sradians;
+      34             : 
+      35             : //}
+      36             : 
+      37             : namespace mrs_uav_trackers
+      38             : {
+      39             : 
+      40             : namespace joy_tracker
+      41             : {
+      42             : 
+      43             : /* //{ class JoyTracker */
+      44             : 
+      45             : class JoyTracker : public mrs_uav_managers::Tracker {
+      46             : public:
+      47             :   bool initialize(const ros::NodeHandle &nh, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t> common_handlers,
+      48             :                   std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers);
+      49             : 
+      50             :   std::tuple<bool, std::string> activate(const std::optional<mrs_msgs::TrackerCommand> &last_tracker_cmd);
+      51             :   void                          deactivate(void);
+      52             :   bool                          resetStatic(void);
+      53             : 
+      54             :   std::optional<mrs_msgs::TrackerCommand>   update(const mrs_msgs::UavState &uav_state, const mrs_uav_managers::Controller::ControlOutput &last_control_output);
+      55             :   const mrs_msgs::TrackerStatus             getStatus();
+      56             :   const std_srvs::SetBoolResponse::ConstPtr enableCallbacks(const std_srvs::SetBoolRequest::ConstPtr &cmd);
+      57             :   const std_srvs::TriggerResponse::ConstPtr switchOdometrySource(const mrs_msgs::UavState &new_uav_state);
+      58             : 
+      59             :   const mrs_msgs::ReferenceSrvResponse::ConstPtr           setReference(const mrs_msgs::ReferenceSrvRequest::ConstPtr &cmd);
+      60             :   const mrs_msgs::VelocityReferenceSrvResponse::ConstPtr   setVelocityReference(const mrs_msgs::VelocityReferenceSrvRequest::ConstPtr &cmd);
+      61             :   const mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr setTrajectoryReference(const mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr &cmd);
+      62             : 
+      63             :   const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr setConstraints(const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &cmd);
+      64             : 
+      65             :   const std_srvs::TriggerResponse::ConstPtr hover(const std_srvs::TriggerRequest::ConstPtr &cmd);
+      66             :   const std_srvs::TriggerResponse::ConstPtr startTrajectoryTracking(const std_srvs::TriggerRequest::ConstPtr &cmd);
+      67             :   const std_srvs::TriggerResponse::ConstPtr stopTrajectoryTracking(const std_srvs::TriggerRequest::ConstPtr &cmd);
+      68             :   const std_srvs::TriggerResponse::ConstPtr resumeTrajectoryTracking(const std_srvs::TriggerRequest::ConstPtr &cmd);
+      69             :   const std_srvs::TriggerResponse::ConstPtr gotoTrajectoryStart(const std_srvs::TriggerRequest::ConstPtr &cmd);
+      70             : 
+      71             : private:
+      72             :   ros::NodeHandle nh_;
+      73             : 
+      74             :   std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t>  common_handlers_;
+      75             :   std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers_;
+      76             : 
+      77             :   bool callbacks_enabled_ = true;
+      78             : 
+      79             :   std::string _uav_name_;
+      80             : 
+      81             :   bool is_initialized_ = false;
+      82             :   bool is_active_      = false;
+      83             : 
+      84             :   ros::Time last_update;
+      85             : 
+      86             :   // | ------------------------ uav state ----------------------- |
+      87             : 
+      88             :   mrs_msgs::UavState uav_state_;
+      89             :   bool               got_uav_state_ = false;
+      90             :   std::mutex         mutex_uav_state_;
+      91             : 
+      92             :   // | ------------------ dynamics constraints ------------------ |
+      93             : 
+      94             :   double     _heading_rate_;
+      95             :   std::mutex mutex_constraints_;
+      96             : 
+      97             :   // | ------------------ tracker's inner state ----------------- |
+      98             : 
+      99             :   double     state_z_;
+     100             :   double     state_heading_;
+     101             :   std::mutex mutex_state_;
+     102             : 
+     103             :   // | ------------------- joystick subscriber ------------------ |
+     104             : 
+     105             :   mrs_lib::SubscribeHandler<sensor_msgs::Joy> sh_joystick_;
+     106             : 
+     107             :   double _max_tilt_;
+     108             :   double _vertical_speed_;
+     109             : 
+     110             :   // channel numbers and channel multipliers
+     111             :   int    _channel_pitch_;
+     112             :   int    _channel_roll_;
+     113             :   int    _channel_heading_;
+     114             :   int    _channel_throttle_;
+     115             :   double _channel_mult_pitch_;
+     116             :   double _channel_mult_roll_;
+     117             :   double _channel_mult_heading_;
+     118             :   double _channel_mult_throttle_;
+     119             : 
+     120             :   // | ------------------------ profiler ------------------------ |
+     121             : 
+     122             :   mrs_lib::Profiler profiler_;
+     123             :   bool              _profiler_enabled_ = false;
+     124             : };
+     125             : 
+     126             : //}
+     127             : 
+     128             : // | -------------- tracker's interface routines -------------- |
+     129             : 
+     130             : /* //{ initialize() */
+     131             : 
+     132          48 : 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          48 :   this->common_handlers_  = common_handlers;
+     136          48 :   this->private_handlers_ = private_handlers;
+     137             : 
+     138          48 :   _uav_name_ = common_handlers->uav_name;
+     139             : 
+     140          48 :   nh_ = nh;
+     141             : 
+     142          48 :   ros::Time::waitForValid();
+     143             : 
+     144             :   // --------------------------------------------------------------
+     145             :   // |                     loading parameters                     |
+     146             :   // --------------------------------------------------------------
+     147             : 
+     148             :   // | ---------- loading params using the parent's nh ---------- |
+     149             : 
+     150          96 :   mrs_lib::ParamLoader param_loader_parent(common_handlers->parent_nh, "ControlManager");
+     151             : 
+     152          48 :   param_loader_parent.loadParam("enable_profiler", _profiler_enabled_);
+     153             : 
+     154          48 :   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          48 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/private/joy_tracker.yaml");
+     162          48 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/public/joy_tracker.yaml");
+     163             : 
+     164          96 :   const std::string yaml_prefix = "mrs_uav_trackers/joy_tracker/";
+     165             : 
+     166          48 :   private_handlers->param_loader->loadParam(yaml_prefix + "vertical_tracker/vertical_speed", _vertical_speed_);
+     167             : 
+     168          48 :   private_handlers->param_loader->loadParam(yaml_prefix + "max_tilt", _max_tilt_);
+     169             : 
+     170          48 :   private_handlers->param_loader->loadParam(yaml_prefix + "heading_tracker/heading_rate", _heading_rate_);
+     171             : 
+     172             :   // load channels
+     173          48 :   private_handlers->param_loader->loadParam(yaml_prefix + "channels/pitch", _channel_pitch_);
+     174          48 :   private_handlers->param_loader->loadParam(yaml_prefix + "channels/roll", _channel_roll_);
+     175          48 :   private_handlers->param_loader->loadParam(yaml_prefix + "channels/heading", _channel_heading_);
+     176          48 :   private_handlers->param_loader->loadParam(yaml_prefix + "channels/throttle", _channel_throttle_);
+     177             : 
+     178             :   // load channel multipliers
+     179          48 :   private_handlers->param_loader->loadParam(yaml_prefix + "channel_multipliers/pitch", _channel_mult_pitch_);
+     180          48 :   private_handlers->param_loader->loadParam(yaml_prefix + "channel_multipliers/roll", _channel_mult_roll_);
+     181          48 :   private_handlers->param_loader->loadParam(yaml_prefix + "channel_multipliers/heading", _channel_mult_heading_);
+     182          48 :   private_handlers->param_loader->loadParam(yaml_prefix + "channel_multipliers/throttle", _channel_mult_throttle_);
+     183             : 
+     184          48 :   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          48 :   profiler_ = mrs_lib::Profiler(common_handlers->parent_nh, "JoyTracker", _profiler_enabled_);
+     192             : 
+     193             :   // | ----------------------- subscribers ---------------------- |
+     194             : 
+     195          48 :   mrs_lib::SubscribeHandlerOptions shopts;
+     196          48 :   shopts.nh              = nh_;
+     197          48 :   shopts.node_name       = "JoyTracker";
+     198          48 :   shopts.queue_size      = 1;
+     199          48 :   shopts.transport_hints = ros::TransportHints().tcpNoDelay();
+     200             : 
+     201          48 :   sh_joystick_ = mrs_lib::SubscribeHandler<sensor_msgs::Joy>(shopts, "joystick");
+     202             : 
+     203             :   // | --------------------- finish the init -------------------- |
+     204             : 
+     205          48 :   last_update = ros::Time(0);
+     206             : 
+     207          48 :   is_initialized_ = true;
+     208             : 
+     209          48 :   ROS_INFO("[JoyTracker]: initialized");
+     210             : 
+     211          48 :   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          10 : void JoyTracker::deactivate(void) {
+     277             : 
+     278          10 :   is_active_ = false;
+     279             : 
+     280          10 :   ROS_INFO("[JoyTracker]: deactivated");
+     281          10 : }
+     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       43352 : 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      130056 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("update");
+     300      130056 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("JoyTracker::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     301             : 
+     302             :   {
+     303       43352 :     std::scoped_lock lock(mutex_uav_state_);
+     304             : 
+     305       43352 :     uav_state_ = uav_state;
+     306             : 
+     307       43352 :     got_uav_state_ = true;
+     308             :   }
+     309             : 
+     310       43352 :   double dt = (ros::Time::now() - last_update).toSec();
+     311             : 
+     312       43352 :   last_update = ros::Time::now();
+     313             : 
+     314             :   // up to this part the update() method is evaluated even when the tracker is not active
+     315       43352 :   if (!is_active_) {
+     316       43352 :     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           2 : const std_srvs::SetBoolResponse::ConstPtr JoyTracker::enableCallbacks(const std_srvs::SetBoolRequest::ConstPtr &cmd) {
+     388             : 
+     389           4 :   std_srvs::SetBoolResponse res;
+     390           4 :   std::stringstream         ss;
+     391             : 
+     392           2 :   if (cmd->data != callbacks_enabled_) {
+     393             : 
+     394           0 :     callbacks_enabled_ = cmd->data;
+     395             : 
+     396           0 :     ss << "callbacks " << (callbacks_enabled_ ? "enabled" : "disabled");
+     397           0 :     ROS_INFO_STREAM_THROTTLE(1.0, "[JoyTracker]: " << ss.str());
+     398             : 
+     399             :   } else {
+     400             : 
+     401           2 :     ss << "callbacks were already " << (callbacks_enabled_ ? "enabled" : "disabled");
+     402           2 :     ROS_WARN_STREAM_THROTTLE(1.0, "[JoyTracker]: " << ss.str());
+     403             :   }
+     404             : 
+     405           2 :   res.message = ss.str();
+     406           2 :   res.success = true;
+     407             : 
+     408           4 :   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         147 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr JoyTracker::setConstraints([
+     465             :     [maybe_unused]] const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &cmd) {
+     466             : 
+     467         147 :   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           1 : const mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr JoyTracker::setTrajectoryReference([
+     493             :     [maybe_unused]] const mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr &cmd) {
+     494           1 :   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          48 : PLUGINLIB_EXPORT_CLASS(mrs_uav_trackers::joy_tracker::JoyTracker, mrs_uav_managers::Tracker)
+
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Date:2023-12-14 21:42:20Functions:213167.7 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_trackers::landoff_tracker::LandoffTracker::resetStatic()0
mrs_uav_trackers::landoff_tracker::LandoffTracker::setReference(boost::shared_ptr<mrs_msgs::ReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::landoff_tracker::LandoffTracker::stopVertical()0
mrs_uav_trackers::landoff_tracker::LandoffTracker::gotoTrajectoryStart(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::landoff_tracker::LandoffTracker::setVelocityReference(boost::shared_ptr<mrs_msgs::VelocityReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::landoff_tracker::LandoffTracker::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_trackers::landoff_tracker::LandoffTracker::stopTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::landoff_tracker::LandoffTracker::startTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::landoff_tracker::LandoffTracker::resumeTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::landoff_tracker::LandoffTracker::hover(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::landoff_tracker::LandoffTracker::setTrajectoryReference(boost::shared_ptr<mrs_msgs::TrajectoryReferenceSrvRequest_<std::allocator<void> > const> const&)1
mrs_uav_trackers::landoff_tracker::LandoffTracker::callbackLand(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)2
mrs_uav_trackers::landoff_tracker::LandoffTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)2
mrs_uav_trackers::landoff_tracker::LandoffTracker::callbackELand(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)3
mrs_uav_trackers::landoff_tracker::LandoffTracker::callbackTakeoff(mrs_msgs::Vec1Request_<std::allocator<void> >&, mrs_msgs::Vec1Response_<std::allocator<void> >&)8
mrs_uav_trackers::landoff_tracker::LandoffTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)16
mrs_uav_trackers::landoff_tracker::LandoffTracker::deactivate()26
(anonymous namespace)::ProxyExec0::ProxyExec0()48
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>)48
mrs_uav_trackers::landoff_tracker::LandoffTracker::changeState(mrs_uav_trackers::landoff_tracker::States_t)53
mrs_uav_trackers::landoff_tracker::LandoffTracker::changeStateHorizontal(mrs_uav_trackers::landoff_tracker::States_t)66
mrs_uav_trackers::landoff_tracker::LandoffTracker::changeStateVertical(mrs_uav_trackers::landoff_tracker::States_t)82
mrs_uav_trackers::landoff_tracker::LandoffTracker::stopVerticalMotion()135
mrs_uav_trackers::landoff_tracker::LandoffTracker::stopHorizontalMotion()135
mrs_uav_trackers::landoff_tracker::LandoffTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)147
mrs_uav_trackers::landoff_tracker::LandoffTracker::getStatus()819
mrs_uav_trackers::landoff_tracker::LandoffTracker::decelerateVertical()1792
mrs_uav_trackers::landoff_tracker::LandoffTracker::accelerateVertical()5785
mrs_uav_trackers::landoff_tracker::LandoffTracker::stopHorizontal()7577
mrs_uav_trackers::landoff_tracker::LandoffTracker::timerMain(ros::TimerEvent const&)8190
mrs_uav_trackers::landoff_tracker::LandoffTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)43352
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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:42459271.6 %
Date:2023-12-14 21:42:20Functions:213167.7 %
Legend: Lines: + hit + not hit +
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+ +
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Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()48
mrs_uav_trackers::landoff_tracker::LandoffTracker::deactivate()26
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>)48
mrs_uav_trackers::landoff_tracker::LandoffTracker::changeState(mrs_uav_trackers::landoff_tracker::States_t)53
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> >&)2
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> >&)3
mrs_uav_trackers::landoff_tracker::LandoffTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)147
mrs_uav_trackers::landoff_tracker::LandoffTracker::stopHorizontal()7577
mrs_uav_trackers::landoff_tracker::LandoffTracker::callbackTakeoff(mrs_msgs::Vec1Request_<std::allocator<void> >&, mrs_msgs::Vec1Response_<std::allocator<void> >&)8
mrs_uav_trackers::landoff_tracker::LandoffTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)2
mrs_uav_trackers::landoff_tracker::LandoffTracker::accelerateVertical()5785
mrs_uav_trackers::landoff_tracker::LandoffTracker::decelerateVertical()1792
mrs_uav_trackers::landoff_tracker::LandoffTracker::stopVerticalMotion()135
mrs_uav_trackers::landoff_tracker::LandoffTracker::changeStateVertical(mrs_uav_trackers::landoff_tracker::States_t)82
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()135
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)66
mrs_uav_trackers::landoff_tracker::LandoffTracker::setTrajectoryReference(boost::shared_ptr<mrs_msgs::TrajectoryReferenceSrvRequest_<std::allocator<void> > const> const&)1
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&)43352
mrs_uav_trackers::landoff_tracker::LandoffTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)16
mrs_uav_trackers::landoff_tracker::LandoffTracker::getStatus()819
mrs_uav_trackers::landoff_tracker::LandoffTracker::timerMain(ros::TimerEvent const&)8190
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_trackers/src/landoff_tracker/landoff_tracker.cpp.gcov.frameset.html b/mrs_uav_trackers/src/landoff_tracker/landoff_tracker.cpp.gcov.frameset.html new file mode 100644 index 0000000000..469c4b6023 --- /dev/null +++ b/mrs_uav_trackers/src/landoff_tracker/landoff_tracker.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trackers/src/landoff_tracker/landoff_tracker.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_trackers/src/landoff_tracker/landoff_tracker.cpp.gcov.html b/mrs_uav_trackers/src/landoff_tracker/landoff_tracker.cpp.gcov.html new file mode 100644 index 0000000000..3fca86ece1 --- /dev/null +++ b/mrs_uav_trackers/src/landoff_tracker/landoff_tracker.cpp.gcov.html @@ -0,0 +1,1636 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trackers/src/landoff_tracker/landoff_tracker.cpp + + + + + + + + + + + + + + +
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:42459271.6 %
Date:2023-12-14 21:42:20Functions: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          48 : 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          48 :   this->common_handlers_  = common_handlers;
+     215          48 :   this->private_handlers_ = private_handlers;
+     216             : 
+     217          48 :   _uav_name_ = common_handlers->uav_name;
+     218             : 
+     219          48 :   nh_ = nh;
+     220             : 
+     221          48 :   ros::Time::waitForValid();
+     222             : 
+     223             :   // --------------------------------------------------------------
+     224             :   // |                     loading parameters                     |
+     225             :   // --------------------------------------------------------------
+     226             : 
+     227             :   // | ---------- loading params using the parent's nh ---------- |
+     228             : 
+     229          96 :   mrs_lib::ParamLoader param_loader_parent(common_handlers->parent_nh, "ControlManager");
+     230             : 
+     231          48 :   param_loader_parent.loadParam("enable_profiler", _profiler_enabled_);
+     232             : 
+     233          48 :   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          48 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/private/landoff_tracker.yaml");
+     241          48 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/public/landoff_tracker.yaml");
+     242             : 
+     243          96 :   const std::string yaml_prefix = "mrs_uav_trackers/landoff_tracker/";
+     244             : 
+     245          48 :   private_handlers->param_loader->loadParam(yaml_prefix + "horizontal_tracker/horizontal_speed", _horizontal_speed_);
+     246          48 :   private_handlers->param_loader->loadParam(yaml_prefix + "horizontal_tracker/horizontal_acceleration", _horizontal_acceleration_);
+     247             : 
+     248          48 :   private_handlers->param_loader->loadParam(yaml_prefix + "vertical_tracker/vertical_speed", _vertical_speed_);
+     249          48 :   private_handlers->param_loader->loadParam(yaml_prefix + "vertical_tracker/vertical_acceleration", _vertical_acceleration_);
+     250             : 
+     251          48 :   private_handlers->param_loader->loadParam(yaml_prefix + "vertical_tracker/takeoff_speed", _takeoff_speed_);
+     252          48 :   private_handlers->param_loader->loadParam(yaml_prefix + "vertical_tracker/takeoff_acceleration", _takeoff_acceleration_);
+     253             : 
+     254          48 :   private_handlers->param_loader->loadParam(yaml_prefix + "vertical_tracker/landing_speed", _landing_speed_);
+     255          48 :   private_handlers->param_loader->loadParam(yaml_prefix + "vertical_tracker/landing_acceleration", _landing_acceleration_);
+     256             : 
+     257          48 :   private_handlers->param_loader->loadParam(yaml_prefix + "vertical_tracker/elanding_speed", _elanding_speed_);
+     258          48 :   private_handlers->param_loader->loadParam(yaml_prefix + "vertical_tracker/elanding_acceleration", _elanding_acceleration_);
+     259             : 
+     260          48 :   private_handlers->param_loader->loadParam(yaml_prefix + "heading_tracker/heading_rate", _heading_rate_);
+     261          48 :   private_handlers->param_loader->loadParam(yaml_prefix + "heading_tracker/heading_gain", _heading_gain_);
+     262             : 
+     263          48 :   private_handlers->param_loader->loadParam(yaml_prefix + "main_timer_rate", _main_timer_rate_);
+     264             : 
+     265          48 :   private_handlers->param_loader->loadParam(yaml_prefix + "landing_reference", _landing_reference_);
+     266             : 
+     267          48 :   private_handlers->param_loader->loadParam(yaml_prefix + "max_position_difference", _max_position_difference_);
+     268             : 
+     269          48 :   private_handlers->param_loader->loadParam(yaml_prefix + "takeoff_disable_lateral_gains", _takeoff_disable_lateral_gains_);
+     270          48 :   private_handlers->param_loader->loadParam(yaml_prefix + "takeoff_disable_lateral_gains_z", _takeoff_disable_lateral_gains_z_);
+     271             : 
+     272          48 :   if (!private_handlers->param_loader->loadedSuccessfully()) {
+     273           0 :     ROS_ERROR("[LandoffTracker]: Could not load all parameters!");
+     274           0 :     return false;
+     275             :   }
+     276             : 
+     277          48 :   _tracker_dt_ = 1.0 / double(_main_timer_rate_);
+     278             : 
+     279          48 :   ROS_INFO("[LandoffTracker]: tracker_dt: %f", _tracker_dt_);
+     280             : 
+     281          48 :   state_x_       = 0;
+     282          48 :   state_y_       = 0;
+     283          48 :   state_z_       = 0;
+     284          48 :   state_heading_ = 0;
+     285             : 
+     286          48 :   speed_x_       = 0;
+     287          48 :   speed_y_       = 0;
+     288          48 :   speed_heading_ = 0;
+     289             : 
+     290          48 :   current_horizontal_speed_ = 0;
+     291          48 :   current_vertical_speed_   = 0;
+     292             : 
+     293          48 :   current_horizontal_acceleration_ = 0;
+     294          48 :   current_vertical_acceleration_   = 0;
+     295             : 
+     296          48 :   current_vertical_direction_ = 0;
+     297             : 
+     298          48 :   current_state_vertical_  = LANDED_STATE;
+     299          48 :   previous_state_vertical_ = LANDED_STATE;
+     300             : 
+     301          48 :   current_state_horizontal_  = LANDED_STATE;
+     302          48 :   previous_state_horizontal_ = LANDED_STATE;
+     303             : 
+     304             :   // | ------------------------ profiler ------------------------ |
+     305             : 
+     306          48 :   profiler_ = mrs_lib::Profiler(common_handlers->parent_nh, "LandoffTracker", _profiler_enabled_);
+     307             : 
+     308             :   // | ------------------------ services ------------------------ |
+     309             : 
+     310          48 :   service_takeoff_ = nh_.advertiseService("takeoff", &LandoffTracker::callbackTakeoff, this);
+     311          48 :   service_land_    = nh_.advertiseService("land", &LandoffTracker::callbackLand, this);
+     312          48 :   service_eland_   = nh_.advertiseService("eland", &LandoffTracker::callbackELand, this);
+     313             : 
+     314             :   // | ------------------------- timers ------------------------- |
+     315             : 
+     316          48 :   timer_main_ = nh_.createTimer(ros::Rate(_main_timer_rate_), &LandoffTracker::timerMain, this, false, false);
+     317             : 
+     318             :   // | ----------------------- finish init ---------------------- |
+     319             : 
+     320          48 :   is_initialized_ = true;
+     321             : 
+     322          48 :   ROS_INFO("[LandoffTracker]: initialized");
+     323             : 
+     324          48 :   return true;
+     325             : }
+     326             : 
+     327             : //}
+     328             : 
+     329             : /* //{ activate() */
+     330             : 
+     331          16 : std::tuple<bool, std::string> LandoffTracker::activate([[maybe_unused]] const std::optional<mrs_msgs::TrackerCommand>& last_tracker_cmd) {
+     332             : 
+     333          32 :   std::stringstream ss;
+     334             : 
+     335          16 :   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          32 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     344             : 
+     345             :   double uav_heading;
+     346             : 
+     347             :   try {
+     348          16 :     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          32 :     std::scoped_lock lock(mutex_goal_);
+     363             : 
+     364             :     // the last command is usable
+     365          16 :     state_x_       = uav_state.pose.position.x;
+     366          16 :     state_y_       = uav_state.pose.position.y;
+     367          16 :     state_z_       = uav_state.pose.position.z;
+     368          16 :     state_heading_ = uav_heading;
+     369             : 
+     370          16 :     speed_x_         = uav_state.velocity.linear.x;
+     371          16 :     speed_y_         = uav_state.velocity.linear.y;
+     372          16 :     current_heading_ = atan2(speed_y_, speed_x_);
+     373             : 
+     374          16 :     current_horizontal_speed_ = sqrt(pow(speed_x_, 2) + pow(speed_y_, 2));
+     375             : 
+     376          16 :     current_vertical_speed_     = fabs(uav_state.velocity.linear.z);
+     377          16 :     current_vertical_direction_ = uav_state.velocity.linear.z > 0 ? +1 : -1;
+     378             : 
+     379          16 :     current_horizontal_acceleration_ = 0;
+     380          16 :     current_vertical_acceleration_   = 0;
+     381             : 
+     382          16 :     goal_heading_ = uav_heading;
+     383             : 
+     384          16 :     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          16 :     std::scoped_lock lock(mutex_state_);
+     395             : 
+     396          16 :     horizontal_t_stop    = current_horizontal_speed_ / _horizontal_acceleration_;
+     397          16 :     horizontal_stop_dist = (horizontal_t_stop * current_horizontal_speed_) / 2.0;
+     398          16 :     stop_dist_x          = cos(current_heading_) * horizontal_stop_dist;
+     399          16 :     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          16 :     std::scoped_lock lock(mutex_state_);
+     410             : 
+     411          16 :     vertical_t_stop    = current_vertical_speed_ / _vertical_acceleration_;
+     412          16 :     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          16 :     std::scoped_lock lock(mutex_goal_, mutex_state_);
+     421             : 
+     422          16 :     goal_x_ = state_x_ + stop_dist_x;
+     423          16 :     goal_y_ = state_y_ + stop_dist_y;
+     424          16 :     goal_z_ = state_z_ + vertical_stop_dist;
+     425             :   }
+     426             : 
+     427          16 :   landing_        = false;
+     428          16 :   taking_off_     = false;
+     429          16 :   is_active_      = true;
+     430          16 :   have_goal_      = false;
+     431          16 :   cause_failsafe_ = false;
+     432             : 
+     433          16 :   timer_main_.start();
+     434             : 
+     435             :   {
+     436          32 :     std::scoped_lock lock(mutex_goal_);
+     437             : 
+     438          16 :     ROS_INFO("[LandoffTracker]: stopping goal: x: %.2f, y: %.2f, z: %.2f, heading: %.2f", goal_x_, goal_y_, goal_z_, goal_heading_);
+     439             :   }
+     440             : 
+     441          16 :   changeState(STOP_MOTION_STATE);
+     442             : 
+     443          16 :   ss << "activated";
+     444          16 :   ROS_INFO_STREAM("[LandoffTracker]: " << ss.str());
+     445             : 
+     446          16 :   return std::tuple(true, ss.str());
+     447             : }
+     448             : 
+     449             : //}
+     450             : 
+     451             : /* //{ deactivate() */
+     452             : 
+     453          26 : void LandoffTracker::deactivate(void) {
+     454             : 
+     455          26 :   is_active_                = false;
+     456          26 :   landing_                  = false;
+     457          26 :   taking_off_               = false;
+     458          26 :   current_state_vertical_   = IDLE_STATE;
+     459          26 :   current_state_horizontal_ = IDLE_STATE;
+     460             : 
+     461          26 :   timer_main_.stop();
+     462             : 
+     463          26 :   ROS_INFO("[LandoffTracker]: deactivated");
+     464          26 : }
+     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       43352 : 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      130056 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("update");
+     483      130056 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("LandoffTracker::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     484             : 
+     485             :   {
+     486       43352 :     std::scoped_lock lock(mutex_uav_state_);
+     487             : 
+     488       43352 :     uav_state_ = uav_state;
+     489             : 
+     490       43352 :     got_uav_state_ = true;
+     491             :   }
+     492             : 
+     493             :   // up to this part the update() method is evaluated even when the tracker is not active
+     494       43352 :   if (!is_active_ || cause_failsafe_) {
+     495       35505 :     return {};
+     496             :   }
+     497             : 
+     498        7847 :   position_output_.header.stamp    = ros::Time::now();
+     499        7847 :   position_output_.header.frame_id = uav_state_.header.frame_id;
+     500             : 
+     501             :   {
+     502        7847 :     std::scoped_lock lock(mutex_state_);
+     503             : 
+     504        7847 :     position_output_.position.x = state_x_;
+     505        7847 :     position_output_.position.y = state_y_;
+     506        7847 :     position_output_.position.z = state_z_;
+     507        7847 :     position_output_.heading    = state_heading_;
+     508             : 
+     509        7847 :     position_output_.velocity.x   = cos(current_heading_) * current_horizontal_speed_;
+     510        7847 :     position_output_.velocity.y   = sin(current_heading_) * current_horizontal_speed_;
+     511        7847 :     position_output_.velocity.z   = current_vertical_direction_ * current_vertical_speed_;
+     512        7847 :     position_output_.heading_rate = speed_heading_;
+     513             : 
+     514        7847 :     position_output_.use_position_vertical   = 1;
+     515        7847 :     position_output_.use_position_horizontal = 1;
+     516        7847 :     position_output_.use_heading             = 1;
+     517        7847 :     position_output_.use_heading_rate        = 1;
+     518        7847 :     position_output_.use_velocity_vertical   = 1;
+     519        7847 :     position_output_.use_velocity_horizontal = 1;
+     520             :   }
+     521             : 
+     522             :   {
+     523       15694 :     std::scoped_lock lock(mutex_last_control_output_);
+     524             : 
+     525        7847 :     last_control_output_ = last_control_output;
+     526             :   }
+     527             : 
+     528        7847 :   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        7847 :     position_output_.disable_position_gains = false;
+     532             :   }
+     533             : 
+     534        7847 :   if (taking_off_) {
+     535        3433 :     position_output_.disable_antiwindups = true;
+     536             :   } else {
+     537        4414 :     position_output_.disable_antiwindups = false;
+     538             :   }
+     539             : 
+     540        7847 :   return {position_output_};
+     541             : }
+     542             : 
+     543             : //}
+     544             : 
+     545             : /* //{ getStatus() */
+     546             : 
+     547         819 : const mrs_msgs::TrackerStatus LandoffTracker::getStatus() {
+     548             : 
+     549         819 :   mrs_msgs::TrackerStatus tracker_status;
+     550             : 
+     551         819 :   tracker_status.active            = is_active_;
+     552         819 :   tracker_status.callbacks_enabled = callbacks_enabled_;
+     553             : 
+     554         819 :   bool hovering = current_state_vertical_ == HOVER_STATE && current_state_horizontal_ == HOVER_STATE;
+     555         819 :   bool idling   = current_state_vertical_ == IDLE_STATE && current_state_horizontal_ == IDLE_STATE;
+     556             : 
+     557         819 :   tracker_status.have_goal = landing_ || taking_off_ || !(hovering || idling);
+     558             : 
+     559         819 :   tracker_status.tracking_trajectory = false;
+     560             : 
+     561         819 :   return tracker_status;
+     562             : }
+     563             : 
+     564             : //}
+     565             : 
+     566             : /* //{ enableCallbacks() */
+     567             : 
+     568           2 : const std_srvs::SetBoolResponse::ConstPtr LandoffTracker::enableCallbacks(const std_srvs::SetBoolRequest::ConstPtr& cmd) {
+     569             : 
+     570           4 :   std_srvs::SetBoolResponse res;
+     571           4 :   std::stringstream         ss;
+     572             : 
+     573           2 :   if (cmd->data != callbacks_enabled_) {
+     574             : 
+     575           0 :     callbacks_enabled_ = cmd->data;
+     576             : 
+     577           0 :     ss << "callbacks " << (callbacks_enabled_ ? "enabled" : "disabled");
+     578           0 :     ROS_INFO_STREAM_THROTTLE(1.0, "[LandoffTrakcer]: " << ss.str());
+     579             : 
+     580             :   } else {
+     581             : 
+     582           2 :     ss << "callbacks were already " << (callbacks_enabled_ ? "enabled" : "disabled");
+     583           2 :     ROS_WARN_STREAM_THROTTLE(1.0, "[LandoffTrakcer]: " << ss.str());
+     584             :   }
+     585             : 
+     586           2 :   res.message = ss.str();
+     587           2 :   res.success = true;
+     588             : 
+     589           4 :   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         147 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr LandoffTracker::setConstraints([
+     755             :     [maybe_unused]] const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr& cmd) {
+     756             : 
+     757             : 
+     758         147 :   mrs_lib::set_mutexed(mutex_constraints_, cmd->constraints, constraints_);
+     759             : 
+     760         147 :   ROS_INFO("[LandoffTracker]: updating constraints");
+     761             : 
+     762         294 :   mrs_msgs::DynamicsConstraintsSrvResponse res;
+     763         147 :   res.success = true;
+     764         147 :   res.message = "constraints updated";
+     765             : 
+     766         294 :   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           1 : const mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr LandoffTracker::setTrajectoryReference([
+     792             :     [maybe_unused]] const mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr& cmd) {
+     793           1 :   return mrs_msgs::TrajectoryReferenceSrvResponse::Ptr();
+     794             : }
+     795             : 
+     796             : //}
+     797             : 
+     798             : // | ----------------- state machine routines ----------------- |
+     799             : 
+     800             : /* //{ changeStateHorizontal() */
+     801             : 
+     802          66 : void LandoffTracker::changeStateHorizontal(States_t new_state) {
+     803             : 
+     804          66 :   previous_state_horizontal_ = current_state_horizontal_;
+     805          66 :   current_state_horizontal_  = new_state;
+     806             : 
+     807          66 :   switch (current_state_horizontal_) {
+     808             : 
+     809          21 :     case STOPPING_STATE: {
+     810             : 
+     811          42 :       std::scoped_lock lock(mutex_state_);
+     812          21 :       current_horizontal_speed_ = 0;
+     813             : 
+     814          21 :       break;
+     815             :     };
+     816             : 
+     817          45 :     default: {
+     818             : 
+     819          45 :       break;
+     820             :     }
+     821             :   }
+     822             : 
+     823          66 :   ROS_INFO("[LandoffTracker]: Switching horizontal state %s -> %s", state_names[previous_state_horizontal_], state_names[current_state_horizontal_]);
+     824          66 : }
+     825             : 
+     826             : //}
+     827             : 
+     828             : /* //{ changeStateVertical() */
+     829             : 
+     830          82 : void LandoffTracker::changeStateVertical(States_t new_state) {
+     831             : 
+     832          82 :   previous_state_vertical_ = current_state_vertical_;
+     833          82 :   current_state_vertical_  = new_state;
+     834             : 
+     835          82 :   switch (current_state_vertical_) {
+     836             : 
+     837          16 :     case HOVER_STATE: {
+     838          16 :       taking_off_ = false;
+     839          16 :       break;
+     840             :     }
+     841             : 
+     842          66 :     default: {
+     843          66 :       break;
+     844             :     }
+     845             :   }
+     846             : 
+     847          82 :   ROS_INFO("[LandoffTracker]: Switching vertical state %s -> %s", state_names[previous_state_vertical_], state_names[current_state_vertical_]);
+     848          82 : }
+     849             : 
+     850             : //}
+     851             : 
+     852             : /* //{ changeState() */
+     853             : 
+     854          53 : void LandoffTracker::changeState(States_t new_state) {
+     855             : 
+     856          53 :   changeStateVertical(new_state);
+     857          53 :   changeStateHorizontal(new_state);
+     858          53 : }
+     859             : 
+     860             : //}
+     861             : 
+     862             : // | --------------------- motion routines -------------------- |
+     863             : 
+     864             : /* //{ stopHorizontalMotion() */
+     865             : 
+     866         135 : void LandoffTracker::stopHorizontalMotion(void) {
+     867             : 
+     868             :   {
+     869         270 :     std::scoped_lock lock(mutex_state_);
+     870             : 
+     871         135 :     current_horizontal_speed_ -= _horizontal_acceleration_ * _tracker_dt_;
+     872             : 
+     873         135 :     if (current_horizontal_speed_ < 0) {
+     874          11 :       current_horizontal_speed_        = 0;
+     875          11 :       current_horizontal_acceleration_ = 0;
+     876             :     } else {
+     877         124 :       current_horizontal_acceleration_ = -_horizontal_acceleration_;
+     878             :     }
+     879             :   }
+     880         135 : }
+     881             : 
+     882             : //}
+     883             : 
+     884             : /* //{ stopVerticalMotion() */
+     885             : 
+     886         135 : void LandoffTracker::stopVerticalMotion(void) {
+     887             : 
+     888             :   {
+     889         270 :     std::scoped_lock lock(mutex_state_);
+     890             : 
+     891         135 :     current_vertical_speed_ -= _vertical_acceleration_ * _tracker_dt_;
+     892             : 
+     893         135 :     if (current_vertical_speed_ < 0) {
+     894         100 :       current_vertical_speed_        = 0;
+     895         100 :       current_vertical_acceleration_ = 0;
+     896             :     } else {
+     897          35 :       current_vertical_acceleration_ = -_vertical_acceleration_;
+     898             :     }
+     899             :   }
+     900         135 : }
+     901             : 
+     902             : //}
+     903             : 
+     904             : /* //{ accelerateVertical() */
+     905             : 
+     906        5785 : void LandoffTracker::accelerateVertical(void) {
+     907             : 
+     908             :   // copy member variables
+     909        5785 :   auto [current_vertical_speed, state_z] = mrs_lib::get_mutexed(mutex_state_, current_vertical_speed_, state_z_);
+     910        5785 :   auto goal_z                            = mrs_lib::get_mutexed(mutex_goal_, goal_z_);
+     911        5785 :   auto constraints                       = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+     912             : 
+     913             :   double used_acceleration;
+     914             :   double used_speed;
+     915             : 
+     916        5785 :   if (taking_off_) {
+     917             : 
+     918        1792 :     used_speed        = _takeoff_speed_;
+     919        1792 :     used_acceleration = _takeoff_acceleration_;
+     920             : 
+     921        1792 :     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        1792 :     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        3993 :   } else if (landing_) {
+     932             : 
+     933        3993 :     if (elanding_) {
+     934             : 
+     935        2304 :       used_speed        = _elanding_speed_;
+     936        2304 :       used_acceleration = _elanding_acceleration_;
+     937             : 
+     938             :     } else {
+     939             : 
+     940        1689 :       used_speed        = _landing_speed_;
+     941        1689 :       used_acceleration = _landing_acceleration_;
+     942             : 
+     943        1689 :       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        1689 :       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        5785 :   double tar_z = goal_z - state_z;
+     963             : 
+     964             :   // set the right vertical direction
+     965             :   {
+     966        5785 :     std::scoped_lock lock(mutex_state_);
+     967             : 
+     968        5785 :     current_vertical_direction_ = mrs_lib::signum(tar_z);
+     969             :   }
+     970             : 
+     971        5785 :   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        5785 :   double vertical_t_stop    = current_vertical_speed / used_acceleration;
+     975        5785 :   double vertical_stop_dist = (vertical_t_stop * current_vertical_speed) / 2.0;
+     976        5785 :   double stop_dist_z        = current_vertical_direction * vertical_stop_dist;
+     977             : 
+     978             :   {
+     979       11570 :     std::scoped_lock lock(mutex_state_);
+     980             : 
+     981        5785 :     current_vertical_speed_ += used_acceleration * _tracker_dt_;
+     982             : 
+     983        5785 :     if (current_vertical_speed_ >= used_speed) {
+     984        1287 :       current_vertical_speed_ -= _vertical_acceleration_ * _tracker_dt_;
+     985        1287 :       current_vertical_acceleration_ = 0;
+     986             :     } else {
+     987        4498 :       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        5785 :   if (!elanding_ && !landing_) {
+     997        1792 :     if (fabs(state_z + stop_dist_z - goal_z) < (2 * (used_speed * _tracker_dt_))) {
+     998             : 
+     999             :       {
+    1000           8 :         std::scoped_lock lock(mutex_state_);
+    1001             : 
+    1002           8 :         current_vertical_acceleration_ = 0;
+    1003             :       }
+    1004             : 
+    1005           8 :       changeStateVertical(DECELERATING_STATE);
+    1006             :     }
+    1007             :   }
+    1008        5785 : }
+    1009             : 
+    1010             : //}
+    1011             : 
+    1012             : /* //{ decelerateVertical() */
+    1013             : 
+    1014        1792 : void LandoffTracker::decelerateVertical(void) {
+    1015             : 
+    1016             :   double used_acceleration;
+    1017             : 
+    1018        1792 :   if (taking_off_) {
+    1019             : 
+    1020        1792 :     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        3584 :     std::scoped_lock lock(mutex_state_);
+    1039             : 
+    1040        1792 :     current_vertical_speed_ -= used_acceleration * _tracker_dt_;
+    1041             : 
+    1042        1792 :     if (current_vertical_speed_ < 0) {
+    1043           8 :       current_vertical_speed_ = 0;
+    1044             :     } else {
+    1045        1784 :       current_vertical_acceleration_ = -used_acceleration;
+    1046             :     }
+    1047             :   }
+    1048             : 
+    1049        1792 :   auto current_vertical_speed = mrs_lib::get_mutexed(mutex_state_, current_vertical_speed_);
+    1050             : 
+    1051        1792 :   if (current_vertical_speed == 0) {
+    1052             : 
+    1053             :     {
+    1054           8 :       std::scoped_lock lock(mutex_state_);
+    1055             : 
+    1056           8 :       current_vertical_acceleration_ = 0;
+    1057             :     }
+    1058             : 
+    1059           8 :     changeStateVertical(STOPPING_STATE);
+    1060             :   }
+    1061        1792 : }
+    1062             : 
+    1063             : //}
+    1064             : 
+    1065             : /* //{ stopHorizontal() */
+    1066             : 
+    1067        7577 : void LandoffTracker::stopHorizontal(void) {
+    1068             : 
+    1069             :   {
+    1070        7577 :     std::scoped_lock lock(mutex_state_, mutex_goal_);
+    1071             : 
+    1072        7577 :     double new_state_x = 0.95 * state_x_ + 0.05 * goal_x_;
+    1073        7577 :     double new_state_y = 0.95 * state_y_ + 0.05 * goal_y_;
+    1074             : 
+    1075        7577 :     double dist_x = new_state_x - state_x_;
+    1076        7577 :     double dist_y = new_state_y - state_y_;
+    1077             : 
+    1078        7577 :     double dt = 1.0 / _main_timer_rate_;
+    1079             : 
+    1080        7577 :     if (std::abs(dist_x / dt) > 1.0) {
+    1081           0 :       dist_x = mrs_lib::signum(dist_x) * (1.0 * dt);
+    1082             :     }
+    1083             : 
+    1084        7577 :     if (std::abs(dist_y / dt) > 1.0) {
+    1085           0 :       dist_y = mrs_lib::signum(dist_y) * (1.0 * dt);
+    1086             :     }
+    1087             : 
+    1088        7577 :     state_x_ += dist_x;
+    1089        7577 :     state_y_ += dist_y;
+    1090             : 
+    1091        7577 :     current_horizontal_acceleration_ = 0;
+    1092             :   }
+    1093        7577 : }
+    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        8190 : void LandoffTracker::timerMain(const ros::TimerEvent& event) {
+    1127             : 
+    1128        8190 :   std::scoped_lock lock(mutex_main_timer_);
+    1129             : 
+    1130        8190 :   if (!is_active_) {
+    1131           0 :     return;
+    1132             :   }
+    1133             : 
+    1134             :   // copy member variables
+    1135       16380 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    1136        8190 :   auto [state_x, state_y, state_z, current_horizontal_speed, current_vertical_speed, current_heading, current_vertical_direction] = mrs_lib::get_mutexed(
+    1137        8190 :       mutex_state_, state_x_, state_y_, state_z_, current_horizontal_speed_, current_vertical_speed_, current_heading_, current_vertical_direction_);
+    1138        8190 :   auto [goal_x, goal_y, goal_z] = mrs_lib::get_mutexed(mutex_goal_, goal_x_, goal_y_, goal_z_);
+    1139       16380 :   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        8190 :   uav_x = uav_state.pose.position.x;
+    1143        8190 :   uav_y = uav_state.pose.position.y;
+    1144        8190 :   uav_z = uav_state.pose.position.z;
+    1145             : 
+    1146       24570 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("main", _main_timer_rate_, 0.002, event);
+    1147       24570 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("LandoffTracker::main", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    1148             : 
+    1149        8190 :   bool takeoff_saturated = false;
+    1150             : 
+    1151        8190 :   if (taking_off_) {
+    1152             : 
+    1153             :     // calculate the vector
+    1154        3743 :     double err_x      = uav_x - state_x;
+    1155        3743 :     double err_y      = uav_y - state_y;
+    1156        3743 :     double err_z      = uav_z - state_z;
+    1157        3743 :     double error_size = sqrt(pow(err_x, 2) + pow(err_y, 2) + pow(err_z, 2));
+    1158             : 
+    1159        3743 :     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        3743 :     if (last_control_output.diagnostics.ramping_up) {
+    1181             : 
+    1182         159 :       ROS_INFO_THROTTLE(1.0, "[LandoffTracker]: waiting for the controller to rampup");
+    1183         159 :       takeoff_saturated = true;
+    1184             :     }
+    1185             :   }
+    1186             : 
+    1187        8190 :   if (!takeoff_saturated) {
+    1188             : 
+    1189        8031 :     switch (current_state_horizontal_) {
+    1190             : 
+    1191         135 :       case STOP_MOTION_STATE: {
+    1192             : 
+    1193         135 :         stopHorizontalMotion();
+    1194         135 :         break;
+    1195             :       }
+    1196             : 
+    1197        7577 :       case STOPPING_STATE: {
+    1198             : 
+    1199        7577 :         stopHorizontal();
+    1200        7577 :         break;
+    1201             :       }
+    1202             : 
+    1203         319 :       default: {
+    1204             : 
+    1205         319 :         break;
+    1206             :       }
+    1207             :     }
+    1208             : 
+    1209        8031 :     switch (current_state_vertical_) {
+    1210             : 
+    1211         135 :       case STOP_MOTION_STATE: {
+    1212             : 
+    1213         135 :         stopVerticalMotion();
+    1214         135 :         break;
+    1215             :       }
+    1216             : 
+    1217        5785 :       case ACCELERATING_STATE: {
+    1218             : 
+    1219        5785 :         accelerateVertical();
+    1220        5785 :         break;
+    1221             :       }
+    1222             : 
+    1223        1792 :       case DECELERATING_STATE: {
+    1224             : 
+    1225        1792 :         decelerateVertical();
+    1226        1792 :         break;
+    1227             :       }
+    1228             : 
+    1229           0 :       case STOPPING_STATE: {
+    1230             : 
+    1231           0 :         stopVertical();
+    1232           0 :         break;
+    1233             :       }
+    1234             : 
+    1235         319 :       default: {
+    1236             : 
+    1237         319 :         break;
+    1238             :       }
+    1239             :     }
+    1240             :   }
+    1241             : 
+    1242        8190 :   if (current_state_horizontal_ == STOP_MOTION_STATE && current_state_vertical_ == STOP_MOTION_STATE) {
+    1243         143 :     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          21 :       if (have_goal_) {
+    1250             : 
+    1251          13 :         changeStateVertical(ACCELERATING_STATE);
+    1252          13 :         changeStateHorizontal(STOPPING_STATE);
+    1253             : 
+    1254             :       } else {
+    1255             : 
+    1256           8 :         changeState(STOPPING_STATE);
+    1257             : 
+    1258             :         {
+    1259           8 :           std::scoped_lock lock(mutex_state_);
+    1260             : 
+    1261           8 :           current_horizontal_speed_ = 0;
+    1262           8 :           current_vertical_speed_   = 0;
+    1263             :         }
+    1264             :       }
+    1265             :     }
+    1266             :   }
+    1267             : 
+    1268        8190 :   if (current_state_vertical_ == STOPPING_STATE && current_state_horizontal_ == STOPPING_STATE) {
+    1269             : 
+    1270          16 :     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          16 :     } 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          16 :         std::scoped_lock lock(mutex_state_);
+    1283             : 
+    1284          16 :         if (!taking_off_) {
+    1285           8 :           state_x_ = goal_x;
+    1286           8 :           state_y_ = goal_y;
+    1287           8 :           state_z_ = goal_z;
+    1288             :         }
+    1289             : 
+    1290          16 :         current_horizontal_speed_ = 0;
+    1291          16 :         current_vertical_speed_   = 0;
+    1292             :       }
+    1293             : 
+    1294          16 :       changeState(HOVER_STATE);
+    1295             : 
+    1296          16 :       have_goal_ = false;
+    1297             :     }
+    1298             :   }
+    1299             : 
+    1300        8190 :   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        8190 :   if (!takeoff_saturated) {
+    1318             :     {
+    1319        8031 :       std::scoped_lock lock(mutex_state_);
+    1320             : 
+    1321        8031 :       state_x_ += cos(current_heading) * current_horizontal_speed * _tracker_dt_;
+    1322        8031 :       state_y_ += sin(current_heading) * current_horizontal_speed * _tracker_dt_;
+    1323        8031 :       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       16380 :     std::scoped_lock lock(mutex_state_);
+    1334             : 
+    1335             :     double current_heading_rate;
+    1336             : 
+    1337        8190 :     if (fabs(goal_heading_ - state_heading_) > M_PI)
+    1338           0 :       current_heading_rate = -_heading_gain_ * (goal_heading_ - state_heading_);
+    1339             :     else
+    1340        8190 :       current_heading_rate = _heading_gain_ * (goal_heading_ - state_heading_);
+    1341             : 
+    1342        8190 :     if (current_heading_rate > _heading_rate_) {
+    1343           0 :       current_heading_rate = _heading_rate_;
+    1344        8190 :     } 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        8190 :     state_heading_ += current_heading_rate * _tracker_dt_;
+    1350             : 
+    1351        8190 :     if (state_heading_ > M_PI) {
+    1352           0 :       state_heading_ -= 2 * M_PI;
+    1353        8190 :     } else if (state_heading_ < -M_PI) {
+    1354           0 :       state_heading_ += 2 * M_PI;
+    1355             :     }
+    1356             : 
+    1357        8190 :     if (fabs(state_heading_ - goal_heading_) < (2 * (_heading_rate_ * _tracker_dt_))) {
+    1358        8190 :       state_heading_ = goal_heading_;
+    1359             :     }
+    1360             :   }
+    1361             : 
+    1362             :   // --------------------------------------------------------------
+    1363             :   // |                      landing setpoint                      |
+    1364             :   // --------------------------------------------------------------
+    1365             : 
+    1366        8190 :   if (landing_) {
+    1367             :     {
+    1368        4120 :       std::scoped_lock lock(mutex_goal_);
+    1369             : 
+    1370        4120 :       goal_z_ = uav_z + _landing_reference_;
+    1371             :     }
+    1372             :   }
+    1373             : }
+    1374             : 
+    1375             : //}
+    1376             : 
+    1377             : // | ------------------------ callbacks ----------------------- |
+    1378             : 
+    1379             : /* //{ callbackTakeoff() */
+    1380             : 
+    1381           8 : bool LandoffTracker::callbackTakeoff(mrs_msgs::Vec1::Request& req, mrs_msgs::Vec1::Response& res) {
+    1382             : 
+    1383          16 :   std::stringstream ss;
+    1384             : 
+    1385             :   // copy member variables
+    1386          16 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    1387             : 
+    1388           8 :   double uav_heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+    1389             : 
+    1390             :   double uav_x, uav_y, uav_z;
+    1391           8 :   uav_x = uav_state.pose.position.x;
+    1392           8 :   uav_y = uav_state.pose.position.y;
+    1393           8 :   uav_z = uav_state.pose.position.z;
+    1394             : 
+    1395           8 :   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           8 :   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           8 :   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          16 :     std::scoped_lock lock(mutex_goal_, mutex_state_);
+    1422             : 
+    1423           8 :     state_x_ = uav_x;
+    1424           8 :     goal_x_  = uav_x;
+    1425             : 
+    1426           8 :     state_y_ = uav_y;
+    1427           8 :     goal_y_  = uav_y;
+    1428             : 
+    1429           8 :     state_z_ = uav_z;
+    1430           8 :     goal_z_  = uav_z + req.goal;
+    1431             : 
+    1432           8 :     state_heading_ = uav_heading;
+    1433           8 :     goal_heading_  = uav_heading;
+    1434             : 
+    1435           8 :     speed_x_                = 0;
+    1436           8 :     speed_y_                = 0;
+    1437           8 :     current_vertical_speed_ = 0;
+    1438             : 
+    1439           8 :     have_goal_ = true;
+    1440             :   }
+    1441             : 
+    1442           8 :   ROS_INFO("[LandoffTracker]: taking off");
+    1443             : 
+    1444           8 :   taking_off_ = true;
+    1445           8 :   landing_    = false;
+    1446           8 :   elanding_   = false;
+    1447             : 
+    1448           8 :   res.success = true;
+    1449           8 :   res.message = "taking off";
+    1450             : 
+    1451           8 :   changeState(STOP_MOTION_STATE);
+    1452             : 
+    1453           8 :   return true;
+    1454             : }
+    1455             : 
+    1456             : //}
+    1457             : 
+    1458             : /* //{ callbackLand() */
+    1459             : 
+    1460           2 : bool LandoffTracker::callbackLand([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    1461             : 
+    1462           4 :   std::scoped_lock lock(mutex_main_timer_);
+    1463             : 
+    1464           4 :   std::stringstream ss;
+    1465             : 
+    1466             :   // copy member variables
+    1467           4 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    1468             : 
+    1469           2 :   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           2 :     std::scoped_lock lock(mutex_goal_);
+    1479             : 
+    1480           2 :     goal_z_ = uav_state.pose.position.z + _landing_reference_;
+    1481             :   }
+    1482             : 
+    1483           2 :   ROS_INFO("[LandoffTracker]: landing");
+    1484             : 
+    1485           2 :   landing_    = true;
+    1486           2 :   elanding_   = false;
+    1487           2 :   taking_off_ = false;
+    1488           2 :   have_goal_  = true;
+    1489             : 
+    1490           2 :   res.success = true;
+    1491           2 :   res.message = "landing";
+    1492             : 
+    1493           2 :   changeState(STOP_MOTION_STATE);
+    1494             : 
+    1495           2 :   return true;
+    1496             : }
+    1497             : 
+    1498             : //}
+    1499             : 
+    1500             : /* //{ callbackELand() */
+    1501             : 
+    1502           3 : bool LandoffTracker::callbackELand([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    1503             : 
+    1504           6 :   std::scoped_lock lock(mutex_main_timer_);
+    1505             : 
+    1506           6 :   std::stringstream ss;
+    1507             : 
+    1508             :   // copy member variables
+    1509           6 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    1510             : 
+    1511           3 :   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           3 :     std::scoped_lock lock(mutex_goal_);
+    1526             : 
+    1527           3 :     goal_z_ = uav_state.pose.position.z + _landing_reference_;
+    1528             :   }
+    1529             : 
+    1530           3 :   ROS_WARN("[LandoffTracker]: emergency landing");
+    1531             : 
+    1532           3 :   landing_    = true;
+    1533           3 :   elanding_   = true;
+    1534           3 :   taking_off_ = false;
+    1535           3 :   have_goal_  = true;
+    1536             : 
+    1537           3 :   res.success = true;
+    1538           3 :   res.message = "elanding";
+    1539             : 
+    1540           3 :   changeState(STOP_MOTION_STATE);
+    1541             : 
+    1542           3 :   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          48 : PLUGINLIB_EXPORT_CLASS(mrs_uav_trackers::landoff_tracker::LandoffTracker, mrs_uav_managers::Tracker)
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
line_tracker.cpp +
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Current view:top level - mrs_uav_trackers/src/line_trackerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:32347468.1 %
Date:2023-12-14 21:42:20Functions:193063.3 %
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Test:MRS UAV System - Test coverage reportLines:32347468.1 %
Date:2023-12-14 21:42:20Functions:193063.3 %
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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_trackers/src/line_tracker/line_tracker.cpp.func-sort-c.html b/mrs_uav_trackers/src/line_tracker/line_tracker.cpp.func-sort-c.html new file mode 100644 index 0000000000..465b9a236d --- /dev/null +++ b/mrs_uav_trackers/src/line_tracker/line_tracker.cpp.func-sort-c.html @@ -0,0 +1,200 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trackers/src/line_tracker/line_tracker.cpp - functions + + + + + + + + + + + + + + +
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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:32347468.1 %
Date:2023-12-14 21:42:20Functions: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)6
mrs_uav_trackers::line_tracker::LineTracker::changeStateVertical(mrs_uav_trackers::line_tracker::States_t)8
mrs_uav_trackers::line_tracker::LineTracker::changeStateHorizontal(mrs_uav_trackers::line_tracker::States_t)8
mrs_uav_trackers::line_tracker::LineTracker::stopVerticalMotion()30
mrs_uav_trackers::line_tracker::LineTracker::stopHorizontalMotion()30
mrs_uav_trackers::line_tracker::LineTracker::stopHorizontal()52
mrs_uav_trackers::line_tracker::LineTracker::decelerateVertical()100
mrs_uav_trackers::line_tracker::LineTracker::decelerateHorizontal()100
mrs_uav_trackers::line_tracker::LineTracker::getStatus()208
mrs_uav_trackers::line_tracker::LineTracker::accelerateVertical()354
mrs_uav_trackers::line_tracker::LineTracker::stopVertical()1496
mrs_uav_trackers::line_tracker::LineTracker::accelerateHorizontal()1798
mrs_uav_trackers::line_tracker::LineTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)2204
mrs_uav_trackers::line_tracker::LineTracker::mainTimer(ros::TimerEvent const&)2607
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_trackers/src/line_tracker/line_tracker.cpp.func.html b/mrs_uav_trackers/src/line_tracker/line_tracker.cpp.func.html new file mode 100644 index 0000000000..9926a1e2e9 --- /dev/null +++ b/mrs_uav_trackers/src/line_tracker/line_tracker.cpp.func.html @@ -0,0 +1,200 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trackers/src/line_tracker/line_tracker.cpp - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_trackers/src/line_tracker - line_tracker.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:32347468.1 %
Date:2023-12-14 21:42:20Functions:193063.3 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()1
mrs_uav_trackers::line_tracker::LineTracker::deactivate()0
mrs_uav_trackers::line_tracker::LineTracker::initialize(ros::NodeHandle const&, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t>, std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t>)1
mrs_uav_trackers::line_tracker::LineTracker::changeState(mrs_uav_trackers::line_tracker::States_t)6
mrs_uav_trackers::line_tracker::LineTracker::resetStatic()0
mrs_uav_trackers::line_tracker::LineTracker::setReference(boost::shared_ptr<mrs_msgs::ReferenceSrvRequest_<std::allocator<void> > const> const&)1
mrs_uav_trackers::line_tracker::LineTracker::stopVertical()1496
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()52
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()354
mrs_uav_trackers::line_tracker::LineTracker::decelerateVertical()100
mrs_uav_trackers::line_tracker::LineTracker::stopVerticalMotion()30
mrs_uav_trackers::line_tracker::LineTracker::changeStateVertical(mrs_uav_trackers::line_tracker::States_t)8
mrs_uav_trackers::line_tracker::LineTracker::gotoTrajectoryStart(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::line_tracker::LineTracker::accelerateHorizontal()1798
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()30
mrs_uav_trackers::line_tracker::LineTracker::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_trackers::line_tracker::LineTracker::changeStateHorizontal(mrs_uav_trackers::line_tracker::States_t)8
mrs_uav_trackers::line_tracker::LineTracker::setTrajectoryReference(boost::shared_ptr<mrs_msgs::TrajectoryReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::line_tracker::LineTracker::stopTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::line_tracker::LineTracker::startTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::line_tracker::LineTracker::resumeTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::line_tracker::LineTracker::hover(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::line_tracker::LineTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)2204
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()208
mrs_uav_trackers::line_tracker::LineTracker::mainTimer(ros::TimerEvent const&)2607
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LCOV - code coverage report
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Current view:top level - mrs_uav_trackers/src/line_tracker - line_tracker.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:32347468.1 %
Date:2023-12-14 21:42:20Functions:193063.3 %
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/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        2204 : 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        6612 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("update");
+     519        6612 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("LineTracker::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     520             : 
+     521             :   {
+     522        2204 :     std::scoped_lock lock(mutex_uav_state_);
+     523             : 
+     524        2204 :     uav_state_ = uav_state;
+     525        2204 :     uav_x_     = uav_state_.pose.position.x;
+     526        2204 :     uav_y_     = uav_state_.pose.position.y;
+     527        2204 :     uav_z_     = uav_state_.pose.position.z;
+     528             : 
+     529        2204 :     got_uav_state_ = true;
+     530             :   }
+     531             : 
+     532             :   // up to this part the update() method is evaluated even when the tracker is not active
+     533        2204 :   if (!is_active_) {
+     534         131 :     return {};
+     535             :   }
+     536             : 
+     537        4146 :   mrs_msgs::TrackerCommand tracker_cmd;
+     538             : 
+     539        2073 :   tracker_cmd.header.stamp    = ros::Time::now();
+     540        2073 :   tracker_cmd.header.frame_id = uav_state.header.frame_id;
+     541             : 
+     542             :   {
+     543        2073 :     std::scoped_lock lock(mutex_state_);
+     544             : 
+     545        2073 :     tracker_cmd.position.x = state_x_;
+     546        2073 :     tracker_cmd.position.y = state_y_;
+     547        2073 :     tracker_cmd.position.z = state_z_;
+     548        2073 :     tracker_cmd.heading    = radians::wrap(state_heading_);
+     549             : 
+     550        2073 :     tracker_cmd.velocity.x   = cos(current_heading_) * current_horizontal_speed_;
+     551        2073 :     tracker_cmd.velocity.y   = sin(current_heading_) * current_horizontal_speed_;
+     552        2073 :     tracker_cmd.velocity.z   = current_vertical_direction_ * current_vertical_speed_;
+     553        2073 :     tracker_cmd.heading_rate = speed_heading_;
+     554             : 
+     555        2073 :     tracker_cmd.acceleration.x = 0;
+     556        2073 :     tracker_cmd.acceleration.y = 0;
+     557        2073 :     tracker_cmd.acceleration.z = current_vertical_direction_ * current_vertical_acceleration_;
+     558             : 
+     559        2073 :     tracker_cmd.use_position_vertical   = 1;
+     560        2073 :     tracker_cmd.use_position_horizontal = 1;
+     561        2073 :     tracker_cmd.use_heading             = 1;
+     562        2073 :     tracker_cmd.use_heading_rate        = 1;
+     563        2073 :     tracker_cmd.use_velocity_vertical   = 1;
+     564        2073 :     tracker_cmd.use_velocity_horizontal = 1;
+     565        2073 :     tracker_cmd.use_acceleration        = 1;
+     566             :   }
+     567             : 
+     568        2073 :   return {tracker_cmd};
+     569             : }
+     570             : 
+     571             : //}
+     572             : 
+     573             : /* //{ getStatus() */
+     574             : 
+     575         208 : const mrs_msgs::TrackerStatus LineTracker::getStatus() {
+     576             : 
+     577         208 :   mrs_msgs::TrackerStatus tracker_status;
+     578             : 
+     579         208 :   tracker_status.active            = is_active_;
+     580         208 :   tracker_status.callbacks_enabled = callbacks_enabled_;
+     581             : 
+     582         208 :   bool idling = current_state_vertical_ == IDLE_STATE && current_state_horizontal_ == IDLE_STATE;
+     583             : 
+     584         208 :   tracker_status.have_goal = !idling;
+     585             : 
+     586         208 :   tracker_status.tracking_trajectory = false;
+     587             : 
+     588         208 :   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           8 : void LineTracker::changeStateHorizontal(States_t new_state) {
+     863             : 
+     864           8 :   previous_state_horizontal_ = current_state_horizontal_;
+     865           8 :   current_state_horizontal_  = new_state;
+     866             : 
+     867             :   // just for ROS_INFO
+     868           8 :   ROS_DEBUG("[LineTracker]: Switching horizontal state %s -> %s", state_names[previous_state_horizontal_], state_names[current_state_horizontal_]);
+     869           8 : }
+     870             : 
+     871             : //}
+     872             : 
+     873             : /* //{ changeStateVertical() */
+     874             : 
+     875           8 : void LineTracker::changeStateVertical(States_t new_state) {
+     876             : 
+     877           8 :   previous_state_vertical_ = current_state_vertical_;
+     878           8 :   current_state_vertical_  = new_state;
+     879             : 
+     880             :   // just for ROS_INFO
+     881           8 :   ROS_DEBUG("[LineTracker]: Switching vertical state %s -> %s", state_names[previous_state_vertical_], state_names[current_state_vertical_]);
+     882           8 : }
+     883             : 
+     884             : //}
+     885             : 
+     886             : /* //{ changeState() */
+     887             : 
+     888           6 : void LineTracker::changeState(States_t new_state) {
+     889             : 
+     890           6 :   changeStateVertical(new_state);
+     891           6 :   changeStateHorizontal(new_state);
+     892           6 : }
+     893             : 
+     894             : //}
+     895             : 
+     896             : // | --------------------- motion routines -------------------- |
+     897             : 
+     898             : /* //{ stopHorizontalMotion() */
+     899             : 
+     900          30 : void LineTracker::stopHorizontalMotion(void) {
+     901             : 
+     902             :   {
+     903          60 :     std::scoped_lock lock(mutex_state_);
+     904             : 
+     905          30 :     current_horizontal_speed_ -= _horizontal_acceleration_ * _tracker_dt_;
+     906             : 
+     907          30 :     if (current_horizontal_speed_ < 0) {
+     908          30 :       current_horizontal_speed_        = 0;
+     909          30 :       current_horizontal_acceleration_ = 0;
+     910             :     } else {
+     911           0 :       current_horizontal_acceleration_ = -_horizontal_acceleration_;
+     912             :     }
+     913             :   }
+     914          30 : }
+     915             : 
+     916             : //}
+     917             : 
+     918             : /* //{ stopVerticalMotion() */
+     919             : 
+     920          30 : void LineTracker::stopVerticalMotion(void) {
+     921             : 
+     922             :   {
+     923          60 :     std::scoped_lock lock(mutex_state_);
+     924             : 
+     925          30 :     current_vertical_speed_ -= _vertical_acceleration_ * _tracker_dt_;
+     926             : 
+     927          30 :     if (current_vertical_speed_ < 0) {
+     928           2 :       current_vertical_speed_        = 0;
+     929           2 :       current_vertical_acceleration_ = 0;
+     930             :     } else {
+     931          28 :       current_vertical_acceleration_ = -_vertical_acceleration_;
+     932             :     }
+     933             :   }
+     934          30 : }
+     935             : 
+     936             : //}
+     937             : 
+     938             : /* //{ accelerateHorizontal() */
+     939             : 
+     940        1798 : void LineTracker::accelerateHorizontal(void) {
+     941             : 
+     942             :   // copy member variables
+     943        1798 :   auto [goal_x, goal_y]                             = mrs_lib::get_mutexed(mutex_goal_, goal_x_, goal_y_);
+     944        1798 :   auto [state_x, state_y, current_horizontal_speed] = mrs_lib::get_mutexed(mutex_state_, state_x_, state_y_, current_horizontal_speed_);
+     945             : 
+     946             :   {
+     947        1798 :     std::scoped_lock lock(mutex_state_);
+     948             : 
+     949        1798 :     current_heading_ = atan2(goal_y - state_y, goal_x - state_x);
+     950             :   }
+     951             : 
+     952        1798 :   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        1798 :   horizontal_t_stop    = current_horizontal_speed / _horizontal_acceleration_;
+     957        1798 :   horizontal_stop_dist = (horizontal_t_stop * current_horizontal_speed) / 2.0;
+     958        1798 :   stop_dist_x          = cos(current_heading) * horizontal_stop_dist;
+     959        1798 :   stop_dist_y          = sin(current_heading) * horizontal_stop_dist;
+     960             : 
+     961             :   {
+     962        3596 :     std::scoped_lock lock(mutex_state_);
+     963             : 
+     964        1798 :     current_horizontal_speed_ += _horizontal_acceleration_ * _tracker_dt_;
+     965             : 
+     966        1798 :     if (current_horizontal_speed_ >= _horizontal_speed_) {
+     967        1699 :       current_horizontal_speed_        = _horizontal_speed_;
+     968        1699 :       current_horizontal_acceleration_ = 0;
+     969             :     } else {
+     970          99 :       current_horizontal_acceleration_ = _horizontal_acceleration_;
+     971             :     }
+     972             :   }
+     973             : 
+     974        1798 :   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        1798 : }
+     985             : 
+     986             : //}
+     987             : 
+     988             : /* //{ accelerateVertical() */
+     989             : 
+     990         354 : void LineTracker::accelerateVertical(void) {
+     991             : 
+     992         354 :   auto goal_z                            = mrs_lib::get_mutexed(mutex_goal_, goal_z_);
+     993         354 :   auto [state_z, current_vertical_speed] = mrs_lib::get_mutexed(mutex_state_, state_z_, current_vertical_speed_);
+     994             : 
+     995             :   // set the right heading
+     996         354 :   double tar_z = goal_z - state_z;
+     997             : 
+     998             :   // set the right vertical direction
+     999             :   {
+    1000         354 :     std::scoped_lock lock(mutex_state_);
+    1001             : 
+    1002         354 :     current_vertical_direction_ = mrs_lib::signum(tar_z);
+    1003             :   }
+    1004             : 
+    1005         354 :   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         354 :   double vertical_t_stop    = current_vertical_speed / _vertical_acceleration_;
+    1009         354 :   double vertical_stop_dist = (vertical_t_stop * current_vertical_speed) / 2.0;
+    1010         354 :   double stop_dist_z        = current_vertical_direction * vertical_stop_dist;
+    1011             : 
+    1012             :   {
+    1013         708 :     std::scoped_lock lock(mutex_state_);
+    1014             : 
+    1015         354 :     current_vertical_speed_ += _vertical_acceleration_ * _tracker_dt_;
+    1016             : 
+    1017         354 :     if (current_vertical_speed_ >= _vertical_speed_) {
+    1018         255 :       current_vertical_speed_        = _vertical_speed_;
+    1019         255 :       current_vertical_acceleration_ = 0;
+    1020             :     } else {
+    1021          99 :       current_vertical_acceleration_ = _vertical_acceleration_;
+    1022             :     }
+    1023             :   }
+    1024             : 
+    1025         354 :   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         354 : }
+    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          52 : void LineTracker::stopHorizontal(void) {
+    1100             : 
+    1101             :   {
+    1102          52 :     std::scoped_lock lock(mutex_state_);
+    1103             : 
+    1104          52 :     state_x_                         = 0.95 * state_x_ + 0.05 * goal_x_;
+    1105          52 :     state_y_                         = 0.95 * state_y_ + 0.05 * goal_y_;
+    1106          52 :     current_horizontal_acceleration_ = 0;
+    1107             :   }
+    1108          52 : }
+    1109             : 
+    1110             : //}
+    1111             : 
+    1112             : /* //{ stopVertical() */
+    1113             : 
+    1114        1496 : void LineTracker::stopVertical(void) {
+    1115             : 
+    1116             :   {
+    1117        1496 :     std::scoped_lock lock(mutex_state_);
+    1118             : 
+    1119        1496 :     state_z_                       = 0.95 * state_z_ + 0.05 * goal_z_;
+    1120        1496 :     current_vertical_acceleration_ = 0;
+    1121             :   }
+    1122        1496 : }
+    1123             : 
+    1124             : //}
+    1125             : 
+    1126             : // | ------------------------- timers ------------------------- |
+    1127             : 
+    1128             : /* //{ mainTimer() */
+    1129             : 
+    1130        2607 : void LineTracker::mainTimer(const ros::TimerEvent &event) {
+    1131             : 
+    1132        2607 :   if (!is_active_) {
+    1133         529 :     return;
+    1134             :   }
+    1135             : 
+    1136        6234 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("main", _tracker_loop_rate_, 0.01, event);
+    1137        6234 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("LineTracker::main", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    1138             : 
+    1139        2078 :   auto [goal_x, goal_y, goal_z]    = mrs_lib::get_mutexed(mutex_goal_, goal_x_, goal_y_, goal_z_);
+    1140        2078 :   auto [state_x, state_y, state_z] = mrs_lib::get_mutexed(mutex_state_, state_x_, state_y_, state_z_);
+    1141             : 
+    1142        2078 :   switch (current_state_horizontal_) {
+    1143             : 
+    1144          98 :     case IDLE_STATE:
+    1145             : 
+    1146          98 :       break;
+    1147             : 
+    1148          30 :     case STOP_MOTION_STATE:
+    1149             : 
+    1150          30 :       stopHorizontalMotion();
+    1151             : 
+    1152          30 :       break;
+    1153             : 
+    1154        1798 :     case ACCELERATING_STATE:
+    1155             : 
+    1156        1798 :       accelerateHorizontal();
+    1157             : 
+    1158        1798 :       break;
+    1159             : 
+    1160         100 :     case DECELERATING_STATE:
+    1161             : 
+    1162         100 :       decelerateHorizontal();
+    1163             : 
+    1164         100 :       break;
+    1165             : 
+    1166          52 :     case STOPPING_STATE:
+    1167             : 
+    1168          52 :       stopHorizontal();
+    1169             : 
+    1170          52 :       break;
+    1171             :   }
+    1172             : 
+    1173        2078 :   switch (current_state_vertical_) {
+    1174             : 
+    1175          98 :     case IDLE_STATE:
+    1176             : 
+    1177          98 :       break;
+    1178             : 
+    1179          30 :     case STOP_MOTION_STATE:
+    1180             : 
+    1181          30 :       stopVerticalMotion();
+    1182             : 
+    1183          30 :       break;
+    1184             : 
+    1185         354 :     case ACCELERATING_STATE:
+    1186             : 
+    1187         354 :       accelerateVertical();
+    1188             : 
+    1189         354 :       break;
+    1190             : 
+    1191         100 :     case DECELERATING_STATE:
+    1192             : 
+    1193         100 :       decelerateVertical();
+    1194             : 
+    1195         100 :       break;
+    1196             : 
+    1197        1496 :     case STOPPING_STATE:
+    1198             : 
+    1199        1496 :       stopVertical();
+    1200             : 
+    1201        1496 :       break;
+    1202             :   }
+    1203             : 
+    1204        2078 :   if (current_state_horizontal_ == STOP_MOTION_STATE && current_state_vertical_ == STOP_MOTION_STATE) {
+    1205          30 :     if (current_vertical_speed_ == 0 && current_horizontal_speed_ == 0) {
+    1206           2 :       if (have_goal_) {
+    1207           1 :         changeState(ACCELERATING_STATE);
+    1208             :       } else {
+    1209           1 :         changeState(STOPPING_STATE);
+    1210             :       }
+    1211             :     }
+    1212             :   }
+    1213             : 
+    1214        2078 :   if (current_state_horizontal_ == STOPPING_STATE && current_state_vertical_ == STOPPING_STATE) {
+    1215          54 :     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           2 :         std::scoped_lock lock(mutex_state_);
+    1219             : 
+    1220           2 :         state_x_ = goal_x;
+    1221           2 :         state_y_ = goal_y;
+    1222           2 :         state_z_ = goal_z;
+    1223             :       }
+    1224             : 
+    1225           2 :       changeState(IDLE_STATE);
+    1226             : 
+    1227           2 :       have_goal_ = false;
+    1228             :     }
+    1229             :   }
+    1230             : 
+    1231             :   {
+    1232        2078 :     std::scoped_lock lock(mutex_state_);
+    1233             : 
+    1234        2078 :     state_x_ += cos(current_heading_) * current_horizontal_speed_ * _tracker_dt_;
+    1235        2078 :     state_y_ += sin(current_heading_) * current_horizontal_speed_ * _tracker_dt_;
+    1236        2078 :     state_z_ += current_vertical_direction_ * current_vertical_speed_ * _tracker_dt_;
+    1237             :   }
+    1238             : 
+    1239             :   // --------------------------------------------------------------
+    1240             :   // |                        heading tracking                        |
+    1241             :   // --------------------------------------------------------------
+    1242             : 
+    1243             :   {
+    1244        4156 :     std::scoped_lock lock(mutex_state_);
+    1245             : 
+    1246             :     // compute the desired heading rate
+    1247             :     double current_heading_rate;
+    1248        2078 :     if (fabs(goal_heading_ - state_heading_) > M_PI)
+    1249           0 :       current_heading_rate = -_heading_gain_ * (goal_heading_ - state_heading_);
+    1250             :     else
+    1251        2078 :       current_heading_rate = _heading_gain_ * (goal_heading_ - state_heading_);
+    1252             : 
+    1253        2078 :     if (current_heading_rate > _heading_rate_) {
+    1254         120 :       current_heading_rate = _heading_rate_;
+    1255        1958 :     } 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        2078 :     state_heading_ += current_heading_rate * _tracker_dt_;
+    1261             : 
+    1262        2078 :     if (fabs(state_heading_ - goal_heading_) < (2 * (_heading_rate_ * _tracker_dt_))) {
+    1263        1569 :       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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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&)1
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)2
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::getStatus()17
(anonymous namespace)::ProxyExec0::ProxyExec0()48
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>)48
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)74
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::deactivate()84
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)147
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)43352
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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..195e66c743 --- /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:2023-12-14 21:42:20Functions: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()48
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::deactivate()84
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>)48
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&)147
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)2
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&)1
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&)43352
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)74
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::getStatus()17
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+
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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..632e3ed026 --- /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:2023-12-14 21:42:20Functions: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          48 : 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          48 :   this->common_handlers_  = common_handlers;
+      81          48 :   this->private_handlers_ = private_handlers;
+      82             : 
+      83          48 :   _uav_name_ = common_handlers->uav_name;
+      84             : 
+      85          48 :   nh_ = nh;
+      86             : 
+      87          48 :   ros::Time::waitForValid();
+      88             : 
+      89             :   // --------------------------------------------------------------
+      90             :   // |                     loading parameters                     |
+      91             :   // --------------------------------------------------------------
+      92             : 
+      93             :   // | ---------- loading params using the parent's nh ---------- |
+      94             : 
+      95          96 :   mrs_lib::ParamLoader param_loader_parent(common_handlers->parent_nh, "ControlManager");
+      96             : 
+      97          48 :   param_loader_parent.loadParam("enable_profiler", _profiler_enabled_);
+      98             : 
+      99          48 :   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          48 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/private/midair_activation_tracker.yaml");
+     107          48 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/public/midair_activation_tracker.yaml");
+     108             : 
+     109          96 :   const std::string yaml_prefix = "mrs_uav_trackers/midair_activation_tracker/";
+     110             : 
+     111          48 :   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          48 :   profiler_ = mrs_lib::Profiler(common_handlers->parent_nh, "MidairActivationTracker", _profiler_enabled_);
+     119             : 
+     120             :   // | --------------------- finish the init -------------------- |
+     121             : 
+     122          48 :   is_initialized_ = true;
+     123             : 
+     124          48 :   ROS_INFO("[MidairActivationTracker]: initialized");
+     125             : 
+     126          48 :   return true;
+     127             : }
+     128             : 
+     129             : //}
+     130             : 
+     131             : /* //{ activate() */
+     132             : 
+     133          74 : std::tuple<bool, std::string> MidairActivationTracker::activate([[maybe_unused]] const std::optional<mrs_msgs::TrackerCommand> &last_tracker_cmd) {
+     134             : 
+     135          74 :   std::stringstream ss;
+     136             : 
+     137          74 :   is_active_ = true;
+     138             : 
+     139          74 :   ss << "activated";
+     140          74 :   ROS_INFO_STREAM("[MidairActivationTracker]: " << ss.str());
+     141             : 
+     142         148 :   return std::tuple(true, ss.str());
+     143             : }
+     144             : 
+     145             : //}
+     146             : 
+     147             : /* //{ deactivate() */
+     148             : 
+     149          84 : void MidairActivationTracker::deactivate(void) {
+     150             : 
+     151          84 :   is_active_ = false;
+     152             : 
+     153          84 :   ROS_INFO("[MidairActivationTracker]: deactivated");
+     154          84 : }
+     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       43352 : 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       43352 :   if (!is_active_) {
+     174       43178 :     return {};
+     175             :   }
+     176             : 
+     177         522 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("update");
+     178             :   mrs_lib::ScopeTimer timer =
+     179         522 :       mrs_lib::ScopeTimer("MidairActivationTracker::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     180             : 
+     181         348 :   mrs_msgs::TrackerCommand tracker_cmd;
+     182             : 
+     183         174 :   tracker_cmd.header.frame_id = uav_state.header.frame_id;
+     184         174 :   tracker_cmd.header.stamp    = ros::Time::now();
+     185             : 
+     186         174 :   tracker_cmd.position.x = uav_state.pose.position.x;
+     187         174 :   tracker_cmd.position.y = uav_state.pose.position.y;
+     188         174 :   tracker_cmd.position.z = uav_state.pose.position.z;
+     189             : 
+     190         174 :   tracker_cmd.velocity.x = uav_state.velocity.linear.x;
+     191         174 :   tracker_cmd.velocity.y = uav_state.velocity.linear.y;
+     192         174 :   tracker_cmd.velocity.z = uav_state.velocity.linear.z;
+     193             : 
+     194             :   try {
+     195         174 :     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         174 :   tracker_cmd.use_position_vertical   = true;
+     203         174 :   tracker_cmd.use_position_horizontal = true;
+     204             : 
+     205         174 :   tracker_cmd.use_velocity_vertical   = true;
+     206         174 :   tracker_cmd.use_velocity_horizontal = true;
+     207             : 
+     208         174 :   tracker_cmd.use_heading = true;
+     209             : 
+     210         174 :   ROS_WARN_THROTTLE(0.1, "[MidairActivationTracker]: outputting cmd");
+     211             : 
+     212         174 :   return {tracker_cmd};
+     213             : }
+     214             : 
+     215             : //}
+     216             : 
+     217             : /* //{ getStatus() */
+     218             : 
+     219          17 : const mrs_msgs::TrackerStatus MidairActivationTracker::getStatus() {
+     220             : 
+     221          17 :   mrs_msgs::TrackerStatus tracker_status;
+     222             : 
+     223          17 :   tracker_status.active            = is_active_;
+     224          17 :   tracker_status.callbacks_enabled = callbacks_enabled_;
+     225             : 
+     226          17 :   return tracker_status;
+     227             : }
+     228             : 
+     229             : //}
+     230             : 
+     231             : /* //{ enableCallbacks() */
+     232             : 
+     233           2 : const std_srvs::SetBoolResponse::ConstPtr MidairActivationTracker::enableCallbacks([[maybe_unused]] const std_srvs::SetBoolRequest::ConstPtr &cmd) {
+     234             : 
+     235           4 :   std_srvs::SetBoolResponse res;
+     236             : 
+     237           2 :   res.message = "callbacks are always disabled";
+     238           2 :   res.success = true;
+     239             : 
+     240           4 :   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         147 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr MidairActivationTracker::setConstraints([
+     298             :     [maybe_unused]] const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &cmd) {
+     299             : 
+     300         294 :   mrs_msgs::DynamicsConstraintsSrvResponse res;
+     301             : 
+     302         147 :   res.success = true;
+     303         147 :   res.message = "constraints updated";
+     304             : 
+     305         294 :   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           1 : const mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr MidairActivationTracker::setTrajectoryReference([
+     331             :     [maybe_unused]] const mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr &cmd) {
+     332           1 :   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          48 : PLUGINLIB_EXPORT_CLASS(mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker, mrs_uav_managers::Tracker)
+
+
+
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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_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::gotoTrajectoryStart(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::mpc_tracker::MpcTracker::setVelocityReference(boost::shared_ptr<mrs_msgs::VelocityReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::mpc_tracker::MpcTracker::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_trackers::mpc_tracker::MpcTracker::timerVelocityTracking(ros::TimerEvent const&)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::gotoTrajectoryStartImpl[abi:cxx11]()0
mrs_uav_trackers::mpc_tracker::MpcTracker::startTrajectoryTracking(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::startTrajectoryTrackingImpl[abi:cxx11]()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::loadTrajectory[abi:cxx11](mrs_msgs::TrajectoryReference_<std::allocator<void> >)1
mrs_uav_trackers::mpc_tracker::MpcTracker::setTrajectoryReference(boost::shared_ptr<mrs_msgs::TrajectoryReferenceSrvRequest_<std::allocator<void> > const> const&)1
mrs_uav_trackers::mpc_tracker::MpcTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)2
mrs_uav_trackers::mpc_tracker::MpcTracker::deactivate()20
mrs_uav_trackers::mpc_tracker::MpcTracker::setReference(boost::shared_ptr<mrs_msgs::ReferenceSrvRequest_<std::allocator<void> > const> const&)29
mrs_uav_trackers::mpc_tracker::MpcTracker::setGoal(double, double, double, double, bool)29
mrs_uav_trackers::mpc_tracker::MpcTracker::timerTrajectoryTracking(ros::TimerEvent const&)40
mrs_uav_trackers::mpc_tracker::MpcTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)44
(anonymous namespace)::ProxyExec0::ProxyExec0()48
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>)48
mrs_uav_trackers::mpc_tracker::MpcTracker::dynamicReconfigureCallback(mrs_uav_trackers::mpc_trackerConfig&, unsigned int)48
mrs_uav_trackers::mpc_tracker::MpcTracker::toggleHover(bool)121
mrs_uav_trackers::mpc_tracker::MpcTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)147
mrs_uav_trackers::mpc_tracker::MpcTracker::timerHover(ros::TimerEvent const&)636
mrs_uav_trackers::mpc_tracker::MpcTracker::setRelativeGoal(double, double, double, double, bool)680
mrs_uav_trackers::mpc_tracker::MpcTracker::setSinglePointReference(double, double, double, double)709
mrs_uav_trackers::mpc_tracker::MpcTracker::timerAvoidanceTrajectory(ros::TimerEvent const&)1595
mrs_uav_trackers::mpc_tracker::MpcTracker::getStatus()3006
mrs_uav_trackers::mpc_tracker::MpcTracker::timerDiagnostics(ros::TimerEvent const&)8046
mrs_uav_trackers::mpc_tracker::MpcTracker::publishDiagnostics()8816
mrs_uav_trackers::mpc_tracker::MpcTracker::iterateModel(double const&)23579
mrs_uav_trackers::mpc_tracker::MpcTracker::checkTrajectoryForCollisions(int&)27722
mrs_uav_trackers::mpc_tracker::MpcTracker::calculateMPC()29542
mrs_uav_trackers::mpc_tracker::MpcTracker::filterReferenceZ(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, double, double)29542
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)29542
mrs_uav_trackers::mpc_tracker::MpcTracker::manageConstraints()29542
mrs_uav_trackers::mpc_tracker::MpcTracker::timerMPC(ros::TimerEvent const&)29542
mrs_uav_trackers::mpc_tracker::MpcTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)43352
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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:1073167364.1 %
Date:2023-12-14 21:42:20Functions:284957.1 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()48
mrs_uav_trackers::mpc_tracker::MpcTracker::deactivate()20
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>)48
mrs_uav_trackers::mpc_tracker::MpcTracker::timerHover(ros::TimerEvent const&)636
mrs_uav_trackers::mpc_tracker::MpcTracker::resetStatic()0
mrs_uav_trackers::mpc_tracker::MpcTracker::toggleHover(bool)121
mrs_uav_trackers::mpc_tracker::MpcTracker::calculateMPC()29542
mrs_uav_trackers::mpc_tracker::MpcTracker::iterateModel(double const&)23579
mrs_uav_trackers::mpc_tracker::MpcTracker::setReference(boost::shared_ptr<mrs_msgs::ReferenceSrvRequest_<std::allocator<void> > const> const&)29
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> >)1
mrs_uav_trackers::mpc_tracker::MpcTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)147
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&)2
mrs_uav_trackers::mpc_tracker::MpcTracker::setRelativeGoal(double, double, double, double, bool)680
mrs_uav_trackers::mpc_tracker::MpcTracker::filterReferenceZ(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, double, double)29542
mrs_uav_trackers::mpc_tracker::MpcTracker::timerDiagnostics(ros::TimerEvent const&)8046
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)29542
mrs_uav_trackers::mpc_tracker::MpcTracker::manageConstraints()29542
mrs_uav_trackers::mpc_tracker::MpcTracker::publishDiagnostics()8816
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&)0
mrs_uav_trackers::mpc_tracker::MpcTracker::setVelocityReference(boost::shared_ptr<mrs_msgs::VelocityReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::mpc_tracker::MpcTracker::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_trackers::mpc_tracker::MpcTracker::timerVelocityTracking(ros::TimerEvent const&)0
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&)1
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::gotoTrajectoryStartImpl[abi:cxx11]()0
mrs_uav_trackers::mpc_tracker::MpcTracker::setSinglePointReference(double, double, double, double)709
mrs_uav_trackers::mpc_tracker::MpcTracker::startTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::mpc_tracker::MpcTracker::timerTrajectoryTracking(ros::TimerEvent const&)40
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&)1595
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)48
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]()0
mrs_uav_trackers::mpc_tracker::MpcTracker::checkTrajectoryForCollisions(int&)27722
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::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)43352
mrs_uav_trackers::mpc_tracker::MpcTracker::setGoal(double, double, double, double, bool)29
mrs_uav_trackers::mpc_tracker::MpcTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)44
mrs_uav_trackers::mpc_tracker::MpcTracker::timerMPC(ros::TimerEvent const&)29542
mrs_uav_trackers::mpc_tracker::MpcTracker::getStatus()3006
+
+
+ + + +
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..e034417a28 --- /dev/null +++ b/mrs_uav_trackers/src/mpc_tracker/mpc_tracker.cpp.gcov.html @@ -0,0 +1,3966 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trackers/src/mpc_tracker/mpc_tracker.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_trackers/src/mpc_tracker - mpc_tracker.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1073167364.1 %
Date:2023-12-14 21:42:20Functions:284957.1 %
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             :   // trajectory tracking
+     180             :   std::atomic<bool> trajectory_tracking_in_progress_ = false;
+     181             :   int               trajectory_tracking_sub_idx_     = 0;  // increases with every iteration of the simulated model
+     182             :   int               trajectory_tracking_idx_         = 0;  // while tracking, this is the current index in the des_*_whole trajectory
+     183             :   std::mutex        mutex_trajectory_tracking_states_;
+     184             : 
+     185             :   // params of the loaded trajectory
+     186             :   int    trajectory_size_          = 0;
+     187             :   double trajectory_dt_            = 0.2;
+     188             :   bool   trajectory_track_heading_ = false;
+     189             :   bool   trajectory_tracking_loop_ = false;
+     190             :   bool   trajectory_set_           = false;
+     191             :   int    trajectory_count_         = 0;  // counts how many trajectories we have received
+     192             : 
+     193             :   // mpc output
+     194             :   VectorXd   mpc_u_;
+     195             :   double     mpc_u_heading_;
+     196             :   std::mutex mutex_mpc_u_;
+     197             : 
+     198             :   // current state of the dynamical system
+     199             :   MatrixXd   mpc_x_;          // translation state
+     200             :   MatrixXd   mpc_x_heading_;  // heading state
+     201             :   std::mutex mutex_mpc_x_;
+     202             : 
+     203             :   // odometry reset
+     204             :   std::atomic<bool> odometry_reset_in_progress_ = false;
+     205             :   std::atomic<bool> mpc_result_invalid_         = false;
+     206             : 
+     207             :   // predicting the future
+     208             :   MatrixXd   predicted_trajectory_;
+     209             :   MatrixXd   predicted_heading_trajectory_;
+     210             :   std::mutex mutex_predicted_trajectory_;
+     211             : 
+     212             :   mrs_msgs::MpcPredictionFullState prediction_full_state_;
+     213             :   std::mutex                       mutex_prediction_full_state_;
+     214             : 
+     215             :   mrs_lib::PublisherHandler<geometry_msgs::PoseArray>   ph_predicted_trajectory_debugging_;
+     216             :   mrs_lib::PublisherHandler<geometry_msgs::PoseArray>   ph_mpc_reference_debugging_;
+     217             :   mrs_lib::PublisherHandler<geometry_msgs::PoseStamped> ph_current_trajectory_point_;
+     218             : 
+     219             :   std::atomic<bool> mpc_computed_ = false;
+     220             : 
+     221             :   bool brake_ = false;
+     222             : 
+     223             :   // | ----------------------- MPC solver ----------------------- |
+     224             : 
+     225             :   std::shared_ptr<mrs_mpc_solvers::mpc_tracker::Solver> mpc_solver_y_;
+     226             :   std::shared_ptr<mrs_mpc_solvers::mpc_tracker::Solver> mpc_solver_x_;
+     227             :   std::shared_ptr<mrs_mpc_solvers::mpc_tracker::Solver> mpc_solver_z_;
+     228             :   std::shared_ptr<mrs_mpc_solvers::mpc_tracker::Solver> mpc_solver_heading_;
+     229             : 
+     230             :   std::mutex mutex_mpc_calculation_;
+     231             : 
+     232             :   int _max_iters_xy_;
+     233             :   int _max_iters_z_;
+     234             :   int _max_iters_heading_;
+     235             : 
+     236             :   // | ----------- measuring the "MPC realtime factor" ---------- |
+     237             : 
+     238             :   double mpc_rtf_ = 0.0;
+     239             : 
+     240             :   // | ------------------- collision avoidance ------------------ |
+     241             : 
+     242             :   // configurable params
+     243             :   bool collision_avoidance_enabled_           = false;
+     244             :   bool collision_avoidance_enabled_passively_ = true;
+     245             : 
+     246             :   // TODO what is this?
+     247             :   double    coef_scaler = 0;
+     248             :   ros::Time coef_time;
+     249             : 
+     250             :   double minimum_collison_free_altitude_ = std::numeric_limits<double>::lowest();
+     251             : 
+     252             :   // params
+     253             :   double                   _avoidance_trajectory_rate_;
+     254             :   double                   _avoidance_radius_threshold_;
+     255             :   double                   _avoidance_z_correction_;
+     256             :   std::string              _avoidance_diagnostics_topic_name_;
+     257             :   std::vector<std::string> _avoidance_other_uav_names_;
+     258             :   double                   _avoidance_z_threshold_;
+     259             : 
+     260             :   // how old can the other UAV trajectory be (since receive time)
+     261             :   double _collision_trajectory_timeout_;
+     262             : 
+     263             :   // when collision detected, slow down during the manouver
+     264             :   double _avoidance_collision_horizontal_speed_coef_;
+     265             : 
+     266             :   // when collision detected, slow down fully this number of steps before it
+     267             :   int _avoidance_collision_slow_down_fully_;
+     268             : 
+     269             :   // when collision detected, start slowing down this number of steps before it
+     270             :   int _avoidance_collision_slow_down_;
+     271             : 
+     272             :   // when avoiding, start climbing this number of steps before it
+     273             :   int _avoidance_collision_start_climbing_;
+     274             : 
+     275             :   int avoidance_this_uav_number_;
+     276             :   int avoidance_this_uav_priority_;
+     277             : 
+     278             :   double            collision_free_altitude_;
+     279             :   std::atomic<bool> avoiding_collision_               = false;
+     280             :   bool              collision_avoidance_affecting_me_ = false;
+     281             : 
+     282             :   // avoidance trajectory will not be published unless we computed it at least once
+     283             :   std::atomic<bool> future_was_predicted_ = false;
+     284             : 
+     285             :   // subscribing to the other UAV future trajectories
+     286             :   void callbackOtherMavTrajectory(const mrs_msgs::FutureTrajectory::ConstPtr msg);
+     287             : 
+     288             :   std::vector<mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory>> other_uav_trajectory_subscribers_;
+     289             :   std::map<std::string, mrs_msgs::FutureTrajectory>                  other_uav_avoidance_trajectories_;
+     290             :   std::mutex                                                         mutex_other_uav_avoidance_trajectories_;
+     291             : 
+     292             :   // subscribing to the other UAV diagnostics'
+     293             :   void callbackOtherMavDiagnostics(const mrs_msgs::MpcTrackerDiagnostics::ConstPtr msg);
+     294             : 
+     295             :   std::vector<mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics>> other_uav_diag_subscribers_;
+     296             :   std::map<std::string, mrs_msgs::MpcTrackerDiagnostics>                  other_uav_diagnostics_;
+     297             :   std::mutex                                                              mutex_other_uav_diagnostics_;
+     298             : 
+     299             :   bool checkCollision(const double ax, const double ay, const double az, const double bx, const double by, const double bz);
+     300             :   bool checkCollisionInflated(const double ax, const double ay, const double az, const double bx, const double by, const double bz);
+     301             : 
+     302             :   mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory> ph_avoidance_trajectory_;
+     303             : 
+     304             :   ros::ServiceServer service_server_toggle_avoidance_;
+     305             :   bool               callbackToggleCollisionAvoidance(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res);
+     306             : 
+     307             :   mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics> sh_estimation_diag_;
+     308             : 
+     309             :   // | --------------------- MPC calculation -------------------- |
+     310             : 
+     311             :   ros::Timer        timer_mpc_iteration_;
+     312             :   std::atomic<bool> mpc_synchronous_ = false;
+     313             : 
+     314             :   std::atomic<bool> mpc_timer_running_ = false;
+     315             :   void              timerMPC(const ros::TimerEvent& event);
+     316             : 
+     317             :   // | ------------------- trajectory tracking ------------------ |
+     318             : 
+     319             :   ros::Timer timer_trajectory_tracking_;
+     320             :   void       timerTrajectoryTracking(const ros::TimerEvent& event);
+     321             : 
+     322             :   // | -------------------- velocity tracking ------------------- |
+     323             : 
+     324             :   ros::Timer                  timer_velocity_tracking_;
+     325             :   void                        timerVelocityTracking(const ros::TimerEvent& event);
+     326             :   ros::Time                   velocity_reference_time_;
+     327             :   mrs_msgs::VelocityReference velocity_reference_;
+     328             :   std::mutex                  mutex_velocity_reference_;
+     329             :   std::atomic<bool>           velocity_tracking_active_ = false;
+     330             : 
+     331             :   // | ------------------ avoidance trajectory ------------------ |
+     332             : 
+     333             :   ros::Timer timer_avoidance_trajectory_;
+     334             :   void       timerAvoidanceTrajectory(const ros::TimerEvent& event);
+     335             : 
+     336             :   // | ----------------------- diagnostics ---------------------- |
+     337             : 
+     338             :   ros::Timer timer_diagnostics_;
+     339             :   double     _diagnostics_rate_;
+     340             :   void       timerDiagnostics(const ros::TimerEvent& event);
+     341             : 
+     342             :   // | ------------------------ hovering ------------------------ |
+     343             : 
+     344             :   ros::Timer        timer_hover_;
+     345             :   void              timerHover(const ros::TimerEvent& event);
+     346             :   std::atomic<bool> hovering_in_progress_ = false;
+     347             :   void              toggleHover(bool in);
+     348             : 
+     349             :   // | ------------------- trajectory tracking ------------------ |
+     350             : 
+     351             :   std::tuple<bool, std::string> resumeTrajectoryTrackingImpl(void);
+     352             :   std::tuple<bool, std::string> startTrajectoryTrackingImpl(void);
+     353             :   std::tuple<bool, std::string> stopTrajectoryTrackingImpl(void);
+     354             :   std::tuple<bool, std::string> gotoTrajectoryStartImpl(void);
+     355             : 
+     356             :   // | --------------------- other routines --------------------- |
+     357             : 
+     358             :   void publishDiagnostics();
+     359             : 
+     360             :   void debugPrintState(const double throttle);
+     361             :   void debugPrintMPCResult(const double throttle);
+     362             : 
+     363             :   void setGoal(const double pos_x, const double pos_y, const double pos_z, const double heading, const bool use_heading);
+     364             :   void setRelativeGoal(const double pos_x, const double pos_y, const double pos_z, const double heading, const bool use_heading);
+     365             :   void setSinglePointReference(const double x, const double y, const double z, const double heading);
+     366             : 
+     367             :   std::tuple<bool, std::string, bool> loadTrajectory(const mrs_msgs::TrajectoryReference msg);
+     368             : 
+     369             :   MatrixXd                       filterReferenceZ(const VectorXd& des_z_trajectory, const double max_ascending_speed, const double max_descending_speed);
+     370             :   std::tuple<MatrixXd, MatrixXd> filterReferenceXY(const VectorXd& des_x_trajectory, const VectorXd& des_y_trajectory, double max_speed_x, double max_speed_y);
+     371             : 
+     372             :   double checkTrajectoryForCollisions(int& first_collision_index);
+     373             : 
+     374             :   void manageConstraints(void);
+     375             :   void calculateMPC(void);
+     376             :   void iterateModel(const double& dt);
+     377             : 
+     378             :   // | ------------------------ profiler ------------------------ |
+     379             : 
+     380             :   mrs_lib::Profiler profiler;
+     381             :   bool              _profiler_enabled_ = false;
+     382             : 
+     383             :   // | ------------------------- wiggle ------------------------- |
+     384             : 
+     385             :   ros::ServiceServer service_server_wiggle_;
+     386             :   bool               callbackWiggle(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res);
+     387             : 
+     388             :   double wiggle_phase_ = 0;
+     389             : 
+     390             :   // | --------------- dynamic reconfigure server --------------- |
+     391             : 
+     392             :   void dynamicReconfigureCallback(mrs_uav_trackers::mpc_trackerConfig& config, uint32_t level);
+     393             : 
+     394             :   boost::recursive_mutex                      config_mutex_;
+     395             :   typedef mrs_uav_trackers::mpc_trackerConfig Config;
+     396             :   typedef dynamic_reconfigure::Server<Config> ReconfigureServer;
+     397             :   boost::shared_ptr<ReconfigureServer>        reconfigure_server_;
+     398             :   mrs_uav_trackers::mpc_trackerConfig         drs_params_;
+     399             :   std::mutex                                  mutex_drs_params_;
+     400             : };
+     401             : 
+     402             : //}
+     403             : 
+     404             : // | -------------- tracker's interface routines -------------- |
+     405             : 
+     406             : /* //{ initialize() */
+     407             : 
+     408          48 : bool MpcTracker::initialize(const ros::NodeHandle& nh, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t> common_handlers,
+     409             :                             std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers) {
+     410             : 
+     411          48 :   nh_ = nh;
+     412             : 
+     413          48 :   common_handlers_  = common_handlers;
+     414          48 :   private_handlers_ = private_handlers;
+     415             : 
+     416          48 :   _uav_name_ = common_handlers->uav_name;
+     417             : 
+     418          48 :   ros::Time::waitForValid();
+     419             : 
+     420             :   // --------------------------------------------------------------
+     421             :   // |                     loading parameters                     |
+     422             :   // --------------------------------------------------------------
+     423             : 
+     424             :   // | ---------- loading params using the parent's nh ---------- |
+     425             : 
+     426          96 :   mrs_lib::ParamLoader param_loader_parent(common_handlers->parent_nh, "ControlManager");
+     427             : 
+     428          48 :   param_loader_parent.loadParam("enable_profiler", _profiler_enabled_);
+     429             : 
+     430          48 :   if (!param_loader_parent.loadedSuccessfully()) {
+     431           0 :     ROS_ERROR("[MpcTracker]: Could not load all parameters!");
+     432           0 :     return false;
+     433             :   }
+     434             : 
+     435             :   // | --------------- loading plugin's parameters -------------- |
+     436             : 
+     437          48 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/private/mpc_tracker.yaml");
+     438          48 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/public/mpc_tracker.yaml");
+     439             : 
+     440          96 :   const std::string yaml_prefix = "mrs_uav_trackers/mpc_tracker/";
+     441             : 
+     442          48 :   private_handlers->param_loader->loadParam("network/robot_names", _avoidance_other_uav_names_);
+     443             : 
+     444          48 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_loop/synchronous_rate_limit", _mpc_synchronous_rate_limit_);
+     445          48 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_loop/asynchronous_loop_rate", _mpc_asynchronous_rate_);
+     446             : 
+     447          48 :   if (_mpc_asynchronous_rate_ < 15) {
+     448           0 :     ROS_ERROR("[MpcTracker]: the asynchronous_loop_rate must be > 15 Hz");
+     449           0 :     return false;
+     450             :   }
+     451             : 
+     452          48 :   dt1_ = 1.0 / _mpc_asynchronous_rate_;
+     453             : 
+     454          48 :   private_handlers->param_loader->loadParam(yaml_prefix + "braking/enabled", drs_params_.braking_enabled);
+     455          48 :   private_handlers->param_loader->loadParam(yaml_prefix + "braking/q_vel_braking", drs_params_.q_vel_braking);
+     456          48 :   private_handlers->param_loader->loadParam(yaml_prefix + "braking/q_vel_no_braking", drs_params_.q_vel_no_braking);
+     457             : 
+     458          48 :   private_handlers->param_loader->loadParam(yaml_prefix + "model/translation/n_states", _mpc_n_states_);
+     459          48 :   private_handlers->param_loader->loadParam(yaml_prefix + "model/translation/n_inputs", _mpc_m_states_);
+     460          48 :   private_handlers->param_loader->loadMatrixStatic(yaml_prefix + "model/translation/A", _mat_A_, _mpc_n_states_, _mpc_n_states_);
+     461          48 :   private_handlers->param_loader->loadMatrixStatic(yaml_prefix + "model/translation/B", _mat_B_, _mpc_n_states_, _mpc_m_states_);
+     462             : 
+     463          48 :   A_ = _mat_A_;
+     464          48 :   B_ = _mat_B_;
+     465             : 
+     466          48 :   private_handlers->param_loader->loadParam(yaml_prefix + "model/heading/n_states", _mpc_n_states_heading_);
+     467          48 :   private_handlers->param_loader->loadParam(yaml_prefix + "model/heading/n_inputs", _mpc_n_inputs_heading_);
+     468          48 :   private_handlers->param_loader->loadMatrixStatic(yaml_prefix + "model/heading/A", _mat_A_heading_, _mpc_n_states_heading_, _mpc_n_states_heading_);
+     469          48 :   private_handlers->param_loader->loadMatrixStatic(yaml_prefix + "model/heading/B", _mat_B_heading_, _mpc_n_states_heading_, _mpc_n_inputs_heading_);
+     470             : 
+     471          48 :   A_heading_ = _mat_A_heading_;
+     472          48 :   B_heading_ = _mat_B_heading_;
+     473             : 
+     474             :   // load the MPC parameters
+     475          48 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/horizon_len", _mpc_horizon_len_);
+     476             : 
+     477          48 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/dt2", _dt2_);
+     478             : 
+     479          48 :   private_handlers->param_loader->loadParam(yaml_prefix + "diagnostics/rate", _diagnostics_rate_);
+     480          48 :   private_handlers->param_loader->loadParam(yaml_prefix + "diagnostics/position_tracking_threshold", _diag_pos_tracking_thr_);
+     481          48 :   private_handlers->param_loader->loadParam(yaml_prefix + "diagnostics/orientation_tracking_threshold", _diag_heading_tracking_thr_);
+     482             : 
+     483          48 :   bool verbose_xy      = false;
+     484          48 :   bool verbose_z       = false;
+     485          48 :   bool verbose_heading = false;
+     486             : 
+     487          96 :   std::vector<double> xy_Q;
+     488          96 :   std::vector<double> z_Q;
+     489          96 :   std::vector<double> heading_Q;
+     490             : 
+     491          48 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/xy/verbose", verbose_xy);
+     492          48 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/xy/max_n_iterations", _max_iters_xy_);
+     493          48 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/xy/Q", xy_Q);
+     494             : 
+     495          48 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/z/verbose", verbose_z);
+     496          48 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/z/max_n_iterations", _max_iters_z_);
+     497          48 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/z/Q", z_Q);
+     498             : 
+     499          48 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/heading/verbose", verbose_heading);
+     500          48 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/heading/max_n_iterations", _max_iters_heading_);
+     501          48 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/heading/Q", heading_Q);
+     502             : 
+     503          48 :   private_handlers->param_loader->loadParam(yaml_prefix + "wiggle/enabled", drs_params_.wiggle_enabled);
+     504          48 :   private_handlers->param_loader->loadParam(yaml_prefix + "wiggle/amplitude", drs_params_.wiggle_amplitude);
+     505          48 :   private_handlers->param_loader->loadParam(yaml_prefix + "wiggle/frequency", drs_params_.wiggle_frequency);
+     506             : 
+     507          48 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/enabled", collision_avoidance_enabled_);
+     508          48 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/enabled_passively", collision_avoidance_enabled_passively_);
+     509          48 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/predicted_trajectory_publish_rate", _avoidance_trajectory_rate_);
+     510          48 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/correction", _avoidance_z_correction_);
+     511          48 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/radius", _avoidance_radius_threshold_);
+     512          48 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/altitude_threshold", _avoidance_z_threshold_);
+     513          48 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/collision_horizontal_speed_coef", _avoidance_collision_horizontal_speed_coef_);
+     514          48 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/collision_slow_down_fully", _avoidance_collision_slow_down_fully_);
+     515          48 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/collision_slow_down_start", _avoidance_collision_slow_down_);
+     516          48 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/collision_start_climbing", _avoidance_collision_start_climbing_);
+     517          48 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/trajectory_timeout", _collision_trajectory_timeout_);
+     518             : 
+     519          48 :   if (!private_handlers->param_loader->loadedSuccessfully()) {
+     520           0 :     ROS_ERROR("[MpcTracker]: could not load all parameters!");
+     521           0 :     return false;
+     522             :   }
+     523             : 
+     524          48 :   ROS_INFO_STREAM("[MpcTracker]: initializing solvers with dt1 = " << dt1_);
+     525             : 
+     526          48 :   mpc_solver_y_ = std::make_shared<mrs_mpc_solvers::mpc_tracker::Solver>("MpcTracker_y", verbose_xy, _max_iters_xy_, xy_Q, dt1_, _dt2_, 1);
+     527          48 :   mpc_solver_x_ = std::make_shared<mrs_mpc_solvers::mpc_tracker::Solver>("MpcTracker_x", verbose_xy, _max_iters_xy_, xy_Q, dt1_, _dt2_, 0);
+     528          48 :   mpc_solver_z_ = std::make_shared<mrs_mpc_solvers::mpc_tracker::Solver>("MpcTracker_z", verbose_z, _max_iters_z_, z_Q, dt1_, _dt2_, 2);
+     529             :   mpc_solver_heading_ =
+     530          48 :       std::make_shared<mrs_mpc_solvers::mpc_tracker::Solver>("MpcTracker_hdg", verbose_heading, _max_iters_heading_, heading_Q, dt1_, _dt2_, 0);
+     531             : 
+     532          48 :   mpc_x_         = MatrixXd::Zero(_mpc_n_states_, 1);
+     533          48 :   mpc_x_heading_ = MatrixXd::Zero(_mpc_n_states_heading_, 1);
+     534             : 
+     535          48 :   mpc_u_ = VectorXd::Zero(_mpc_m_states_);
+     536             : 
+     537          48 :   coef_time = ros::Time(0);
+     538             : 
+     539          48 :   des_x_trajectory_       = MatrixXd::Zero(_mpc_horizon_len_, 1);
+     540          48 :   des_y_trajectory_       = MatrixXd::Zero(_mpc_horizon_len_, 1);
+     541          48 :   des_z_trajectory_       = MatrixXd::Zero(_mpc_horizon_len_, 1);
+     542          48 :   des_z_filtered_offset_  = MatrixXd::Zero(_mpc_horizon_len_, 1);
+     543          48 :   des_heading_trajectory_ = MatrixXd::Zero(_mpc_horizon_len_, 1);
+     544             : 
+     545          48 :   service_server_wiggle_ = nh_.advertiseService("wiggle", &MpcTracker::callbackWiggle, this);
+     546             : 
+     547          48 :   pub_diagnostics_   = mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics>(nh_, "diagnostics", 1);
+     548          48 :   pub_status_string_ = mrs_lib::PublisherHandler<std_msgs::String>(nh_, "string", 1);
+     549             : 
+     550             :   // extract the numerical name
+     551          48 :   sscanf(_uav_name_.c_str(), "uav%d", &avoidance_this_uav_number_);
+     552          48 :   ROS_INFO("[MpcTracker]: Numerical ID of this UAV is %d", avoidance_this_uav_number_);
+     553          48 :   avoidance_this_uav_priority_ = avoidance_this_uav_number_;
+     554             : 
+     555             :   // exclude this drone from the list
+     556          48 :   std::vector<std::string>::iterator it = _avoidance_other_uav_names_.begin();
+     557          96 :   while (it != _avoidance_other_uav_names_.end()) {
+     558             : 
+     559          48 :     std::string temp_str = *it;
+     560             : 
+     561             :     int other_uav_priority;
+     562          48 :     sscanf(temp_str.c_str(), "uav%d", &other_uav_priority);
+     563             : 
+     564          48 :     if (other_uav_priority == avoidance_this_uav_number_) {
+     565             : 
+     566          48 :       _avoidance_other_uav_names_.erase(it);
+     567          48 :       continue;
+     568             :     }
+     569             : 
+     570           0 :     it++;
+     571             :   }
+     572             : 
+     573             :   // initialize velocity tracker
+     574             : 
+     575          48 :   velocity_reference_time_ = ros::Time(0);
+     576             : 
+     577             :   // create publishers for predicted trajectory
+     578             : 
+     579          48 :   ph_avoidance_trajectory_           = mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory>(nh_, "predicted_trajectory", 1);
+     580          48 :   ph_predicted_trajectory_debugging_ = mrs_lib::PublisherHandler<geometry_msgs::PoseArray>(nh_, "predicted_trajectory_debugging", 1);
+     581          48 :   ph_mpc_reference_debugging_        = mrs_lib::PublisherHandler<geometry_msgs::PoseArray>(nh_, "mpc_reference_debugging", 1, true);
+     582          48 :   ph_current_trajectory_point_       = mrs_lib::PublisherHandler<geometry_msgs::PoseStamped>(nh_, "current_trajectory_point", 1, true);
+     583             : 
+     584          48 :   pub_debug_processed_trajectory_poses_   = mrs_lib::PublisherHandler<geometry_msgs::PoseArray>(nh_, "trajectory_processed/poses", 1, true);
+     585          48 :   pub_debug_processed_trajectory_markers_ = mrs_lib::PublisherHandler<visualization_msgs::MarkerArray>(nh_, "trajectory_processed/markers", 1, true);
+     586             : 
+     587             :   // preallocate predicted trajectory
+     588          48 :   predicted_trajectory_         = MatrixXd::Zero(_mpc_horizon_len_ * _mpc_n_states_, 1);
+     589          48 :   predicted_heading_trajectory_ = MatrixXd::Zero(_mpc_horizon_len_ * _mpc_n_states_, 1);
+     590             : 
+     591          48 :   collision_free_altitude_ = std::numeric_limits<float>::lowest();
+     592             : 
+     593             :   // collision avoidance toggle service
+     594          48 :   service_server_toggle_avoidance_ = nh_.advertiseService("collision_avoidance", &MpcTracker::callbackToggleCollisionAvoidance, this);
+     595             : 
+     596          96 :   mrs_lib::SubscribeHandlerOptions shopts;
+     597          48 :   shopts.nh                 = nh_;
+     598          48 :   shopts.node_name          = "MpcTracker";
+     599          48 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     600          48 :   shopts.threadsafe         = true;
+     601          48 :   shopts.autostart          = true;
+     602          48 :   shopts.queue_size         = 10;
+     603          48 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     604             : 
+     605             :   // create subscribers on other drones diagnostics
+     606          48 :   if (collision_avoidance_enabled_ || collision_avoidance_enabled_passively_) {
+     607             : 
+     608          48 :     for (int i = 0; i < int(_avoidance_other_uav_names_.size()); i++) {
+     609             : 
+     610           0 :       std::string prediction_topic_name = std::string("/") + _avoidance_other_uav_names_[i] + "/control_manager/mpc_tracker/predicted_trajectory";
+     611           0 :       std::string diag_topic_name       = std::string("/") + _avoidance_other_uav_names_[i] + "/control_manager/mpc_tracker/diagnostics";
+     612             : 
+     613           0 :       ROS_INFO("[MpcTracker]: subscribing to %s", prediction_topic_name.c_str());
+     614             : 
+     615           0 :       other_uav_trajectory_subscribers_.push_back(
+     616           0 :           mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory>(shopts, prediction_topic_name, &MpcTracker::callbackOtherMavTrajectory, this));
+     617             : 
+     618           0 :       ROS_INFO("[MpcTracker]: subscribing to %s", diag_topic_name.c_str());
+     619             : 
+     620           0 :       other_uav_diag_subscribers_.push_back(
+     621           0 :           mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics>(shopts, diag_topic_name, &MpcTracker::callbackOtherMavDiagnostics, this));
+     622             :     }
+     623             :   }
+     624             : 
+     625          48 :   sh_estimation_diag_ = mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics>(shopts, std::string("/") + _uav_name_ + "/estimation_manager/diagnostics");
+     626             : 
+     627             :   // | --------------- dynamic reconfigure server --------------- |
+     628             : 
+     629          48 :   reconfigure_server_.reset(new ReconfigureServer(config_mutex_, nh_));
+     630          48 :   reconfigure_server_->updateConfig(drs_params_);
+     631          48 :   ReconfigureServer::CallbackType f = boost::bind(&MpcTracker::dynamicReconfigureCallback, this, _1, _2);
+     632          48 :   reconfigure_server_->setCallback(f);
+     633             : 
+     634             :   // | ------------------------ profiler ------------------------ |
+     635             : 
+     636          48 :   profiler = mrs_lib::Profiler(common_handlers->parent_nh, "MpcTracker", _profiler_enabled_);
+     637             : 
+     638             :   // | ------------------------- timers ------------------------- |
+     639             : 
+     640          96 :   timer_avoidance_trajectory_ = nh_.createTimer(ros::Rate(_avoidance_trajectory_rate_), &MpcTracker::timerAvoidanceTrajectory, this, false,
+     641          96 :                                                 collision_avoidance_enabled_ || collision_avoidance_enabled_passively_);
+     642          48 :   timer_diagnostics_          = nh_.createTimer(ros::Rate(_diagnostics_rate_), &MpcTracker::timerDiagnostics, this);
+     643          48 :   timer_mpc_iteration_        = nh_.createTimer(ros::Rate(_mpc_asynchronous_rate_), &MpcTracker::timerMPC, this, false, false);
+     644          48 :   timer_trajectory_tracking_  = nh_.createTimer(ros::Rate(1.0), &MpcTracker::timerTrajectoryTracking, this, false, false);
+     645          48 :   timer_velocity_tracking_    = nh_.createTimer(ros::Rate(30.0), &MpcTracker::timerVelocityTracking, this, false, false);
+     646          48 :   timer_hover_                = nh_.createTimer(ros::Rate(10.0), &MpcTracker::timerHover, this, false, false);
+     647             : 
+     648             :   // | ----------------------- finish init ---------------------- |
+     649             : 
+     650          48 :   is_initialized_ = true;
+     651             : 
+     652          48 :   ROS_INFO("[MpcTracker]: initialized");
+     653             : 
+     654          48 :   return true;
+     655             : }
+     656             : 
+     657             : //}
+     658             : 
+     659             : /* //{ activate() */
+     660             : 
+     661          44 : std::tuple<bool, std::string> MpcTracker::activate(const std::optional<mrs_msgs::TrackerCommand>& last_tracker_cmd) {
+     662             : 
+     663          88 :   std::stringstream ss;
+     664             : 
+     665          44 :   if (!got_constraints_) {
+     666             : 
+     667           0 :     ss << "can not activate, missing constraints";
+     668           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+     669             : 
+     670           0 :     return std::tuple(false, ss.str());
+     671             :   }
+     672             : 
+     673          88 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     674             : 
+     675             :   double uav_state_heading;
+     676             : 
+     677             :   try {
+     678          44 :     uav_state_heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+     679             :   }
+     680           0 :   catch (...) {
+     681           0 :     ss << "could not calculate the UAV heading";
+     682           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+     683           0 :     return std::tuple(false, ss.str());
+     684             :   }
+     685             : 
+     686          88 :   MatrixXd mpc_x         = MatrixXd::Zero(_mpc_n_states_, 1);
+     687          44 :   MatrixXd mpc_x_heading = MatrixXd::Zero(_mpc_n_states_heading_, 1);
+     688             : 
+     689          44 :   if (last_tracker_cmd) {
+     690             : 
+     691             :     // set the initial condition from the last tracker's cmd
+     692             : 
+     693          44 :     if (last_tracker_cmd->use_position_horizontal) {
+     694          44 :       mpc_x(0, 0) = last_tracker_cmd->position.x;
+     695          44 :       mpc_x(4, 0) = last_tracker_cmd->position.y;
+     696             :     } else {
+     697           0 :       mpc_x(0, 0) = uav_state.pose.position.x;
+     698           0 :       mpc_x(4, 0) = uav_state.pose.position.y;
+     699             :     }
+     700             : 
+     701          44 :     if (last_tracker_cmd->use_position_vertical) {
+     702          44 :       mpc_x(8, 0) = last_tracker_cmd->position.z;
+     703             :     } else {
+     704           0 :       mpc_x(8, 0) = uav_state.pose.position.z;
+     705             :     }
+     706             : 
+     707          44 :     if (last_tracker_cmd->use_velocity_horizontal) {
+     708          44 :       mpc_x(1, 0) = last_tracker_cmd->velocity.x;
+     709          44 :       mpc_x(5, 0) = last_tracker_cmd->velocity.y;
+     710             :     } else {
+     711           0 :       mpc_x(1, 0) = uav_state.velocity.linear.x;
+     712           0 :       mpc_x(5, 0) = uav_state.velocity.linear.y;
+     713             :     }
+     714             : 
+     715          44 :     if (last_tracker_cmd->use_velocity_vertical) {
+     716          44 :       mpc_x(9, 0) = last_tracker_cmd->velocity.z;
+     717             :     } else {
+     718           0 :       mpc_x(9, 0) = uav_state.velocity.linear.z;
+     719             :     }
+     720             : 
+     721          44 :     if (last_tracker_cmd->use_acceleration) {
+     722           0 :       mpc_x(2, 0)  = last_tracker_cmd->acceleration.x;
+     723           0 :       mpc_x(6, 0)  = last_tracker_cmd->acceleration.y;
+     724           0 :       mpc_x(10, 0) = last_tracker_cmd->acceleration.z;
+     725             :     } else {
+     726          44 :       mpc_x(2, 0)  = 0;
+     727          44 :       mpc_x(6, 0)  = 0;
+     728          44 :       mpc_x(10, 0) = 0;
+     729             :     }
+     730             : 
+     731             :     // the jerks
+     732          44 :     mpc_x(3, 0)  = 0;
+     733          44 :     mpc_x(7, 0)  = 0;
+     734          44 :     mpc_x(11, 0) = 0;
+     735             : 
+     736          44 :     if (last_tracker_cmd->use_heading) {
+     737          44 :       mpc_x_heading(0, 0) = last_tracker_cmd->heading;
+     738           0 :     } else if (last_tracker_cmd->use_orientation) {
+     739             :       try {
+     740           0 :         mpc_x_heading(0, 0) = mrs_lib::AttitudeConverter(last_tracker_cmd->orientation).getHeading();
+     741             :       }
+     742           0 :       catch (...) {
+     743           0 :         mpc_x_heading(0, 0) = uav_state_heading;
+     744             :       }
+     745             :     } else {
+     746           0 :       mpc_x_heading(0, 0) = uav_state_heading;
+     747             :     }
+     748             : 
+     749          44 :     if (last_tracker_cmd->use_heading_rate) {
+     750           8 :       mpc_x_heading(1, 0) = last_tracker_cmd->heading_rate;
+     751             :     } else {
+     752          36 :       mpc_x_heading(1, 0) = uav_state.velocity.angular.z;
+     753             :     }
+     754             : 
+     755          44 :     mpc_x_heading(2, 0) = 0;
+     756          44 :     mpc_x_heading(3, 0) = 0;
+     757             : 
+     758          44 :     ROS_INFO("[MpcTracker]: activated with last tracker's command");
+     759             : 
+     760             :   } else {
+     761             : 
+     762             :     // set the initial condition completely from the uav_state
+     763             : 
+     764           0 :     mpc_x(0, 0) = uav_state.pose.position.x;
+     765           0 :     mpc_x(1, 0) = uav_state.velocity.linear.x;
+     766           0 :     mpc_x(2, 0) = 0;
+     767           0 :     mpc_x(3, 0) = 0;
+     768             : 
+     769           0 :     mpc_x(4, 0) = uav_state.pose.position.y;
+     770           0 :     mpc_x(5, 0) = uav_state.velocity.linear.y;
+     771           0 :     mpc_x(6, 0) = 0;
+     772           0 :     mpc_x(7, 0) = 0;
+     773             : 
+     774           0 :     mpc_x(8, 0)  = uav_state.pose.position.z;
+     775           0 :     mpc_x(9, 0)  = uav_state.velocity.linear.z;
+     776           0 :     mpc_x(10, 0) = 0;
+     777           0 :     mpc_x(11, 0) = 0;
+     778             : 
+     779           0 :     mpc_x_heading(0, 0) = uav_state_heading;
+     780           0 :     mpc_x_heading(1, 0) = uav_state.velocity.angular.z;
+     781           0 :     mpc_x_heading(2, 0) = 0;
+     782           0 :     mpc_x_heading(3, 0) = 0;
+     783             : 
+     784           0 :     ROS_INFO("[MpcTracker]: activated with uav state");
+     785             :   }
+     786             : 
+     787             :   {
+     788          88 :     std::scoped_lock lock(mutex_mpc_x_);
+     789             : 
+     790          44 :     mpc_x_         = mpc_x;
+     791          44 :     mpc_x_heading_ = mpc_x_heading;
+     792             :   }
+     793             : 
+     794          44 :   trajectory_tracking_in_progress_ = false;
+     795             : 
+     796          44 :   timer_trajectory_tracking_.stop();
+     797             : 
+     798          44 :   ss << "activated";
+     799          44 :   ROS_INFO_STREAM("[MpcTracker]: " << ss.str());
+     800             : 
+     801             :   // this is here to initialize the desired_trajectory vector
+     802             :   // if deleted (and I tried) the UAV will briefly fly to the
+     803             :   // origin after activation
+     804          44 :   setRelativeGoal(0, 0, 0, 0, false);  // do not delete
+     805             : 
+     806          44 :   toggleHover(true);
+     807             : 
+     808          44 :   model_first_iteration_ = true;
+     809             : 
+     810          44 :   A_ = _mat_A_;
+     811          44 :   B_ = _mat_B_;
+     812             : 
+     813          44 :   A_heading_ = _mat_A_heading_;
+     814          44 :   B_heading_ = _mat_B_heading_;
+     815             : 
+     816          44 :   is_active_ = true;
+     817             : 
+     818          44 :   if (!mpc_synchronous_) {
+     819          38 :     timer_mpc_iteration_.start();
+     820             :   }
+     821             : 
+     822          44 :   return std::tuple(true, ss.str());
+     823             : }
+     824             : 
+     825             : //}
+     826             : 
+     827             : /* //{ deactivate() */
+     828             : 
+     829          20 : void MpcTracker::deactivate(void) {
+     830             : 
+     831          20 :   toggleHover(false);
+     832             : 
+     833          20 :   is_active_                       = false;
+     834          20 :   trajectory_tracking_in_progress_ = false;
+     835          20 :   model_first_iteration_           = true;
+     836             : 
+     837          20 :   timer_trajectory_tracking_.stop();
+     838             : 
+     839             :   {
+     840          20 :     std::scoped_lock lock(mutex_trajectory_tracking_states_);
+     841             : 
+     842          20 :     trajectory_tracking_idx_     = 0;
+     843          20 :     trajectory_tracking_sub_idx_ = 0;
+     844             :   }
+     845             : 
+     846          20 :   ROS_INFO("[MpcTracker]: deactivated");
+     847             : 
+     848          20 :   timer_mpc_iteration_.stop();
+     849             : 
+     850          20 :   publishDiagnostics();
+     851          20 : }
+     852             : 
+     853             : //}
+     854             : 
+     855             : /* //{ resetStatic() */
+     856             : 
+     857           0 : bool MpcTracker::resetStatic(void) {
+     858             : 
+     859           0 :   if (!is_initialized_) {
+     860           0 :     ROS_ERROR("[MpcTracker]: can not reset, not initialized");
+     861           0 :     return false;
+     862             :   }
+     863             : 
+     864           0 :   if (!is_active_) {
+     865           0 :     ROS_ERROR("[MpcTracker]: can not reset, not active");
+     866           0 :     return false;
+     867             :   }
+     868             : 
+     869           0 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     870             : 
+     871             :   double uav_state_heading;
+     872             : 
+     873             :   try {
+     874           0 :     uav_state_heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+     875             :   }
+     876           0 :   catch (...) {
+     877           0 :     ROS_ERROR_THROTTLE(1.0, "[MpcTracker]: could not calculate the UAV heading");
+     878           0 :     return false;
+     879             :   }
+     880             : 
+     881             :   {
+     882           0 :     std::scoped_lock lock(mutex_mpc_x_);
+     883             : 
+     884             :     // set the initial condition from the odometry
+     885             : 
+     886           0 :     ROS_INFO("[MpcTracker]: reseting with uav state with no dynamics");
+     887             : 
+     888           0 :     mpc_x_(0, 0) = uav_state.pose.position.x;
+     889           0 :     mpc_x_(1, 0) = 0;
+     890           0 :     mpc_x_(2, 0) = 0;
+     891           0 :     mpc_x_(3, 0) = 0;
+     892             : 
+     893           0 :     mpc_x_(4, 0) = uav_state.pose.position.y;
+     894           0 :     mpc_x_(5, 0) = 0;
+     895           0 :     mpc_x_(6, 0) = 0;
+     896           0 :     mpc_x_(7, 0) = 0;
+     897             : 
+     898           0 :     mpc_x_(8, 0)  = uav_state.pose.position.z;
+     899           0 :     mpc_x_(9, 0)  = 0;
+     900           0 :     mpc_x_(10, 0) = 0;
+     901           0 :     mpc_x_(11, 0) = 0;
+     902             : 
+     903           0 :     mpc_x_heading_(0, 0) = uav_state_heading;
+     904           0 :     mpc_x_heading_(1, 0) = 0;
+     905           0 :     mpc_x_heading_(2, 0) = 0;
+     906           0 :     mpc_x_heading_(3, 0) = 0;
+     907             : 
+     908           0 :     trajectory_tracking_in_progress_ = false;
+     909             : 
+     910           0 :     timer_trajectory_tracking_.stop();
+     911             : 
+     912           0 :     ROS_INFO("[MpcTracker]: reseted");
+     913             :   }
+     914             : 
+     915             :   // this is here to initialize the desired_trajectory vector
+     916             :   // if deleted (and I tried) the UAV will briefly fly to the
+     917             :   // origin after activation
+     918           0 :   setRelativeGoal(0, 0, 0, 0, false);  // do not delete
+     919             : 
+     920           0 :   return true;
+     921             : }
+     922             : 
+     923             : //}
+     924             : 
+     925             : /* //{ update() */
+     926             : 
+     927       43352 : std::optional<mrs_msgs::TrackerCommand> MpcTracker::update(const mrs_msgs::UavState&                                           uav_state,
+     928             :                                                            [[maybe_unused]] const mrs_uav_managers::Controller::ControlOutput& last_control_output) {
+     929             : 
+     930      130056 :   mrs_lib::Routine    profiler_routine = profiler.createRoutine("update");
+     931      130056 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("MpcTracker::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     932             : 
+     933       86704 :   auto old_uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     934             : 
+     935             :   // calculate dt
+     936       43352 :   double dt = (uav_state.header.stamp - old_uav_state.header.stamp).toSec();
+     937             : 
+     938             :   // save the uav state
+     939       43352 :   mrs_lib::set_mutexed(mutex_uav_state_, uav_state, uav_state_);
+     940             : 
+     941       43352 :   if (dt > 0) {
+     942             : 
+     943       43352 :     double rate = 1.0 / dt;
+     944             : 
+     945       43352 :     update_rate_ = 0.9 * update_rate_ + 0.1 * rate;
+     946             : 
+     947       43352 :     if (mpc_synchronous_ && (update_rate_ > _mpc_synchronous_rate_limit_)) {
+     948           0 :       mpc_synchronous_ = false;
+     949           0 :       ROS_INFO("[MpcTracker]: detecting high update date (%.1f Hz > %.1f Hz), switching to asynchronous mode.", rate, _mpc_synchronous_rate_limit_);
+     950           0 :       if (is_active_) {
+     951           0 :         timer_mpc_iteration_.start();
+     952             :       }
+     953       43352 :     } else if (!mpc_synchronous_ && (update_rate_ <= _mpc_synchronous_rate_limit_)) {
+     954           6 :       mpc_synchronous_ = true;
+     955           6 :       ROS_INFO("[MpcTracker]: detecting low update rate (%.1f Hz < %.1f Hz), switching to synchronous mode.", rate, _mpc_synchronous_rate_limit_);
+     956           6 :       timer_mpc_iteration_.stop();
+     957             :     }
+     958             :   }
+     959             : 
+     960             :   // up to this part the update() method is evaluated even when the tracker is not active
+     961       43352 :   if (!is_active_) {
+     962       19739 :     return {};
+     963             :   }
+     964             : 
+     965       47226 :   mrs_msgs::TrackerCommand tracker_cmd;
+     966             : 
+     967       23613 :   if (!mpc_synchronous_ && (!mpc_computed_ || mpc_result_invalid_)) {
+     968             : 
+     969          34 :     ROS_WARN_THROTTLE(0.1, "[MpcTracker]: MPC not ready, returning current odom as the command");
+     970             : 
+     971             :     // set the header
+     972          34 :     tracker_cmd.header.stamp    = uav_state.header.stamp;
+     973          34 :     tracker_cmd.header.frame_id = uav_state.header.frame_id;
+     974             : 
+     975             :     // set positions from odom
+     976          34 :     tracker_cmd.position.x              = uav_state.pose.position.x;
+     977          34 :     tracker_cmd.position.y              = uav_state.pose.position.y;
+     978          34 :     tracker_cmd.position.z              = uav_state.pose.position.z;
+     979          34 :     tracker_cmd.use_position_vertical   = 1;
+     980          34 :     tracker_cmd.use_position_horizontal = 1;
+     981             : 
+     982             :     // set velocities from odom
+     983          34 :     tracker_cmd.velocity.x              = uav_state.velocity.linear.x;
+     984          34 :     tracker_cmd.velocity.y              = uav_state.velocity.linear.y;
+     985          34 :     tracker_cmd.velocity.z              = uav_state.velocity.linear.z;
+     986          34 :     tracker_cmd.use_velocity_vertical   = 1;
+     987          34 :     tracker_cmd.use_velocity_horizontal = 1;
+     988             : 
+     989             :     // set zero accelerations
+     990          34 :     tracker_cmd.acceleration.x   = 0;
+     991          34 :     tracker_cmd.acceleration.y   = 0;
+     992          34 :     tracker_cmd.acceleration.z   = 0;
+     993          34 :     tracker_cmd.use_acceleration = 1;
+     994             : 
+     995             :     try {
+     996          34 :       tracker_cmd.heading     = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+     997          34 :       tracker_cmd.use_heading = 1;
+     998             :     }
+     999           0 :     catch (...) {
+    1000           0 :       tracker_cmd.use_heading = 0;
+    1001           0 :       ROS_WARN_THROTTLE(1.0, "[MpcTracker]: could not calculate the current UAV heading");
+    1002             :     }
+    1003             : 
+    1004             :     // set zero jerk
+    1005          34 :     tracker_cmd.jerk.x = 0;
+    1006          34 :     tracker_cmd.jerk.y = 0;
+    1007          34 :     tracker_cmd.jerk.z = 0;
+    1008             : 
+    1009             :     try {
+    1010          34 :       tracker_cmd.heading_rate     = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeadingRate(uav_state.velocity.angular);
+    1011          34 :       tracker_cmd.use_heading_rate = 1;
+    1012             :     }
+    1013           0 :     catch (...) {
+    1014           0 :       tracker_cmd.use_heading_rate = 0;
+    1015           0 :       ROS_WARN_THROTTLE(1.0, "[MpcTracker]: could not calculate the current UAV heading rate");
+    1016             :     }
+    1017             : 
+    1018          34 :     return {tracker_cmd};
+    1019             :   }
+    1020             : 
+    1021       23579 :   ros::TimerEvent event;
+    1022             : 
+    1023       23579 :   if (mpc_synchronous_) {
+    1024        1461 :     ROS_DEBUG_THROTTLE(1.0, "[MpcTracker]: running in SYNCHRONOUS mode");
+    1025        1461 :     timerMPC(event);
+    1026             :   } else {
+    1027       22118 :     ROS_DEBUG_THROTTLE(1.0, "[MpcTracker]: running in ASYNCHRONOUS mode");
+    1028             :   }
+    1029             : 
+    1030       23579 :   if (dt > 0) {
+    1031       23579 :     iterateModel(dt);
+    1032             :   } else {
+    1033           0 :     ROS_WARN_THROTTLE(1.0, "[MpcTracker]: dt !> 0, not iterating the model");
+    1034             :   }
+    1035             : 
+    1036       47158 :   auto [mpc_x, mpc_x_heading] = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_, mpc_x_heading_);
+    1037       47158 :   auto prediction_full_state  = mrs_lib::get_mutexed(mutex_prediction_full_state_, prediction_full_state_);
+    1038             : 
+    1039             :   // check whether all outputs are finite
+    1040       23579 :   bool arefinite = true;
+    1041      306527 :   for (int i = 0; i < 12; i++) {
+    1042      282948 :     if (!std::isfinite(mpc_x(i, 0))) {
+    1043           0 :       arefinite = false;
+    1044             :     }
+    1045             :   }
+    1046             : 
+    1047       23579 :   if (arefinite) {
+    1048             : 
+    1049             :     // set the desired states base on the result of the mpc
+    1050       23579 :     tracker_cmd.position.x     = mpc_x(0, 0);
+    1051       23579 :     tracker_cmd.velocity.x     = mpc_x(1, 0);
+    1052       23579 :     tracker_cmd.acceleration.x = mpc_x(2, 0);
+    1053       23579 :     tracker_cmd.jerk.x         = mpc_x(3, 0);
+    1054             : 
+    1055       23579 :     tracker_cmd.position.y     = mpc_x(4, 0);
+    1056       23579 :     tracker_cmd.velocity.y     = mpc_x(5, 0);
+    1057       23579 :     tracker_cmd.acceleration.y = mpc_x(6, 0);
+    1058       23579 :     tracker_cmd.jerk.y         = mpc_x(7, 0);
+    1059             : 
+    1060       23579 :     tracker_cmd.position.z     = mpc_x(8, 0);
+    1061       23579 :     tracker_cmd.velocity.z     = mpc_x(9, 0);
+    1062       23579 :     tracker_cmd.acceleration.z = mpc_x(10, 0);
+    1063       23579 :     tracker_cmd.jerk.z         = mpc_x(11, 0);
+    1064             : 
+    1065       23579 :     tracker_cmd.full_state_prediction = prediction_full_state;
+    1066             : 
+    1067       23579 :     tracker_cmd.use_position_vertical     = 1;
+    1068       23579 :     tracker_cmd.use_position_horizontal   = 1;
+    1069       23579 :     tracker_cmd.use_velocity_vertical     = 1;
+    1070       23579 :     tracker_cmd.use_velocity_horizontal   = 1;
+    1071       23579 :     tracker_cmd.use_acceleration          = 1;
+    1072       23579 :     tracker_cmd.use_jerk                  = 1;
+    1073       23579 :     tracker_cmd.use_full_state_prediction = 1;
+    1074             : 
+    1075             :   } else {
+    1076             : 
+    1077           0 :     ROS_ERROR_THROTTLE(1.0, "[MpcTracker]: MPC translation outputs are not finite!");
+    1078             : 
+    1079           0 :     return {};
+    1080             :   }
+    1081             : 
+    1082       23579 :   bool heading_finite = true;
+    1083      117895 :   for (int i = 0; i < _mpc_n_states_heading_; i++) {
+    1084       94316 :     if (!std::isfinite(mpc_x_heading(i, 0))) {
+    1085           0 :       heading_finite = false;
+    1086             :     }
+    1087             :   }
+    1088             : 
+    1089       23579 :   if (heading_finite) {
+    1090             : 
+    1091       23579 :     tracker_cmd.heading              = mpc_x_heading(0, 0);
+    1092       23579 :     tracker_cmd.heading_rate         = mpc_x_heading(1, 0);
+    1093       23579 :     tracker_cmd.heading_acceleration = mpc_x_heading(2, 0);
+    1094       23579 :     tracker_cmd.heading_jerk         = mpc_x_heading(3, 0);
+    1095             : 
+    1096       23579 :     tracker_cmd.use_heading              = 1;
+    1097       23579 :     tracker_cmd.use_heading_rate         = 1;
+    1098       23579 :     tracker_cmd.use_heading_acceleration = 1;
+    1099       23579 :     tracker_cmd.use_heading_jerk         = 1;
+    1100             : 
+    1101             :   } else {
+    1102             : 
+    1103           0 :     ROS_ERROR_THROTTLE(1.0, "[MpcTracker]: MPC heading output is not finite!");
+    1104             : 
+    1105           0 :     return {};
+    1106             :   }
+    1107             : 
+    1108             :   // set the header
+    1109       23579 :   tracker_cmd.header.stamp    = uav_state.header.stamp;
+    1110       23579 :   tracker_cmd.header.frame_id = uav_state.header.frame_id;
+    1111             : 
+    1112             :   // u have to return a position command
+    1113             :   // can set the jerk to 0
+    1114       23579 :   return {tracker_cmd};
+    1115             : }  // namespace mpc_tracker
+    1116             : 
+    1117             : //}
+    1118             : 
+    1119             : /* //{ getStatus() */
+    1120             : 
+    1121        3006 : const mrs_msgs::TrackerStatus MpcTracker::getStatus() {
+    1122             : 
+    1123        6012 :   auto [mpc_x, mpc_x_heading]  = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_, mpc_x_heading_);
+    1124        3006 :   auto trajectory_size         = mrs_lib::get_mutexed(mutex_des_trajectory_, trajectory_size_);
+    1125        3006 :   auto trajectory_tracking_idx = mrs_lib::get_mutexed(mutex_trajectory_tracking_states_, trajectory_tracking_idx_);
+    1126             : 
+    1127             :   double des_x, des_y, des_z, des_heading;
+    1128             :   {
+    1129        3006 :     std::scoped_lock lock(mutex_des_trajectory_);
+    1130             : 
+    1131        3006 :     des_x       = des_x_trajectory_(0);
+    1132        3006 :     des_y       = des_y_trajectory_(0);
+    1133        3006 :     des_z       = des_z_trajectory_(0);
+    1134        3006 :     des_heading = des_heading_trajectory_(0);
+    1135             :   }
+    1136             : 
+    1137        3006 :   mrs_msgs::TrackerStatus tracker_status;
+    1138             : 
+    1139        3006 :   tracker_status.active            = is_active_;
+    1140        3006 :   tracker_status.callbacks_enabled = is_active_ && callbacks_enabled_ && !hovering_in_progress_;
+    1141             : 
+    1142        3006 :   tracker_status.tracking_trajectory = trajectory_tracking_in_progress_;
+    1143             : 
+    1144        3006 :   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_;
+    1145        3006 :   bool have_heading_error    = fabs(radians::diff(mpc_x_heading(0), des_heading)) > _diag_heading_tracking_thr_;
+    1146        3006 :   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;
+    1147             : 
+    1148        3006 :   tracker_status.have_goal = trajectory_tracking_in_progress_ || hovering_in_progress_ || have_position_error || have_heading_error || have_nonzero_velocity;
+    1149             : 
+    1150        3006 :   tracker_status.trajectory_length = trajectory_size;
+    1151        3006 :   tracker_status.trajectory_idx    = trajectory_tracking_idx;
+    1152             : 
+    1153        3006 :   if (trajectory_tracking_in_progress_) {
+    1154             : 
+    1155         160 :     auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    1156             : 
+    1157         160 :     std::scoped_lock lock(mutex_des_whole_trajectory_);
+    1158             : 
+    1159          80 :     tracker_status.trajectory_reference.header.stamp    = ros::Time::now();
+    1160          80 :     tracker_status.trajectory_reference.header.frame_id = uav_state.header.frame_id;
+    1161             : 
+    1162          80 :     tracker_status.trajectory_reference.reference.position.x = (*des_x_whole_trajectory_)(trajectory_tracking_idx);
+    1163          80 :     tracker_status.trajectory_reference.reference.position.y = (*des_y_whole_trajectory_)(trajectory_tracking_idx);
+    1164          80 :     tracker_status.trajectory_reference.reference.position.z = (*des_z_whole_trajectory_)(trajectory_tracking_idx);
+    1165          80 :     tracker_status.trajectory_reference.reference.heading    = (*des_heading_whole_trajectory_)(trajectory_tracking_idx);
+    1166             : 
+    1167             :     // | ---------- publish the current trajectory point ---------- |
+    1168             : 
+    1169         160 :     geometry_msgs::PoseStamped debug_trajectory_point;
+    1170          80 :     debug_trajectory_point.header.stamp    = ros::Time::now();
+    1171          80 :     debug_trajectory_point.header.frame_id = uav_state_.header.frame_id;
+    1172             : 
+    1173          80 :     debug_trajectory_point.pose.position.x = (*des_x_whole_trajectory_)(trajectory_tracking_idx);
+    1174          80 :     debug_trajectory_point.pose.position.y = (*des_y_whole_trajectory_)(trajectory_tracking_idx);
+    1175          80 :     debug_trajectory_point.pose.position.z = (*des_z_whole_trajectory_)(trajectory_tracking_idx);
+    1176             : 
+    1177          80 :     debug_trajectory_point.pose.orientation = mrs_lib::AttitudeConverter(0, 0, (*des_heading_whole_trajectory_)(trajectory_tracking_idx));
+    1178             : 
+    1179          80 :     ph_current_trajectory_point_.publish(debug_trajectory_point);
+    1180             :   }
+    1181             : 
+    1182        6012 :   return tracker_status;
+    1183             : }
+    1184             : 
+    1185             : //}
+    1186             : 
+    1187             : /* //{ enableCallbacks() */
+    1188             : 
+    1189           2 : const std_srvs::SetBoolResponse::ConstPtr MpcTracker::enableCallbacks(const std_srvs::SetBoolRequest::ConstPtr& cmd) {
+    1190             : 
+    1191           4 :   std::stringstream ss;
+    1192             : 
+    1193           2 :   if (cmd->data != callbacks_enabled_) {
+    1194             : 
+    1195           0 :     callbacks_enabled_ = cmd->data;
+    1196           0 :     ss << "callbacks %s" << (callbacks_enabled_ ? "enabled" : "disabled");
+    1197             : 
+    1198             :   } else {
+    1199             : 
+    1200           2 :     ss << "callbacks were already %s" << (callbacks_enabled_ ? "enabled" : "disabled");
+    1201             :   }
+    1202             : 
+    1203           4 :   std_srvs::SetBoolResponse res;
+    1204           2 :   res.message = ss.str();
+    1205           2 :   res.success = true;
+    1206             : 
+    1207           4 :   return std_srvs::SetBoolResponse::ConstPtr(new std_srvs::SetBoolResponse(res));
+    1208             : }
+    1209             : 
+    1210             : //}
+    1211             : 
+    1212             : /* switchOdometrySource() //{ */
+    1213             : 
+    1214           0 : const std_srvs::TriggerResponse::ConstPtr MpcTracker::switchOdometrySource(const mrs_msgs::UavState& new_uav_state) {
+    1215             : 
+    1216           0 :   odometry_reset_in_progress_ = true;
+    1217           0 :   mpc_result_invalid_         = true;
+    1218             : 
+    1219           0 :   auto x         = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_);
+    1220           0 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    1221             : 
+    1222           0 :   ROS_INFO(
+    1223             :       "[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: "
+    1224             :       "%.2f], "
+    1225             :       "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]",
+    1226             :       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,
+    1227             :       new_uav_state.pose.position.z, new_uav_state.velocity.linear.x, new_uav_state.velocity.linear.y, new_uav_state.velocity.linear.z,
+    1228             :       new_uav_state.acceleration.linear.x, new_uav_state.acceleration.linear.y, new_uav_state.acceleration.linear.z);
+    1229             : 
+    1230           0 :   timer_mpc_iteration_.stop();
+    1231           0 :   ROS_INFO("[MpcTracker]: mpc timer stopped");
+    1232             : 
+    1233           0 :   while (mpc_timer_running_) {
+    1234             : 
+    1235           0 :     ROS_DEBUG("[MpcTracker]: the mpc is in the middle of an iteration, waiting for it to finish");
+    1236           0 :     ros::Duration wait(0.001);
+    1237           0 :     wait.sleep();
+    1238             : 
+    1239           0 :     if (!mpc_timer_running_) {
+    1240           0 :       ROS_DEBUG("[ControlManager]: mpc timer finished");
+    1241           0 :       break;
+    1242             :     }
+    1243             :   }
+    1244             : 
+    1245             :   // | --------- recalculate the goal to new coordinates -------- |
+    1246             : 
+    1247           0 :   double old_heading  = 0;
+    1248           0 :   double new_heading  = 0;
+    1249           0 :   bool   got_headings = true;
+    1250             : 
+    1251             :   try {
+    1252           0 :     old_heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+    1253             :   }
+    1254           0 :   catch (...) {
+    1255           0 :     ROS_ERROR_THROTTLE(1.0, "[LineTracker]: could not calculate the old UAV heading");
+    1256           0 :     got_headings = false;
+    1257             :   }
+    1258             : 
+    1259             :   try {
+    1260           0 :     new_heading = mrs_lib::AttitudeConverter(new_uav_state.pose.orientation).getHeading();
+    1261             :   }
+    1262           0 :   catch (...) {
+    1263           0 :     ROS_ERROR_THROTTLE(1.0, "[LineTracker]: could not calculate the new UAV heading");
+    1264           0 :     got_headings = false;
+    1265             :   }
+    1266             : 
+    1267           0 :   std_srvs::TriggerResponse res;
+    1268             : 
+    1269           0 :   if (!got_headings) {
+    1270           0 :     res.message = "could not calculate the heading difference";
+    1271           0 :     res.success = false;
+    1272             : 
+    1273           0 :     return std_srvs::TriggerResponse::ConstPtr(new std_srvs::TriggerResponse(res));
+    1274             :   }
+    1275             : 
+    1276             :   // calculate the difference of position
+    1277           0 :   double dx       = new_uav_state.pose.position.x - uav_state_.pose.position.x;
+    1278           0 :   double dy       = new_uav_state.pose.position.y - uav_state_.pose.position.y;
+    1279           0 :   double dz       = new_uav_state.pose.position.z - uav_state_.pose.position.z;
+    1280           0 :   double dheading = new_heading - old_heading;
+    1281             : 
+    1282           0 :   ROS_INFO("[MpcTracker]: dx %f dy %f dz %f dheading %f", dx, dy, dz, dheading);
+    1283             : 
+    1284             :   {
+    1285           0 :     std::scoped_lock lock(mutex_mpc_x_, mutex_des_trajectory_, mutex_des_whole_trajectory_, mutex_uav_state_);
+    1286             : 
+    1287           0 :     if (trajectory_set_) {
+    1288             : 
+    1289           0 :       for (int i = 0; i < trajectory_size_ + _mpc_horizon_len_; i++) {
+    1290             : 
+    1291           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);
+    1292           0 :         temp_vec = Eigen::Rotation2D<double>(dheading).toRotationMatrix() * temp_vec;
+    1293             : 
+    1294           0 :         (*des_x_whole_trajectory_)(i) = new_uav_state.pose.position.x + temp_vec[0];
+    1295           0 :         (*des_y_whole_trajectory_)(i) = new_uav_state.pose.position.y + temp_vec[1];
+    1296           0 :         (*des_z_whole_trajectory_)(i) += dz;
+    1297           0 :         (*des_heading_whole_trajectory_)(i) += dheading;
+    1298             :       }
+    1299             :     }
+    1300             : 
+    1301           0 :     for (int i = 0; i < _mpc_horizon_len_; i++) {
+    1302             : 
+    1303           0 :       Eigen::Vector2d temp_vec(des_x_trajectory_(i) - uav_state_.pose.position.x, des_y_trajectory_(i) - uav_state_.pose.position.y);
+    1304           0 :       temp_vec = Eigen::Rotation2D<double>(dheading).toRotationMatrix() * temp_vec;
+    1305             : 
+    1306           0 :       des_x_trajectory_(i, 0) = new_uav_state.pose.position.x + temp_vec[0];
+    1307           0 :       des_y_trajectory_(i, 0) = new_uav_state.pose.position.y + temp_vec[1];
+    1308           0 :       des_z_trajectory_(i, 0) += dz;
+    1309           0 :       des_heading_trajectory_(i, 0) += dheading;
+    1310             :     }
+    1311             : 
+    1312             :     // update the position
+    1313             :     {
+    1314           0 :       Eigen::Vector2d temp_vec(mpc_x_(0, 0) - uav_state_.pose.position.x, mpc_x_(4, 0) - uav_state_.pose.position.y);
+    1315           0 :       temp_vec     = Eigen::Rotation2D<double>(dheading).toRotationMatrix() * temp_vec;
+    1316           0 :       mpc_x_(0, 0) = new_uav_state.pose.position.x + temp_vec[0];
+    1317           0 :       mpc_x_(4, 0) = new_uav_state.pose.position.y + temp_vec[1];
+    1318           0 :       mpc_x_(8, 0) += dz;
+    1319             :     }
+    1320             : 
+    1321             :     // update the velocity
+    1322             :     {
+    1323           0 :       mpc_x_(1, 0) = new_uav_state.velocity.linear.x;
+    1324           0 :       mpc_x_(5, 0) = new_uav_state.velocity.linear.y;
+    1325             :       // we leave the z velocity as it was in the original frame
+    1326             :     }
+    1327             : 
+    1328             :     // update the acceleration
+    1329             :     {
+    1330           0 :       mpc_x_(2, 0)  = 0;
+    1331           0 :       mpc_x_(6, 0)  = 0;
+    1332           0 :       mpc_x_(10, 0) = 0;
+    1333             :     }
+    1334             : 
+    1335             :     // update the heading and its derivative
+    1336           0 :     mpc_x_heading_(0, 0) += dheading;
+    1337           0 :     mpc_x_heading_(1, 0) = new_uav_state.velocity.angular.x;
+    1338             :   }
+    1339             : 
+    1340           0 :   ROS_INFO(
+    1341             :       "[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: "
+    1342             :       "%.2f]",
+    1343             :       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));
+    1344             : 
+    1345           0 :   ROS_INFO("[MpcTracker]: starting the MPC timer");
+    1346             : 
+    1347           0 :   if (!mpc_synchronous_) {
+    1348           0 :     timer_mpc_iteration_.start();
+    1349             :   }
+    1350             : 
+    1351           0 :   odometry_reset_in_progress_ = false;
+    1352             : 
+    1353           0 :   return std_srvs::TriggerResponse::ConstPtr(new std_srvs::TriggerResponse(res));
+    1354             : }
+    1355             : 
+    1356             : //}
+    1357             : 
+    1358             : /* //{ hover() */
+    1359             : 
+    1360           0 : const std_srvs::TriggerResponse::ConstPtr MpcTracker::hover([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr& cmd) {
+    1361             : 
+    1362           0 :   toggleHover(true);
+    1363             : 
+    1364           0 :   std::stringstream ss;
+    1365           0 :   ss << "initiating hover";
+    1366             : 
+    1367           0 :   std_srvs::TriggerResponse res;
+    1368           0 :   res.success = true;
+    1369           0 :   res.message = ss.str();
+    1370             : 
+    1371           0 :   return std_srvs::TriggerResponse::ConstPtr(new std_srvs::TriggerResponse(res));
+    1372             : }
+    1373             : 
+    1374             : //}
+    1375             : 
+    1376             : /* //{ startTrajectoryTracking() */
+    1377             : 
+    1378           0 : const std_srvs::TriggerResponse::ConstPtr MpcTracker::startTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr& cmd) {
+    1379           0 :   std::stringstream ss;
+    1380             : 
+    1381           0 :   auto [success, message] = startTrajectoryTrackingImpl();
+    1382             : 
+    1383           0 :   std_srvs::TriggerResponse res;
+    1384           0 :   res.success = success;
+    1385           0 :   res.message = message;
+    1386             : 
+    1387           0 :   return std_srvs::TriggerResponse::ConstPtr(new std_srvs::TriggerResponse(res));
+    1388             : }
+    1389             : 
+    1390             : //}
+    1391             : 
+    1392             : /* //{ stopTrajectoryTracking() */
+    1393             : 
+    1394           0 : const std_srvs::TriggerResponse::ConstPtr MpcTracker::stopTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr& cmd) {
+    1395             : 
+    1396           0 :   auto [success, message] = stopTrajectoryTrackingImpl();
+    1397             : 
+    1398           0 :   std_srvs::TriggerResponse res;
+    1399           0 :   res.success = success;
+    1400           0 :   res.message = message;
+    1401             : 
+    1402           0 :   return std_srvs::TriggerResponse::ConstPtr(new std_srvs::TriggerResponse(res));
+    1403             : }
+    1404             : 
+    1405             : //}
+    1406             : 
+    1407             : /* //{ resumeTrajectoryTracking() */
+    1408             : 
+    1409           0 : const std_srvs::TriggerResponse::ConstPtr MpcTracker::resumeTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr& cmd) {
+    1410             : 
+    1411           0 :   auto [success, message] = resumeTrajectoryTrackingImpl();
+    1412             : 
+    1413           0 :   std_srvs::TriggerResponse res;
+    1414           0 :   res.success = success;
+    1415           0 :   res.message = message;
+    1416             : 
+    1417           0 :   return std_srvs::TriggerResponse::ConstPtr(new std_srvs::TriggerResponse(res));
+    1418             : }
+    1419             : 
+    1420             : //}
+    1421             : 
+    1422             : /* //{ gotoTrajectoryStart() */
+    1423             : 
+    1424           0 : const std_srvs::TriggerResponse::ConstPtr MpcTracker::gotoTrajectoryStart([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr& cmd) {
+    1425             : 
+    1426           0 :   auto [success, message] = gotoTrajectoryStartImpl();
+    1427             : 
+    1428           0 :   std_srvs::TriggerResponse res;
+    1429           0 :   res.success = success;
+    1430           0 :   res.message = message;
+    1431             : 
+    1432           0 :   return std_srvs::TriggerResponse::ConstPtr(new std_srvs::TriggerResponse(res));
+    1433             : }
+    1434             : 
+    1435             : //}
+    1436             : 
+    1437             : /* //{ setConstraints() */
+    1438             : 
+    1439         147 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr MpcTracker::setConstraints(const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr& constraints) {
+    1440             : 
+    1441         147 :   if (!is_initialized_) {
+    1442           0 :     return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse());
+    1443             :   }
+    1444             : 
+    1445         147 :   mrs_lib::set_mutexed(mutex_constraints_, constraints->constraints, constraints_);
+    1446             : 
+    1447             :   // directly updated the speeds in the constraints
+    1448             :   // the reset needs to wait for manageConstraints()
+    1449             :   {
+    1450         294 :     std::scoped_lock lock(mutex_constraints_filtered_);
+    1451             : 
+    1452             :     // important! this needs to be done to initialize the full struct
+    1453         147 :     if (!got_constraints_) {
+    1454             : 
+    1455          48 :       constraints_filtered_ = constraints->constraints;
+    1456             : 
+    1457             :     } else {
+    1458             : 
+    1459          99 :       constraints_filtered_.horizontal_speed          = constraints->constraints.horizontal_speed;
+    1460          99 :       constraints_filtered_.vertical_ascending_speed  = constraints->constraints.vertical_ascending_speed;
+    1461          99 :       constraints_filtered_.vertical_descending_speed = constraints->constraints.vertical_descending_speed;
+    1462          99 :       constraints_filtered_.heading_speed             = constraints->constraints.heading_speed;
+    1463             :     }
+    1464             :   }
+    1465             : 
+    1466         147 :   got_constraints_ = true;
+    1467             : 
+    1468         147 :   all_constraints_set_ = false;
+    1469             : 
+    1470         147 :   ROS_INFO("[MpcTracker]: updating constraints");
+    1471             : 
+    1472         294 :   mrs_msgs::DynamicsConstraintsSrvResponse res;
+    1473         147 :   res.success = true;
+    1474         147 :   res.message = "constraints updated";
+    1475             : 
+    1476         147 :   return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse(res));
+    1477             : }
+    1478             : 
+    1479             : //}
+    1480             : 
+    1481             : /* //{ setReference() */
+    1482             : 
+    1483          29 : const mrs_msgs::ReferenceSrvResponse::ConstPtr MpcTracker::setReference(const mrs_msgs::ReferenceSrvRequest::ConstPtr& cmd) {
+    1484             : 
+    1485          29 :   toggleHover(false);
+    1486             : 
+    1487          29 :   setGoal(cmd->reference.position.x, cmd->reference.position.y, cmd->reference.position.z, cmd->reference.heading, true);
+    1488             : 
+    1489          58 :   mrs_msgs::ReferenceSrvResponse res;
+    1490          29 :   res.success = true;
+    1491          29 :   res.message = "reference set";
+    1492             : 
+    1493          58 :   return mrs_msgs::ReferenceSrvResponse::ConstPtr(new mrs_msgs::ReferenceSrvResponse(res));
+    1494             : }
+    1495             : 
+    1496             : //}
+    1497             : 
+    1498             : /* //{ setVelocityReference() */
+    1499             : 
+    1500           0 : const mrs_msgs::VelocityReferenceSrvResponse::ConstPtr MpcTracker::setVelocityReference(const mrs_msgs::VelocityReferenceSrvRequest::ConstPtr& cmd) {
+    1501             : 
+    1502           0 :   if (!is_initialized_) {
+    1503           0 :     return mrs_msgs::VelocityReferenceSrvResponse::Ptr();
+    1504             :   }
+    1505             : 
+    1506             :   {
+    1507           0 :     std::scoped_lock lock(mutex_velocity_reference_);
+    1508             : 
+    1509           0 :     velocity_reference_time_ = ros::Time::now();
+    1510             : 
+    1511           0 :     velocity_reference_ = cmd->reference;
+    1512             :   }
+    1513             : 
+    1514           0 :   if (!velocity_tracking_active_) {
+    1515             : 
+    1516           0 :     ROS_INFO("[MpcTracker]: starting velocity tracking timer");
+    1517             : 
+    1518           0 :     timer_velocity_tracking_.stop();
+    1519           0 :     timer_velocity_tracking_.start();
+    1520             : 
+    1521           0 :     velocity_tracking_active_ = true;
+    1522             :   }
+    1523             : 
+    1524           0 :   mrs_msgs::VelocityReferenceSrvResponse response;
+    1525           0 :   response.success = true;
+    1526           0 :   response.message = "reference set";
+    1527             : 
+    1528           0 :   return mrs_msgs::VelocityReferenceSrvResponse::ConstPtr(new mrs_msgs::VelocityReferenceSrvResponse(response));
+    1529             : }
+    1530             : 
+    1531             : //}
+    1532             : 
+    1533             : /* //{ setTrajectoryReference() */
+    1534             : 
+    1535           1 : const mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr MpcTracker::setTrajectoryReference([
+    1536             :     [maybe_unused]] const mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr& cmd) {
+    1537             : 
+    1538           2 :   std::stringstream ss;
+    1539             : 
+    1540           3 :   auto [success, message, modified] = loadTrajectory(cmd->trajectory);
+    1541             : 
+    1542           2 :   mrs_msgs::TrajectoryReferenceSrvResponse response;
+    1543           1 :   response.success  = success;
+    1544           1 :   response.message  = message;
+    1545           1 :   response.modified = modified;
+    1546             : 
+    1547           2 :   return mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr(new mrs_msgs::TrajectoryReferenceSrvResponse(response));
+    1548             : }
+    1549             : 
+    1550             : //}
+    1551             : 
+    1552             : // | ------------------------ callbacks ----------------------- |
+    1553             : 
+    1554             : /* //{ callbackOtherMavTrajectory() */
+    1555             : 
+    1556           0 : void MpcTracker::callbackOtherMavTrajectory(const mrs_msgs::FutureTrajectory::ConstPtr msg) {
+    1557             : 
+    1558           0 :   if (!is_initialized_) {
+    1559           0 :     return;
+    1560             :   }
+    1561             : 
+    1562           0 :   mrs_lib::Routine    profiler_routine = profiler.createRoutine("callbackOtherMavTrajectory");
+    1563             :   mrs_lib::ScopeTimer timer =
+    1564           0 :       mrs_lib::ScopeTimer("MpcTracker::callbackOtherMavTrajectory", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    1565             : 
+    1566           0 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    1567             : 
+    1568           0 :   mrs_msgs::FutureTrajectory trajectory = *msg;
+    1569             : 
+    1570             :   // the times might not be synchronized, so just remember the time of receiving it
+    1571           0 :   trajectory.stamp = ros::Time::now();
+    1572             : 
+    1573             :   // transform it from the utm origin to the currently used frame
+    1574           0 :   auto res = common_handlers_->transformer->getTransform("utm_origin", uav_state.header.frame_id, ros::Time::now());
+    1575             : 
+    1576           0 :   if (!res) {
+    1577             : 
+    1578           0 :     std::string message = "[MpcTracker]: can not transform other drone trajectory to the current frame";
+    1579           0 :     ROS_WARN_STREAM_ONCE(message);
+    1580           0 :     ROS_DEBUG_STREAM_THROTTLE(1.0, message);
+    1581             : 
+    1582           0 :     return;
+    1583             :   }
+    1584             : 
+    1585           0 :   geometry_msgs::TransformStamped tf = res.value();
+    1586             : 
+    1587           0 :   for (int i = 0; i < int(trajectory.points.size()); i++) {
+    1588             : 
+    1589           0 :     geometry_msgs::PoseStamped original_pose;
+    1590             : 
+    1591           0 :     original_pose.pose.position.x = trajectory.points[i].x;
+    1592           0 :     original_pose.pose.position.y = trajectory.points[i].y;
+    1593           0 :     original_pose.pose.position.z = trajectory.points[i].z;
+    1594             : 
+    1595           0 :     original_pose.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    1596             : 
+    1597           0 :     auto res = common_handlers_->transformer->transform(original_pose, tf);
+    1598             : 
+    1599           0 :     if (res) {
+    1600           0 :       trajectory.points[i].x = res.value().pose.position.x;
+    1601           0 :       trajectory.points[i].y = res.value().pose.position.y;
+    1602           0 :       trajectory.points[i].z = res.value().pose.position.z;
+    1603             :     } else {
+    1604             : 
+    1605           0 :       std::string message = "[MpcTracker]: could not transform point of other uav future trajectory!";
+    1606           0 :       ROS_WARN_STREAM_ONCE(message);
+    1607           0 :       ROS_DEBUG_STREAM_THROTTLE(1.0, message);
+    1608             : 
+    1609           0 :       return;
+    1610             :     }
+    1611             :   }
+    1612             : 
+    1613             :   {
+    1614           0 :     std::scoped_lock lock(mutex_other_uav_avoidance_trajectories_);
+    1615             : 
+    1616             :     // update the diagnostics
+    1617           0 :     other_uav_avoidance_trajectories_[trajectory.uav_name] = trajectory;
+    1618             :   }
+    1619             : }
+    1620             : 
+    1621             : //}
+    1622             : 
+    1623             : /* //{ callbackOtherMavDiagnostics() */
+    1624             : 
+    1625           0 : void MpcTracker::callbackOtherMavDiagnostics(const mrs_msgs::MpcTrackerDiagnostics::ConstPtr msg) {
+    1626             : 
+    1627           0 :   mrs_lib::Routine    profiler_routine = profiler.createRoutine("callbackOtherMavDiagnostics");
+    1628             :   mrs_lib::ScopeTimer timer =
+    1629           0 :       mrs_lib::ScopeTimer("MpcTracker::callbackOtherMavDiagnostics", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    1630             : 
+    1631           0 :   std::scoped_lock lock(mutex_other_uav_diagnostics_);
+    1632             : 
+    1633           0 :   mrs_msgs::MpcTrackerDiagnostics diagnostics = *msg;
+    1634             : 
+    1635             :   // fill in the current time
+    1636             :   // the other uav's time might not be synchronized with ours
+    1637           0 :   diagnostics.header.stamp = ros::Time::now();
+    1638             : 
+    1639             :   // update the diagnostics
+    1640           0 :   other_uav_diagnostics_[diagnostics.uav_name] = diagnostics;
+    1641           0 : }
+    1642             : 
+    1643             : //}
+    1644             : 
+    1645             : /* //{ callbackToggleCollisionAvoidance() */
+    1646             : 
+    1647           0 : bool MpcTracker::callbackToggleCollisionAvoidance(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res) {
+    1648             : 
+    1649           0 :   collision_avoidance_enabled_ = req.data;
+    1650             : 
+    1651           0 :   ROS_INFO("[MpcTracker]: Collision avoidance was switched %s", collision_avoidance_enabled_ ? "TRUE" : "FALSE");
+    1652             : 
+    1653           0 :   res.message = "Collision avoidance set.";
+    1654           0 :   res.success = true;
+    1655             : 
+    1656           0 :   return true;
+    1657             : }
+    1658             : 
+    1659             : //}
+    1660             : 
+    1661             : /* callbackWiggle() //{ */
+    1662             : 
+    1663           0 : bool MpcTracker::callbackWiggle(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res) {
+    1664             : 
+    1665           0 :   if (!is_initialized_) {
+    1666             : 
+    1667           0 :     res.success = false;
+    1668           0 :     res.message = "tracker not active";
+    1669           0 :     return true;
+    1670             :   }
+    1671             : 
+    1672             :   {
+    1673           0 :     std::scoped_lock lock(mutex_drs_params_);
+    1674             : 
+    1675           0 :     drs_params_.wiggle_enabled = req.data;
+    1676             : 
+    1677           0 :     reconfigure_server_->updateConfig(drs_params_);
+    1678             :   }
+    1679             : 
+    1680           0 :   res.success = true;
+    1681           0 :   res.message = "wiggle updated";
+    1682             : 
+    1683           0 :   return true;
+    1684             : }
+    1685             : 
+    1686             : //}
+    1687             : 
+    1688             : /* //{ dynamicReconfigureCallback() */
+    1689             : 
+    1690          48 : void MpcTracker::dynamicReconfigureCallback(mrs_uav_trackers::mpc_trackerConfig& config, [[maybe_unused]] uint32_t level) {
+    1691             : 
+    1692          96 :   std::scoped_lock lock(mutex_drs_params_);
+    1693             : 
+    1694          48 :   drs_params_ = config;
+    1695             : 
+    1696          48 :   ROS_INFO("[MpcTracker]: DRS updated");
+    1697          48 : }
+    1698             : 
+    1699             : //}
+    1700             : 
+    1701             : // --------------------------------------------------------------
+    1702             : // |                          routines                          |
+    1703             : // --------------------------------------------------------------
+    1704             : 
+    1705             : // | --------------- mutual collision avoidance --------------- |
+    1706             : 
+    1707             : /* //{ checkCollision() */
+    1708             : 
+    1709           0 : bool MpcTracker::checkCollision(const double ax, const double ay, const double az, const double bx, const double by, const double bz) {
+    1710             : 
+    1711           0 :   if (mrs_lib::geometry::dist(vec2_t(ax, ay), vec2_t(bx, by)) < _avoidance_radius_threshold_ && fabs(az - bz) < _avoidance_z_threshold_) {
+    1712             : 
+    1713           0 :     return true;
+    1714             : 
+    1715             :   } else {
+    1716             : 
+    1717           0 :     return false;
+    1718             :   }
+    1719             : }
+    1720             : 
+    1721             : //}
+    1722             : 
+    1723             : /* //{ checkCollisionInflated() */
+    1724             : 
+    1725           0 : bool MpcTracker::checkCollisionInflated(const double ax, const double ay, const double az, const double bx, const double by, const double bz) {
+    1726             : 
+    1727           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) {
+    1728             : 
+    1729           0 :     return true;
+    1730             : 
+    1731             :   } else {
+    1732             : 
+    1733           0 :     return false;
+    1734             :   }
+    1735             : }
+    1736             : 
+    1737             : //}
+    1738             : 
+    1739             : /* //{ checkTrajectoryForCollisions() */
+    1740             : 
+    1741             : // Check for potential collisions and return the needed altitude offset to avoid other drones
+    1742       27722 : double MpcTracker::checkTrajectoryForCollisions(int& first_collision_index) {
+    1743             : 
+    1744       27722 :   std::scoped_lock lock(mutex_predicted_trajectory_, mutex_des_trajectory_, mutex_other_uav_avoidance_trajectories_);
+    1745             : 
+    1746       27722 :   first_collision_index = INT_MAX;
+    1747       27722 :   avoiding_collision_   = false;
+    1748             : 
+    1749       27722 :   std::map<std::string, mrs_msgs::FutureTrajectory>::iterator u = other_uav_avoidance_trajectories_.begin();
+    1750             : 
+    1751       27722 :   while (u != other_uav_avoidance_trajectories_.end()) {
+    1752             : 
+    1753             :     // is the other's trajectory fresh enought?
+    1754           0 :     if ((ros::Time::now() - u->second.stamp).toSec() < _collision_trajectory_timeout_) {
+    1755             : 
+    1756           0 :       for (int v = 0; v < _mpc_horizon_len_; v++) {
+    1757             : 
+    1758             :         // check all points of the trajectory for possible collisions
+    1759           0 :         if (checkCollision(predicted_trajectory_(v * _mpc_n_states_, 0), predicted_trajectory_(v * _mpc_n_states_ + 4, 0),
+    1760           0 :                            predicted_trajectory_(v * _mpc_n_states_ + 8, 0), u->second.points[v].x, u->second.points[v].y, u->second.points[v].z)) {
+    1761             : 
+    1762             :           // collision is detected
+    1763           0 :           int other_uav_priority = INT_MAX;
+    1764             :           // get the priority of the other uav
+    1765             :           /* sscanf(u->first.c_str(), "uav%d", &other_uav_priority); */
+    1766           0 :           other_uav_priority = u->second.priority;
+    1767             : 
+    1768             :           // check if we should be avoiding (out priority is higher, or the other uav has collision avoidance turned off)
+    1769           0 :           if ((u->second.collision_avoidance == false) || (other_uav_priority < avoidance_this_uav_priority_)) {
+    1770             : 
+    1771             :             // we should be avoiding
+    1772           0 :             avoiding_collision_      = true;
+    1773           0 :             double tmp_safe_altitude = u->second.points[v].z + _avoidance_z_correction_;
+    1774             : 
+    1775           0 :             if (tmp_safe_altitude > collision_free_altitude_ && v <= _avoidance_collision_start_climbing_) {
+    1776           0 :               collision_free_altitude_ = tmp_safe_altitude;
+    1777             :             }
+    1778             : 
+    1779           0 :             ROS_ERROR_STREAM_THROTTLE(1, "[MpcTracker]: avoiding collision with uav" << other_uav_priority);
+    1780             : 
+    1781             :           } else {
+    1782             :             // the other uav should avoid us
+    1783           0 :             ROS_WARN_STREAM_THROTTLE(1, "[MpcTracker]: detected collision with uav" << other_uav_priority << ", not avoiding (my priority is higher)");
+    1784             :           }
+    1785             :         }
+    1786             : 
+    1787           0 :         if (checkCollisionInflated(predicted_trajectory_(v * _mpc_n_states_, 0), predicted_trajectory_(v * _mpc_n_states_ + 4, 0),
+    1788           0 :                                    predicted_trajectory_(v * _mpc_n_states_ + 8, 0), u->second.points[v].x, u->second.points[v].y, u->second.points[v].z)) {
+    1789             : 
+    1790             :           // collision is detected
+    1791           0 :           if (first_collision_index > v) {
+    1792           0 :             first_collision_index = v;
+    1793             :           }
+    1794             :         }
+    1795             :       }
+    1796             :     }
+    1797           0 :     u++;
+    1798             :   }
+    1799       27722 :   if (!avoiding_collision_) {
+    1800             : 
+    1801       27722 :     auto dt1 = mrs_lib::get_mutexed(mutex_dt1_, dt1_);
+    1802             : 
+    1803             :     // we are not avoiding any collisions, so we slowly reduce the collision avoidance offset to return to normal flight
+    1804       27722 :     collision_free_altitude_ -= 2.0 / (1.0 / dt1);
+    1805             : 
+    1806       27722 :     double safety_area_min_z = common_handlers_->safety_area.getMinZ("");
+    1807             : 
+    1808       27722 :     if (collision_free_altitude_ < safety_area_min_z) {
+    1809             : 
+    1810       27722 :       collision_free_altitude_ = safety_area_min_z;
+    1811             :     }
+    1812             :   }
+    1813             : 
+    1814       55444 :   return collision_free_altitude_;
+    1815             : }
+    1816             : 
+    1817             : //}
+    1818             : 
+    1819             : // | ------------------ trajectory filtering ------------------ |
+    1820             : 
+    1821             : /* //{ filterReferenceXY() */
+    1822             : 
+    1823       29542 : std::tuple<MatrixXd, MatrixXd> MpcTracker::filterReferenceXY(const VectorXd& des_x_trajectory, const VectorXd& des_y_trajectory, double max_speed_x,
+    1824             :                                                              double max_speed_y) {
+    1825             : 
+    1826       29542 :   auto dt1 = mrs_lib::get_mutexed(mutex_dt1_, dt1_);
+    1827             : 
+    1828       59084 :   auto mpc_x         = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_);
+    1829       29542 :   auto trajectory_dt = mrs_lib::get_mutexed(mutex_des_trajectory_, trajectory_dt_);
+    1830             : 
+    1831       59084 :   MatrixXd filtered_x_trajectory = MatrixXd::Zero(_mpc_horizon_len_, 1);
+    1832       59084 :   MatrixXd filtered_y_trajectory = MatrixXd::Zero(_mpc_horizon_len_, 1);
+    1833             : 
+    1834             :   double difference_x;
+    1835             :   double difference_y;
+    1836             :   double max_sample_x;
+    1837             :   double max_sample_y;
+    1838             : 
+    1839     1211222 :   for (int i = 0; i < _mpc_horizon_len_; i++) {
+    1840             : 
+    1841     1181680 :     if (i == 0) {
+    1842       29542 :       max_sample_x = max_speed_x * dt1;
+    1843       29542 :       max_sample_y = max_speed_y * dt1;
+    1844       29542 :       difference_x = des_x_trajectory(i, 0) - mpc_x(0, 0);
+    1845       29542 :       difference_y = des_y_trajectory(i, 0) - mpc_x(4, 0);
+    1846             :     } else {
+    1847     1152138 :       max_sample_x = max_speed_x * _dt2_;
+    1848     1152138 :       max_sample_y = max_speed_y * _dt2_;
+    1849     1152138 :       difference_x = des_x_trajectory(i, 0) - filtered_x_trajectory(i - 1, 0);
+    1850     1152138 :       difference_y = des_y_trajectory(i, 0) - filtered_y_trajectory(i - 1, 0);
+    1851             :     }
+    1852             : 
+    1853     1181680 :     if (!trajectory_tracking_in_progress_) {
+    1854             : 
+    1855     1154480 :       double direction_angle  = atan2(difference_y, difference_x);
+    1856     1154480 :       double max_dir_sample_x = abs(max_sample_x * cos(direction_angle));
+    1857     1154480 :       double max_dir_sample_y = abs(max_sample_y * sin(direction_angle));
+    1858             : 
+    1859     1154480 :       if (max_sample_x > max_dir_sample_x) {
+    1860      168760 :         max_sample_x = max_dir_sample_x;
+    1861             :       }
+    1862     1154480 :       if (max_sample_y > max_dir_sample_y) {
+    1863     1154472 :         max_sample_y = max_dir_sample_y;
+    1864             :       }
+    1865             : 
+    1866             :       // saturate the difference
+    1867     1154480 :       if (difference_x > max_sample_x)
+    1868       35875 :         difference_x = max_sample_x;
+    1869     1118605 :       else if (difference_x < -max_sample_x)
+    1870      150196 :         difference_x = -max_sample_x;
+    1871             : 
+    1872     1154480 :       if (difference_y > max_sample_y)
+    1873         512 :         difference_y = max_sample_y;
+    1874     1153968 :       else if (difference_y < -max_sample_y)
+    1875      150196 :         difference_y = -max_sample_y;
+    1876             :     }
+    1877             : 
+    1878     1181680 :     if (i == 0) {
+    1879       29542 :       filtered_x_trajectory(i, 0) = mpc_x(0, 0) + difference_x;
+    1880       29542 :       filtered_y_trajectory(i, 0) = mpc_x(4, 0) + difference_y;
+    1881             :     } else {
+    1882     1152138 :       filtered_x_trajectory(i, 0) = filtered_x_trajectory(i - 1, 0) + difference_x;
+    1883     1152138 :       filtered_y_trajectory(i, 0) = filtered_y_trajectory(i - 1, 0) + difference_y;
+    1884             :     }
+    1885             :   }
+    1886             : 
+    1887             :   // | ----------------------- add wiggle ----------------------- |
+    1888             : 
+    1889       29542 :   auto [wiggle_enabled, wiggle_amplitude, wiggle_frequency_] =
+    1890       29542 :       mrs_lib::get_mutexed(mutex_drs_params_, drs_params_.wiggle_enabled, drs_params_.wiggle_amplitude, drs_params_.wiggle_frequency);
+    1891             : 
+    1892       29542 :   if (wiggle_enabled) {
+    1893             : 
+    1894           0 :     for (int i = 0; i < _mpc_horizon_len_; i++) {
+    1895           0 :       filtered_x_trajectory(i, 0) += wiggle_amplitude * cos(wiggle_frequency_ * 2 * M_PI * i * trajectory_dt + wiggle_phase_);
+    1896           0 :       filtered_y_trajectory(i, 0) += wiggle_amplitude * sin(wiggle_frequency_ * 2 * M_PI * i * trajectory_dt + wiggle_phase_);
+    1897             :     }
+    1898             : 
+    1899           0 :     wiggle_phase_ += wiggle_frequency_ * dt1 * 2 * M_PI;
+    1900             : 
+    1901           0 :     if (wiggle_phase_ > M_PI) {
+    1902           0 :       wiggle_phase_ -= 2 * M_PI;
+    1903             :     }
+    1904             :   }
+    1905             : 
+    1906       59084 :   return std::make_tuple(filtered_x_trajectory, filtered_y_trajectory);
+    1907             : }
+    1908             : 
+    1909             : //}
+    1910             : 
+    1911             : /* //{ filterReferenceZ() */
+    1912             : 
+    1913       29542 : MatrixXd MpcTracker::filterReferenceZ(const VectorXd& des_z_trajectory, const double max_ascending_speed, const double max_descending_speed) {
+    1914             : 
+    1915       59084 :   auto mpc_x = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_);
+    1916             : 
+    1917       29542 :   auto dt1 = mrs_lib::get_mutexed(mutex_dt1_, dt1_);
+    1918             : 
+    1919             :   double difference_z;
+    1920             :   double max_sample_z;
+    1921             : 
+    1922       29542 :   MatrixXd filtered_trajectory = MatrixXd::Zero(_mpc_horizon_len_, 1);
+    1923             : 
+    1924       29542 :   double current_z = mpc_x(8, 0);
+    1925             : 
+    1926     1211222 :   for (int i = 0; i < _mpc_horizon_len_; i++) {
+    1927             : 
+    1928     1181680 :     if (i == 0) {
+    1929             : 
+    1930       29542 :       difference_z = des_z_trajectory(i, 0) - current_z;
+    1931             : 
+    1932       29542 :       if (difference_z > 0) {
+    1933       12496 :         max_sample_z = max_ascending_speed * dt1;
+    1934             :       } else {
+    1935       17046 :         max_sample_z = max_descending_speed * dt1;
+    1936             :       }
+    1937             : 
+    1938             :     } else {
+    1939             : 
+    1940     1152138 :       difference_z = des_z_trajectory(i, 0) - filtered_trajectory(i - 1, 0);
+    1941             : 
+    1942     1152138 :       if (difference_z > 0) {
+    1943       30536 :         max_sample_z = max_ascending_speed * _dt2_;
+    1944             :       } else {
+    1945     1121602 :         max_sample_z = max_descending_speed * _dt2_;
+    1946             :       }
+    1947             :     }
+    1948             : 
+    1949     1181680 :     if (!trajectory_tracking_in_progress_) {
+    1950             : 
+    1951             :       // saturate the difference
+    1952     1154440 :       if (difference_z > max_sample_z)
+    1953       17308 :         difference_z = max_sample_z;
+    1954     1137132 :       else if (difference_z < -max_sample_z)
+    1955        1092 :         difference_z = -max_sample_z;
+    1956             :     }
+    1957             : 
+    1958     1181680 :     if (i == 0) {
+    1959       29542 :       filtered_trajectory(i, 0) = current_z + difference_z;
+    1960             :     } else {
+    1961     1152138 :       filtered_trajectory(i, 0) = filtered_trajectory(i - 1, 0) + difference_z;
+    1962             :     }
+    1963             :   }
+    1964             : 
+    1965       59084 :   return filtered_trajectory;
+    1966             : }
+    1967             : 
+    1968             : //}
+    1969             : 
+    1970             : /* //{ manageConstraints() */
+    1971             : 
+    1972       29542 : void MpcTracker::manageConstraints() {
+    1973             : 
+    1974       29542 :   if (!got_constraints_) {
+    1975       29468 :     return;
+    1976             :   }
+    1977             : 
+    1978       29542 :   if (all_constraints_set_) {
+    1979       29468 :     return;
+    1980             :   }
+    1981             : 
+    1982          74 :   auto constraints            = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+    1983         148 :   auto [mpc_x, mpc_x_heading] = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_, mpc_x_heading_);
+    1984             : 
+    1985         148 :   bool can_change = (fabs(mpc_x(1, 0)) < constraints.horizontal_speed) && (fabs(mpc_x(2, 0)) < constraints.horizontal_acceleration) &&
+    1986          74 :                     (fabs(mpc_x(3, 0)) < constraints.horizontal_jerk) && (fabs(mpc_x(5, 0)) < constraints.horizontal_speed) &&
+    1987          74 :                     (fabs(mpc_x(6, 0)) < constraints.horizontal_acceleration) && (fabs(mpc_x(7, 0)) < constraints.horizontal_jerk) &&
+    1988          74 :                     (mpc_x(9, 0) < constraints.vertical_ascending_speed) && (mpc_x(9, 0) > -constraints.vertical_descending_speed) &&
+    1989          74 :                     (mpc_x(10, 0) < constraints.vertical_ascending_acceleration) && (mpc_x(10, 0) > -constraints.vertical_descending_acceleration) &&
+    1990          74 :                     (mpc_x(11, 0) < constraints.vertical_ascending_jerk) && (mpc_x(11, 0) > -constraints.vertical_descending_jerk) &&
+    1991         222 :                     (fabs(mpc_x_heading(1, 0)) < constraints.heading_speed) && (fabs(mpc_x_heading(2, 0)) < constraints.heading_acceleration) &&
+    1992          74 :                     (fabs(mpc_x_heading(3, 0)) < constraints.heading_jerk);
+    1993             : 
+    1994          74 :   if (can_change) {
+    1995             : 
+    1996             :     {
+    1997          74 :       std::scoped_lock lock(mutex_constraints_filtered_);
+    1998             : 
+    1999          74 :       constraints_filtered_.horizontal_acceleration = constraints.horizontal_acceleration;
+    2000          74 :       constraints_filtered_.horizontal_jerk         = constraints.horizontal_jerk;
+    2001          74 :       constraints_filtered_.horizontal_snap         = constraints.horizontal_snap;
+    2002             : 
+    2003          74 :       constraints_filtered_.vertical_ascending_acceleration = constraints.vertical_ascending_acceleration;
+    2004          74 :       constraints_filtered_.vertical_ascending_jerk         = constraints.vertical_ascending_jerk;
+    2005          74 :       constraints_filtered_.vertical_ascending_snap         = constraints.vertical_ascending_snap;
+    2006             : 
+    2007          74 :       constraints_filtered_.vertical_descending_acceleration = constraints.vertical_descending_acceleration;
+    2008          74 :       constraints_filtered_.vertical_descending_jerk         = constraints.vertical_descending_jerk;
+    2009          74 :       constraints_filtered_.vertical_descending_snap         = constraints.vertical_descending_snap;
+    2010             : 
+    2011          74 :       constraints_filtered_.heading_acceleration = constraints.heading_acceleration;
+    2012          74 :       constraints_filtered_.heading_jerk         = constraints.heading_jerk;
+    2013          74 :       constraints_filtered_.heading_snap         = constraints.heading_snap;
+    2014             :     }
+    2015             : 
+    2016          74 :     ROS_INFO_THROTTLE(1.0, "[MpcTracker]: all constraints succesfully applied");
+    2017          74 :     all_constraints_set_ = true;
+    2018             : 
+    2019             :   } else {
+    2020           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[MpcTracker]: slowing down to apply new constraints");
+    2021             :   }
+    2022             : }
+    2023             : 
+    2024             : //}
+    2025             : 
+    2026             : /* //{ calculateMPC() */
+    2027             : 
+    2028       29542 : void MpcTracker::calculateMPC() {
+    2029             : 
+    2030       29542 :   std::scoped_lock lock(mutex_mpc_calculation_);
+    2031             : 
+    2032       29542 :   auto dt1 = mrs_lib::get_mutexed(mutex_dt1_, dt1_);
+    2033             : 
+    2034       29542 :   ROS_DEBUG_STREAM_THROTTLE(1.0, "[MpcTracker]: MPC calculation dt = " << dt1);
+    2035             : 
+    2036       29542 :   auto constraints            = mrs_lib::get_mutexed(mutex_constraints_filtered_, constraints_filtered_);
+    2037       29542 :   auto [mpc_x, mpc_x_heading] = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_, mpc_x_heading_);
+    2038       29542 :   auto uav_state              = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    2039       29542 :   auto drs_params             = mrs_lib::get_mutexed(mutex_drs_params_, drs_params_);
+    2040             : 
+    2041       29542 :   MatrixXd des_x_trajectory, des_y_trajectory, des_z_trajectory, des_heading_trajectory;
+    2042             :   {
+    2043       59084 :     std::scoped_lock lock(mutex_des_trajectory_);
+    2044             : 
+    2045       29542 :     des_x_trajectory       = des_x_trajectory_;
+    2046       29542 :     des_y_trajectory       = des_y_trajectory_;
+    2047       29542 :     des_z_trajectory       = des_z_trajectory_;
+    2048       29542 :     des_heading_trajectory = des_heading_trajectory_;
+    2049             :   }
+    2050             : 
+    2051       29542 :   int    first_collision_index = INT_MAX;
+    2052       29542 :   double lowest_z              = std::numeric_limits<double>::max();
+    2053             : 
+    2054       29542 :   if (collision_avoidance_enabled_ && (uav_state.estimator_horizontal == "lat_gps" || uav_state.estimator_horizontal == "lat_rtk")) {
+    2055             : 
+    2056             :     // determine the lowest point in our trajectory
+    2057     1136602 :     for (int i = 0; i < _mpc_horizon_len_; i++) {
+    2058     1108880 :       if (des_z_trajectory_(i, 0) < lowest_z) {
+    2059       27722 :         lowest_z = des_z_trajectory_(i, 0);
+    2060             :       }
+    2061             :     }
+    2062             : 
+    2063             :     // check other drone trajectories for collisions
+    2064       27722 :     minimum_collison_free_altitude_ = checkTrajectoryForCollisions(first_collision_index);
+    2065             : 
+    2066             :   } else {
+    2067             : 
+    2068        1820 :     minimum_collison_free_altitude_ = common_handlers_->safety_area.getMinZ("");
+    2069             :   }
+    2070             : 
+    2071       29542 :   double max_speed_x = constraints.horizontal_speed;
+    2072       29542 :   double max_speed_y = constraints.horizontal_speed;
+    2073       29542 :   double max_speed_z = constraints.vertical_ascending_speed;
+    2074       29542 :   double min_speed_z = constraints.vertical_descending_speed;
+    2075             : 
+    2076       29542 :   double max_acc_x = constraints.horizontal_acceleration;
+    2077       29542 :   double max_acc_y = constraints.horizontal_acceleration;
+    2078       29542 :   double max_acc_z = constraints.vertical_ascending_acceleration;
+    2079       29542 :   double min_acc_z = constraints.vertical_descending_acceleration;
+    2080             : 
+    2081       29542 :   double max_snap_x = constraints.horizontal_snap;
+    2082       29542 :   double max_snap_y = constraints.horizontal_snap;
+    2083       29542 :   double max_snap_z = constraints.vertical_ascending_snap;
+    2084       29542 :   double min_snap_z = constraints.vertical_descending_snap;
+    2085             : 
+    2086       29542 :   double max_jerk_x = constraints.horizontal_jerk;
+    2087       29542 :   double max_jerk_y = constraints.horizontal_jerk;
+    2088       29542 :   double max_jerk_z = constraints.vertical_ascending_jerk;
+    2089       29542 :   double min_jerk_z = constraints.vertical_descending_jerk;
+    2090             : 
+    2091       29542 :   collision_avoidance_affecting_me_ = false;
+    2092             : 
+    2093       29542 :   if (first_collision_index < _mpc_horizon_len_) {
+    2094             : 
+    2095           0 :     collision_avoidance_affecting_me_ = true;
+    2096             :     // the tmp variable is used to scale the speed of our drone in collision avoidance, depending on how far away the collision is
+    2097           0 :     double tmp = 0;
+    2098             : 
+    2099           0 :     if (first_collision_index <= _avoidance_collision_slow_down_fully_) {
+    2100           0 :       tmp = 1;
+    2101           0 :     } else if (first_collision_index <= _avoidance_collision_slow_down_) {
+    2102           0 :       tmp = 1.0 - ((double)(first_collision_index - _avoidance_collision_slow_down_fully_)) /
+    2103           0 :                       (double)(_avoidance_collision_slow_down_ - _avoidance_collision_slow_down_fully_);
+    2104           0 :       tmp = tmp * tmp;
+    2105             :     }
+    2106             : 
+    2107           0 :     if (!std::isfinite(tmp)) {
+    2108           0 :       tmp = 1.0;
+    2109           0 :       ROS_ERROR("[MpcTracker]: NaN detected in variable 'tmp', setting it to 1.0 and returning!!!");
+    2110           0 :       return;
+    2111           0 :     } else if (tmp > 1.0) {
+    2112           0 :       tmp = 1.0;
+    2113           0 :     } else if (tmp < 0.0) {
+    2114           0 :       tmp = 0.0;
+    2115             :     }
+    2116             : 
+    2117           0 :     if (tmp > coef_scaler) {
+    2118           0 :       coef_scaler = tmp;
+    2119           0 :       coef_time   = ros::Time::now();
+    2120             :     }
+    2121           0 :     if ((ros::Time::now() - coef_time).toSec() > 2.0) {
+    2122           0 :       coef_scaler = tmp;
+    2123             :     }
+    2124             : 
+    2125             :     // we are close to a possible collision, better slow down a bit to give everyone more time
+    2126           0 :     max_speed_x = constraints.horizontal_speed * ((_avoidance_collision_horizontal_speed_coef_ * coef_scaler) + (1.0 - coef_scaler));
+    2127           0 :     max_speed_y = constraints.horizontal_speed * ((_avoidance_collision_horizontal_speed_coef_ * coef_scaler) + (1.0 - coef_scaler));
+    2128             :   }
+    2129             : 
+    2130       29542 :   if (collision_free_altitude_ > lowest_z) {
+    2131             : 
+    2132           0 :     collision_avoidance_affecting_me_ = true;
+    2133           0 :     max_speed_x                       = constraints.horizontal_speed * (_avoidance_collision_horizontal_speed_coef_);
+    2134           0 :     max_speed_y                       = constraints.horizontal_speed * (_avoidance_collision_horizontal_speed_coef_);
+    2135             :   }
+    2136             : 
+    2137             :   // first control input generated by MPC
+    2138       59084 :   VectorXd mpc_u         = VectorXd::Zero(_mpc_m_states_);
+    2139       29542 :   double   mpc_u_heading = 0;
+    2140             : 
+    2141       29542 :   double iters_z       = 0;
+    2142       29542 :   double iters_x       = 0;
+    2143       29542 :   double iters_y       = 0;
+    2144       29542 :   double iters_heading = 0;
+    2145             : 
+    2146       29542 :   ros::Time time_begin = ros::Time::now();
+    2147             : 
+    2148       59084 :   MatrixXd des_z_filtered = filterReferenceZ(des_z_trajectory, max_speed_z, min_speed_z);
+    2149             : 
+    2150     1211222 :   for (int i = 0; i < _mpc_horizon_len_; i++) {
+    2151     1181680 :     if (des_z_filtered(i, 0) < minimum_collison_free_altitude_) {
+    2152           0 :       des_z_filtered_offset_(i, 0) = minimum_collison_free_altitude_;
+    2153             :     } else {
+    2154     1181680 :       des_z_filtered_offset_(i, 0) = des_z_filtered(i, 0);
+    2155             :     }
+    2156             :   }
+    2157             : 
+    2158             :   // | ----------------- prepare the references ----------------- |
+    2159             : 
+    2160             :   // | -------------------- MPC solver z-axis ------------------- |
+    2161             : 
+    2162       29542 :   if (brake_ && !trajectory_tracking_in_progress_) {
+    2163       20349 :     mpc_solver_z_->setVelQ(drs_params.q_vel_braking);
+    2164             :   } else {
+    2165        9193 :     mpc_solver_z_->setVelQ(drs_params.q_vel_no_braking);
+    2166             :   }
+    2167             : 
+    2168       59084 :   MatrixXd initial_z = MatrixXd::Zero(4, 1);
+    2169             : 
+    2170       29542 :   initial_z(0, 0) = mpc_x(8, 0);
+    2171       29542 :   initial_z(1, 0) = mpc_x(9, 0);
+    2172       29542 :   initial_z(2, 0) = mpc_x(10, 0);
+    2173       29542 :   initial_z(3, 0) = mpc_x(11, 0);
+    2174             : 
+    2175       29542 :   mpc_solver_z_->setDt(dt1);
+    2176       29542 :   mpc_solver_z_->setInitialState(initial_z);
+    2177       29542 :   mpc_solver_z_->loadReference(des_z_filtered_offset_);
+    2178       29542 :   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);
+    2179       29542 :   iters_z += mpc_solver_z_->solveMPC();
+    2180             : 
+    2181             :   {
+    2182       59084 :     std::scoped_lock lock(mutex_predicted_trajectory_);
+    2183             : 
+    2184       29542 :     mpc_solver_z_->getStates(predicted_trajectory_);
+    2185             :   }
+    2186             : 
+    2187       29542 :   mpc_u(2) = mpc_solver_z_->getFirstControlInput();
+    2188             : 
+    2189             :   // if we are climbing to avoid a collision, reduce or arrest our horizontal velocity
+    2190             :   double ascend;
+    2191             :   {
+    2192       29542 :     std::scoped_lock lock(mutex_predicted_trajectory_);
+    2193             : 
+    2194       29542 :     ascend = (predicted_trajectory_(10, 0) / max_speed_z);
+    2195             :   }
+    2196             : 
+    2197       29542 :   if (ascend > 0 && collision_free_altitude_ > lowest_z) {
+    2198           0 :     max_speed_y = max_speed_y * (1.0 - ascend);
+    2199           0 :     max_speed_x = max_speed_x * (1.0 - ascend);
+    2200             :   }
+    2201             : 
+    2202       88626 :   auto [des_x_filtered, des_y_filtered] = filterReferenceXY(des_x_trajectory, des_y_trajectory, max_speed_x, max_speed_y);
+    2203             : 
+    2204             :   // unwrap the heading reference
+    2205             : 
+    2206       29542 :   des_heading_trajectory(0, 0) = sradians::unwrap(des_heading_trajectory(0, 0), mpc_x_heading(0));
+    2207             : 
+    2208     1181680 :   for (int i = 1; i < _mpc_horizon_len_; i++) {
+    2209     1152138 :     des_heading_trajectory(i, 0) = sradians::unwrap(des_heading_trajectory(i, 0), des_heading_trajectory(i - 1, 0));
+    2210             :   }
+    2211             : 
+    2212             :   // | -------------------- MPC solver x-axis ------------------- |
+    2213             : 
+    2214       29542 :   if (brake_ && !trajectory_tracking_in_progress_) {
+    2215       20350 :     mpc_solver_x_->setVelQ(drs_params.q_vel_braking);
+    2216             :   } else {
+    2217        9192 :     mpc_solver_x_->setVelQ(drs_params.q_vel_no_braking);
+    2218             :   }
+    2219             : 
+    2220       59084 :   MatrixXd initial_x = MatrixXd::Zero(4, 1);
+    2221             : 
+    2222       29542 :   initial_x(0, 0) = mpc_x(0, 0);
+    2223       29542 :   initial_x(1, 0) = mpc_x(1, 0);
+    2224       29542 :   initial_x(2, 0) = mpc_x(2, 0);
+    2225       29542 :   initial_x(3, 0) = mpc_x(3, 0);
+    2226             : 
+    2227       29542 :   mpc_solver_x_->setDt(dt1);
+    2228       29542 :   mpc_solver_x_->setInitialState(initial_x);
+    2229       29542 :   mpc_solver_x_->loadReference(des_x_filtered);
+    2230       29542 :   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);
+    2231       29542 :   iters_x += mpc_solver_x_->solveMPC();
+    2232             : 
+    2233             :   {
+    2234       59084 :     std::scoped_lock lock(mutex_predicted_trajectory_);
+    2235             : 
+    2236       29542 :     mpc_solver_x_->getStates(predicted_trajectory_);
+    2237             :   }
+    2238             : 
+    2239       29542 :   mpc_u(0) = mpc_solver_x_->getFirstControlInput();
+    2240             : 
+    2241             :   // | -------------------- MPC solver y-axis ------------------- |
+    2242             : 
+    2243       29542 :   if (brake_ && !trajectory_tracking_in_progress_) {
+    2244       20350 :     mpc_solver_y_->setVelQ(drs_params.q_vel_braking);
+    2245             :   } else {
+    2246        9192 :     mpc_solver_y_->setVelQ(drs_params.q_vel_no_braking);
+    2247             :   }
+    2248             : 
+    2249       59084 :   MatrixXd initial_y = MatrixXd::Zero(4, 1);
+    2250             : 
+    2251       29542 :   initial_y(0, 0) = mpc_x(4, 0);
+    2252       29542 :   initial_y(1, 0) = mpc_x(5, 0);
+    2253       29542 :   initial_y(2, 0) = mpc_x(6, 0);
+    2254       29542 :   initial_y(3, 0) = mpc_x(7, 0);
+    2255             : 
+    2256       29542 :   mpc_solver_y_->setDt(dt1);
+    2257       29542 :   mpc_solver_y_->setInitialState(initial_y);
+    2258       29542 :   mpc_solver_y_->loadReference(des_y_filtered);
+    2259       29542 :   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);
+    2260       29542 :   iters_y += mpc_solver_y_->solveMPC();
+    2261             :   {
+    2262       59084 :     std::scoped_lock lock(mutex_predicted_trajectory_);
+    2263             : 
+    2264       29542 :     mpc_solver_y_->getStates(predicted_trajectory_);
+    2265             :   }
+    2266       29542 :   mpc_u(1) = mpc_solver_y_->getFirstControlInput();
+    2267             : 
+    2268             :   // | ------------------- MPC solver heading ------------------- |
+    2269             : 
+    2270       29542 :   if (brake_ && !trajectory_tracking_in_progress_) {
+    2271       20350 :     mpc_solver_heading_->setVelQ(drs_params.q_vel_braking);
+    2272             :   } else {
+    2273        9192 :     mpc_solver_heading_->setVelQ(drs_params.q_vel_no_braking);
+    2274             :   }
+    2275             : 
+    2276       29542 :   mpc_solver_heading_->setDt(dt1);
+    2277       29542 :   mpc_solver_heading_->setInitialState(mpc_x_heading);
+    2278       29542 :   mpc_solver_heading_->loadReference(des_heading_trajectory);
+    2279       29542 :   mpc_solver_heading_->setLimits(constraints.heading_speed, constraints.heading_speed, constraints.heading_acceleration, constraints.heading_acceleration,
+    2280             :                                  constraints.heading_jerk, constraints.heading_jerk, constraints.heading_snap, constraints.heading_snap);
+    2281       29542 :   iters_heading += mpc_solver_heading_->solveMPC();
+    2282             :   {
+    2283       59084 :     std::scoped_lock lock(mutex_predicted_trajectory_);
+    2284             : 
+    2285       29542 :     mpc_solver_heading_->getStates(predicted_heading_trajectory_);
+    2286             :   }
+    2287       29542 :   mpc_u_heading = mpc_solver_heading_->getFirstControlInput();
+    2288             : 
+    2289             :   {
+    2290       29542 :     bool saturating = false;
+    2291             : 
+    2292       29542 :     if (mpc_u(0) > max_snap_x * 1.01) {
+    2293           0 :       ROS_WARN_STREAM_THROTTLE(0.1, "[MpcTracker]: saturating snap X: " << mpc_u(0));
+    2294           0 :       mpc_u(0)   = max_snap_x;
+    2295           0 :       saturating = true;
+    2296             :     }
+    2297       29542 :     if (mpc_u(0) < -max_snap_x * 1.01) {
+    2298           0 :       ROS_WARN_STREAM_THROTTLE(0.1, "[MpcTracker]: saturating snap X: " << mpc_u(0));
+    2299           0 :       mpc_u(0)   = -max_snap_x;
+    2300           0 :       saturating = true;
+    2301             :     }
+    2302       29542 :     if (mpc_u(1) > max_snap_y * 1.01) {
+    2303           0 :       ROS_WARN_STREAM_THROTTLE(0.1, "[MpcTracker]: saturating snap Y: " << mpc_u(1));
+    2304           0 :       mpc_u(1)   = max_snap_y;
+    2305           0 :       saturating = true;
+    2306             :     }
+    2307       29542 :     if (mpc_u(1) < -max_snap_y * 1.01) {
+    2308           0 :       ROS_WARN_STREAM_THROTTLE(0.1, "[MpcTracker]: saturating snap Y: " << mpc_u(1));
+    2309           0 :       mpc_u(1)   = -max_snap_y;
+    2310           0 :       saturating = true;
+    2311             :     }
+    2312       29542 :     if (mpc_u(2) > max_snap_z * 1.01) {
+    2313           0 :       ROS_WARN_STREAM_THROTTLE(0.1, "[MpcTracker]: saturating snap Z: " << mpc_u(2));
+    2314           0 :       mpc_u(2)   = max_snap_z;
+    2315           0 :       saturating = true;
+    2316             :     }
+    2317       29542 :     if (mpc_u(2) < -min_snap_z * 1.01) {
+    2318           0 :       ROS_WARN_STREAM_THROTTLE(0.1, "[MpcTracker]: saturating snap Z: " << mpc_u(2));
+    2319           0 :       mpc_u(2)   = -min_snap_z;
+    2320           0 :       saturating = true;
+    2321             :     }
+    2322             : 
+    2323       29542 :     if (saturating) {
+    2324           0 :       debugPrintState(0.1);
+    2325           0 :       debugPrintMPCResult(0.1);
+    2326             :     }
+    2327             :   }
+    2328             : 
+    2329             :   {
+    2330       29542 :     std::scoped_lock lock(mutex_mpc_u_);
+    2331             : 
+    2332       29542 :     mpc_u_         = mpc_u;
+    2333       29542 :     mpc_u_heading_ = mpc_u_heading;
+    2334             :   }
+    2335             : 
+    2336       29542 :   double mpc_solver_time = (ros::Time::now() - time_begin).toSec();
+    2337       29542 :   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_) {
+    2338           2 :     ROS_DEBUG_STREAM_THROTTLE(1.0, "[MpcTracker]: Total MPC solver time: " << mpc_solver_time << " iters X: " << iters_x << "/" << _max_iters_xy_
+    2339             :                                                                            << " iters Y:  " << iters_y << "/" << _max_iters_xy_ << " iters Z: " << iters_z
+    2340             :                                                                            << "/" << _max_iters_z_ << " iters heading: " << iters_heading << "/"
+    2341             :                                                                            << _max_iters_heading_);
+    2342             :   }
+    2343             : 
+    2344       29542 :   future_was_predicted_ = true;
+    2345             : 
+    2346             :   // | ------------- breaking for the next iteration ------------ |
+    2347             : 
+    2348       88626 :   if (drs_params.braking_enabled &&
+    2349       29542 :       (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) &&
+    2350       20618 :       (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) &&
+    2351       79665 :       (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) &&
+    2352       20581 :       (fabs(radians::diff(des_heading_trajectory(10), des_heading_trajectory(_mpc_horizon_len_ - 1))) <= 0.1 &&
+    2353       20581 :        fabs(radians::diff(des_heading_trajectory(30), des_heading_trajectory(_mpc_horizon_len_ - 1))) <= 0.1)) {
+    2354       20581 :     brake_ = true;
+    2355       20581 :     ROS_DEBUG_THROTTLE(1.0, "[MpcTracker]: braking");
+    2356             :   } else {
+    2357        8961 :     brake_ = false;
+    2358             :   }
+    2359             : 
+    2360             :   /* publish mpc reference //{ */
+    2361             : 
+    2362             :   {
+    2363       59084 :     geometry_msgs::PoseArray debug_trajectory_out;
+    2364       29542 :     debug_trajectory_out.header.stamp    = ros::Time::now();
+    2365       29542 :     debug_trajectory_out.header.frame_id = uav_state_.header.frame_id;
+    2366             : 
+    2367             :     {
+    2368       59084 :       std::scoped_lock lock(mutex_predicted_trajectory_);
+    2369             : 
+    2370     1211222 :       for (int i = 0; i < _mpc_horizon_len_; i++) {
+    2371             : 
+    2372     1181680 :         geometry_msgs::Pose new_pose;
+    2373             : 
+    2374     1181680 :         new_pose.position.x = des_x_filtered(i, 0);
+    2375     1181680 :         new_pose.position.y = des_y_filtered(i, 0);
+    2376     1181680 :         new_pose.position.z = des_z_filtered(i, 0);
+    2377             : 
+    2378     1181680 :         new_pose.orientation = mrs_lib::AttitudeConverter(0, 0, des_heading_trajectory(i));
+    2379             : 
+    2380     1181680 :         debug_trajectory_out.poses.push_back(new_pose);
+    2381             :       }
+    2382             :     }
+    2383             : 
+    2384       29542 :     ph_mpc_reference_debugging_.publish(debug_trajectory_out);
+    2385             :   }
+    2386             : 
+    2387             :   //}
+    2388             : }
+    2389             : 
+    2390             : //}
+    2391             : 
+    2392             : /* iterateModel() //{ */
+    2393             : 
+    2394       23579 : void MpcTracker::iterateModel(const double& dt) {
+    2395             : 
+    2396       23579 :   auto dt1 = mrs_lib::get_mutexed(mutex_dt1_, dt1_);
+    2397             : 
+    2398       23579 :   if (model_first_iteration_) {
+    2399             : 
+    2400          44 :     model_iteration_last_time_ = ros::Time::now();
+    2401          44 :     model_first_iteration_     = false;
+    2402             : 
+    2403             :   } else {
+    2404             : 
+    2405       23535 :     dt1 = 0.9 * dt1 + 0.1 * dt;
+    2406             : 
+    2407       23535 :     mrs_lib::set_mutexed(mutex_dt1_, dt1, dt1_);
+    2408       23535 :     timer_mpc_iteration_.setPeriod(ros::Duration(dt1), false);
+    2409             : 
+    2410             :     // clang-format off
+    2411       23535 :     A_ << 1, dt1, 0.5*dt1*dt1, 0,           0, 0,   0,           0,           0, 0,   0,           0,
+    2412       23535 :           0, 1,   dt1,         0.5*dt1*dt1, 0, 0,   0,           0,           0, 0,   0,           0,
+    2413       23535 :           0, 0,   1,           dt1,         0, 0,   0,           0,           0, 0,   0,           0,
+    2414       23535 :           0, 0,   0,           1,           0, 0,   0,           0,           0, 0,   0,           0,
+    2415       23535 :           0, 0,   0,           0,           1, dt1, 0.5*dt1*dt1, 0,           0, 0,   0,           0,
+    2416       23535 :           0, 0,   0,           0,           0, 1,   dt1,         0.5*dt1*dt1, 0, 0,   0,           0,
+    2417       23535 :           0, 0,   0,           0,           0, 0,   1,           dt1,         0, 0,   0,           0,
+    2418       23535 :           0, 0,   0,           0,           0, 0,   0,           1,           0, 0,   0,           0,
+    2419       23535 :           0, 0,   0,           0,           0, 0,   0,           0,           1, dt1, 0.5*dt1*dt1, 0,
+    2420       23535 :           0, 0,   0,           0,           0, 0,   0,           0,           0, 1,   dt1,         0.5*dt1*dt1,
+    2421       23535 :           0, 0,   0,           0,           0, 0,   0,           0,           0, 0,   1,           dt1,
+    2422       23535 :           0, 0,   0,           0,           0, 0,   0,           0,           0, 0,   0,           1;
+    2423             : 
+    2424       23535 :       B_ << 0,   0,   0,
+    2425       23535 :             0,   0,   0,
+    2426       23535 :             0,   0,   0,
+    2427       23535 :             dt1, 0,   0,
+    2428       23535 :             0,   0,   0,
+    2429       23535 :             0,   0,   0,
+    2430       23535 :             0,   0,   0,
+    2431       23535 :             0,   dt1, 0,
+    2432       23535 :             0,   0,   0,
+    2433       23535 :             0,   0,   0,
+    2434       23535 :             0,   0,   0,
+    2435       23535 :             0,   0,   dt1;
+    2436             : 
+    2437       23535 :       A_heading_ << 1, dt1, 0.5*dt1*dt1, 0,
+    2438       23535 :                     0, 1,   dt1,         0.5*dt1*dt1,
+    2439       23535 :                     0, 0,   1,           dt1,
+    2440       23535 :                     0, 0,   0,           1;
+    2441             : 
+    2442       23535 :       B_heading_ << 0,
+    2443       23535 :                     0,
+    2444       47070 :                     0,
+    2445       23535 :                     dt1;
+    2446             : 
+    2447       23535 :     model_iteration_last_time_ = ros::Time::now();
+    2448             :   }
+    2449             : 
+    2450             :   {
+    2451       47158 :     auto [mpc_x, mpc_x_heading] = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_, mpc_x_heading_);
+    2452       47158 :     auto [mpc_u, mpc_u_heading] = mrs_lib::get_mutexed(mutex_mpc_u_, mpc_u_, mpc_u_heading_);
+    2453             : 
+    2454       47158 :     MatrixXd new_mpc_x         = A_ * mpc_x + B_ * mpc_u;
+    2455       47158 :     MatrixXd new_mpc_x_heading = A_heading_ * mpc_x_heading + B_heading_ * mpc_u_heading;
+    2456             : 
+    2457             :     // | --------------- check the state difference --------------- |
+    2458             :     {
+    2459       23579 :       auto constraints = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+    2460             : 
+    2461       23579 :       bool problem = false;
+    2462             : 
+    2463             :       // position
+    2464             : 
+    2465       23579 :       if (fabs((new_mpc_x(0) - mpc_x(0)) / dt1) > 1.05 * constraints.horizontal_speed) {
+    2466           0 :         ROS_DEBUG("[MpcTracker]: horizontal pos x update violates constraints: %.2f -> %.2f = %.2f, > %.2f", mpc_x(0), new_mpc_x(0),
+    2467             :                   fabs((new_mpc_x(0) - mpc_x(0)) / dt1), constraints.horizontal_speed);
+    2468           0 :         problem = true;
+    2469             :       }
+    2470             : 
+    2471       23579 :       if (fabs((new_mpc_x(4) - mpc_x(4)) / dt1) > 1.05 * constraints.horizontal_speed) {
+    2472           0 :         ROS_DEBUG("[MpcTracker]: horizontal pos y update violates constraints: %.2f -> %.2f = %.2f, > %.2f", mpc_x(4), new_mpc_x(4),
+    2473             :                   fabs((new_mpc_x(4) - mpc_x(4)) / dt1), constraints.horizontal_speed);
+    2474           0 :         problem = true;
+    2475             :     }
+    2476             : 
+    2477       23579 :       if (((new_mpc_x(8) - mpc_x(8)) / dt1) > 1.05 * constraints.vertical_ascending_speed) {
+    2478           0 :         ROS_DEBUG("[MpcTracker]: vertical pos z update violates constraints: %.2f -> %.2f = %.2f, > %.2f", mpc_x(8), new_mpc_x(8),
+    2479             :                   ((new_mpc_x(8) - mpc_x(8)) / dt1), constraints.vertical_ascending_speed);
+    2480           0 :         problem = true;
+    2481             :       }
+    2482             : 
+    2483       23579 :       if (((new_mpc_x(8) - mpc_x(8)) / dt1) < 1.05 * -constraints.vertical_descending_speed) {
+    2484           0 :         ROS_DEBUG("[MpcTracker]: vertical pos z update violates constraints: %.2f -> %.2f = %.2f, < %.2f", mpc_x(8), new_mpc_x(8),
+    2485             :                   ((new_mpc_x(8) - mpc_x(8)) / dt1), -constraints.vertical_descending_speed);
+    2486           0 :         problem = true;
+    2487             :       }
+    2488             : 
+    2489             :       /* if (fabs(radians::diff(new_mpc_x_heading(0), mpc_x_heading(0)) / dt1) > 1.2 * constraints.heading_speed) { */
+    2490             :       /*   ROS_DEBUG("[MpcTracker]: heading update violates constraints: %.2f -> %.2f = %.2f, > %.2f", mpc_x_heading(0), new_mpc_x_heading(0), */
+    2491             :       /*             fabs(radians::diff(new_mpc_x_heading(0), mpc_x_heading(0)) / dt1), constraints.heading_speed); */
+    2492             :       /*   problem = true; */
+    2493             :       /* } */
+    2494             : 
+    2495             :       // velocity
+    2496             : 
+    2497       23579 :       if (fabs((new_mpc_x(1) - mpc_x(1)) / dt1) > 1.05 * constraints.horizontal_acceleration) {
+    2498           0 :         ROS_DEBUG("[MpcTracker]: horizontal vel x update violates constraints: %.2f -> %.2f = %.2f, > %.2f", mpc_x(1), new_mpc_x(1),
+    2499             :                   fabs((new_mpc_x(1) - mpc_x(1)) / dt1), constraints.horizontal_acceleration);
+    2500           0 :         problem = true;
+    2501             :       }
+    2502             : 
+    2503       23579 :       if (fabs((new_mpc_x(5) - mpc_x(5)) / dt1) > 1.05 * constraints.horizontal_acceleration) {
+    2504           0 :         ROS_DEBUG("[MpcTracker]: horizontal vel y update violates constraints: %.2f -> %.2f = %.2f, > %.2f", mpc_x(5), new_mpc_x(5),
+    2505             :                   fabs((new_mpc_x(5) - mpc_x(5)) / dt1), constraints.horizontal_acceleration);
+    2506           0 :         problem = true;
+    2507             :       }
+    2508             : 
+    2509       23579 :       if (((new_mpc_x(9) - mpc_x(9)) / dt1) > 1.05 * constraints.vertical_ascending_acceleration) {
+    2510           0 :         ROS_DEBUG("[MpcTracker]: vertical vel z update violates constraints: %.2f -> %.2f = %.2f, > %.2f", mpc_x(9), new_mpc_x(9),
+    2511             :                   ((new_mpc_x(9) - mpc_x(9)) / dt1), constraints.vertical_ascending_acceleration);
+    2512           0 :         problem = true;
+    2513             :       }
+    2514             : 
+    2515       23579 :       if (((new_mpc_x(9) - mpc_x(9)) / dt1) < 1.05 * -constraints.vertical_descending_acceleration) {
+    2516           0 :         ROS_DEBUG("[MpcTracker]: vertical vel z update violates constraints: %.2f -> %.2f = %.2f, < %.2f", mpc_x(9), new_mpc_x(9),
+    2517             :                   ((new_mpc_x(9) - mpc_x(9)) / dt1), -constraints.vertical_descending_acceleration);
+    2518           0 :         problem = true;
+    2519             :       }
+    2520             : 
+    2521             :       // acceleration
+    2522             : 
+    2523       23579 :       if (fabs((new_mpc_x(2) - mpc_x(2)) / dt1) > 1.05 * constraints.horizontal_jerk) {
+    2524           0 :         ROS_DEBUG("[MpcTracker]: horizontal acc x update violates constraints: %.2f -> %.2f = %.2f, > %.2f", mpc_x(2), new_mpc_x(2),
+    2525             :                   fabs((new_mpc_x(2) - mpc_x(2)) / dt1), constraints.horizontal_jerk);
+    2526           0 :         problem = true;
+    2527             :       }
+    2528             : 
+    2529       23579 :       if (fabs((new_mpc_x(6) - mpc_x(6)) / dt1) > 1.05 * constraints.horizontal_jerk) {
+    2530           0 :         ROS_DEBUG("[MpcTracker]: horizontal acc y update violates constraints: %.2f -> %.2f, = %.2f > %.2f", mpc_x(6), new_mpc_x(6),
+    2531             :                   fabs((new_mpc_x(6) - mpc_x(6)) / dt1), constraints.horizontal_jerk);
+    2532           0 :         problem = true;
+    2533             :       }
+    2534             : 
+    2535       23579 :       if (((new_mpc_x(10) - mpc_x(10)) / dt1) > 1.05 * constraints.vertical_ascending_jerk) {
+    2536           0 :         ROS_DEBUG("[MpcTracker]: vertical acc z update violates constraints: %.2f -> %.2f = %.2f, > %.2f", mpc_x(10), new_mpc_x(10),
+    2537             :                   ((new_mpc_x(10) - mpc_x(10)) / dt1), constraints.vertical_ascending_jerk);
+    2538           0 :         problem = true;
+    2539             :       }
+    2540             : 
+    2541       23579 :       if (((new_mpc_x(10) - mpc_x(10)) / dt1) < 1.05 * -constraints.vertical_descending_jerk) {
+    2542           0 :         ROS_DEBUG("[MpcTracker]: vertical acc z update violates constraints: %.2f -> %.2f = %.2f, < %.2f", mpc_x(10), new_mpc_x(10),
+    2543             :                   ((new_mpc_x(10) - mpc_x(10)) / dt1), -constraints.vertical_descending_jerk);
+    2544           0 :         problem = true;
+    2545             :       }
+    2546             : 
+    2547             :       // jerk
+    2548             : 
+    2549       23579 :       if (fabs((new_mpc_x(3) - mpc_x(3)) / dt1) > 1.05 * constraints.horizontal_snap) {
+    2550           0 :         ROS_DEBUG("[MpcTracker]: horizontal jerk x update violates constraints: %.2f -> %.2f = %.2f, > %.2f", mpc_x(3), new_mpc_x(3),
+    2551             :                   fabs((new_mpc_x(3) - mpc_x(3)) / dt1), constraints.horizontal_snap);
+    2552           0 :         problem = true;
+    2553             :       }
+    2554             : 
+    2555       23579 :       if (fabs((new_mpc_x(7) - mpc_x(7)) / dt1) > 1.05 * constraints.horizontal_snap) {
+    2556           0 :         ROS_DEBUG("[MpcTracker]: horizontal jerk y update violates constraints: %.2f -> %.2f = %.2f, > %.2f", mpc_x(7), new_mpc_x(7),
+    2557             :                   fabs((new_mpc_x(7) - mpc_x(7)) / dt1), constraints.horizontal_snap);
+    2558           0 :         problem = true;
+    2559             :       }
+    2560             : 
+    2561       23579 :       if (((new_mpc_x(11) - mpc_x(11)) / dt1) > 1.05 * constraints.vertical_ascending_snap) {
+    2562           0 :         ROS_DEBUG("[MpcTracker]: vertical jerk z update violates constraints: %.2f -> %.2f = %.2f, > %.2f", mpc_x(11), new_mpc_x(11),
+    2563             :                   ((new_mpc_x(11) - mpc_x(11)) / dt1), constraints.vertical_ascending_snap);
+    2564           0 :         problem = true;
+    2565             :       }
+    2566             : 
+    2567       23579 :       if (((new_mpc_x(11) - mpc_x(11)) / dt1) < 1.05 * -constraints.vertical_descending_snap) {
+    2568           0 :         ROS_DEBUG("[MpcTracker]: vertical jerk z update violates constraints: %.2f -> %.2f = %.2f, < %.2f", mpc_x(11), new_mpc_x(11),
+    2569             :                   ((new_mpc_x(11) - mpc_x(11)) / dt1), -constraints.vertical_descending_snap);
+    2570           0 :         problem = true;
+    2571             :       }
+    2572             : 
+    2573       23579 :       if (problem) {
+    2574           0 :         debugPrintState(0.001);
+    2575           0 :         debugPrintMPCResult(0.001);
+    2576             :       }
+    2577             :     }
+    2578             : 
+    2579             :     {
+    2580       23579 :       std::scoped_lock lock(mutex_mpc_x_);
+    2581             : 
+    2582       23579 :       mpc_x_         = new_mpc_x;
+    2583       23579 :       mpc_x_heading_ = new_mpc_x_heading;
+    2584             : 
+    2585       23579 :       mpc_x_heading_(0) = sradians::wrap(mpc_x_heading_(0));
+    2586             :     }
+    2587             :   }
+    2588       23579 : }
+    2589             : 
+    2590             : //}
+    2591             : 
+    2592             : // | -------------------- referece setting -------------------- |
+    2593             : 
+    2594             : /* //{ loadTrajectory() */
+    2595             : 
+    2596             : // method for setting desired trajectory
+    2597           1 : std::tuple<bool, std::string, bool> MpcTracker::loadTrajectory(const mrs_msgs::TrajectoryReference msg) {
+    2598             : 
+    2599           1 :   auto dt1 = mrs_lib::get_mutexed(mutex_dt1_, dt1_);
+    2600             : 
+    2601             :   // copy the member variables
+    2602           2 :   auto x         = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_);
+    2603           2 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    2604             : 
+    2605           2 :   std::stringstream ss;
+    2606             : 
+    2607             :   /* check the trajectory dt //{ */
+    2608             : 
+    2609             :   double trajectory_dt;
+    2610           1 :   if (msg.dt <= 1e-4) {
+    2611           0 :     trajectory_dt = 0.2;
+    2612           0 :     ROS_WARN_THROTTLE(10.0, "[MpcTracker]: the trajectory dt was not specified, assuming its the old 0.2 s");
+    2613           1 :   } else if (msg.dt < dt1) {
+    2614           0 :     trajectory_dt = 0.2;
+    2615           0 :     ss << std::setprecision(3) << "the trajectory dt (" << msg.dt << " s) is too small (smaller than the tracker's internal step size: " << dt1 << " s)";
+    2616           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+    2617           0 :     return std::tuple(false, ss.str(), false);
+    2618             :   } else {
+    2619           1 :     trajectory_dt = msg.dt;
+    2620             :   }
+    2621             : 
+    2622             :   //}
+    2623             : 
+    2624           1 :   int trajectory_size = msg.points.size();
+    2625             : 
+    2626             :   /* sanitize the time-ness of the trajectory //{ */
+    2627             : 
+    2628           1 :   int    trajectory_sample_offset    = 0;  // how many samples in past is the trajectory
+    2629           1 :   int    trajectory_subsample_offset = 0;  // how many simulation inner loops ahead of the first valid sample
+    2630           1 :   double trajectory_time_offset      = 0;  // how much time in past in [s]
+    2631             : 
+    2632             :   // btw, "trajectory_time_offset = trajectory_dt*trajectory_sample_offset + _dt1_*trajectory_subsample_offset" should hold
+    2633           1 :   if (msg.fly_now) {
+    2634             : 
+    2635           1 :     ros::Time trajectory_time = msg.header.stamp;
+    2636             : 
+    2637             :     // the desired time is 0 => the current time
+    2638             :     // the trajecoty is a single point => the current time
+    2639           1 :     if (trajectory_time == ros::Time(0) || int(msg.points.size()) == 1) {
+    2640             : 
+    2641           1 :       trajectory_time_offset = 0.0;
+    2642             : 
+    2643             :       // the desired time is specified
+    2644             :     } else {
+    2645             : 
+    2646           0 :       trajectory_time_offset = (ros::Time::now() - trajectory_time).toSec();
+    2647             : 
+    2648             :       // when the time offset is negative, thus in the future
+    2649             :       // just say it, but use it like its from the current time
+    2650           0 :       if (trajectory_time_offset < 0.0) {
+    2651             : 
+    2652           0 :         ROS_WARN_THROTTLE(1.0, "[MpcTracker]: received trajectory with timestamp in the future by %.3f s", -trajectory_time_offset);
+    2653             : 
+    2654           0 :         trajectory_time_offset = 0.0;
+    2655             :       }
+    2656             :     }
+    2657             : 
+    2658             :     // if the time offset is set, check if we need to "move the first idx"
+    2659           1 :     if (trajectory_time_offset > 0.0) {
+    2660             : 
+    2661             :       // calculate the offset in samples
+    2662           0 :       trajectory_sample_offset = int(floor(trajectory_time_offset / trajectory_dt));
+    2663             : 
+    2664             :       // and get the subsample offset, which will be used to initialize the interpolator
+    2665           0 :       trajectory_subsample_offset = int(floor(fmod(trajectory_time_offset, trajectory_dt) / dt1));
+    2666             : 
+    2667           0 :       ROS_DEBUG_THROTTLE(0.1, "[MpcTracker]: received trajectory with timestamp in the past by %.3f s",
+    2668             :                          trajectory_dt * trajectory_sample_offset + dt1 * trajectory_subsample_offset);
+    2669             : 
+    2670             :       // if the offset is larger than the number of points in the trajectory
+    2671             :       // the trajectory can not be used
+    2672           0 :       if (trajectory_sample_offset >= trajectory_size) {
+    2673             : 
+    2674           0 :         ss << "trajectory timestamp is too old (time difference = " << trajectory_time_offset << ")";
+    2675           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+    2676           0 :         return std::tuple(false, ss.str(), false);
+    2677             : 
+    2678             :       } else {
+    2679             : 
+    2680             :         // if the offset is larger than one trajectory sample,
+    2681             :         // offset the start
+    2682           0 :         if (trajectory_time_offset >= trajectory_dt) {
+    2683             : 
+    2684             :           // decrease the trajectory size
+    2685           0 :           trajectory_size -= trajectory_sample_offset;
+    2686             : 
+    2687           0 :           ROS_DEBUG_THROTTLE(0.1, "[MpcTracker]: offsetting trajectory by %d samples", trajectory_sample_offset);
+    2688             : 
+    2689             :         } else {
+    2690             : 
+    2691           0 :           trajectory_sample_offset = 0;
+    2692             :         }
+    2693             :       }
+    2694             :     }
+    2695             : 
+    2696             :   } else { // not fly_now
+    2697             : 
+    2698           0 :       trajectory_tracking_in_progress_ = false;
+    2699             : 
+    2700           0 :       timer_trajectory_tracking_.stop();
+    2701             :   }
+    2702             : 
+    2703             :   //}
+    2704             : 
+    2705           1 :   ROS_DEBUG_THROTTLE(1.0, "[MpcTracker]: trajectory sample offset: %d", trajectory_sample_offset);
+    2706           1 :   ROS_DEBUG_THROTTLE(1.0, "[MpcTracker]: trajectory subsample offset: %d", trajectory_subsample_offset);
+    2707             : 
+    2708             :   // after this, we should have the correct value of
+    2709             :   // * trajectory_size
+    2710             :   // * trajectory_sample_offset
+    2711             :   // * trajectory_subsample_offset
+    2712             : 
+    2713             :   /* copy the trajectory to a local variable //{ */
+    2714             : 
+    2715             :   // copy only the part from the first valid index
+    2716             : 
+    2717           2 :   MatrixXd des_x_whole_trajectory       = VectorXd::Zero(trajectory_size + _mpc_horizon_len_, 1);
+    2718           2 :   MatrixXd des_y_whole_trajectory       = VectorXd::Zero(trajectory_size + _mpc_horizon_len_, 1);
+    2719           2 :   MatrixXd des_z_whole_trajectory       = VectorXd::Zero(trajectory_size + _mpc_horizon_len_, 1);
+    2720           2 :   MatrixXd des_heading_whole_trajectory = VectorXd::Zero(trajectory_size + _mpc_horizon_len_, 1);
+    2721             : 
+    2722          41 :   for (int i = 0; i < trajectory_size; i++) {
+    2723             : 
+    2724          40 :     des_x_whole_trajectory(i)       = msg.points[trajectory_sample_offset + i].position.x;
+    2725          40 :     des_y_whole_trajectory(i)       = msg.points[trajectory_sample_offset + i].position.y;
+    2726          40 :     des_z_whole_trajectory(i)       = msg.points[trajectory_sample_offset + i].position.z;
+    2727          40 :     des_heading_whole_trajectory(i) = msg.points[trajectory_sample_offset + i].heading;
+    2728             :   }
+    2729             : 
+    2730             :   //}
+    2731             : 
+    2732             :   /* set looping //{ */
+    2733             : 
+    2734           1 :   bool loop = false;
+    2735             : 
+    2736           1 :   if (msg.loop) {
+    2737             : 
+    2738           0 :     double first_x = des_x_whole_trajectory(0);
+    2739           0 :     double first_y = des_y_whole_trajectory(0);
+    2740           0 :     double first_z = des_z_whole_trajectory(0);
+    2741             : 
+    2742           0 :     double last_x = des_x_whole_trajectory(trajectory_size - 1);
+    2743           0 :     double last_y = des_y_whole_trajectory(trajectory_size - 1);
+    2744           0 :     double last_z = des_z_whole_trajectory(trajectory_size - 1);
+    2745             : 
+    2746             :     // check whether the trajectory is loopable
+    2747             :     // TODO should check heading aswell
+    2748           0 :     if (mrs_lib::geometry::dist(vec3_t(first_x, first_y, first_z), vec3_t(last_x, last_y, last_z)) < 3.141592653) {
+    2749             : 
+    2750           0 :       ROS_INFO_THROTTLE(1.0, "[MpcTracker]: looping enabled");
+    2751           0 :       loop = true;
+    2752             : 
+    2753             :     } else {
+    2754             : 
+    2755           0 :       ss << "can not loop trajectory, the first and last points are too far apart";
+    2756           0 :       ROS_WARN_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+    2757           0 :       return std::tuple(false, ss.str(), false);
+    2758             :     }
+    2759             : 
+    2760             :   } else {
+    2761             : 
+    2762           1 :     loop = false;
+    2763             :   }
+    2764             : 
+    2765             :   //}
+    2766             : 
+    2767             :   // by this time, the values of these should be set:
+    2768             :   // * loop
+    2769             : 
+    2770             :   /* add tail (the last point repeated to fill the prediction horizon) //{ */
+    2771             : 
+    2772           1 :   if (!loop) {
+    2773             : 
+    2774             :     // extend it so it has smooth ending
+    2775          41 :     for (int i = 0; i < _mpc_horizon_len_; i++) {
+    2776             : 
+    2777          40 :       des_x_whole_trajectory(i + trajectory_size)       = des_x_whole_trajectory(i + trajectory_size - 1);
+    2778          40 :       des_y_whole_trajectory(i + trajectory_size)       = des_y_whole_trajectory(i + trajectory_size - 1);
+    2779          40 :       des_z_whole_trajectory(i + trajectory_size)       = des_z_whole_trajectory(i + trajectory_size - 1);
+    2780          40 :       des_heading_whole_trajectory(i + trajectory_size) = des_heading_whole_trajectory(i + trajectory_size - 1);
+    2781             :     }
+    2782             :   }
+    2783             : 
+    2784             :   //}
+    2785             : 
+    2786             :   // by this time, the values of these should be set correctly:
+    2787             :   // * trajectory_size
+    2788             :   // * des_x_whole_trajectory
+    2789             :   // * des_y_whole_trajectory
+    2790             :   // * des_z_whole_trajectory
+    2791             :   // * des_heading_whole_trajectory
+    2792             : 
+    2793             :   /* update the global variables //{ */
+    2794             : 
+    2795             :   {
+    2796           2 :     std::scoped_lock lock(mutex_des_whole_trajectory_, mutex_des_trajectory_, mutex_trajectory_tracking_states_);
+    2797             : 
+    2798           1 :     des_whole_trajectory_id_ = msg.input_id;
+    2799             : 
+    2800           1 :     auto mpc_x_heading = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_heading_);
+    2801             : 
+    2802           1 :     trajectory_tracking_in_progress_ = msg.fly_now;
+    2803           1 :     trajectory_track_heading_        = msg.use_heading;
+    2804             : 
+    2805             :     // allocate the vectors
+    2806           1 :     des_x_whole_trajectory_       = std::make_shared<VectorXd>(trajectory_size + _mpc_horizon_len_, 1);
+    2807           1 :     des_y_whole_trajectory_       = std::make_shared<VectorXd>(trajectory_size + _mpc_horizon_len_, 1);
+    2808           1 :     des_z_whole_trajectory_       = std::make_shared<VectorXd>(trajectory_size + _mpc_horizon_len_, 1);
+    2809           1 :     des_heading_whole_trajectory_ = std::make_shared<VectorXd>(trajectory_size + _mpc_horizon_len_, 1);
+    2810             : 
+    2811          81 :     for (int i = 0; i < trajectory_size + _mpc_horizon_len_; i++) {
+    2812             : 
+    2813          80 :       (*des_x_whole_trajectory_)(i) = des_x_whole_trajectory(i);
+    2814          80 :       (*des_y_whole_trajectory_)(i) = des_y_whole_trajectory(i);
+    2815          80 :       (*des_z_whole_trajectory_)(i) = des_z_whole_trajectory(i);
+    2816             : 
+    2817          80 :       if (trajectory_track_heading_) {
+    2818          80 :         (*des_heading_whole_trajectory_)(i) = des_heading_whole_trajectory(i);
+    2819             :       } else {
+    2820           0 :         (*des_heading_whole_trajectory_).fill(mpc_x_heading(0, 0));
+    2821             :       }
+    2822             :     }
+    2823             : 
+    2824             :     // if we are tracking trajectory, copy the setpoint
+    2825           1 :     if (trajectory_tracking_in_progress_) {
+    2826             : 
+    2827           1 :       toggleHover(false);  // TODO check for deadlock through mutex_des_trajectory_
+    2828             : 
+    2829             :       /* interpolate the trajectory points and fill in the desired_trajectory vector //{ */
+    2830             : 
+    2831          41 :       for (int i = 0; i < _mpc_horizon_len_; i++) {
+    2832             : 
+    2833          40 :         double first_time = dt1 + i * _dt2_ + trajectory_subsample_offset * dt1;
+    2834             : 
+    2835          40 :         int first_idx  = floor(first_time / trajectory_dt);
+    2836          40 :         int second_idx = first_idx + 1;
+    2837             : 
+    2838          40 :         double interp_coeff = std::fmod(first_time / trajectory_dt, 1.0);
+    2839             : 
+    2840          40 :         if (trajectory_tracking_loop_) {
+    2841             : 
+    2842           0 :           if (second_idx >= trajectory_size) {
+    2843           0 :             second_idx -= trajectory_size;
+    2844             :           }
+    2845             : 
+    2846           0 :           if (first_idx >= trajectory_size) {
+    2847           0 :             first_idx -= trajectory_size;
+    2848             :           }
+    2849             :         } else {
+    2850             : 
+    2851          40 :           if (second_idx >= trajectory_size) {
+    2852           1 :             second_idx = trajectory_size - 1;
+    2853             :           }
+    2854             : 
+    2855          40 :           if (first_idx >= trajectory_size) {
+    2856           0 :             first_idx = trajectory_size - 1;
+    2857             :           }
+    2858             :         }
+    2859             : 
+    2860          40 :         des_x_trajectory_(i, 0) = (1 - interp_coeff) * des_x_whole_trajectory(first_idx) + interp_coeff * des_x_whole_trajectory(second_idx);
+    2861          40 :         des_y_trajectory_(i, 0) = (1 - interp_coeff) * des_y_whole_trajectory(first_idx) + interp_coeff * des_y_whole_trajectory(second_idx);
+    2862          40 :         des_z_trajectory_(i, 0) = (1 - interp_coeff) * des_z_whole_trajectory(first_idx) + interp_coeff * des_z_whole_trajectory(second_idx);
+    2863             : 
+    2864          40 :         des_heading_trajectory_(i, 0) = sradians::interp(des_heading_whole_trajectory(first_idx), des_heading_whole_trajectory(second_idx), interp_coeff);
+    2865             :       }
+    2866             : 
+    2867             :       //}
+    2868             :     }
+    2869             : 
+    2870           1 :     trajectory_size_             = trajectory_size;
+    2871           1 :     trajectory_tracking_idx_     = 0;
+    2872           1 :     trajectory_tracking_sub_idx_ = trajectory_subsample_offset;
+    2873           1 :     trajectory_set_              = true;
+    2874           1 :     trajectory_tracking_loop_    = loop;
+    2875           1 :     trajectory_dt_               = trajectory_dt;
+    2876           1 :     trajectory_count_++;
+    2877             : 
+    2878           1 :     timer_trajectory_tracking_.setPeriod(ros::Duration(trajectory_dt));
+    2879             :   }
+    2880             : 
+    2881             :   //}
+    2882             : 
+    2883           1 :   if (trajectory_tracking_in_progress_) {
+    2884           1 :     timer_trajectory_tracking_.start();
+    2885             :   }
+    2886             : 
+    2887           1 :   ROS_INFO_THROTTLE(1, "[MpcTracker]: finished setting trajectory with length %d", trajectory_size);
+    2888             : 
+    2889             :   /* publish the debugging topics of the post-processed trajectory //{ */
+    2890             : 
+    2891             :   {
+    2892             : 
+    2893           2 :     geometry_msgs::PoseArray debug_trajectory_out;
+    2894           1 :     debug_trajectory_out.header.stamp    = ros::Time::now();
+    2895           1 :     debug_trajectory_out.header.frame_id = common_handlers_->transformer->resolveFrame(msg.header.frame_id);
+    2896             : 
+    2897             :     {
+    2898           2 :       std::scoped_lock lock(mutex_des_whole_trajectory_);
+    2899             : 
+    2900          41 :       for (int i = 0; i < trajectory_size; i++) {
+    2901             : 
+    2902          40 :         geometry_msgs::Pose new_pose;
+    2903             : 
+    2904          40 :         new_pose.position.x = (*des_x_whole_trajectory_)(i);
+    2905          40 :         new_pose.position.y = (*des_y_whole_trajectory_)(i);
+    2906          40 :         new_pose.position.z = (*des_z_whole_trajectory_)(i);
+    2907             : 
+    2908          40 :         new_pose.orientation = mrs_lib::AttitudeConverter(0, 0, (*des_heading_whole_trajectory_)(i));
+    2909             : 
+    2910          40 :         debug_trajectory_out.poses.push_back(new_pose);
+    2911             :       }
+    2912             :     }
+    2913             : 
+    2914           1 :     pub_debug_processed_trajectory_poses_.publish(debug_trajectory_out);
+    2915             : 
+    2916           2 :     visualization_msgs::MarkerArray msg_out;
+    2917             : 
+    2918           2 :     visualization_msgs::Marker marker;
+    2919             : 
+    2920           1 :     marker.header.stamp     = ros::Time::now();
+    2921           1 :     marker.header.frame_id  = common_handlers_->transformer->resolveFrame(msg.header.frame_id);
+    2922           1 :     marker.type             = visualization_msgs::Marker::LINE_LIST;
+    2923           1 :     marker.color.a          = 1;
+    2924           1 :     marker.scale.x          = 0.05;
+    2925           1 :     marker.color.r          = 1;
+    2926           1 :     marker.color.g          = 0;
+    2927           1 :     marker.color.b          = 0;
+    2928           1 :     marker.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    2929             : 
+    2930             :     {
+    2931           2 :       std::scoped_lock lock(mutex_des_whole_trajectory_);
+    2932             : 
+    2933          40 :       for (int i = 0; i < trajectory_size - 1; i++) {
+    2934             : 
+    2935          39 :         geometry_msgs::Point point1;
+    2936             : 
+    2937          39 :         point1.x = des_x_whole_trajectory(i);
+    2938          39 :         point1.y = des_y_whole_trajectory(i);
+    2939          39 :         point1.z = des_z_whole_trajectory(i);
+    2940             : 
+    2941          39 :         marker.points.push_back(point1);
+    2942             : 
+    2943          39 :         geometry_msgs::Point point2;
+    2944             : 
+    2945          39 :         point2.x = des_x_whole_trajectory(i + 1);
+    2946          39 :         point2.y = des_y_whole_trajectory(i + 1);
+    2947          39 :         point2.z = des_z_whole_trajectory(i + 1);
+    2948             : 
+    2949          39 :         marker.points.push_back(point2);
+    2950             :       }
+    2951             :     }
+    2952             : 
+    2953           1 :     msg_out.markers.push_back(marker);
+    2954             : 
+    2955           1 :     pub_debug_processed_trajectory_markers_.publish(msg_out);
+    2956             :   }
+    2957             : 
+    2958             :   //}
+    2959             : 
+    2960           1 :   publishDiagnostics();
+    2961             : 
+    2962           2 :   return std::tuple(true, "trajectory loaded", false);
+    2963             : }
+    2964             : 
+    2965             : //}
+    2966             : 
+    2967             : /* //{ setSinglePointReference() */
+    2968             : 
+    2969             : // fill the des_*_trajectory based on a single point
+    2970         709 : void MpcTracker::setSinglePointReference(const double x, const double y, const double z, const double heading) {
+    2971             : 
+    2972        1418 :   std::scoped_lock lock(mutex_des_trajectory_);
+    2973             : 
+    2974         709 :   des_x_trajectory_.fill(x);
+    2975         709 :   des_y_trajectory_.fill(y);
+    2976         709 :   des_z_trajectory_.fill(z);
+    2977         709 :   des_heading_trajectory_.fill(heading);
+    2978         709 : }
+    2979             : 
+    2980             : //}
+    2981             : 
+    2982             : /* //{ setGoal() */
+    2983             : 
+    2984             : // set absolute goal
+    2985          29 : void MpcTracker::setGoal(const double pos_x, const double pos_y, const double pos_z, const double heading, const bool use_heading) {
+    2986             : 
+    2987          29 :   double desired_heading = sradians::wrap(heading);
+    2988             : 
+    2989          58 :   auto mpc_x_heading = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_heading_);
+    2990             : 
+    2991          29 :   if (!use_heading) {
+    2992           0 :     desired_heading = mpc_x_heading(0, 0);
+    2993             :   }
+    2994             : 
+    2995          29 :   trajectory_tracking_in_progress_ = false;
+    2996          29 :   timer_trajectory_tracking_.stop();
+    2997             : 
+    2998          29 :   setSinglePointReference(pos_x, pos_y, pos_z, desired_heading);
+    2999             : 
+    3000          29 :   publishDiagnostics();
+    3001          29 : }
+    3002             : 
+    3003             : //}
+    3004             : 
+    3005             : /* //{ setRelativeGoal() */
+    3006             : 
+    3007         680 : void MpcTracker::setRelativeGoal(const double pos_x, const double pos_y, const double pos_z, const double heading, const bool use_heading) {
+    3008             : 
+    3009        1360 :   auto [mpc_x, mpc_x_heading] = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_, mpc_x_heading_);
+    3010             : 
+    3011         680 :   double abs_x = mpc_x(0, 0) + pos_x;
+    3012         680 :   double abs_y = mpc_x(4, 0) + pos_y;
+    3013         680 :   double abs_z = mpc_x(8, 0) + pos_z;
+    3014             : 
+    3015         680 :   double abs_heading = mpc_x_heading(0, 0);
+    3016             : 
+    3017         680 :   if (use_heading) {
+    3018           0 :     abs_heading += heading;
+    3019             :   }
+    3020             : 
+    3021         680 :   trajectory_tracking_in_progress_ = false;
+    3022         680 :   timer_trajectory_tracking_.stop();
+    3023             : 
+    3024         680 :   setSinglePointReference(abs_x, abs_y, abs_z, abs_heading);
+    3025             : 
+    3026         680 :   publishDiagnostics();
+    3027         680 : }
+    3028             : 
+    3029             : //}
+    3030             : 
+    3031             : /* toggleHover() //{ */
+    3032             : 
+    3033         121 : void MpcTracker::toggleHover(bool in) {
+    3034             : 
+    3035             :   // DON'T PUT MUTEX LOCK IN THIS FUNCTION
+    3036             :   // it is called under mutex elsewhere
+    3037             : 
+    3038         121 :   if (in == false && hovering_in_progress_) {
+    3039             : 
+    3040          44 :     ROS_DEBUG("[MpcTracker]: stoppping the hover timer");
+    3041             : 
+    3042          44 :     timer_hover_.stop();
+    3043             : 
+    3044          44 :     hovering_in_progress_ = false;
+    3045             : 
+    3046          77 :   } else if (in == true && !hovering_in_progress_) {
+    3047             : 
+    3048          44 :     ROS_DEBUG("[MpcTracker]: starting the hover timer");
+    3049             : 
+    3050          44 :     hovering_in_progress_ = true;
+    3051             : 
+    3052          44 :     timer_hover_.start();
+    3053             :   }
+    3054         121 : }
+    3055             : 
+    3056             : //}
+    3057             : 
+    3058             : // | ------------------- trajectory tracking ------------------ |
+    3059             : 
+    3060             : /* startTrajectoryTrackingImpl() //{ */
+    3061             : 
+    3062           0 : std::tuple<bool, std::string> MpcTracker::startTrajectoryTrackingImpl(void) {
+    3063             : 
+    3064           0 :   std::stringstream ss;
+    3065             : 
+    3066           0 :   if (trajectory_set_) {
+    3067             : 
+    3068           0 :     toggleHover(false);
+    3069             : 
+    3070             :     {
+    3071           0 :       std::scoped_lock lock(mutex_des_trajectory_);
+    3072             : 
+    3073           0 :       trajectory_tracking_in_progress_ = true;
+    3074           0 :       trajectory_tracking_idx_         = 0;
+    3075           0 :       trajectory_tracking_sub_idx_     = 0;
+    3076             :     }
+    3077             : 
+    3078           0 :     timer_trajectory_tracking_.setPeriod(ros::Duration(trajectory_dt_));
+    3079           0 :     timer_trajectory_tracking_.start();
+    3080             : 
+    3081           0 :     publishDiagnostics();
+    3082             : 
+    3083           0 :     ss << "trajectory tracking started";
+    3084           0 :     ROS_INFO_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+    3085             : 
+    3086           0 :     return std::tuple(true, ss.str());
+    3087             : 
+    3088             :   } else {
+    3089             : 
+    3090           0 :     ss << "can not start trajectory tracking, the trajectory is not set";
+    3091           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+    3092             : 
+    3093           0 :     return std::tuple(false, ss.str());
+    3094             :   }
+    3095             : }
+    3096             : 
+    3097             : //}
+    3098             : 
+    3099             : /* resumeTrajectoryTrackingImpl() //{ */
+    3100             : 
+    3101           0 : std::tuple<bool, std::string> MpcTracker::resumeTrajectoryTrackingImpl(void) {
+    3102             : 
+    3103           0 :   std::stringstream ss;
+    3104             : 
+    3105           0 :   if (trajectory_set_) {
+    3106             : 
+    3107           0 :     toggleHover(false);
+    3108             : 
+    3109           0 :     auto trajectory_tracking_idx = mrs_lib::get_mutexed(mutex_trajectory_tracking_states_, trajectory_tracking_idx_);
+    3110             : 
+    3111           0 :     if (trajectory_tracking_idx < (trajectory_size_ - 1)) {
+    3112             : 
+    3113             :       {
+    3114           0 :         std::scoped_lock lock(mutex_des_trajectory_);
+    3115             : 
+    3116           0 :         trajectory_tracking_in_progress_ = true;
+    3117             :       }
+    3118             : 
+    3119           0 :       timer_trajectory_tracking_.setPeriod(ros::Duration(trajectory_dt_));
+    3120           0 :       timer_trajectory_tracking_.start();
+    3121             : 
+    3122           0 :       ss << "trajectory tracking resumed";
+    3123           0 :       ROS_INFO_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+    3124             : 
+    3125           0 :       publishDiagnostics();
+    3126             : 
+    3127           0 :       return std::tuple(true, ss.str());
+    3128             : 
+    3129             :     } else {
+    3130             : 
+    3131           0 :       ss << "can not resume trajectory tracking, trajectory is already finished";
+    3132           0 :       ROS_WARN_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+    3133             : 
+    3134           0 :       return std::tuple(false, ss.str());
+    3135             :     }
+    3136             : 
+    3137             :   } else {
+    3138             : 
+    3139           0 :     ss << "can not resume trajectory tracking, ther trajectory is not set";
+    3140           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+    3141             : 
+    3142           0 :     return std::tuple(false, ss.str());
+    3143             :   }
+    3144             : }
+    3145             : 
+    3146             : //}
+    3147             : 
+    3148             : /* stopTrajectoryTrackingImpl() //{ */
+    3149             : 
+    3150           0 : std::tuple<bool, std::string> MpcTracker::stopTrajectoryTrackingImpl(void) {
+    3151             : 
+    3152           0 :   std::stringstream ss;
+    3153             : 
+    3154           0 :   if (trajectory_tracking_in_progress_) {
+    3155             : 
+    3156           0 :     trajectory_tracking_in_progress_ = false;
+    3157           0 :     timer_trajectory_tracking_.stop();
+    3158             : 
+    3159           0 :     toggleHover(true);
+    3160             : 
+    3161           0 :     ss << "stopping trajectory tracking";
+    3162           0 :     ROS_INFO_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+    3163             : 
+    3164           0 :     publishDiagnostics();
+    3165             : 
+    3166             :   } else {
+    3167             : 
+    3168           0 :     ss << "can not stop trajectory tracking, already at stop";
+    3169           0 :     ROS_INFO_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+    3170             :   }
+    3171             : 
+    3172           0 :   return std::tuple(true, ss.str());
+    3173             : }
+    3174             : 
+    3175             : //}
+    3176             : 
+    3177             : /* gotoTrajectoryStartImpl() //{ */
+    3178             : 
+    3179           0 : std::tuple<bool, std::string> MpcTracker::gotoTrajectoryStartImpl(void) {
+    3180             : 
+    3181           0 :   std::stringstream ss;
+    3182             : 
+    3183           0 :   if (trajectory_set_) {
+    3184             : 
+    3185           0 :     toggleHover(false);
+    3186             : 
+    3187           0 :     trajectory_tracking_in_progress_ = false;
+    3188           0 :     timer_trajectory_tracking_.stop();
+    3189             : 
+    3190             :     {
+    3191           0 :       std::scoped_lock lock(mutex_des_whole_trajectory_);
+    3192             : 
+    3193           0 :       setGoal((*des_x_whole_trajectory_)[0], (*des_y_whole_trajectory_)[0], (*des_z_whole_trajectory_)[0], (*des_heading_whole_trajectory_)[0],
+    3194           0 :               trajectory_track_heading_);
+    3195             :     }
+    3196             : 
+    3197           0 :     publishDiagnostics();
+    3198             : 
+    3199           0 :     ss << "flying to the start of the trajectory";
+    3200           0 :     ROS_INFO_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+    3201             : 
+    3202           0 :     return std::tuple(true, ss.str());
+    3203             : 
+    3204             :   } else {
+    3205             : 
+    3206           0 :     ss << "can not fly to the start of the trajectory, the trajectory is not set";
+    3207           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+    3208             : 
+    3209           0 :     return std::tuple(false, ss.str());
+    3210             :   }
+    3211             : }
+    3212             : 
+    3213             : //}
+    3214             : 
+    3215             : // | ------------------------- support ------------------------ |
+    3216             : 
+    3217             : /* //{ publishDiagnostics() */
+    3218             : 
+    3219        8816 : void MpcTracker::publishDiagnostics(void) {
+    3220             : 
+    3221       17632 :   auto des_x_trajectory       = mrs_lib::get_mutexed(mutex_des_trajectory_, des_x_trajectory_);
+    3222       17632 :   auto des_y_trajectory       = mrs_lib::get_mutexed(mutex_des_trajectory_, des_y_trajectory_);
+    3223       17632 :   auto des_z_trajectory       = mrs_lib::get_mutexed(mutex_des_trajectory_, des_z_trajectory_);
+    3224       17632 :   auto des_heading_trajectory = mrs_lib::get_mutexed(mutex_des_trajectory_, des_heading_trajectory_);
+    3225             : 
+    3226       17632 :   mrs_msgs::MpcTrackerDiagnostics diagnostics;
+    3227             : 
+    3228        8816 :   diagnostics.header.stamp    = ros::Time::now();
+    3229        8816 :   diagnostics.header.frame_id = uav_state_.header.frame_id;
+    3230             : 
+    3231        8816 :   diagnostics.active = is_active_;
+    3232             : 
+    3233        8816 :   diagnostics.uav_name = _uav_name_;
+    3234             : 
+    3235        8816 :   diagnostics.collision_avoidance_active = collision_avoidance_enabled_;
+    3236        8816 :   diagnostics.avoiding_collision         = collision_avoidance_affecting_me_;
+    3237             : 
+    3238        8816 :   diagnostics.setpoint.position.x = des_x_trajectory(0, 0);
+    3239        8816 :   diagnostics.setpoint.position.y = des_y_trajectory(0, 0);
+    3240        8816 :   diagnostics.setpoint.position.z = des_z_trajectory(0, 0);
+    3241             : 
+    3242        8816 :   diagnostics.setpoint.orientation = mrs_lib::AttitudeConverter(0, 0, des_heading_trajectory(0, 0));
+    3243             : 
+    3244       17632 :   std::stringstream ss;
+    3245             : 
+    3246             :   {
+    3247       17632 :     std::scoped_lock lock(mutex_other_uav_diagnostics_);
+    3248             : 
+    3249             :     // fill in if other UAVs are sending their trajectories
+    3250        8816 :     std::map<std::string, mrs_msgs::MpcTrackerDiagnostics>::iterator u = other_uav_diagnostics_.begin();
+    3251             : 
+    3252        8816 :     while (u != other_uav_diagnostics_.end()) {
+    3253             : 
+    3254           0 :       if (u->second.collision_avoidance_active) {
+    3255             : 
+    3256             :         // is the other's trajectory fresh enought?
+    3257           0 :         if ((ros::Time::now() - u->second.header.stamp).toSec() < _collision_trajectory_timeout_) {
+    3258           0 :           diagnostics.avoidance_active_uavs.push_back(u->first);
+    3259           0 :           ss << u->first.c_str() << ", ";
+    3260             :         }
+    3261             :       }
+    3262             : 
+    3263           0 :       u++;
+    3264             :     }
+    3265             :   }
+    3266             : 
+    3267       17632 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    3268             : 
+    3269        8816 :   if (ss.str().length() > 0) {
+    3270           0 :     ROS_DEBUG_STREAM_THROTTLE(5.0, "[MpcTracker]: getting avoidance trajectories: " << ss.str());
+    3271       19970 :   } else if (collision_avoidance_enabled_ &&
+    3272       11154 :       (uav_state.estimator_horizontal == "lat_gps" || uav_state.estimator_horizontal == "lat_rtk")) {
+    3273        6687 :     ROS_DEBUG_THROTTLE(10.0, "[MpcTracker]: missing avoidance trajectories!");
+    3274             :   }
+    3275             : 
+    3276        8816 :   pub_diagnostics_.publish(diagnostics);
+    3277             : 
+    3278       17632 :   std_msgs::String string_msg;
+    3279             : 
+    3280        8816 :   if (diagnostics.avoidance_active_uavs.empty()) {
+    3281             : 
+    3282        8816 :     string_msg.data = "-id col_avoid I see: NOTHING";
+    3283             : 
+    3284             :   } else {
+    3285             : 
+    3286           0 :     string_msg.data = "-id col_avoid I see: ";
+    3287             :   }
+    3288             : 
+    3289        8816 :   if (diagnostics.avoidance_active_uavs.size() <= 3) {
+    3290             : 
+    3291        8816 :     for (size_t i = 0; i < diagnostics.avoidance_active_uavs.size(); i++) {
+    3292           0 :       if (i == 0) {
+    3293           0 :         string_msg.data += diagnostics.avoidance_active_uavs[i];
+    3294             :       } else {
+    3295           0 :         string_msg.data += ", " + diagnostics.avoidance_active_uavs[i];
+    3296             :       }
+    3297             :     }
+    3298             : 
+    3299             :   } else {
+    3300             : 
+    3301           0 :     std::stringstream ss;
+    3302           0 :     ss << diagnostics.avoidance_active_uavs.size();
+    3303             : 
+    3304           0 :     string_msg.data += ss.str() + " UAVs";
+    3305             :   }
+    3306             : 
+    3307        8816 :   pub_status_string_.publish(string_msg);
+    3308        8816 : }
+    3309             : 
+    3310             : //}
+    3311             : 
+    3312             : /* debugPrintState() //{ */
+    3313             : 
+    3314           0 : void MpcTracker::debugPrintState(const double throttle) {
+    3315             : 
+    3316           0 :   auto [mpc_x, mpc_x_heading] = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_, mpc_x_heading_);
+    3317             : 
+    3318           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));
+    3319           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));
+    3320           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));
+    3321           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));
+    3322           0 : }
+    3323             : 
+    3324             : //}
+    3325             : 
+    3326             : /* debugPrintMPCu() //{ */
+    3327             : 
+    3328           0 : void MpcTracker::debugPrintMPCResult(const double throttle) {
+    3329             : 
+    3330           0 :   auto [mpc_u, mpc_u_heading] = mrs_lib::get_mutexed(mutex_mpc_u_, mpc_u_, mpc_u_heading_);
+    3331           0 :   auto constraints            = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+    3332             : 
+    3333           0 :   ROS_DEBUG_THROTTLE(throttle, "[MpcTracker]: MPC result: [%.2f, %.2f, %.2f, %.2f]", mpc_u(0), mpc_u(1), mpc_u(2), mpc_u_heading);
+    3334           0 :   ROS_DEBUG_THROTTLE(throttle, "[MpcTracker]: snap constraint: hor: %.2f, ver asc: %.2f, vert desc: %.2f, heading: %.2f]", constraints.horizontal_snap,
+    3335             :                      constraints.vertical_ascending_snap, constraints.vertical_descending_snap, constraints.heading_snap);
+    3336           0 : }
+    3337             : 
+    3338             : //}
+    3339             : 
+    3340             : // --------------------------------------------------------------
+    3341             : // |                           timers                           |
+    3342             : // --------------------------------------------------------------
+    3343             : 
+    3344             : /* //{ timerDiagnostics() */
+    3345             : 
+    3346             : // published diagnostics in reguar intervals
+    3347        8046 : void MpcTracker::timerDiagnostics(const ros::TimerEvent& event) {
+    3348             : 
+    3349        8046 :   if (!is_initialized_)
+    3350           0 :     return;
+    3351             : 
+    3352       24138 :   mrs_lib::Routine    profiler_routine = profiler.createRoutine("timerDiagnostics", _diagnostics_rate_, 0.1, event);
+    3353       24138 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MpcTracker::timerDiagnostics", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    3354             : 
+    3355        8046 :   publishDiagnostics();
+    3356             : }
+    3357             : 
+    3358             : //}
+    3359             : 
+    3360             : /* //{ timerMPC() */
+    3361             : 
+    3362       29542 : void MpcTracker::timerMPC(const ros::TimerEvent& event) {
+    3363             : 
+    3364       29542 :   if (odometry_reset_in_progress_) {
+    3365           0 :     ROS_ERROR("[MpcTracker]: mpc iteration tried run while reseting odometry");
+    3366           0 :     return;
+    3367             :   }
+    3368             : 
+    3369       29542 :   auto dt1 = mrs_lib::get_mutexed(mutex_dt1_, dt1_);
+    3370             : 
+    3371       29542 :   mrs_lib::AtomicScopeFlag unset_running(mpc_timer_running_);
+    3372             : 
+    3373       29542 :   bool started_with_invalid = mpc_result_invalid_;
+    3374             : 
+    3375       29542 :   if (!is_active_) {
+    3376           0 :     return;
+    3377             :   }
+    3378             : 
+    3379       29542 :   if (!is_initialized_) {
+    3380           0 :     return;
+    3381             :   }
+    3382             : 
+    3383       88626 :   mrs_lib::Routine    profiler_routine = profiler.createRoutine("timerMPC", 1.0 / dt1, 0.01, event);
+    3384       88626 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MpcTracker::timerMPC", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    3385             : 
+    3386       29542 :   ros::Time     begin = ros::Time::now();
+    3387       29542 :   ros::Time     end;
+    3388       29542 :   ros::Duration interval;
+    3389             :   int           trajectory_id;
+    3390             : 
+    3391             :   // if we are tracking trajectory, copy the setpoint
+    3392       29542 :   if (trajectory_tracking_in_progress_) {
+    3393             : 
+    3394        1362 :     MatrixXd des_x_trajectory, des_y_trajectory, des_z_trajectory, des_heading_trajectory;
+    3395        1362 :     VectorXd des_x_whole_trajectory, des_y_whole_trajectory, des_z_whole_trajectory, des_heading_whole_trajectory;
+    3396             :     double   trajectory_dt;
+    3397             :     int      trajectory_size;
+    3398             :     {
+    3399         681 :       std::scoped_lock lock(mutex_des_trajectory_, mutex_des_whole_trajectory_);
+    3400             : 
+    3401         681 :       des_x_trajectory       = des_x_trajectory_;
+    3402         681 :       des_y_trajectory       = des_y_trajectory_;
+    3403         681 :       des_z_trajectory       = des_z_trajectory_;
+    3404         681 :       des_heading_trajectory = des_heading_trajectory_;
+    3405             : 
+    3406         681 :       des_x_whole_trajectory       = *des_x_whole_trajectory_;
+    3407         681 :       des_y_whole_trajectory       = *des_y_whole_trajectory_;
+    3408         681 :       des_z_whole_trajectory       = *des_z_whole_trajectory_;
+    3409         681 :       des_heading_whole_trajectory = *des_heading_whole_trajectory_;
+    3410             : 
+    3411         681 :       trajectory_size = trajectory_size_;
+    3412         681 :       trajectory_dt   = trajectory_dt_;
+    3413             : 
+    3414         681 :       trajectory_id = des_whole_trajectory_id_;
+    3415             :     }
+    3416             : 
+    3417             :     /* interpolate the trajectory points and fill in the desired_trajectory vector //{ */
+    3418             : 
+    3419         681 :     int trajectory_tracking_sub_idx = trajectory_tracking_sub_idx_;
+    3420         681 :     int trajectory_tracking_idx     = trajectory_tracking_idx_;
+    3421             : 
+    3422       27921 :     for (int i = 0; i < _mpc_horizon_len_; i++) {
+    3423             : 
+    3424       27240 :       double first_time = dt1 + i * _dt2_ + trajectory_tracking_sub_idx * dt1;
+    3425             : 
+    3426       27240 :       int first_idx  = trajectory_tracking_idx + int(floor(first_time / trajectory_dt));
+    3427       27240 :       int second_idx = first_idx + 1;
+    3428             : 
+    3429       27240 :       double interp_coeff = std::fmod(first_time / trajectory_dt, 1.0);
+    3430             : 
+    3431       27240 :       if (trajectory_tracking_loop_) {
+    3432             : 
+    3433           0 :         if (second_idx >= trajectory_size) {
+    3434           0 :           second_idx = second_idx % trajectory_size;
+    3435             :         }
+    3436             : 
+    3437           0 :         if (first_idx >= trajectory_size) {
+    3438           0 :           first_idx = first_idx % trajectory_size;
+    3439             :         }
+    3440             : 
+    3441             :       } else {
+    3442             : 
+    3443       27240 :         if (second_idx >= trajectory_size) {
+    3444       14012 :           second_idx = trajectory_size - 1;
+    3445             :         }
+    3446             : 
+    3447       27240 :         if (first_idx >= trajectory_size) {
+    3448       13331 :           first_idx = trajectory_size - 1;
+    3449             :         }
+    3450             :       }
+    3451             : 
+    3452       27240 :       des_x_trajectory(i, 0) = (1 - interp_coeff) * des_x_whole_trajectory[first_idx] + interp_coeff * des_x_whole_trajectory[second_idx];
+    3453       27240 :       des_y_trajectory(i, 0) = (1 - interp_coeff) * des_y_whole_trajectory[first_idx] + interp_coeff * des_y_whole_trajectory[second_idx];
+    3454       27240 :       des_z_trajectory(i, 0) = (1 - interp_coeff) * des_z_whole_trajectory[first_idx] + interp_coeff * des_z_whole_trajectory[second_idx];
+    3455             : 
+    3456       27240 :       des_heading_trajectory(i, 0) = sradians::interp(des_heading_whole_trajectory[first_idx], des_heading_whole_trajectory[second_idx], interp_coeff);
+    3457             :     }
+    3458             : 
+    3459             :     {
+    3460        1362 :       std::scoped_lock lock(mutex_des_trajectory_);
+    3461             : 
+    3462         681 :       des_x_trajectory_       = des_x_trajectory;
+    3463         681 :       des_y_trajectory_       = des_y_trajectory;
+    3464         681 :       des_z_trajectory_       = des_z_trajectory;
+    3465         681 :       des_heading_trajectory_ = des_heading_trajectory;
+    3466             :     }
+    3467             : 
+    3468             :     //}
+    3469             : 
+    3470             :     // increase the trajectory subsampling counter
+    3471             :     {
+    3472         681 :       std::scoped_lock lock(mutex_trajectory_tracking_states_);
+    3473             : 
+    3474         681 :       trajectory_tracking_sub_idx_++;
+    3475             :     }
+    3476             :   } else {
+    3477             : 
+    3478       28861 :     std::scoped_lock lock(mutex_des_whole_trajectory_);
+    3479             : 
+    3480       28861 :     trajectory_id = des_whole_trajectory_id_;
+    3481             :   }
+    3482             : 
+    3483       29542 :   manageConstraints();
+    3484             : 
+    3485       29542 :   calculateMPC();
+    3486             : 
+    3487       29542 :   end      = ros::Time::now();
+    3488       29542 :   interval = end - begin;
+    3489             : 
+    3490             :   // | ------------------ calculate the MPC RTF ----------------- |
+    3491             : 
+    3492       29542 :   mpc_rtf_ = 0.99 * mpc_rtf_ + 0.01 * (interval.toSec()/dt1);
+    3493             : 
+    3494       29542 :   if (mpc_rtf_ >= 1.0) {
+    3495           0 :     ROS_WARN_THROTTLE(5.0, "[MpcTracker] MPC Real Time Factor (%.3f) is slow", mpc_rtf_);
+    3496             :   }
+    3497             : 
+    3498             :   /* publish predicted future //{ */
+    3499             : 
+    3500             :   {
+    3501       59084 :     geometry_msgs::PoseArray debug_trajectory_out;
+    3502       29542 :     debug_trajectory_out.header.stamp    = ros::Time::now();
+    3503       29542 :     debug_trajectory_out.header.frame_id = uav_state_.header.frame_id;
+    3504             : 
+    3505             :     {
+    3506       59084 :       std::scoped_lock lock(mutex_predicted_trajectory_);
+    3507             : 
+    3508     1211222 :       for (int i = 0; i < _mpc_horizon_len_; i++) {
+    3509             : 
+    3510     1181680 :         geometry_msgs::Pose newPose;
+    3511             : 
+    3512     1181680 :         newPose.position.x = predicted_trajectory_(i * _mpc_n_states_);
+    3513     1181680 :         newPose.position.y = predicted_trajectory_(i * _mpc_n_states_ + 4);
+    3514     1181680 :         newPose.position.z = predicted_trajectory_(i * _mpc_n_states_ + 8);
+    3515             : 
+    3516             :         try {
+    3517     1181680 :           newPose.orientation = mrs_lib::AttitudeConverter(0, 0, predicted_heading_trajectory_(i * _mpc_n_states_));
+    3518           0 :         } catch (...) {
+    3519           0 :           ROS_ERROR_THROTTLE(1.0, "[MpcTracker]: failed to fill orientation into debug print trajectory");
+    3520             :         }
+    3521             : 
+    3522     1181680 :         debug_trajectory_out.poses.push_back(newPose);
+    3523             :       }
+    3524             :     }
+    3525             : 
+    3526       29542 :     ph_predicted_trajectory_debugging_.publish(debug_trajectory_out);
+    3527             :   }
+    3528             : 
+    3529             :   //}
+    3530             : 
+    3531             :   /* publish full state prediction //{ */
+    3532             : 
+    3533             :   {
+    3534       59084 :     mrs_msgs::MpcPredictionFullState prediction_fs_out;
+    3535       29542 :     prediction_fs_out.header.stamp    = ros::Time::now();
+    3536       29542 :     prediction_fs_out.header.frame_id = uav_state_.header.frame_id;
+    3537             : 
+    3538       29542 :     ros::Time stamp = prediction_fs_out.header.stamp;
+    3539             : 
+    3540       29542 :     prediction_fs_out.input_id = trajectory_id;
+    3541             : 
+    3542             :     {
+    3543       59084 :       std::scoped_lock lock(mutex_predicted_trajectory_);
+    3544             : 
+    3545     1211222 :       for (int i = 0; i < _mpc_horizon_len_; i++) {
+    3546             : 
+    3547     1181680 :         if (i == 0) {
+    3548       29542 :           stamp += ros::Duration(0.01);
+    3549             :         } else {
+    3550     1152138 :           stamp += ros::Duration(0.2);
+    3551             :         }
+    3552             : 
+    3553     1181680 :         prediction_fs_out.stamps.push_back(stamp);
+    3554             : 
+    3555             :         {  // position
+    3556     1181680 :           geometry_msgs::Point point;
+    3557             : 
+    3558     1181680 :           point.x = predicted_trajectory_(i * _mpc_n_states_);
+    3559     1181680 :           point.y = predicted_trajectory_(i * _mpc_n_states_ + 4);
+    3560     1181680 :           point.z = predicted_trajectory_(i * _mpc_n_states_ + 8);
+    3561             : 
+    3562     1181680 :           prediction_fs_out.position.push_back(point);
+    3563             :         }
+    3564             : 
+    3565             :         {  // velocity
+    3566     1181680 :           geometry_msgs::Vector3 vector;
+    3567             : 
+    3568     1181680 :           vector.x = predicted_trajectory_(i * _mpc_n_states_ + 1);
+    3569     1181680 :           vector.y = predicted_trajectory_(i * _mpc_n_states_ + 5);
+    3570     1181680 :           vector.z = predicted_trajectory_(i * _mpc_n_states_ + 9);
+    3571             : 
+    3572     1181680 :           prediction_fs_out.velocity.push_back(vector);
+    3573             :         }
+    3574             : 
+    3575             :         {  // acceleration
+    3576     1181680 :           geometry_msgs::Vector3 vector3;
+    3577             : 
+    3578     1181680 :           vector3.x = predicted_trajectory_(i * _mpc_n_states_ + 2);
+    3579     1181680 :           vector3.y = predicted_trajectory_(i * _mpc_n_states_ + 6);
+    3580     1181680 :           vector3.z = predicted_trajectory_(i * _mpc_n_states_ + 10);
+    3581             : 
+    3582     1181680 :           prediction_fs_out.acceleration.push_back(vector3);
+    3583             :         }
+    3584             : 
+    3585             :         {  // jerk
+    3586     1181680 :           geometry_msgs::Vector3 vector3;
+    3587             : 
+    3588     1181680 :           vector3.x = predicted_trajectory_(i * _mpc_n_states_ + 3);
+    3589     1181680 :           vector3.y = predicted_trajectory_(i * _mpc_n_states_ + 7);
+    3590     1181680 :           vector3.z = predicted_trajectory_(i * _mpc_n_states_ + 11);
+    3591             : 
+    3592     1181680 :           prediction_fs_out.jerk.push_back(vector3);
+    3593             :         }
+    3594             : 
+    3595             :         {
+    3596             :           // heading
+    3597             : 
+    3598     1181680 :           prediction_fs_out.heading.push_back(predicted_heading_trajectory_(i * _mpc_n_states_));
+    3599     1181680 :           prediction_fs_out.heading_rate.push_back(predicted_heading_trajectory_(i * _mpc_n_states_ + 1));
+    3600     1181680 :           prediction_fs_out.heading_acceleration.push_back(predicted_heading_trajectory_(i * _mpc_n_states_ + 2));
+    3601     1181680 :           prediction_fs_out.heading_jerk.push_back(predicted_heading_trajectory_(i * _mpc_n_states_ + 3));
+    3602             :         }
+    3603             :       }
+    3604             :     }
+    3605             : 
+    3606             :     {
+    3607       59084 :       std::scoped_lock lock(mutex_prediction_full_state_);
+    3608       29542 :       prediction_full_state_ = prediction_fs_out;
+    3609             :     }
+    3610             :   }
+    3611             : 
+    3612             :   //}
+    3613             : 
+    3614       29542 :   mpc_computed_ = true;
+    3615             : 
+    3616       29542 :   if (started_with_invalid) {
+    3617             : 
+    3618           0 :     mpc_result_invalid_ = false;
+    3619             : 
+    3620           0 :     ROS_INFO("[MpcTracker]: calculated the first MPC result after invalidation");
+    3621             :   }
+    3622             : }
+    3623             : 
+    3624             : //}
+    3625             : 
+    3626             : /* timerTrajectoryTracking() //{ */
+    3627             : 
+    3628          40 : void MpcTracker::timerTrajectoryTracking(const ros::TimerEvent& event) {
+    3629             : 
+    3630          40 :   auto trajectory_size = mrs_lib::get_mutexed(mutex_des_trajectory_, trajectory_size_);
+    3631          40 :   auto trajectory_dt   = mrs_lib::get_mutexed(mutex_trajectory_tracking_states_, trajectory_dt_);
+    3632             : 
+    3633         120 :   mrs_lib::Routine    profiler_routine = profiler.createRoutine("timerTrajectoryTracking", int(1.0 / trajectory_dt), 0.01, event);
+    3634             :   mrs_lib::ScopeTimer timer =
+    3635         120 :       mrs_lib::ScopeTimer("MpcTracker::timerTrajectoryTracking", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    3636             : 
+    3637             :   {
+    3638          80 :     std::scoped_lock lock(mutex_trajectory_tracking_states_);
+    3639             : 
+    3640             :     // do a step of the main tracking idx
+    3641             : 
+    3642             :     // reset the subsampling counter
+    3643          40 :     trajectory_tracking_sub_idx_ = 0;
+    3644             : 
+    3645             :     // INCREMENT THE TRACKING IDX
+    3646          40 :     trajectory_tracking_idx_++;
+    3647             : 
+    3648             :     // if the tracking idx hits the end of the trajectory
+    3649          40 :     if (trajectory_tracking_idx_ == trajectory_size) {
+    3650             : 
+    3651           1 :       if (trajectory_tracking_loop_) {
+    3652             : 
+    3653             :         // reset the idx
+    3654           0 :         trajectory_tracking_idx_ = 0;
+    3655             : 
+    3656           0 :         ROS_INFO("[MpcTracker]: trajectory looped");
+    3657             : 
+    3658             :       } else {
+    3659             : 
+    3660           1 :         trajectory_tracking_in_progress_ = false;
+    3661             : 
+    3662             :         // set the idx to the last idx of the trajectory
+    3663           1 :         trajectory_tracking_idx_ = trajectory_size - 1;
+    3664             : 
+    3665           1 :         timer_trajectory_tracking_.stop();
+    3666             : 
+    3667           1 :         ROS_INFO("[MpcTracker]: done tracking trajectory");
+    3668             :       }
+    3669             :     }
+    3670             :   }
+    3671             : 
+    3672          40 :   publishDiagnostics();
+    3673          40 : }
+    3674             : 
+    3675             : //}
+    3676             : 
+    3677             : /* timerVelocityTracking() //{ */
+    3678             : 
+    3679           0 : void MpcTracker::timerVelocityTracking(const ros::TimerEvent& event) {
+    3680             : 
+    3681           0 :   if (!is_initialized_) {
+    3682           0 :     return;
+    3683             :   }
+    3684             : 
+    3685           0 :   if (!velocity_tracking_active_) {
+    3686           0 :     return;
+    3687             :   }
+    3688             : 
+    3689           0 :   mrs_lib::Routine    profiler_routine = profiler.createRoutine("timerVelocityTracking", int(30.0), 0.01, event);
+    3690             :   mrs_lib::ScopeTimer timer =
+    3691           0 :       mrs_lib::ScopeTimer("MpcTracker::timerVelocityTracking", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    3692             : 
+    3693             :   // stop the timer when timeout
+    3694           0 :   if ((ros::Time::now() - velocity_reference_time_).toSec() > 0.5) {
+    3695             : 
+    3696           0 :     ROS_WARN_THROTTLE(1.0, "[MpcTracker]: velocity reference timeouted, hovering");
+    3697           0 :     timer_velocity_tracking_.stop();
+    3698             : 
+    3699           0 :     toggleHover(true);
+    3700             : 
+    3701           0 :     velocity_tracking_active_ = false;
+    3702             : 
+    3703           0 :     return;
+    3704             :   }
+    3705             : 
+    3706           0 :   auto [mpc_x, mpc_x_heading] = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_, mpc_x_heading_);
+    3707           0 :   auto velocity_reference     = mrs_lib::get_mutexed(mutex_velocity_reference_, velocity_reference_);
+    3708             : 
+    3709           0 :   mrs_msgs::TrajectoryReference trajectory;
+    3710             : 
+    3711           0 :   trajectory.fly_now         = true;
+    3712           0 :   trajectory.use_heading     = true;
+    3713           0 :   trajectory.dt              = 0.2;
+    3714           0 :   trajectory.header.stamp    = ros::Time::now();
+    3715           0 :   trajectory.header.frame_id = "";
+    3716             : 
+    3717           0 :   double x       = mpc_x(0, 0);
+    3718           0 :   double y       = mpc_x(4, 0);
+    3719           0 :   double z       = mpc_x(8, 0);
+    3720           0 :   double heading = mpc_x_heading(0, 0);
+    3721             : 
+    3722           0 :   for (int i = 0; i < 50; i++) {
+    3723             : 
+    3724           0 :     mrs_msgs::Reference reference;
+    3725           0 :     reference.position.x = x;
+    3726           0 :     reference.position.y = y;
+    3727           0 :     reference.position.z = z;
+    3728           0 :     reference.heading    = heading;
+    3729             : 
+    3730           0 :     trajectory.points.push_back(reference);
+    3731             : 
+    3732           0 :     x += velocity_reference.velocity.x * trajectory.dt;
+    3733           0 :     y += velocity_reference.velocity.y * trajectory.dt;
+    3734           0 :     z += velocity_reference.velocity.z * trajectory.dt;
+    3735             : 
+    3736           0 :     if (velocity_reference.use_altitude) {
+    3737           0 :       z = velocity_reference.altitude;
+    3738             :     }
+    3739             : 
+    3740           0 :     if (velocity_reference.use_heading_rate) {
+    3741           0 :       heading += velocity_reference.heading_rate * trajectory.dt;
+    3742           0 :     } else if (velocity_reference.use_heading) {
+    3743           0 :       heading = velocity_reference.heading;
+    3744             :     }
+    3745             :   }
+    3746             : 
+    3747           0 :   auto [success, message, modified] = loadTrajectory(trajectory);
+    3748             : }
+    3749             : 
+    3750             : //}
+    3751             : 
+    3752             : /* //{ timerAvoidanceTrajectory() */
+    3753             : 
+    3754        1595 : void MpcTracker::timerAvoidanceTrajectory(const ros::TimerEvent& event) {
+    3755             : 
+    3756        1595 :   if (!is_active_) {
+    3757         799 :     return;
+    3758             :   }
+    3759             : 
+    3760         835 :   if (!is_initialized_) {
+    3761           0 :     return;
+    3762             :   }
+    3763             : 
+    3764         835 :   if (!sh_estimation_diag_.hasMsg()) {
+    3765           0 :     return;
+    3766             :   } else {
+    3767             :     // we won't try to transform and publish the avoidance prediction if we cannot transform it
+    3768             : 
+    3769         835 :     auto                     estimation_diag      = sh_estimation_diag_.getMsg();
+    3770         835 :     std::vector<std::string> state_estimators = estimation_diag.get()->switchable_state_estimators;
+    3771             : 
+    3772         835 :     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();
+    3773         835 :     bool got_rtk_est = std::find(state_estimators.begin(), state_estimators.end(), "rtk") != state_estimators.end();
+    3774             : 
+    3775         835 :     if (!got_gps_est && !got_rtk_est) {
+    3776          39 :       return;
+    3777             :     }
+    3778             :   }
+    3779             : 
+    3780        1592 :   mrs_lib::Routine    profiler_routine = profiler.createRoutine("timerAvoidanceTrajectory", _avoidance_trajectory_rate_, 0.1, event);
+    3781             :   mrs_lib::ScopeTimer timer =
+    3782        1592 :       mrs_lib::ScopeTimer("MpcTracker::timerAvoidanceTrajectory", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    3783             : 
+    3784         796 :   auto uav_state            = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    3785         796 :   auto predicted_trajectory = mrs_lib::get_mutexed(mutex_predicted_trajectory_, predicted_trajectory_);
+    3786             : 
+    3787         796 :   if (future_was_predicted_) {
+    3788             : 
+    3789         796 :     mrs_msgs::FutureTrajectory avoidance_trajectory;
+    3790             : 
+    3791             :     // fill last trajectory with initial data
+    3792         796 :     avoidance_trajectory.stamp               = ros::Time::now();
+    3793         796 :     avoidance_trajectory.uav_name            = _uav_name_;
+    3794         796 :     avoidance_trajectory.priority            = avoidance_this_uav_priority_;
+    3795         796 :     avoidance_trajectory.collision_avoidance = collision_avoidance_enabled_ && (uav_state.estimator_horizontal == "lat_gps" || uav_state.estimator_horizontal == "lat_rtk");
+    3796         796 :     avoidance_trajectory.points.clear();
+    3797         796 :     avoidance_trajectory.stamp               = ros::Time::now();
+    3798         796 :     avoidance_trajectory.uav_name            = _uav_name_;
+    3799         796 :     avoidance_trajectory.priority            = avoidance_this_uav_priority_;
+    3800         796 :     avoidance_trajectory.collision_avoidance = collision_avoidance_enabled_;
+    3801             : 
+    3802        1592 :     auto res = common_handlers_->transformer->getTransform(uav_state.header.frame_id, "utm_origin", ros::Time::now());
+    3803             : 
+    3804         796 :     if (!res) {
+    3805             : 
+    3806           0 :       std::string message = "[MpcTracker]: can not transform predicted future to utm_origin";
+    3807           0 :       ROS_WARN_STREAM_ONCE(message);
+    3808           0 :       ROS_DEBUG_STREAM_THROTTLE(1.0, message);
+    3809           0 :       return;
+    3810             : 
+    3811             :     } else {
+    3812             : 
+    3813        1592 :       geometry_msgs::TransformStamped tf = res.value();
+    3814             : 
+    3815       32636 :       for (int i = 0; i < _mpc_horizon_len_; i++) {
+    3816             : 
+    3817             :         // original point
+    3818       63680 :         geometry_msgs::PoseStamped original_point;
+    3819             : 
+    3820       31840 :         original_point.header.stamp    = ros::Time::now();
+    3821       31840 :         original_point.header.frame_id = uav_state.header.frame_id;
+    3822             : 
+    3823       31840 :         original_point.pose.position.x = predicted_trajectory(i * _mpc_n_states_);
+    3824       31840 :         original_point.pose.position.y = predicted_trajectory(i * _mpc_n_states_ + 4);
+    3825       31840 :         original_point.pose.position.z = predicted_trajectory(i * _mpc_n_states_ + 8);
+    3826             : 
+    3827       31840 :         original_point.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    3828             : 
+    3829       63680 :         auto res = common_handlers_->transformer->transform(original_point, tf);
+    3830             : 
+    3831       31840 :         if (res) {
+    3832             : 
+    3833       31840 :           mrs_msgs::FuturePoint new_point;
+    3834             : 
+    3835       31840 :           new_point.x = res.value().pose.position.x;
+    3836       31840 :           new_point.y = res.value().pose.position.y;
+    3837       31840 :           new_point.z = res.value().pose.position.z;
+    3838             : 
+    3839       31840 :           avoidance_trajectory.points.push_back(new_point);
+    3840             : 
+    3841             :         } else {
+    3842             : 
+    3843           0 :           std::string message = "[MpcTracker]: can not transform a point of a future trajectory";
+    3844           0 :           ROS_WARN_STREAM_ONCE(message);
+    3845           0 :           ROS_DEBUG_STREAM_THROTTLE(1.0, message);
+    3846             :         }
+    3847             :       }
+    3848             :     }
+    3849             : 
+    3850         796 :     ph_avoidance_trajectory_.publish(avoidance_trajectory);
+    3851             :   }
+    3852             : }
+    3853             : 
+    3854             : //}
+    3855             : 
+    3856             : /* timerHover() //{ */
+    3857             : 
+    3858         636 : void MpcTracker::timerHover(const ros::TimerEvent& event) {
+    3859             : 
+    3860        1272 :   MatrixXd mpc_x = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_);
+    3861             : 
+    3862        1908 :   mrs_lib::Routine    profiler_routine = profiler.createRoutine("timerHover", 10, 0.01, event);
+    3863        1908 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MpcTracker::timerHover", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    3864             : 
+    3865         636 :   setRelativeGoal(0, 0, 0, 0, false);
+    3866             : 
+    3867         636 :   if (fabs(mpc_x(1, 0)) < 0.1 && fabs(mpc_x(5, 0)) < 0.1 && fabs(mpc_x(9, 0)) < 0.1) {
+    3868             : 
+    3869          27 :     toggleHover(false);
+    3870             : 
+    3871          27 :     ROS_INFO("[MpcTracker]: timerHover: speed is low, stopping hover timer");
+    3872             :   }
+    3873         636 : }
+    3874             : 
+    3875             : //}
+    3876             : 
+    3877             : }  // namespace mpc_tracker
+    3878             : 
+    3879             : }  // namespace mrs_uav_trackers
+    3880             : 
+    3881             : #include <pluginlib/class_list_macros.h>
+    3882          48 : 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:5841114.1 %
Date:2023-12-14 21:42:20Functions:71936.8 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
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Generated by: LCOV version 1.14
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LCOV - code coverage report
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Current view:top level - mrs_uav_trackers/src/speed_trackerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:5841114.1 %
Date:2023-12-14 21:42:20Functions:71936.8 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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<unnamed>14.1 %58 / 41136.8 %7 / 19
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Generated by: LCOV version 1.14
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LCOV - code coverage report
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Current view:top level - mrs_uav_trackers/src/speed_trackerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:5841114.1 %
Date:2023-12-14 21:42:20Functions:71936.8 %
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<unnamed>14.1 %58 / 41136.8 %7 / 19
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+
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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..72ab21ebd7 --- /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:5841114.1 %
Date:2023-12-14 21:42:20Functions:71936.8 %
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speed_tracker.cpp +
14.1%14.1%
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+ + + diff --git a/mrs_uav_trackers/src/speed_tracker/index-sort-l.html b/mrs_uav_trackers/src/speed_tracker/index-sort-l.html new file mode 100644 index 0000000000..11e562477e --- /dev/null +++ b/mrs_uav_trackers/src/speed_tracker/index-sort-l.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:5841114.1 %
Date:2023-12-14 21:42:20Functions:71936.8 %
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speed_tracker.cpp +
14.1%14.1%
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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:5841114.1 %
Date:2023-12-14 21:42:20Functions:71936.8 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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speed_tracker.cpp +
14.1%14.1%
+ 		14.1 %58 / 41136.8 %7 / 19
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+
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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..cbcc3ee6bd --- /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:5841114.1 %
Date:2023-12-14 21:42:20Functions: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&)1
mrs_uav_trackers::speed_tracker::SpeedTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)2
mrs_uav_trackers::speed_tracker::SpeedTracker::deactivate()10
(anonymous namespace)::ProxyExec0::ProxyExec0()48
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>)48
mrs_uav_trackers::speed_tracker::SpeedTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)147
mrs_uav_trackers::speed_tracker::SpeedTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)43352
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Generated by: LCOV version 1.14
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LCOV - code coverage report
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Current view:top level - mrs_uav_trackers/src/speed_tracker - speed_tracker.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:5841114.1 %
Date:2023-12-14 21:42:20Functions: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()48
mrs_uav_trackers::speed_tracker::SpeedTracker::deactivate()10
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>)48
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&)147
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&)2
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&)1
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&)43352
mrs_uav_trackers::speed_tracker::SpeedTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)0
mrs_uav_trackers::speed_tracker::SpeedTracker::getStatus()0
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+
+ + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_trackers/src/speed_tracker/speed_tracker.cpp.gcov.frameset.html b/mrs_uav_trackers/src/speed_tracker/speed_tracker.cpp.gcov.frameset.html new file mode 100644 index 0000000000..8377e2d518 --- /dev/null +++ b/mrs_uav_trackers/src/speed_tracker/speed_tracker.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trackers/src/speed_tracker/speed_tracker.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_trackers/src/speed_tracker/speed_tracker.cpp.gcov.html b/mrs_uav_trackers/src/speed_tracker/speed_tracker.cpp.gcov.html new file mode 100644 index 0000000000..460266a081 --- /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:5841114.1 %
Date:2023-12-14 21:42:20Functions:71936.8 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + +

+
          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          48 : 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          48 :   this->common_handlers_  = common_handlers;
+     129          48 :   this->private_handlers_ = private_handlers;
+     130             : 
+     131          48 :   _uav_name_ = common_handlers->uav_name;
+     132             : 
+     133          48 :   nh_ = nh;
+     134             : 
+     135          48 :   ros::Time::waitForValid();
+     136             : 
+     137             :   // --------------------------------------------------------------
+     138             :   // |                     loading parameters                     |
+     139             :   // --------------------------------------------------------------
+     140             : 
+     141             :   // | ---------------- load parent's parameters ---------------- |
+     142             : 
+     143          96 :   mrs_lib::ParamLoader param_loader_parent(common_handlers->parent_nh, "ControlManager");
+     144             : 
+     145          48 :   param_loader_parent.loadParam("enable_profiler", _profiler_enabled_);
+     146             : 
+     147          48 :   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          48 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/private/speed_tracker.yaml");
+     155          48 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/public/speed_tracker.yaml");
+     156             : 
+     157          96 :   const std::string yaml_prefix = "mrs_uav_trackers/speed_tracker/";
+     158             : 
+     159          48 :   private_handlers->param_loader->loadParam(yaml_prefix + "command_timeout", _external_command_timeout_);
+     160             : 
+     161          48 :   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          48 :   profiler_ = mrs_lib::Profiler(common_handlers->parent_nh, "SpeedTracker", _profiler_enabled_);
+     169             : 
+     170             :   // | ----------------------- subscribers ---------------------- |
+     171             : 
+     172          48 :   mrs_lib::SubscribeHandlerOptions shopts;
+     173          48 :   shopts.nh              = nh_;
+     174          48 :   shopts.node_name       = "SpeedTracker";
+     175          48 :   shopts.threadsafe      = true;
+     176          48 :   shopts.autostart       = true;
+     177          48 :   shopts.transport_hints = ros::TransportHints().tcpNoDelay();
+     178             : 
+     179          48 :   sh_command_ = mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand>(shopts, "command", &SpeedTracker::callbackCommand, this);
+     180             : 
+     181             :   // | ----------------------- publishers ----------------------- |
+     182             : 
+     183          48 :   ph_rviz_marker_ = mrs_lib::PublisherHandler<visualization_msgs::MarkerArray>(nh_, "rviz_marker", 1);
+     184             : 
+     185             :   // | --------------------- finish the init -------------------- |
+     186             : 
+     187          48 :   is_initialized_ = true;
+     188             : 
+     189          48 :   ROS_INFO("[SpeedTracker]: initialized");
+     190             : 
+     191          48 :   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          10 : void SpeedTracker::deactivate(void) {
+     236             : 
+     237          10 :   is_active_ = false;
+     238             : 
+     239          10 :   ROS_INFO("[SpeedTracker]: deactivated");
+     240          10 : }
+     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       43352 : 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      130056 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("update");
+     259      130056 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("SpeedTracker::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     260             : 
+     261             :   {
+     262       43352 :     std::scoped_lock lock(mutex_uav_state_);
+     263             : 
+     264       43352 :     uav_state_ = uav_state;
+     265             : 
+     266       43352 :     got_uav_state_ = true;
+     267             :   }
+     268             : 
+     269             :   double uav_heading;
+     270             : 
+     271             :   try {
+     272       43352 :     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       43352 :   if (!is_active_) {
+     282       43352 :     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           2 : const std_srvs::SetBoolResponse::ConstPtr SpeedTracker::enableCallbacks(const std_srvs::SetBoolRequest::ConstPtr &cmd) {
+     381             : 
+     382           4 :   std_srvs::SetBoolResponse res;
+     383           4 :   std::stringstream         ss;
+     384             : 
+     385           2 :   if (cmd->data != callbacks_enabled_) {
+     386             : 
+     387           0 :     callbacks_enabled_ = cmd->data;
+     388             : 
+     389           0 :     ss << "callbacks " << (callbacks_enabled_ ? "enabled" : "disabled");
+     390           0 :     ROS_INFO_STREAM_THROTTLE(1.0, "[SpeedTracker]: " << ss.str());
+     391             : 
+     392             :   } else {
+     393             : 
+     394           2 :     ss << "callbacks were already " << (callbacks_enabled_ ? "enabled" : "disabled");
+     395           2 :     ROS_WARN_STREAM_THROTTLE(1.0, "[SpeedTracker]: " << ss.str());
+     396             :   }
+     397             : 
+     398           2 :   res.message = ss.str();
+     399           2 :   res.success = true;
+     400             : 
+     401           4 :   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         147 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr SpeedTracker::setConstraints([
+     459             :     [maybe_unused]] const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &cmd) {
+     460             : 
+     461             :   {
+     462         147 :     std::scoped_lock lock(mutex_constraints_);
+     463             : 
+     464         147 :     constraints_ = cmd->constraints;
+     465             :   }
+     466             : 
+     467         294 :   mrs_msgs::DynamicsConstraintsSrvResponse res;
+     468             : 
+     469         147 :   res.success = true;
+     470         147 :   res.message = "constraints updated";
+     471             : 
+     472         294 :   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           1 : const mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr SpeedTracker::setTrajectoryReference([
+     498             :     [maybe_unused]] const mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr &cmd) {
+     499           1 :   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          48 : PLUGINLIB_EXPORT_CLASS(mrs_uav_trackers::speed_tracker::SpeedTracker, mrs_uav_managers::Tracker)
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + diff --git a/mrs_uav_trackers/src/speed_tracker/speed_tracker.cpp.gcov.png b/mrs_uav_trackers/src/speed_tracker/speed_tracker.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..00d23b1b1130ef11f03376ba0d6e0457010f5a43 GIT binary patch literal 3030 zcmV;{3n}!8P)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$059b|Y7Ugw{Cq(zf2Y69-3A`DfZ7QSe%H3N1}b)F z#ez=}guRX4yb}3i*hJcrgetyTKP@6|tTv^4NrHmLUe?iYn$TWmyFXlw^kGYKK=t?V zI_2kJ9}#4K4VFNJudAH{SkAVBEc12DE)#8*U-5B^ic~bFp69xq~y0^(ueJIU8@e{ zbk?Pqe`6lsb^4)oOQQt|Kz7%zrRR4LVUl4^Mvb1kDIh`s9!vysDcS>m3=<}|3#vS_ zg~_X~R;M-KN^M99yJqKwE3k3Y`I)XA#jWMOFCZ`6^G6|nCXrsnh;pg-tsk;LKuZC{Rk|h9_*>z0vKMr)I1(nuam|RzbY_t0)WLfGr-As zeB&u(=RB3@{dC^L-4P#g3i-($*GwJ-dYo_J_-vmgD2i&vUdvPi)qdB^6^&B`Wtb|`2MT!H@Gud&+Wl1+>={#17VLAO1_ODs=7@PlI=cLm*EH6{qD(5P4v(mt=uSm? zhAs2A4FcH|(~GQ#3-51>dL+Yj`D}#ZaP%%Vz|&BBsGi zBw2kV(B2@%PRBwp8wuYmATCz1Z%Hv1>h~Y_9fOh7=$= z)Ix83%)PhI&E6)=q<)mV#-nXOk6a$PjVa4IU>AU?#bSaZZnEV-@^0Lag0FhYg&sD+ z?hP~BgyidJY(Z*!_}%=eOnWf*HKt85diWdnkOn9`B^CuGfIm?Wr!GP30R=q%ntC{1 zza9d-R6X3K&F4?Nbk@TOhwEQyKGmv)#8rI%?#aqWLf3OF0{;Hxo`7QJkIQMVJW&rv zvz8S#O=%(zuwD4Tfeym4G$i%!wwJ)*)n9dWr`XDdkba9sba zAS#?+cvcu!I9Ge*F0xxln~-Vi%un{0DscSz+WY`ez~e7jU&k<2Rr^WqH63 zq$mThz7V;?)x+d5zq(g>!l|~@g4mM}1h0TRe-vEuOQ{{ip6T_lF;buTir)0F$+)lR zEjI1XyV@CeL(*Rw{TjD6r@F6IcSMIN4MvocFwDB_LnwQ4e<18?MRi)GX;S@!Lw? zFEzt?Y$8=ZY#ME?3}mXOJRL>?nG}aT{zdU&mY5!~d#Xc#f57hWxQLyN^7r_(=;tX`y$sPgy-k?cQ<0Shn6lY^Yf%F%1q+ihS Y4-n`mY`$4G=Kufz07*qoM6N<$f^yx!`v3p{ 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..13927a9710 --- /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:2023-12-14 21:42:20Functions:22100.0 %
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eth_mav_msgs::quaternionFromYaw(double)40
eth_mav_msgs::yawFromQuaternion(Eigen::Quaternion<double, 0> const&)40
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Generated by: LCOV version 1.14
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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:2023-12-14 21:42:20Functions:22100.0 %
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eth_mav_msgs::quaternionFromYaw(double)40
eth_mav_msgs::yawFromQuaternion(Eigen::Quaternion<double, 0> const&)40
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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..199be7773c --- /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 + + + + + + + + + + + + + + +
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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:2023-12-14 21:42:20Functions:22100.0 %
Legend: Lines: + hit + not hit +
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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             : // 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          40 : inline double yawFromQuaternion(const Eigen::Quaterniond& q) {
+     131          40 :   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          40 : inline Eigen::Quaterniond quaternionFromYaw(double yaw) {
+     139          40 :   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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+ + diff --git a/mrs_uav_trajectory_generation/include/eth_mav_msgs/common.h.gcov.png b/mrs_uav_trajectory_generation/include/eth_mav_msgs/common.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..380603cff091ec67f270e981cf960298d7adee18 GIT binary patch literal 1579 zcmV+`2Gse9P)Kp2s@!4lVLUZye=h&5IK;y<1p9I5C53HMK!-|p05 z8Xphp44i*;z;%)|WO+lr02B$35l>>bNSgJNI75{Wh#pX1fYnrPq7e`AE0UT={@Gg0Z9pBap(4M1i5@ z%J&dQ^EZG;IG+W4Re>AJ$5@XO6@iMU@|i*?fCp8;2S5X3?!3bl-V&P6v~MRy>pf(z zp@t;YdyDZ>a-^L7Pr%rdqkr>AnYjJ4ay&mawN8T)ruusa z;I&kEQbcJ~h&n;F+W1xBIT&4jJHrnfFC>?FljBLE>_psN3|>r{60pG%+yRv9VW9jR z;Kf378LuYeu2E#fWNWGAG#uc45pX{96;=3pHFcmu-%3mC<~TF%i>Gz%WiO?yvH|p& z^ScFYAehJfO`Msl8O7VnYqXcD>M2vAKh}k5ahrR;0`CaCSR^WN&rPxPL1bT#H?pmC>U`4*5}@ZK zeU!wEt8hHrI}R&Uk%`~R?Zn`(&-~3kqX{N^&w!hl&+yr--5tdkI*=Wse{nb+4jm`U z!RHxW_kf<-ptJK#cr<;U%C)qzSgiKuQ@@89ae&+u&Zb?r+KQd-mxU?BZtKDrbR(s5 zn#cg=%L?!XW`;$KB{HU&<^5~Ua!N<`Vm)tU0fz?M^tnW=$J~r*T;k?4%a0Fw!WFvL zz@{U~$L27#0Cwa8E5(O7S)KfRi%EO)ZrwLaEVfA!vnLkm+F)aM6)yAM6&_(0a(;db zvc$*Y?o+^05e`5dV6aI%p;4@a4TdvoJGE$Zdc;@9ado{!BcEC)n=Ou}o|l77?}(Qo z@-~I)W4)Z||_5P&QYwM=D|82*96>J?_v8{pYdAmo&#KhB(GgM6)p9`Qtb~ zRzFs;#utf?^I|VfW5@ivcq>N{#-1mFL$is^!>Q-nqzi!3KjNs(%MZUH##r;3vFx6i zPHp*yonAn}#)Nh6>FiQy(@SwLVKi$^gQdoC!GxqTdb%vGvI;-=WK+pM3|N3AgMc<- zfYt4td^Ghcjg&SP25XxVz&VW4Vdp*tCLI4DW|>A2*X}9&+mZJC%1$2)N-_(`k{vO< z)A-;M0kAV&gYf~l!;S&>UsZ0H9#cTb7{}JmKldCVD}Yi4jRmv-I9Kx`;1oh>gyNm* zB3k1)KwXcHk~I;vtxp+R$BoH)4$x%3tjYGLQaJ>eTvWacKB^mTSQKO1a3$~vQs;1a zsDZm$us`u+L2W+VhwMPwtl4VM0#2F#p9NlJZD_@vAhGtOuIyD~ dx{ox(`3KrNS#m3rBFX>&002ovPDHLkV1fxT^?v{W literal 0 HcmV?d00001 diff --git a/mrs_uav_trajectory_generation/include/eth_mav_msgs/eigen_mav_msgs.h.func-sort-c.html b/mrs_uav_trajectory_generation/include/eth_mav_msgs/eigen_mav_msgs.h.func-sort-c.html new file mode 100644 index 0000000000..bdf30a1be6 --- /dev/null +++ b/mrs_uav_trajectory_generation/include/eth_mav_msgs/eigen_mav_msgs.h.func-sort-c.html @@ -0,0 +1,84 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trajectory_generation/include/eth_mav_msgs/eigen_mav_msgs.h - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_trajectory_generation/include/eth_mav_msgs - eigen_mav_msgs.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:2424100.0 %
Date:2023-12-14 21:42:20Functions:11100.0 %
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eth_mav_msgs::EigenTrajectoryPoint::EigenTrajectoryPoint()40
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Current view:top level - mrs_uav_trajectory_generation/include/eth_mav_msgs - eigen_mav_msgs.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:2424100.0 %
Date:2023-12-14 21:42:20Functions:11100.0 %
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eth_mav_msgs::EigenTrajectoryPoint::EigenTrajectoryPoint()40
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Generated by: LCOV version 1.14
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Current view:top level - mrs_uav_trajectory_generation/include/eth_mav_msgs - eigen_mav_msgs.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:2424100.0 %
Date:2023-12-14 21:42:20Functions:11100.0 %
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          Line data    Source code
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+       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          40 :   EigenTrajectoryPoint()
+     192          40 :       : timestamp_ns(-1),
+     193             :         time_from_start_ns(0),
+     194          40 :         position_W(Eigen::Vector3d::Zero()),
+     195          40 :         velocity_W(Eigen::Vector3d::Zero()),
+     196          40 :         acceleration_W(Eigen::Vector3d::Zero()),
+     197          40 :         jerk_W(Eigen::Vector3d::Zero()),
+     198          40 :         snap_W(Eigen::Vector3d::Zero()),
+     199             :         orientation_W_B(Eigen::Quaterniond::Identity()),
+     200          40 :         angular_velocity_W(Eigen::Vector3d::Zero()),
+     201          40 :         angular_acceleration_W(Eigen::Vector3d::Zero()),
+     202          40 :         degrees_of_freedom(MavActuation::DOF4) {
+     203          40 :   }
+     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          40 :   inline double getYaw() const {
+     244          40 :     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          40 :   inline void setFromYaw(double yaw) {
+     254          40 :     orientation_W_B = quaternionFromYaw(yaw);
+     255             :   }
+     256          40 :   inline void setFromYawRate(double yaw_rate) {
+     257          40 :     angular_velocity_W.x() = 0.0;
+     258          40 :     angular_velocity_W.y() = 0.0;
+     259          40 :     angular_velocity_W.z() = yaw_rate;
+     260             :   }
+     261          40 :   inline void setFromYawAcc(double yaw_acc) {
+     262          40 :     angular_acceleration_W.x() = 0.0;
+     263          40 :     angular_acceleration_W.y() = 0.0;
+     264          40 :     angular_acceleration_W.z() = yaw_acc;
+     265          40 :   }
+     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         128 :   Extremum() : time(0.0), value(0.0), segment_idx(0) {
+      35             :   }
+      36             : 
+      37         104 :   Extremum(double _time, double _value, int _segment_idx) : time(_time), value(_value), segment_idx(_segment_idx) {
+      38             :   }
+      39             : 
+      40         226 :   bool operator<(const Extremum& rhs) const {
+      41         174 :     return value < rhs.value;
+      42             :   }
+      43          18 :   bool operator>(const Extremum& rhs) const {
+      44          18 :     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_
+
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Date:2023-12-14 21:42:20Functions:111478.6 %
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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)1
eth_trajectory_generation::PolynomialOptimization<10>::setupConstraintReorderingMatrix()1
eth_trajectory_generation::PolynomialOptimization<10>::PolynomialOptimization(unsigned long)1
eth_trajectory_generation::PolynomialOptimization<10>::computeCost() const1
eth_trajectory_generation::PolynomialOptimization<10>::solveLinear()2
eth_trajectory_generation::PolynomialOptimization<10>::updateSegmentsFromCompactConstraints()2
eth_trajectory_generation::PolynomialOptimization<10>::constructR(Eigen::SparseMatrix<double, 0, int>*) const2
eth_trajectory_generation::PolynomialOptimization<10>::setupMappingMatrix(double, Eigen::Matrix<double, 10, 10, 0, 10, 10>*)3
eth_trajectory_generation::PolynomialOptimization<10>::updateSegmentTimes(std::vector<double, std::allocator<double> > const&)3
eth_trajectory_generation::PolynomialOptimization<10>::invertMappingMatrix(Eigen::Matrix<double, 10, 10, 0, 10, 10> const&, Eigen::Matrix<double, 10, 10, 0, 10, 10>*)3
eth_trajectory_generation::PolynomialOptimization<10>::computeQuadraticCostJacobian(int, double, Eigen::Matrix<double, 10, 10, 0, 10, 10>*)3
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Date:2023-12-14 21:42:20Functions:111478.6 %
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Function Name Sort by function nameHit count Sort by hit count
eth_trajectory_generation::PolynomialOptimization<10>::solveLinear()2
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)1
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>*)3
eth_trajectory_generation::PolynomialOptimization<10>::updateSegmentTimes(std::vector<double, std::allocator<double> > const&)3
eth_trajectory_generation::PolynomialOptimization<10>::invertMappingMatrix(Eigen::Matrix<double, 10, 10, 0, 10, 10> const&, Eigen::Matrix<double, 10, 10, 0, 10, 10>*)3
eth_trajectory_generation::PolynomialOptimization<10>::computeQuadraticCostJacobian(int, double, Eigen::Matrix<double, 10, 10, 0, 10, 10>*)3
eth_trajectory_generation::PolynomialOptimization<10>::setupConstraintReorderingMatrix()1
eth_trajectory_generation::PolynomialOptimization<10>::updateSegmentsFromCompactConstraints()2
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)1
eth_trajectory_generation::PolynomialOptimization<10>::constructR(Eigen::SparseMatrix<double, 0, int>*) const2
eth_trajectory_generation::PolynomialOptimization<10>::computeCost() const1
eth_trajectory_generation::PolynomialOptimization<10>::computeMaximumOfMagnitude(int, std::vector<eth_trajectory_generation::Extremum, std::allocator<eth_trajectory_generation::Extremum> >*) const0
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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:2023-12-14 21:42:20Functions:111478.6 %
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             : #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           1 : 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           1 :       n_free_constraints_(0) {
+      53           1 :   fixed_constraints_compact_.resize(dimension_);
+      54           1 :   free_constraints_compact_.resize(dimension_);
+      55           1 : }
+      56             : 
+      57             : //}
+      58             : 
+      59             : /* setupFromVertices() //{ */
+      60             : 
+      61             : template <int _N>
+      62           1 : bool PolynomialOptimization<_N>::setupFromVertices(const Vertex::Vector& vertices, const std::vector<double>& times, int derivative_to_optimize) {
+      63           1 :   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           1 :   derivative_to_optimize_ = derivative_to_optimize;
+      69           1 :   vertices_               = vertices;
+      70           1 :   segment_times_          = times;
+      71             : 
+      72           1 :   n_vertices_ = vertices.size();
+      73           1 :   n_segments_ = n_vertices_ - 1;
+      74             : 
+      75           1 :   segments_.resize(n_segments_, Segment(N, dimension_));
+      76             : 
+      77           1 :   CHECK(n_vertices_ == times.size() + 1) << "Size of times must be one less than positions.";
+      78             : 
+      79           1 :   inverse_mapping_matrices_.resize(n_segments_);
+      80           1 :   cost_matrices_.resize(n_segments_);
+      81             : 
+      82             :   // Iterate through all vertices and remove invalid constraints (order too
+      83             :   // high).
+      84           3 :   for (size_t vertex_idx = 0; vertex_idx < n_vertices_; ++vertex_idx) {
+      85           2 :     Vertex& vertex = vertices_[vertex_idx];
+      86             : 
+      87             :     // Check if we have valid constraints.
+      88           2 :     bool   vertex_valid = true;
+      89           4 :     Vertex vertex_tmp(dimension_);
+      90           9 :     for (Vertex::Constraints::const_iterator it = vertex.cBegin(); it != vertex.cEnd(); ++it) {
+      91           7 :       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           7 :         vertex_tmp.addConstraint(it->first, it->second);
+      97             :       }
+      98             :     }
+      99           2 :     if (!vertex_valid) {
+     100           2 :       vertex = vertex_tmp;
+     101             :     }
+     102             :   }
+     103           1 :   updateSegmentTimes(times);
+     104           1 :   setupConstraintReorderingMatrix();
+     105           1 :   return true;
+     106             : }
+     107             : 
+     108             : //}
+     109             : 
+     110             : /* setupMappingMatrix() //{ */
+     111             : 
+     112             : template <int _N>
+     113           3 : 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          18 :   for (int i = 0; i < N / 2; ++i) {
+     118          15 :     A->row(i)         = Polynomial::baseCoeffsWithTime(N, i, 0.0);
+     119          15 :     A->row(i + N / 2) = Polynomial::baseCoeffsWithTime(N, i, segment_time);
+     120             :   }
+     121           3 : }
+     122             : 
+     123             : //}
+     124             : 
+     125             : /* computeCost() //{ */
+     126             : 
+     127             : template <int _N>
+     128           1 : double PolynomialOptimization<_N>::computeCost() const {
+     129           1 :   CHECK(n_segments_ == segments_.size() && n_segments_ == cost_matrices_.size());
+     130             :   double cost = 0;
+     131           2 :   for (size_t segment_idx = 0; segment_idx < n_segments_; ++segment_idx) {
+     132           1 :     const SquareMatrix& Q       = cost_matrices_[segment_idx];
+     133           1 :     const Segment&      segment = segments_[segment_idx];
+     134           5 :     for (size_t dimension_idx = 0; dimension_idx < dimension_; ++dimension_idx) {
+     135           8 :       const Eigen::VectorXd c            = segment[dimension_idx].getCoefficients(derivative_order::POSITION);
+     136           4 :       const double          partial_cost = c.transpose() * Q * c;
+     137           4 :       cost += partial_cost;
+     138             :     }
+     139             :   }
+     140           1 :   return 0.5 * cost;  // cost = 0.5 * c^T * Q * c
+     141             : }
+     142             : 
+     143             : //}
+     144             : 
+     145             : /* invertMappingMatrix() //{ */
+     146             : 
+     147             : template <int _N>
+     148           3 : 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           3 :   const int half_n = N / 2;
+     163             : 
+     164             :   // "template" keyword required below as half_n is dependent on the template
+     165             :   // parameter.
+     166           3 :   const Eigen::Matrix<double, half_n, 1>      A_diag = mapping_matrix.template block<half_n, half_n>(0, 0).diagonal();
+     167           3 :   const Eigen::Matrix<double, half_n, half_n> A_inv  = A_diag.cwiseInverse().asDiagonal();
+     168             : 
+     169           3 :   const Eigen::Matrix<double, half_n, half_n> C = mapping_matrix.template block<half_n, half_n>(half_n, 0);
+     170             : 
+     171           3 :   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           3 :   inverse_mapping_matrix->template block<half_n, half_n>(0, 0) = A_inv;
+     174           3 :   inverse_mapping_matrix->template block<half_n, half_n>(0, half_n).setZero();
+     175           3 :   inverse_mapping_matrix->template block<half_n, half_n>(half_n, 0)      = -D_inv * C * A_inv;
+     176           3 :   inverse_mapping_matrix->template block<half_n, half_n>(half_n, half_n) = D_inv;
+     177           3 : }
+     178             : 
+     179             : //}
+     180             : 
+     181             : /* setupConstraintReorderingMatrix() //{ */
+     182             : 
+     183             : template <int _N>
+     184           1 : void PolynomialOptimization<_N>::setupConstraintReorderingMatrix() {
+     185             :   typedef Eigen::Triplet<double> Triplet;
+     186           2 :   std::vector<Triplet>           reordering_list;
+     187             : 
+     188           1 :   const size_t n_vertices = vertices_.size();
+     189             : 
+     190           2 :   std::vector<Constraint> all_constraints;
+     191           1 :   std::set<Constraint>    fixed_constraints;
+     192           1 :   std::set<Constraint>    free_constraints;
+     193             : 
+     194           1 :   all_constraints.reserve(n_vertices_ * N / 2);  // Will have exactly this number of elements in the end.
+     195             : 
+     196           3 :   for (size_t vertex_idx = 0; vertex_idx < n_vertices; ++vertex_idx) {
+     197           2 :     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           2 :     int n_constraint_occurence = 2;
+     203           2 :     if (vertex_idx == 0 || vertex_idx == (n_segments_))
+     204           2 :       n_constraint_occurence = 1;
+     205           4 :     for (int co = 0; co < n_constraint_occurence; ++co) {
+     206          12 :       for (size_t constraint_idx = 0; constraint_idx < N / 2; ++constraint_idx) {
+     207          10 :         Constraint constraint;
+     208          10 :         constraint.vertex_idx     = vertex_idx;
+     209          10 :         constraint.constraint_idx = constraint_idx;
+     210          10 :         bool has_constraint       = vertex.getConstraint(constraint_idx, &(constraint.value));
+     211          10 :         if (has_constraint) {
+     212           7 :           all_constraints.push_back(constraint);
+     213          10 :           fixed_constraints.insert(constraint);
+     214             :         } else {
+     215           3 :           constraint.value = Vertex::ConstraintValue::Constant(dimension_, 0);
+     216           3 :           all_constraints.push_back(constraint);
+     217          10 :           free_constraints.insert(constraint);
+     218             :         }
+     219             :       }
+     220             :     }
+     221             :   }
+     222             : 
+     223           1 :   n_all_constraints_   = all_constraints.size();
+     224           1 :   n_fixed_constraints_ = fixed_constraints.size();
+     225           1 :   n_free_constraints_  = free_constraints.size();
+     226             : 
+     227           1 :   reordering_list.reserve(n_all_constraints_);
+     228           1 :   constraint_reordering_ = Eigen::SparseMatrix<double>(n_all_constraints_, n_fixed_constraints_ + n_free_constraints_);
+     229             : 
+     230           5 :   for (Eigen::VectorXd& df : fixed_constraints_compact_)
+     231           8 :     df.resize(n_fixed_constraints_, Eigen::NoChange);
+     232             : 
+     233           1 :   int row = 0;
+     234           1 :   int col = 0;
+     235          11 :   for (const Constraint& ca : all_constraints) {
+     236          80 :     for (const Constraint& cf : fixed_constraints) {
+     237          70 :       if (ca == cf) {
+     238           7 :         reordering_list.emplace_back(Triplet(row, col, 1.0));
+     239          35 :         for (size_t d = 0; d < dimension_; ++d) {
+     240          28 :           Eigen::VectorXd&      df                        = fixed_constraints_compact_[d];
+     241          56 :           const Eigen::VectorXd constraint_all_dimensions = cf.value;
+     242          28 :           df[col]                                         = constraint_all_dimensions[d];
+     243             :         }
+     244             :       }
+     245          70 :       ++col;
+     246             :     }
+     247          40 :     for (const Constraint& cp : free_constraints) {
+     248          30 :       if (ca == cp)
+     249           3 :         reordering_list.emplace_back(Triplet(row, col, 1.0));
+     250          30 :       ++col;
+     251             :     }
+     252          10 :     col = 0;
+     253          10 :     ++row;
+     254             :   }
+     255             : 
+     256           1 :   constraint_reordering_.setFromTriplets(reordering_list.begin(), reordering_list.end());
+     257           1 : }
+     258             : 
+     259             : //}
+     260             : 
+     261             : /* setupConstraintReorderingMatrix() //{ */
+     262             : 
+     263             : template <int _N>
+     264           2 : void PolynomialOptimization<_N>::updateSegmentsFromCompactConstraints() {
+     265           2 :   const size_t n_all_constraints = n_fixed_constraints_ + n_free_constraints_;
+     266             : 
+     267          10 :   for (size_t dimension_idx = 0; dimension_idx < dimension_; ++dimension_idx) {
+     268           8 :     const Eigen::VectorXd& df     = fixed_constraints_compact_[dimension_idx];
+     269           8 :     const Eigen::VectorXd& dp_opt = free_constraints_compact_[dimension_idx];
+     270             : 
+     271          16 :     Eigen::VectorXd d_all(n_all_constraints);
+     272           8 :     d_all << df, dp_opt;
+     273             : 
+     274          16 :     for (size_t i = 0; i < n_segments_; ++i) {
+     275           8 :       const Eigen::Matrix<double, N, 1> new_d   = constraint_reordering_.block(i * N, 0, N, n_all_constraints) * d_all;
+     276           8 :       const Eigen::Matrix<double, N, 1> coeffs  = inverse_mapping_matrices_[i] * new_d;
+     277           8 :       Segment&                          segment = segments_[i];
+     278           8 :       segment.setTime(segment_times_[i]);
+     279           8 :       segment[dimension_idx] = Polynomial(N, coeffs);
+     280             :     }
+     281             :   }
+     282           2 : }
+     283             : 
+     284             : //}
+     285             : 
+     286             : /* updateSegmentTimes() //{ */
+     287             : 
+     288             : template <int _N>
+     289           3 : void PolynomialOptimization<_N>::updateSegmentTimes(const std::vector<double>& segment_times) {
+     290           3 :   const size_t n_segment_times = segment_times.size();
+     291           3 :   CHECK(n_segment_times == n_segments_) << "Number of segment times (" << n_segment_times << ") does not match number of segments (" << n_segments_ << ")";
+     292             : 
+     293           3 :   segment_times_ = segment_times;
+     294             : 
+     295           6 :   for (size_t i = 0; i < n_segments_; i++) {
+     296           3 :     const double segment_time = segment_times[i];
+     297           3 :     CHECK_GT(segment_time, 0) << "Segment times need to be greater than zero";
+     298             : 
+     299           3 :     computeQuadraticCostJacobian(derivative_to_optimize_, segment_time, &cost_matrices_[i]);
+     300           3 :     SquareMatrix A;
+     301           3 :     setupMappingMatrix(segment_time, &A);
+     302           3 :     invertMappingMatrix(A, &inverse_mapping_matrices_[i]);
+     303             :   };
+     304           3 : }
+     305             : 
+     306             : //}
+     307             : 
+     308             : /* constructR() //{ */
+     309             : 
+     310             : template <int _N>
+     311           2 : void PolynomialOptimization<_N>::constructR(Eigen::SparseMatrix<double>* R) const {
+     312           2 :   CHECK_NOTNULL(R);
+     313             :   typedef Eigen::Triplet<double> Triplet;
+     314           4 :   std::vector<Triplet>           cost_unconstrained_triplets;
+     315           2 :   cost_unconstrained_triplets.reserve(N * N * n_segments_);
+     316             : 
+     317           4 :   for (size_t i = 0; i < n_segments_; ++i) {
+     318           2 :     const SquareMatrix& Ai        = inverse_mapping_matrices_[i];
+     319           2 :     const SquareMatrix& Q         = cost_matrices_[i];
+     320           2 :     const SquareMatrix  H         = Ai.transpose() * Q * Ai;
+     321           2 :     const int           start_pos = i * N;
+     322          22 :     for (int row = 0; row < N; ++row) {
+     323         220 :       for (int col = 0; col < N; ++col) {
+     324         200 :         cost_unconstrained_triplets.emplace_back(Triplet(start_pos + row, start_pos + col, H(row, col)));
+     325             :       }
+     326             :     }
+     327             :   }
+     328           4 :   Eigen::SparseMatrix<double> cost_unconstrained(N * n_segments_, N * n_segments_);
+     329           2 :   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           2 :   *R = constraint_reordering_.transpose() * cost_unconstrained * constraint_reordering_;
+     334           2 : }
+     335             : 
+     336             : //}
+     337             : 
+     338             : /* solveLinear() //{ */
+     339             : 
+     340             : template <int _N>
+     341           2 : bool PolynomialOptimization<_N>::solveLinear() {
+     342           2 :   CHECK(derivative_to_optimize_ >= 0 && derivative_to_optimize_ <= kHighestDerivativeToOptimize);
+     343             :   // Catch the fully constrained case:
+     344           2 :   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           4 :   Eigen::SparseMatrix<double> R;
+     357           2 :   constructR(&R);
+     358             : 
+     359             :   // Extract block matrices and prepare solver.
+     360           4 :   Eigen::SparseMatrix<double> Rpf = R.block(n_fixed_constraints_, 0, n_free_constraints_, n_fixed_constraints_);
+     361           4 :   Eigen::SparseMatrix<double> Rpp = R.block(n_fixed_constraints_, n_fixed_constraints_, n_free_constraints_, n_free_constraints_);
+     362           4 :   Eigen::SparseQR<Eigen::SparseMatrix<double>, Eigen::COLAMDOrdering<int>> solver;
+     363          10 :   solver.compute(Rpp);
+     364             : 
+     365             :   // Compute dp_opt for every dimension.
+     366          10 :   for (size_t dimension_idx = 0; dimension_idx < dimension_; ++dimension_idx) {
+     367          16 :     Eigen::VectorXd df                       = -Rpf * fixed_constraints_compact_[dimension_idx];  // Rpf = Rfp^T
+     368           8 :     free_constraints_compact_[dimension_idx] = solver.solve(df);                                  // dp = -Rpp^-1 * Rpf * df
+     369             :   }
+     370             : 
+     371           2 :   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           3 : void PolynomialOptimization<_N>::computeQuadraticCostJacobian(int derivative, double t, SquareMatrix* cost_jacobian) {
+     607           3 :   CHECK_LT(derivative, N);
+     608             : 
+     609           3 :   cost_jacobian->setZero();
+     610          27 :   for (int col = 0; col < N - derivative; col++) {
+     611         216 :     for (int row = 0; row < N - derivative; row++) {
+     612         192 :       double exponent = (N - 1 - derivative) * 2 + 1 - row - col;
+     613             : 
+     614         192 :       (*cost_jacobian)(N - 1 - row, N - 1 - col) =
+     615         192 :           Polynomial::base_coefficients_(derivative, N - 1 - row) * Polynomial::base_coefficients_(derivative, N - 1 - col) * pow(t, exponent) * 2.0 / exponent;
+     616             :     }
+     617             :   }
+     618           3 : }
+     619             : 
+     620             : //}
+     621             : 
+     622             : }  // namespace eth_trajectory_generation
+     623             : 
+     624             : #endif  // eth_trajectory_generation_IMPL_POLYNOMIAL_OPTIMIZATION_LINEAR_IMPL_H_
+
+
+
+ + + + +
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:12341329.8 %
Date:2023-12-14 21:42:20Functions: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)1
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::getCostAndGradientMellinger(std::vector<double, std::allocator<double> >*)1
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::optimizeTimeMellingerOuterLoop()1
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::scaleSegmentTimesWithViolation()1
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::objectiveFunctionTimeMellingerOuterLoop(std::vector<double, std::allocator<double> > const&, std::vector<double, std::allocator<double> >&, void*)1
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::optimize()1
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::PolynomialOptimizationNonLinear(unsigned long, eth_trajectory_generation::NonlinearOptimizationParameters const&)1
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::addMaximumMagnitudeConstraint(int, int, double)12
+
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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..155c11dbae --- /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:12341329.8 %
Date:2023-12-14 21:42:20Functions: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)1
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> >*)1
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::addMaximumMagnitudeConstraint(int, int, double)12
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::optimizeTimeAndFreeConstraints()0
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::optimizeTimeMellingerOuterLoop()1
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::scaleSegmentTimesWithViolation()1
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*)1
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()1
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::PolynomialOptimizationNonLinear(unsigned long, eth_trajectory_generation::NonlinearOptimizationParameters const&)1
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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+
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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.gcov.frameset.html b/mrs_uav_trajectory_generation/include/eth_trajectory_generation/impl/polynomial_optimization_nonlinear_impl.h.gcov.frameset.html new file mode 100644 index 0000000000..a8e09e9987 --- /dev/null +++ b/mrs_uav_trajectory_generation/include/eth_trajectory_generation/impl/polynomial_optimization_nonlinear_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_nonlinear_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_nonlinear_impl.h.gcov.html b/mrs_uav_trajectory_generation/include/eth_trajectory_generation/impl/polynomial_optimization_nonlinear_impl.h.gcov.html new file mode 100644 index 0000000000..3a373c69aa --- /dev/null +++ b/mrs_uav_trajectory_generation/include/eth_trajectory_generation/impl/polynomial_optimization_nonlinear_impl.h.gcov.html @@ -0,0 +1,933 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trajectory_generation/include/eth_trajectory_generation/impl/polynomial_optimization_nonlinear_impl.h + + + + + + + + + + + + + + +
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:12341329.8 %
Date:2023-12-14 21:42:20Functions:81844.4 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          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           1 : PolynomialOptimizationNonLinear<_N>::PolynomialOptimizationNonLinear(size_t dimension, const NonlinearOptimizationParameters& parameters)
+      48           1 :     : poly_opt_(dimension), optimization_parameters_(parameters) {
+      49           1 : }
+      50             : 
+      51             : template <int _N>
+      52           1 : bool PolynomialOptimizationNonLinear<_N>::setupFromVertices(const Vertex::Vector& vertices, const std::vector<double>& segment_times,
+      53             :                                                             int derivative_to_optimize) {
+      54           1 :   bool ret = poly_opt_.setupFromVertices(vertices, segment_times, derivative_to_optimize);
+      55             : 
+      56             :   size_t n_optimization_parameters;
+      57           1 :   switch (optimization_parameters_.time_alloc_method) {
+      58           1 :     case NonlinearOptimizationParameters::kSquaredTime:
+      59             :     case NonlinearOptimizationParameters::kRichterTime:
+      60             :     case NonlinearOptimizationParameters::kMellingerOuterLoop:
+      61           1 :       n_optimization_parameters = segment_times.size();
+      62           1 :       break;
+      63           0 :     default:
+      64           0 :       n_optimization_parameters = segment_times.size() + poly_opt_.getNumberFreeConstraints() * poly_opt_.getDimension();
+      65           0 :       break;
+      66             :   }
+      67             : 
+      68           1 :   nlopt_.reset(new nlopt::opt(optimization_parameters_.algorithm, n_optimization_parameters));
+      69           1 :   nlopt_->set_ftol_rel(optimization_parameters_.f_rel);
+      70           1 :   nlopt_->set_ftol_abs(optimization_parameters_.f_abs);
+      71           1 :   nlopt_->set_xtol_rel(optimization_parameters_.x_rel);
+      72           1 :   nlopt_->set_xtol_abs(optimization_parameters_.x_abs);
+      73           1 :   nlopt_->set_maxeval(optimization_parameters_.max_iterations);
+      74           1 :   nlopt_->set_maxtime(optimization_parameters_.max_time);
+      75             : 
+      76           1 :   if (optimization_parameters_.random_seed < 0)
+      77           0 :     nlopt_srand_time();
+      78             :   else
+      79           1 :     nlopt_srand(optimization_parameters_.random_seed);
+      80             : 
+      81           1 :   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           1 : int PolynomialOptimizationNonLinear<_N>::optimize() {
+      91           1 :   optimization_info_ = OptimizationInfo();
+      92           1 :   int result         = nlopt::FAILURE;
+      93             : 
+      94           1 :   const std::chrono::high_resolution_clock::time_point t_start = std::chrono::high_resolution_clock::now();
+      95             : 
+      96           1 :   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           1 :     case NonlinearOptimizationParameters::kMellingerOuterLoop:
+     106           1 :       result = optimizeTimeMellingerOuterLoop();
+     107             :       break;
+     108             :     default:
+     109             :       break;
+     110             :   }
+     111             : 
+     112           1 :   const std::chrono::high_resolution_clock::time_point t_stop = std::chrono::high_resolution_clock::now();
+     113           1 :   optimization_info_.optimization_time                        = std::chrono::duration_cast<std::chrono::duration<double>>(t_stop - t_start).count();
+     114             : 
+     115           1 :   optimization_info_.stopping_reason = result;
+     116             : 
+     117           1 :   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           1 : int PolynomialOptimizationNonLinear<_N>::optimizeTimeMellingerOuterLoop() {
+     161           1 :   std::vector<double> segment_times;
+     162           1 :   poly_opt_.getSegmentTimes(&segment_times);
+     163             : 
+     164             :   // Save original segment times
+     165           2 :   std::vector<double> original_segment_times = segment_times;
+     166             : 
+     167           1 :   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           1 :     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           1 :     nlopt_->set_upper_bounds(std::numeric_limits<double>::max());
+     179           1 :     nlopt_->set_lower_bounds(kOptimizationTimeLowerBound);
+     180           1 :     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           1 :   double final_cost = std::numeric_limits<double>::max();
+     188           1 :   int    result     = nlopt::FAILURE;
+     189             : 
+     190             :   try {
+     191           1 :     result = nlopt_->optimize(segment_times, final_cost);
+     192             :   }
+     193           0 :   catch (std::exception& e) {
+     194           0 :     LOG(ERROR) << "error while running nlopt: " << e.what() << ". This likely means the optimization aborted early." << std::endl;
+     195           0 :     if (final_cost == std::numeric_limits<double>::max()) {
+     196             :       return nlopt::FAILURE;
+     197             :     }
+     198             : 
+     199           0 :     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           0 :       std::cout << "Nlopt result: " << result << std::endl;
+     207             :     }
+     208             :   }
+     209             : 
+     210             :   // Scaling of segment times
+     211           1 :   std::vector<double> relative_segment_times;
+     212           1 :   poly_opt_.getSegmentTimes(&relative_segment_times);
+     213           1 :   scaleSegmentTimesWithViolation();
+     214           1 :   std::vector<double> scaled_segment_times;
+     215           1 :   poly_opt_.getSegmentTimes(&scaled_segment_times);
+     216             : 
+     217             :   // Print all parameter after scaling
+     218           1 :   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           1 :   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           1 : double PolynomialOptimizationNonLinear<_N>::getCostAndGradientMellinger(std::vector<double>* gradients) {
+     258             :   // Weighting terms for different costs
+     259             :   // Retrieve the current segment times
+     260           1 :   std::vector<double> segment_times;
+     261           1 :   poly_opt_.getSegmentTimes(&segment_times);
+     262           1 :   const double J_d = poly_opt_.computeCost();
+     263             : 
+     264           1 :   if (poly_opt_.getNumberSegments() == 1) {
+     265           1 :     if (gradients != NULL) {
+     266           1 :       gradients->clear();
+     267           1 :       gradients->resize(poly_opt_.getNumberSegments(), 0.0);
+     268             :     }
+     269             : 
+     270           1 :     return J_d;
+     271             :   }
+     272             : 
+     273           0 :   if (gradients != NULL) {
+     274           0 :     const size_t n_segments = poly_opt_.getNumberSegments();
+     275             : 
+     276           0 :     gradients->clear();
+     277           0 :     gradients->resize(n_segments);
+     278             : 
+     279             :     // Initialize changed segment times for numerical derivative
+     280           0 :     std::vector<double> segment_times_bigger(n_segments);
+     281           0 :     const double        increment_time = 0.1;
+     282           0 :     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           0 :       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           0 :       double const_traj_time_corr = increment_time / (n_segments - 1.0);
+     289           0 :       for (size_t i = 0; i < segment_times_bigger.size(); ++i) {
+     290           0 :         if (i == n) {
+     291           0 :           segment_times_bigger[i] += increment_time;
+     292             :         } else {
+     293           0 :           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           0 :       for (double& t : segment_times_bigger) {
+     310           0 :         t = std::max(kOptimizationTimeLowerBound, t);
+     311             :       }
+     312             : 
+     313             :       // Update the segment times. This changes the polynomial coefficients.
+     314           0 :       poly_opt_.updateSegmentTimes(segment_times_bigger);
+     315           0 :       poly_opt_.solveLinear();
+     316             : 
+     317             :       // Calculate cost and gradient with new segment time
+     318           0 :       const double J_d_bigger = poly_opt_.computeCost();
+     319           0 :       const double dJd_dt     = (J_d_bigger - J_d) / increment_time;
+     320             : 
+     321             :       // Calculate the gradient
+     322           0 :       gradients->at(n) = dJd_dt;
+     323             :     }
+     324             : 
+     325             :     // Set again the original segment times from before calculating the
+     326             :     // numerical gradient
+     327           0 :     poly_opt_.updateSegmentTimes(segment_times);
+     328           0 :     poly_opt_.solveLinear();
+     329             :   }
+     330             : 
+     331             :   // Compute cost without gradient
+     332             :   return J_d;
+     333             : }
+     334             : 
+     335             : template <int _N>
+     336           1 : void PolynomialOptimizationNonLinear<_N>::scaleSegmentTimesWithViolation() {
+     337             : 
+     338             :   // Get trajectory
+     339           2 :   Trajectory traj;
+     340           1 :   poly_opt_.getTrajectory(&traj);
+     341             : 
+     342             :   // get constraints
+     343           1 :   double v_max_horizontal = 0.0;
+     344           1 :   double a_max_horizontal = 0.0;
+     345           1 :   double j_max_horizontal = 0.0;
+     346             : 
+     347           1 :   double v_max_vertical = 0.0;
+     348           1 :   double a_max_vertical = 0.0;
+     349           1 :   double j_max_vertical = 0.0;
+     350             : 
+     351           1 :   double v_max_heading = 0.0;
+     352           1 :   double a_max_heading = 0.0;
+     353           1 :   double j_max_heading = 0.0;
+     354             : 
+     355          13 :   for (const auto& constraint : inequality_constraints_) {
+     356          12 :     if (constraint->dimension <= 1) {
+     357           6 :       if (constraint->derivative == derivative_order::VELOCITY) {
+     358           2 :         v_max_horizontal = constraint->value;
+     359           4 :       } else if (constraint->derivative == derivative_order::ACCELERATION) {
+     360           2 :         a_max_horizontal = constraint->value;
+     361           2 :       } else if (constraint->derivative == derivative_order::JERK) {
+     362           2 :         j_max_horizontal = constraint->value;
+     363             :       }
+     364           6 :     } else if (constraint->dimension == 2) {
+     365           3 :       if (constraint->derivative == derivative_order::VELOCITY) {
+     366           1 :         v_max_vertical = constraint->value;
+     367           2 :       } else if (constraint->derivative == derivative_order::ACCELERATION) {
+     368           1 :         a_max_vertical = constraint->value;
+     369           1 :       } else if (constraint->derivative == derivative_order::JERK) {
+     370           1 :         j_max_vertical = constraint->value;
+     371             :       }
+     372           3 :     } else if (constraint->dimension == 3) {
+     373           3 :       if (constraint->derivative == derivative_order::VELOCITY) {
+     374           1 :         v_max_heading = constraint->value;
+     375           2 :       } else if (constraint->derivative == derivative_order::ACCELERATION) {
+     376           1 :         a_max_heading = constraint->value;
+     377           1 :       } else if (constraint->derivative == derivative_order::JERK) {
+     378           1 :         j_max_heading = constraint->value;
+     379             :       }
+     380             :     }
+     381             :   }
+     382             : 
+     383           1 :   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           1 :   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           1 :   std::vector<double> segment_times;
+     406           2 :   segment_times = traj.getSegmentTimes();
+     407           1 :   poly_opt_.updateSegmentTimes(segment_times);
+     408           1 :   poly_opt_.solveLinear();
+     409             : 
+     410           1 :   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           1 : }
+     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          12 : bool PolynomialOptimizationNonLinear<_N>::addMaximumMagnitudeConstraint(int dimension, int derivative, double maximum_value) {
+     540             : 
+     541          12 :   CHECK_GE(derivative, 0);
+     542          12 :   CHECK_GE(maximum_value, 0.0);
+     543             : 
+     544          24 :   std::shared_ptr<ConstraintData> constraint_data(new ConstraintData);
+     545          12 :   constraint_data->dimension   = dimension;
+     546          12 :   constraint_data->derivative  = derivative;
+     547          12 :   constraint_data->value       = maximum_value;
+     548          12 :   constraint_data->this_object = this;
+     549             : 
+     550             :   // Store the shared_ptrs such that their data will be destroyed later.
+     551          12 :   inequality_constraints_.push_back(constraint_data);
+     552             : 
+     553          12 :   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           1 : double PolynomialOptimizationNonLinear<_N>::objectiveFunctionTimeMellingerOuterLoop(const std::vector<double>& segment_times, std::vector<double>& gradient,
+     618             :                                                                                     void* data) {
+     619           1 :   CHECK(!gradient.empty()) << "only with gradients possible, choose a gradient based method";
+     620           1 :   CHECK_NOTNULL(data);
+     621             : 
+     622           1 :   PolynomialOptimizationNonLinear<N>* optimization_data = static_cast<PolynomialOptimizationNonLinear<N>*>(data);  // wheee ...
+     623             : 
+     624           1 :   CHECK_EQ(segment_times.size(), optimization_data->poly_opt_.getNumberSegments());
+     625             : 
+     626           1 :   optimization_data->poly_opt_.updateSegmentTimes(segment_times);
+     627           1 :   optimization_data->poly_opt_.solveLinear();
+     628             :   double cost_trajectory;
+     629           1 :   if (!gradient.empty()) {
+     630           1 :     cost_trajectory = optimization_data->getCostAndGradientMellinger(&gradient);
+     631             :   } else {
+     632           0 :     cost_trajectory = optimization_data->getCostAndGradientMellinger(NULL);
+     633             :   }
+     634             : 
+     635           1 :   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           1 :   optimization_data->optimization_info_.n_iterations++;
+     646           1 :   optimization_data->optimization_info_.cost_trajectory = cost_trajectory;
+     647             : 
+     648           1 :   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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LCOV - code coverage report
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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:2023-12-14 21:42:20Functions:101376.9 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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polynomial_optimization_linear.h +
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polynomial.h +
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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_generationHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:12018564.9 %
Date:2023-12-14 21:42:20Functions:101376.9 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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timing.h +
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trajectory.h +
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extremum.h +
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LCOV - code coverage report
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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:2023-12-14 21:42:20Functions:101376.9 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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extremum.h +
100.0%
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polynomial.h +
91.8%91.8%
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<unnamed>91.8 %45 / 49100.0 %6 / 6
polynomial_optimization_linear.h +
65.5%65.5%
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segment.h +
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+ + + diff --git a/mrs_uav_trajectory_generation/include/eth_trajectory_generation/index-sort-f.html b/mrs_uav_trajectory_generation/include/eth_trajectory_generation/index-sort-f.html new file mode 100644 index 0000000000..0f03629f36 --- /dev/null +++ b/mrs_uav_trajectory_generation/include/eth_trajectory_generation/index-sort-f.html @@ -0,0 +1,172 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trajectory_generation/include/eth_trajectory_generation + + + + + + + + + + + + + + +
LCOV - code coverage report
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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:2023-12-14 21:42:20Functions:101376.9 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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+ +
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timing.h +
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trajectory.h +
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vertex.h +
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polynomial_optimization_nonlinear.h +
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segment.h +
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polynomial_optimization_linear.h +
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polynomial.h +
91.8%91.8%
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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/index-sort-l.html b/mrs_uav_trajectory_generation/include/eth_trajectory_generation/index-sort-l.html new file mode 100644 index 0000000000..285e2c30ce --- /dev/null +++ b/mrs_uav_trajectory_generation/include/eth_trajectory_generation/index-sort-l.html @@ -0,0 +1,172 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trajectory_generation/include/eth_trajectory_generation + + + + + + + + + + + + + + +
LCOV - code coverage report
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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:2023-12-14 21:42:20Functions:101376.9 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

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timing.h +
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trajectory.h +
58.5%58.5%
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polynomial_optimization_linear.h +
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vertex.h +
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polynomial.h +
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extremum.h +
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polynomial_optimization_nonlinear.h +
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segment.h +
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+ + + diff --git a/mrs_uav_trajectory_generation/include/eth_trajectory_generation/index.html b/mrs_uav_trajectory_generation/include/eth_trajectory_generation/index.html new file mode 100644 index 0000000000..116b12daf3 --- /dev/null +++ b/mrs_uav_trajectory_generation/include/eth_trajectory_generation/index.html @@ -0,0 +1,172 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trajectory_generation/include/eth_trajectory_generation + + + + + + + + + + + + + + +
LCOV - code coverage report
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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:2023-12-14 21:42:20Functions:101376.9 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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+ +
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Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
extremum.h +
100.0%
+ 		100.0 %6 / 6-0 / 0
polynomial.h +
91.8%91.8%
+ 		91.8 %45 / 49100.0 %6 / 6
polynomial_optimization_linear.h +
65.5%65.5%
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polynomial_optimization_nonlinear.h +
100.0%
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segment.h +
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timing.h +
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trajectory.h +
58.5%58.5%
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vertex.h +
75.0%75.0%
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+
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Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_trajectory_generation/include/eth_trajectory_generation/polynomial.h.func-sort-c.html b/mrs_uav_trajectory_generation/include/eth_trajectory_generation/polynomial.h.func-sort-c.html new file mode 100644 index 0000000000..472745461a --- /dev/null +++ b/mrs_uav_trajectory_generation/include/eth_trajectory_generation/polynomial.h.func-sort-c.html @@ -0,0 +1,104 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trajectory_generation/include/eth_trajectory_generation/polynomial.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_trajectory_generation/include/eth_trajectory_generation - polynomial.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:454991.8 %
Date:2023-12-14 21:42:20Functions:66100.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
eth_trajectory_generation::Polynomial::Polynomial(int)1
eth_trajectory_generation::Polynomial::Polynomial(int, Eigen::Matrix<double, -1, 1, 0, -1, 1> const&)8
eth_trajectory_generation::Polynomial::baseCoeffsWithTime(int, int, double)30
eth_trajectory_generation::Polynomial::baseCoeffsWithTime(int, int, double, Eigen::Matrix<double, -1, 1, 0, -1, 1>*)30
eth_trajectory_generation::Polynomial::getCoefficients(int) const46
eth_trajectory_generation::Polynomial::evaluate(double, int) const942
+
+
+ + + +
Generated by: LCOV version 1.14
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eth_trajectory_generation::Polynomial::baseCoeffsWithTime(int, int, double)30
eth_trajectory_generation::Polynomial::baseCoeffsWithTime(int, int, double, Eigen::Matrix<double, -1, 1, 0, -1, 1>*)30
eth_trajectory_generation::Polynomial::Polynomial(int)1
eth_trajectory_generation::Polynomial::Polynomial(int, Eigen::Matrix<double, -1, 1, 0, -1, 1> const&)8
eth_trajectory_generation::Polynomial::getCoefficients(int) const46
eth_trajectory_generation::Polynomial::evaluate(double, int) const942
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          Line data    Source code
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+       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          75 : 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           1 :   Polynomial(int N) : N_(N), coefficients_(N) {
+      54           1 :     coefficients_.setZero();
+      55           1 :   }
+      56             : 
+      57             :   // Assigns arbitrary coefficients to a polynomial.
+      58           8 :   Polynomial(int N, const Eigen::VectorXd& coeffs) : N_(N), coefficients_(coeffs) {
+      59           8 :     CHECK_EQ(N_, coeffs.size()) << "Number of coefficients has to match.";
+      60           8 :   }
+      61             : 
+      62          12 :   Polynomial(const Eigen::VectorXd& coeffs) : N_(coeffs.size()), coefficients_(coeffs) {
+      63           6 :   }
+      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          46 :   Eigen::VectorXd getCoefficients(int derivative = 0) const {
+     109          46 :     CHECK_LE(derivative, N_);
+     110          46 :     if (derivative == 0) {
+     111          56 :       return coefficients_;
+     112             :     } else {
+     113          72 :       Eigen::VectorXd result(N_);
+     114          36 :       result.setZero();
+     115          36 :       result.head(N_ - derivative) =
+     116          36 :           coefficients_.tail(N_ - derivative).cwiseProduct(base_coefficients_.block(derivative, derivative, 1, N_ - derivative).transpose());
+     117          36 :       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         942 :   double evaluate(double t, int derivative) const {
+     151         942 :     if (derivative >= N_) {
+     152             :       return 0.0;
+     153             :     }
+     154         942 :     double             result;
+     155         942 :     const int          tmp = N_ - 1;
+     156         942 :     Eigen::RowVectorXd row = base_coefficients_.block(derivative, 0, 1, N_);
+     157         942 :     result                 = row[tmp] * coefficients_[tmp];
+     158        7520 :     for (int j = tmp - 1; j >= derivative; --j) {
+     159        6578 :       result *= t;
+     160        6578 :       result += row[j] * coefficients_[j];
+     161             :     }
+     162         942 :     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          30 :   static void baseCoeffsWithTime(int N, int derivative, double t, Eigen::VectorXd* coeffs) {
+     209          30 :     CHECK_LT(derivative, N);
+     210          30 :     CHECK_GE(derivative, 0);
+     211             : 
+     212          30 :     coeffs->resize(N, 1);
+     213          30 :     coeffs->setZero();
+     214             :     // first coefficient doesn't get multiplied
+     215          30 :     (*coeffs)[derivative] = base_coefficients_(derivative, derivative);
+     216             : 
+     217          30 :     if (std::abs(t) < std::numeric_limits<double>::epsilon())
+     218             :       return;
+     219             : 
+     220          15 :     double t_power = t;
+     221             :     // now multiply increasing power of t towards the right
+     222         120 :     for (int j = derivative + 1; j < N; j++) {
+     223         105 :       (*coeffs)[j] = base_coefficients_(derivative, j) * t_power;
+     224         105 :       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          30 :   static Eigen::VectorXd baseCoeffsWithTime(int N, int derivative, double t) {
+     234          30 :     Eigen::VectorXd c(N);
+     235          30 :     baseCoeffsWithTime(N, derivative, t, &c);
+     236          30 :     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          18 :   static inline int getConvolutionLength(int data_size, int kernel_size) {
+     244          18 :     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*) const1
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eth_trajectory_generation::PolynomialOptimization<10>::getTrajectory(eth_trajectory_generation::Trajectory*) const1
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Current view:top level - mrs_uav_trajectory_generation/include/eth_trajectory_generation - polynomial_optimization_linear.h (source / functions)HitTotalCoverage
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Date:2023-12-14 21:42:20Functions:11100.0 %
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          Line data    Source code
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+       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           2 :   void getTrajectory(Trajectory* trajectory) const {
+     113           1 :     CHECK_NOTNULL(trajectory);
+     114           2 :     trajectory->setSegments(segments_);
+     115           1 :   }
+     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           1 :   void getSegments(Segment::Vector* segments) const {
+     178           1 :     CHECK_NOTNULL(segments);
+     179           1 :     *segments = segments_;
+     180           1 :   }
+     181             : 
+     182           4 :   void getSegmentTimes(std::vector<double>* segment_times) const {
+     183             :     CHECK(segment_times != nullptr);
+     184           4 :     *segment_times = segment_times_;
+     185           4 :   }
+     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           3 :   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          50 : struct Constraint
+     290             : {
+     291          34 :   inline bool operator<(const Constraint& rhs) const {
+     292          34 :     if (vertex_idx < rhs.vertex_idx)
+     293             :       return true;
+     294          32 :     if (rhs.vertex_idx < vertex_idx)
+     295             :       return false;
+     296             : 
+     297          21 :     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         100 :   inline bool operator==(const Constraint& rhs) const {
+     305         100 :     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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Date:2023-12-14 21:42:20Functions:00-
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Current view:top level - mrs_uav_trajectory_generation/include/eth_trajectory_generation - polynomial_optimization_nonlinear.h (source / functions)HitTotalCoverage
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Current view:top level - mrs_uav_trajectory_generation/include/eth_trajectory_generation - polynomial_optimization_nonlinear.h (source / functions)HitTotalCoverage
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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           4 : 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           1 :   void getTrajectory(Trajectory* trajectory) const {
+     182           1 :     poly_opt_.getTrajectory(trajectory);
+     183           1 :   }
+     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           1 :   PolynomialOptimization<N>& getPolynomialOptimizationRef() {
+     194             :     return poly_opt_;
+     195             :   }
+     196             : 
+     197           3 :   OptimizationInfo getOptimizationInfo() const {
+     198           5 :     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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Test:MRS UAV System - Test coverage reportLines:1313100.0 %
Date:2023-12-14 21:42:20Functions:11100.0 %
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eth_trajectory_generation::Segment::Segment(int, int)1
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eth_trajectory_generation::Segment::Segment(int, int)1
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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           5 : class Segment {
+      45             : public:
+      46             :   typedef std::vector<Segment> Vector;
+      47             : 
+      48           1 :   Segment(int N, int D) : time_(0.0), N_(N), D_(D) {
+      49           1 :     polynomials_.resize(D_, Polynomial(N_));
+      50           1 :   }
+      51           4 :   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           9 :   int D() const {
+      59           9 :     return D_;
+      60             :   }
+      61           4 :   int N() const {
+      62           4 :     return N_;
+      63             :   }
+      64         250 :   double getTime() const {
+      65         250 :     return time_;
+      66             :   }
+      67             :   uint64_t getTimeNSec() const {
+      68             :     return static_cast<uint64_t>(kNumNSecPerSec * time_);
+      69             :   }
+      70             : 
+      71           9 :   void setTime(double time_sec) {
+      72           9 :     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_
+
+
+
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eth_trajectory_generation::Trajectory::clear()0
eth_trajectory_generation::Trajectory::addSegments(std::vector<eth_trajectory_generation::Segment, std::allocator<eth_trajectory_generation::Segment> > const&)2
eth_trajectory_generation::Trajectory::setSegments(std::vector<eth_trajectory_generation::Segment, std::allocator<eth_trajectory_generation::Segment> > const&)2
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eth_trajectory_generation::Trajectory::addSegments(std::vector<eth_trajectory_generation::Segment, std::allocator<eth_trajectory_generation::Segment> > const&)2
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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           2 :   Trajectory() : D_(0), N_(0), max_time_(0.0) {
+      36             :   }
+      37           2 :   ~Trajectory() {
+      38           1 :   }
+      39             : 
+      40             :   bool        operator==(const Trajectory& rhs) const;
+      41             :   inline bool operator!=(const Trajectory& rhs) const {
+      42             :     return !operator==(rhs);
+      43             :   }
+      44             : 
+      45          41 :   int D() const {
+      46          41 :     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           2 :   void setSegments(const Segment::Vector& segments) {
+      66           2 :     CHECK(!segments.empty());
+      67             :     // Reset states.
+      68           2 :     D_        = segments.front().D();
+      69           2 :     N_        = segments.front().N();
+      70           2 :     max_time_ = 0.0;
+      71           2 :     segments_.clear();
+      72             : 
+      73           2 :     addSegments(segments);
+      74           2 :   }
+      75             : 
+      76           2 :   void addSegments(const Segment::Vector& segments) {
+      77           4 :     for (const Segment& segment : segments) {
+      78           2 :       CHECK_EQ(segment.D(), D_);
+      79           2 :       CHECK_EQ(segment.N(), N_);
+      80           2 :       max_time_ += segment.getTime();
+      81             :     }
+      82           2 :     segments_.insert(segments_.end(), segments.begin(), segments.end());
+      83           2 :   }
+      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           2 :   double getMinTime() const {
+      95           2 :     return 0.0;
+      96             :   }
+      97           2 :   double getMaxTime() const {
+      98           2 :     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          17 : 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           4 :   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           2 :   typename Constraints::const_iterator cBegin() const {
+      93           2 :     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           9 :   typename Constraints::const_iterator cEnd() const {
+      99           9 :     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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Current view:top level - mrs_uav_trajectory_generation/src/eth_trajectory_generationHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:41799442.0 %
Date:2023-12-14 21:42:20Functions: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:41799442.0 %
Date:2023-12-14 21:42:20Functions: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:41799442.0 %
Date:2023-12-14 21:42:20Functions:3110529.5 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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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:2023-12-14 21:42:20Functions: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:2023-12-14 21:42:20Functions: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:2023-12-14 21:42:20Functions: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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LCOV - code coverage report
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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:2023-12-14 21:42:20Functions: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::Polynomial::scalePolynomialInTime(double)4
eth_trajectory_generation::Polynomial::convolve(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, Eigen::Matrix<double, -1, 1, 0, -1, 1> const&)12
eth_trajectory_generation::Polynomial::selectMinMaxCandidatesFromRoots(double, double, Eigen::Matrix<std::complex<double>, -1, 1, 0, -1, 1> const&, std::vector<double, std::allocator<double> >*)18
eth_trajectory_generation::Polynomial::computeMinMaxCandidates(double, double, int, std::vector<double, std::allocator<double> >*) const18
eth_trajectory_generation::Polynomial::getRoots(int, Eigen::Matrix<std::complex<double>, -1, 1, 0, -1, 1>*) const18
eth_trajectory_generation::computeBaseCoefficients(int)48
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_trajectory_generation/src/eth_trajectory_generation/polynomial.cpp.func.html b/mrs_uav_trajectory_generation/src/eth_trajectory_generation/polynomial.cpp.func.html new file mode 100644 index 0000000000..d085bfe461 --- /dev/null +++ b/mrs_uav_trajectory_generation/src/eth_trajectory_generation/polynomial.cpp.func.html @@ -0,0 +1,124 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trajectory_generation/src/eth_trajectory_generation/polynomial.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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:2023-12-14 21:42:20Functions:61154.5 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
eth_trajectory_generation::Polynomial::offsetPolynomial(double)0
eth_trajectory_generation::Polynomial::scalePolynomialInTime(double)4
eth_trajectory_generation::Polynomial::selectMinMaxCandidatesFromRoots(double, double, Eigen::Matrix<std::complex<double>, -1, 1, 0, -1, 1> const&, std::vector<double, std::allocator<double> >*)18
eth_trajectory_generation::Polynomial::convolve(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, Eigen::Matrix<double, -1, 1, 0, -1, 1> const&)12
eth_trajectory_generation::computeBaseCoefficients(int)48
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> >*) const18
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>*) const18
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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          18 : bool Polynomial::getRoots(int derivative, Eigen::VectorXcd* roots) const {
+      31          18 :   return findRootsJenkinsTraub(getCoefficients(derivative), roots);
+      32             : }
+      33             : 
+      34             : /* selectMinMaxCandidatesFromRoots() //{ */
+      35             : 
+      36          18 : bool Polynomial::selectMinMaxCandidatesFromRoots(double t_start, double t_end, const Eigen::VectorXcd& roots_derivative_of_derivative,
+      37             :                                                  std::vector<double>* candidates) {
+      38          18 :   CHECK_NOTNULL(candidates);
+      39          18 :   if (t_start > t_end) {
+      40           0 :     LOG(WARNING) << "t_start is greater than t_end.";
+      41           0 :     return false;
+      42             :   }
+      43          18 :   candidates->clear();
+      44          18 :   candidates->reserve(roots_derivative_of_derivative.size() + 2);
+      45             :   // Put start and end in, as they are valid candidates.
+      46          18 :   candidates->push_back(t_start);
+      47          18 :   candidates->push_back(t_end);
+      48         168 :   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         150 :     if (std::abs(roots_derivative_of_derivative[i].imag()) > std::numeric_limits<double>::epsilon()) {
+      51          82 :       continue;
+      52             :     }
+      53         108 :     const double candidate = roots_derivative_of_derivative[i].real();
+      54             : 
+      55             :     // Do not evaluate points outside the domain.
+      56         108 :     if (candidate < t_start || candidate > t_end) {
+      57          40 :       continue;
+      58             :     } else {
+      59          68 :       candidates->push_back(candidate);
+      60             :     }
+      61             :   }
+      62             :   return true;
+      63             : }
+      64             : 
+      65             : //}
+      66             : 
+      67             : /* computeMinMaxCandidates() //{ */
+      68             : 
+      69          18 : bool Polynomial::computeMinMaxCandidates(double t_start, double t_end, int derivative, std::vector<double>* candidates) const {
+      70          18 :   CHECK_NOTNULL(candidates);
+      71          18 :   candidates->clear();
+      72          18 :   if (N_ - derivative - 1 < 0) {
+      73           0 :     LOG(WARNING) << "N - derivative - 1 has to be at least 0.";
+      74           0 :     return false;
+      75             :   }
+      76          36 :   Eigen::VectorXcd roots;
+      77          18 :   bool             success = getRoots(derivative + 1, &roots);
+      78          18 :   if (!success) {
+      79           0 :     VLOG(1) << "Couldn't find roots, polynomial may be constant.";
+      80             :   }
+      81          18 :   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          48 : Eigen::MatrixXd computeBaseCoefficients(int N) {
+     156          48 :   Eigen::MatrixXd base_coefficients(N, N);
+     157             : 
+     158          48 :   base_coefficients.setZero();
+     159          48 :   base_coefficients.row(0).setOnes();
+     160             : 
+     161          48 :   const int DEG   = N - 1;
+     162          48 :   int       order = DEG;
+     163        1056 :   for (int n = 1; n < N; n++) {
+     164       13104 :     for (int i = DEG - order; i < N; i++) {
+     165       12096 :       base_coefficients(n, i) = (order - DEG + i) * base_coefficients(n - 1, i);
+     166             :     }
+     167        1008 :     order--;
+     168             :   }
+     169          48 :   return base_coefficients;
+     170             : }
+     171             : 
+     172             : //}
+     173             : 
+     174             : /* convolve() //{ */
+     175             : 
+     176          12 : Eigen::VectorXd Polynomial::convolve(const Eigen::VectorXd& data, const Eigen::VectorXd& kernel) {
+     177          12 :   const int       convolution_dimension = getConvolutionLength(data.size(), kernel.size());
+     178          12 :   Eigen::VectorXd convolved             = Eigen::VectorXd::Zero(convolution_dimension);
+     179          24 :   Eigen::VectorXd kernel_reverse        = kernel.reverse();
+     180             : 
+     181         180 :   for (int i = 0; i < convolution_dimension; i++) {
+     182         168 :     const int data_idx = i - kernel.size() + 1;
+     183             : 
+     184         168 :     int lower_bound = std::max(0, -data_idx);
+     185         168 :     int upper_bound = std::min(kernel.size(), data.size() - data_idx);
+     186             : 
+     187         848 :     for (int kernel_idx = lower_bound; kernel_idx < upper_bound; ++kernel_idx) {
+     188         680 :       convolved[i] += kernel_reverse[kernel_idx] * data[data_idx + kernel_idx];
+     189             :     }
+     190             :   }
+     191          12 :   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           4 : void Polynomial::scalePolynomialInTime(double scaling_factor) {
+     219           4 :   double scale = 1.0;
+     220          44 :   for (int n = 0; n < N_; n++) {
+     221          40 :     coefficients_[n] *= scale;
+     222          40 :     scale *= scaling_factor;
+     223             :   }
+     224           4 : }
+     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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Date:2023-12-14 21:42:20Functions:1212100.0 %
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rpoly_ak1.cpp +
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rpoly_ak1.cpp +
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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*)18
eth_trajectory_generation::rpolyWrapper(double*, int*, double*, double*)18
eth_trajectory_generation::findLastNonZeroCoeff(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&)18
eth_trajectory_generation::findRootsJenkinsTraub(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, Eigen::Matrix<std::complex<double>, -1, 1, 0, -1, 1>*)18
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*)72
eth_trajectory_generation::rpoly_impl::Fxshfr_ak1(int, int*, double, double, double*, int, double*, int, double*, double*, double*, double*, double*)85
eth_trajectory_generation::rpoly_impl::RealIT_ak1(int*, int*, double*, int, double*, int, double*, double*, double*, double*, double*)85
eth_trajectory_generation::rpoly_impl::Quad_ak1(double, double, double, double*, double*, double*, double*)162
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*)335
eth_trajectory_generation::rpoly_impl::nextK_ak1(int, int, double, double, double, double*, double*, double*, double*, double*)335
eth_trajectory_generation::rpoly_impl::calcSC_ak1(int, double, double, double*, double*, double*, double*, double*, double*, double*, double*, double*, double*, double, double, double*)536
eth_trajectory_generation::rpoly_impl::QuadSD_ak1(int, double, double, double*, double*, double*, double*)763
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Date:2023-12-14 21:42:20Functions: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*)85
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*)72
eth_trajectory_generation::rpoly_impl::QuadSD_ak1(int, double, double, double*, double*, double*, double*)763
eth_trajectory_generation::rpoly_impl::RealIT_ak1(int*, int*, double*, int, double*, int, double*, double*, double*, double*, double*)85
eth_trajectory_generation::rpoly_impl::calcSC_ak1(int, double, double, double*, double*, double*, double*, double*, double*, double*, double*, double*, double*, double, double, double*)536
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*)335
eth_trajectory_generation::rpoly_impl::Quad_ak1(double, double, double, double*, double*, double*, double*)162
eth_trajectory_generation::rpoly_impl::nextK_ak1(int, int, double, double, double, double*, double*, double*, double*, double*)335
eth_trajectory_generation::rpoly_impl::rpoly_ak1(double*, int*, double*, double*)18
eth_trajectory_generation::rpolyWrapper(double*, int*, double*, double*)18
eth_trajectory_generation::findLastNonZeroCoeff(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&)18
eth_trajectory_generation::findRootsJenkinsTraub(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, Eigen::Matrix<std::complex<double>, -1, 1, 0, -1, 1>*)18
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Current view:top level - mrs_uav_trajectory_generation/src/eth_trajectory_generation/rpoly - rpoly_ak1.cpp (source / functions)HitTotalCoverage
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Date:2023-12-14 21:42:20Functions:1212100.0 %
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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          18 : int findLastNonZeroCoeff(const Eigen::VectorXd& coefficients) {
+      60          18 :   int last_non_zero_coefficient = -1;
+      61             : 
+      62             :   // Find last non-zero coefficient:
+      63          54 :   for (int i = coefficients.size() - 1; i != -1; i--) {
+      64          54 :     if (std::abs(coefficients(i)) >= std::numeric_limits<double>::min()) {
+      65             :       last_non_zero_coefficient = i;
+      66             :       break;
+      67             :     }
+      68             :   }
+      69          18 :   return last_non_zero_coefficient;
+      70             : }
+      71             : 
+      72             : //}
+      73             : 
+      74             : /* findRootsJenkinsTraub() //{ */
+      75             : 
+      76          18 : bool findRootsJenkinsTraub(const Eigen::VectorXd& coefficients_increasing, Eigen::VectorXcd* roots) {
+      77             :   // Remove trailing zeros.
+      78          18 :   const int last_non_zero_coefficient = findLastNonZeroCoeff(coefficients_increasing);
+      79          18 :   if (last_non_zero_coefficient == -1) {
+      80             :     // The polynomial has all zero coefficients and has no roots.
+      81           0 :     roots->resize(0);
+      82           0 :     return true;
+      83             :   }
+      84             : 
+      85             :   // Reverse coefficients in descending order.
+      86          36 :   Eigen::VectorXd coefficients_decreasing = coefficients_increasing.head(last_non_zero_coefficient + 1).reverse();
+      87             : 
+      88          18 :   const int n_coefficients = coefficients_decreasing.size();
+      89          18 :   if (n_coefficients < 2) {
+      90             :     // The polynomial is 0th order and has no roots.
+      91          18 :     roots->resize(0);
+      92             :     return true;
+      93             :   }
+      94          18 :   int     degree     = n_coefficients - 1;
+      95          18 :   double* polynomial = new double[kRpolyMaxDegree + 1];
+      96          18 :   double* roots_real = new double[kRpolyMaxDegree];
+      97          18 :   double* roots_imag = new double[kRpolyMaxDegree];
+      98             : 
+      99         186 :   for (size_t i = 0; i < n_coefficients; i++) {
+     100         168 :     polynomial[i] = coefficients_decreasing(i);
+     101             :   }
+     102             : 
+     103          18 :   rpolyWrapper(polynomial, &degree, roots_real, roots_imag);
+     104          18 :   if (degree > 0) {
+     105          18 :     roots->resize(degree);
+     106         168 :     for (int i = 0; i < degree; ++i) {
+     107         150 :       (*roots)[i] = std::complex<double>(roots_real[i], roots_imag[i]);
+     108             :     }
+     109             :   }
+     110             : 
+     111          18 :   delete[] polynomial;
+     112          18 :   delete[] roots_real;
+     113          18 :   delete[] roots_imag;
+     114             : 
+     115          18 :   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          18 : void rpoly_ak1(double op[MDP1], int* Degree, double zeror[MAXDEGREE], double zeroi[MAXDEGREE]) {
+     149          18 :   int i, j, jj, l, N, NM1, NN, NZ, zerok;
+     150             : 
+     151          18 :   double K[MDP1], p[MDP1], pt[MDP1], qp[MDP1], temp[MDP1];
+     152          18 :   double bnd, df, dx, factor, ff, moduli_max, moduli_min, sc, x, xm;
+     153          18 :   double aa, bb, cc, lzi, lzr, sr, szi, szr, t, xx, xxx, yy;
+     154             : 
+     155          18 :   const double RADFAC = 3.14159265358979323846 / 180;  // Degrees-to-radians conversion factor = pi/180
+     156          18 :   const double lb2    = log(2.0);                      // Dummy variable to avoid re-calculating this value in loop below
+     157          18 :   const double lo     = FLT_MIN / DBL_EPSILON;
+     158          18 :   const double cosr   = cos(94.0 * RADFAC);  // = -0.069756474
+     159          18 :   const double sinr   = sin(94.0 * RADFAC);  // = 0.99756405
+     160             : 
+     161          18 :   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          18 :   if (op[0] != 0) {
+     170             :     N  = *Degree;
+     171          24 :     xx = sqrt(0.5);  // = 0.70710678
+     172          24 :     yy = -xx;
+     173             : 
+     174             :     // Remove zeros at the origin, if any
+     175             :     j = 0;
+     176          24 :     while (op[N] == 0) {
+     177           6 :       zeror[j] = zeroi[j] = 0.0;
+     178           6 :       N--;
+     179           6 :       j++;
+     180             :     }  // End while (op[N] == 0)
+     181             : 
+     182          18 :     NN = N + 1;
+     183             : 
+     184             :     // Make a copy of the coefficients
+     185         180 :     for (i = 0; i < NN; i++)
+     186         162 :       p[i] = op[i];
+     187             : 
+     188         101 :     while (N >= 1) {  // Main loop
+     189             :       // Start the algorithm for one zero
+     190         101 :       if (N <= 2) {
+     191             :         // Calculate the final zero or pair of zeros
+     192          18 :         if (N < 2) {
+     193           1 :           zeror[(*Degree) - 1] = -(p[1] / p[0]);
+     194           1 :           zeroi[(*Degree) - 1] = 0.0;
+     195             :         }       // End if (N < 2)
+     196             :         else {  // else N == 2
+     197          17 :           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         724 :       for (i = 0; i < NN; i++) {
+     208         641 :         x = fabs(p[i]);
+     209         641 :         if (x > moduli_max)
+     210         529 :           moduli_max = x;
+     211         641 :         if ((x != 0) && (x < moduli_min))
+     212         114 :           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          83 :       sc = lo / moduli_min;
+     224             : 
+     225          83 :       if (((sc <= 1.0) && (moduli_max >= 10)) || ((sc > 1.0) && (FLT_MAX / sc >= moduli_max))) {
+     226          14 :         sc     = ((sc == 0) ? FLT_MIN : sc);
+     227          14 :         l      = (int)(log(sc) / lb2 + 0.5);
+     228          14 :         factor = pow(2.0, l);
+     229          14 :         if (factor != 1.0) {
+     230         177 :           for (i = 0; i < NN; i++)
+     231         163 :             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         724 :       for (i = 0; i < NN; i++)
+     239         641 :         pt[i] = fabs(p[i]);
+     240          83 :       pt[N] = -(pt[N]);
+     241             : 
+     242          83 :       NM1 = N - 1;
+     243             : 
+     244             :       // Compute upper estimate of bound
+     245             : 
+     246          83 :       x = exp((log(-pt[N]) - log(pt[0])) / (double)N);
+     247             : 
+     248          83 :       if (pt[NM1] != 0) {
+     249             :         // If Newton step at the origin is better, use it
+     250          83 :         xm = -pt[N] / pt[NM1];
+     251          83 :         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         119 :       do {
+     258         119 :         x  = xm;
+     259         119 :         xm = 0.1 * x;
+     260         119 :         ff = pt[0];
+     261        1143 :         for (i = 1; i < NN; i++)
+     262        1024 :           ff = ff * xm + pt[i];
+     263         119 :       } 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         328 :       while (fabs(dx / x) > 0.005) {
+     270             :         df = ff = pt[0];
+     271        1660 :         for (i = 1; i < N; i++) {
+     272        1415 :           ff = x * ff + pt[i];
+     273        1415 :           df = x * df + ff;
+     274             :         }  // End for i
+     275         245 :         ff = x * ff + pt[N];
+     276         245 :         dx = ff / df;
+     277         245 :         x -= dx;
+     278             :       }  // End while loop
+     279             : 
+     280         558 :       bnd = x;
+     281             : 
+     282             :       // Compute the derivative as the initial K polynomial and do 5 steps with
+     283             :       // no shift
+     284             : 
+     285         558 :       for (i = 1; i < N; i++)
+     286         475 :         K[i] = (double)(N - i) * p[i] / ((double)N);
+     287          83 :       K[0] = p[0];
+     288             : 
+     289          83 :       aa    = p[N];
+     290          83 :       bb    = p[NM1];
+     291          83 :       zerok = ((K[NM1] == 0) ? 1 : 0);
+     292             : 
+     293         498 :       for (jj = 0; jj < 5; jj++) {
+     294         415 :         cc = K[NM1];
+     295         415 :         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         415 :           t = -aa / cc;
+     308        2790 :           for (i = 0; i < NM1; i++) {
+     309        2375 :             j    = NM1 - i;
+     310        2375 :             K[j] = t * K[j - 1] + p[j];
+     311             :           }  // End for i
+     312         415 :           K[0]  = p[0];
+     313         415 :           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         641 :       for (i = 0; i < N; i++)
+     320         558 :         temp[i] = K[i];
+     321             : 
+     322             :       // Loop to select the quadratic corresponding to each new shift
+     323             : 
+     324          85 :       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          85 :         xxx = -(sinr * yy) + cosr * xx;
+     330          85 :         yy  = sinr * xx + cosr * yy;
+     331          85 :         xx  = xxx;
+     332          85 :         sr  = bnd * xx;
+     333             : 
+     334             :         // Second stage calculation, fixed quadratic
+     335             : 
+     336          85 :         Fxshfr_ak1(20 * jj, &NZ, sr, bnd, K, N, p, NN, qp, &lzi, &lzr, &szi, &szr);
+     337             : 
+     338          85 :         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          83 :           j        = (*Degree) - N;
+     346          83 :           zeror[j] = szr;
+     347          83 :           zeroi[j] = szi;
+     348          83 :           NN       = NN - NZ;
+     349          83 :           N        = NN - 1;
+     350         615 :           for (i = 0; i < NN; i++)
+     351         532 :             p[i] = qp[i];
+     352          83 :           if (NZ != 1) {
+     353          26 :             zeror[j + 1] = lzr;
+     354          26 :             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          28 :           for (i = 0; i < N; i++)
+     363          26 :             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          83 :       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          85 : 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          85 :   int    fflag, i, iFlag, j, spass, stry, tFlag, vpass, vtry;
+     401          85 :   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          85 :   double qk[MDP1], svk[MDP1];
+     403             : 
+     404          85 :   *NZ   = 0;
+     405          85 :   betav = betas = 0.25;
+     406          85 :   u             = -(2.0 * sr);
+     407          85 :   oss           = sr;
+     408          85 :   ovv = v = bnd;
+     409             : 
+     410             :   // Evaluate polynomial by synthetic division
+     411          85 :   QuadSD_ak1(NN, u, v, p, qp, &a, &b);
+     412             : 
+     413          85 :   tFlag = calcSC_ak1(N, a, b, &a1, &a3, &a7, &c, &d, &e, &f, &g, &h, K, u, v, qk);
+     414             : 
+     415         264 :   for (j = 0; j < L2; j++) {
+     416             :     // Calculate next K polynomial and estimate v
+     417         262 :     nextK_ak1(N, tFlag, a, b, a1, &a3, &a7, K, qk, qp);
+     418         262 :     tFlag = calcSC_ak1(N, a, b, &a1, &a3, &a7, &c, &d, &e, &f, &g, &h, K, u, v, qk);
+     419         262 :     newest_ak1(tFlag, &ui, &vi, a, a1, a3, a7, b, c, d, f, g, h, u, v, K, N, p);
+     420             : 
+     421         262 :     vv = vi;
+     422             : 
+     423             :     // Estimate s
+     424             : 
+     425         262 :     ss = ((K[N - 1] != 0.0) ? -(p[N] / K[N - 1]) : 0.0);
+     426             : 
+     427         262 :     ts = tv = 1.0;
+     428             : 
+     429         262 :     if ((j != 0) && (tFlag != 3)) {
+     430             :       // Compute relative measures of convergence of s and v sequences
+     431             : 
+     432         177 :       tv = ((vv != 0.0) ? fabs((vv - ovv) / vv) : tv);
+     433         177 :       ts = ((ss != 0.0) ? fabs((ss - oss) / ss) : ts);
+     434             : 
+     435             :       // If decreasing, multiply the two most recent convergence measures
+     436             : 
+     437         177 :       tvv = ((tv < otv) ? tv * otv : 1.0);
+     438         177 :       tss = ((ts < ots) ? ts * ots : 1.0);
+     439             : 
+     440             :       // Compare with convergence criteria
+     441             : 
+     442         177 :       vpass = ((tvv < betav) ? 1 : 0);
+     443         177 :       spass = ((tss < betas) ? 1 : 0);
+     444             : 
+     445         177 :       if ((spass) || (vpass)) {
+     446             :         // At least one sequence has passed the convergence test.
+     447             :         // Store variables before iterating
+     448             : 
+     449        1050 :         for (i = 0; i < N; i++)
+     450         924 :           svk[i] = K[i];
+     451             : 
+     452         126 :         s = ss;
+     453             : 
+     454             :         // Choose iteration according to the fastest converging sequence
+     455             : 
+     456         126 :         stry = vtry = 0;
+     457         126 :         fflag       = 1;
+     458             : 
+     459         138 :         do {
+     460         138 :           iFlag = 1;  // Begin each loop by assuming RealIT will be called
+     461             :                       // UNLESS iFlag changed below
+     462             : 
+     463         138 :           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          72 :             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          72 :             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          46 :             vtry = 1;
+     478          46 :             betav *= 0.25;
+     479             : 
+     480             :             // Try linear iteration if it has not been tried and the s sequence
+     481             :             // is converging
+     482          46 :             if (stry || (!spass)) {
+     483          27 :               iFlag = 0;
+     484             :             }  // End if (stry || (!spass))
+     485             :             else {
+     486         161 :               for (i = 0; i < N; i++)
+     487         142 :                 K[i] = svk[i];
+     488             :             }  // End if (stry || !spass)
+     489             : 
+     490             :           }  // End else !fflag
+     491             : 
+     492         112 :           if (iFlag != 0) {
+     493          85 :             RealIT_ak1(&iFlag, NZ, &s, N, p, NN, qp, szr, szi, K, qk);
+     494             : 
+     495          85 :             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          28 :             stry = 1;
+     503          28 :             betas *= 0.25;
+     504             : 
+     505          28 :             if (iFlag != 0) {
+     506             :               // If linear iteration signals an almost double real zero, attempt
+     507             :               // quadratic iteration
+     508             : 
+     509           6 :               ui = -(s + s);
+     510           6 :               vi = s * s;
+     511           6 :               continue;
+     512             : 
+     513             :             }  // End if (iFlag != 0)
+     514             :           }    // End if (iFlag != 0)
+     515             : 
+     516             :           // Restore variables
+     517         492 :           for (i = 0; i < N; i++)
+     518         443 :             K[i] = svk[i];
+     519             : 
+     520             :           // Try quadratic iteration if it has not been tried and the v sequence
+     521             :           // is converging
+     522             : 
+     523          55 :         } while (vpass && !vtry);  // End do-while loop
+     524             : 
+     525             :         // Re-compute qp and scalar values to continue the second stage
+     526             : 
+     527          43 :         QuadSD_ak1(NN, u, v, p, qp, &a, &b);
+     528          43 :         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         179 :     ovv = vv;
+     535         179 :     oss = ss;
+     536         179 :     otv = tv;
+     537         179 :     ots = ts;
+     538             :   }  // End for j
+     539             : 
+     540             :   return;
+     541             : }  // End Fxshfr_ak1
+     542             : 
+     543         763 : 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         763 :   int i;
+     548             : 
+     549         763 :   q[0] = *b = p[0];
+     550         763 :   q[1] = *a = -((*b) * u) + p[1];
+     551             : 
+     552        5550 :   for (i = 2; i < NN; i++) {
+     553        4787 :     q[i] = -((*a) * u + (*b) * v) + p[i];
+     554        4787 :     *b   = (*a);
+     555        4787 :     *a   = q[i];
+     556             :   }  // End for i
+     557             : 
+     558         763 :   return;
+     559             : }  // End QuadSD_ak1
+     560             : 
+     561         536 : 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         536 :   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         536 :   QuadSD_ak1(N, u, v, K, qk, c, d);
+     575             : 
+     576         536 :   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         536 :   *h = v * b;
+     582         536 :   if (fabs((*d)) >= fabs((*c))) {
+     583         300 :     dumFlag = 2;  // TYPE = 2 indicates that all formulas are divided by d
+     584         300 :     *e      = a / (*d);
+     585         300 :     *f      = (*c) / (*d);
+     586         300 :     *g      = u * b;
+     587         300 :     *a3     = (*e) * ((*g) + a) + (*h) * (b / (*d));
+     588         300 :     *a1     = -a + (*f) * b;
+     589         300 :     *a7     = (*h) + ((*f) + u) * a;
+     590             :   }  // End if(fabs(d) >= fabs(c))
+     591             :   else {
+     592         236 :     dumFlag = 1;  // TYPE = 1 indicates that all formulas are divided by c;
+     593         236 :     *e      = a / (*c);
+     594         236 :     *f      = (*d) / (*c);
+     595         236 :     *g      = (*e) * u;
+     596         236 :     *a3     = (*e) * a + ((*g) + (*h) / (*c)) * b;
+     597         236 :     *a1     = -(a * ((*d) / (*c))) + b;
+     598         236 :     *a7     = (*g) * (*d) + (*h) * (*f) + a;
+     599             :   }  // End else
+     600             : 
+     601             :   return dumFlag;
+     602             : }  // End calcSC_ak1
+     603             : 
+     604         335 : 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         335 :   int    i;
+     608         335 :   double temp;
+     609             : 
+     610         335 :   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         335 :   temp = ((tFlag == 1) ? b : a);
+     620             : 
+     621         335 :   if (fabs(a1) > (10.0 * DBL_EPSILON * fabs(temp))) {
+     622             :     // Use scaled form of the recurrence
+     623             : 
+     624         335 :     (*a7) /= a1;
+     625         335 :     (*a3) /= a1;
+     626         335 :     K[0] = qp[0];
+     627         335 :     K[1] = -((*a7) * qp[0]) + qp[1];
+     628             : 
+     629        2393 :     for (i = 2; i < N; i++)
+     630        2058 :       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         335 : 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         335 :   double a4, a5, b1, b2, c1, c2, c3, c4, temp;
+     653             : 
+     654         335 :   (*vv) = (*uu) = 0.0;  // The quadratic is zeroed
+     655             : 
+     656         335 :   if (tFlag != 3) {
+     657         335 :     if (tFlag != 2) {
+     658         139 :       a4 = a + u * b + h * f;
+     659         139 :       a5 = c + (u + v * f) * d;
+     660             :     }       // End if (tFlag != 2)
+     661             :     else {  // else tFlag == 2
+     662         196 :       a4 = (a + g) * f + h;
+     663         196 :       a5 = (f + u) * c + v * d;
+     664             :     }  // End else tFlag == 2
+     665             : 
+     666             :     // Evaluate new quadratic coefficients
+     667             : 
+     668         335 :     b1   = -K[N - 1] / p[N];
+     669         335 :     b2   = -(K[N - 2] + b1 * p[N - 1]) / p[N];
+     670         335 :     c1   = v * b2 * a1;
+     671         335 :     c2   = b1 * a7;
+     672         335 :     c3   = b1 * b1 * a3;
+     673         335 :     c4   = -(c2 + c3) + c1;
+     674         335 :     temp = -c4 + a5 + b1 * a4;
+     675         335 :     if (temp != 0.0) {
+     676         333 :       *uu = -((u * (c3 + c2) + v * (b1 * a1 + b2 * a7)) / temp) + u;
+     677         333 :       *vv = v * (1.0 + c4 / temp);
+     678             :     }  // End if (temp != 0)
+     679             : 
+     680             :   }  // End if (tFlag != 3)
+     681             : 
+     682         335 :   return;
+     683             : }  // End newest_ak1
+     684             : 
+     685          72 : 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          72 :   int    i, j = 0, tFlag, triedFlag = 0;
+     692          72 :   double c, ee, mp, omp, relstp, t, u, ui, v, vi, zm;
+     693             : 
+     694          72 :   *NZ = 0;   // Number of zeros found
+     695          72 :   u   = uu;  // uu and vv are coefficients of the starting quadratic
+     696          72 :   v   = vv;
+     697             : 
+     698         145 :   do {
+     699         145 :     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         145 :     if (fabs(fabs(*szr) - fabs(*lzr)) > 0.01 * fabs(*lzr))
+     706             :       break;
+     707             : 
+     708             :     // Evaluate polynomial by quadratic synthetic division
+     709             : 
+     710          99 :     QuadSD_ak1(NN, u, v, p, qp, a, b);
+     711             : 
+     712          99 :     mp = fabs(-((*szr) * (*b)) + (*a)) + fabs((*szi) * (*b));
+     713             : 
+     714             :     // Compute a rigorous bound on the rounding error in evaluating p
+     715             : 
+     716          99 :     zm = sqrt(fabs(v));
+     717          99 :     ee = 2.0 * fabs(qp[0]);
+     718          99 :     t  = -((*szr) * (*b));
+     719             : 
+     720         823 :     for (i = 1; i < N; i++)
+     721         724 :       ee = ee * zm + fabs(qp[i]);
+     722             : 
+     723          99 :     ee = ee * zm + fabs((*a) + t);
+     724          99 :     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          99 :     if (mp <= 20.0 * ee) {
+     730          26 :       *NZ = 2;
+     731          26 :       break;
+     732             :     }  // End if (mp <= 20.0*ee)
+     733             : 
+     734          73 :     j++;
+     735             : 
+     736             :     // Stop iteration after 20 steps
+     737          73 :     if (j > 20)
+     738             :       break;
+     739             : 
+     740          73 :     if (j >= 2) {
+     741          35 :       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           0 :         relstp = ((relstp < DBL_EPSILON) ? sqrt(DBL_EPSILON) : sqrt(relstp));
+     746             : 
+     747           0 :         u -= u * relstp;
+     748           0 :         v += v * relstp;
+     749             : 
+     750           0 :         QuadSD_ak1(NN, u, v, p, qp, a, b);
+     751             : 
+     752           0 :         for (i = 0; i < 5; i++) {
+     753           0 :           tFlag = calcSC_ak1(N, *a, *b, a1, a3, a7, &c, d, e, f, g, h, K, u, v, qk);
+     754           0 :           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          73 :     omp = mp;
+     765             : 
+     766             :     // Calculate next K polynomial and new u and v
+     767             : 
+     768          73 :     tFlag = calcSC_ak1(N, *a, *b, a1, a3, a7, &c, d, e, f, g, h, K, u, v, qk);
+     769          73 :     nextK_ak1(N, tFlag, *a, *b, *a1, a3, a7, K, qk, qp);
+     770          73 :     tFlag = calcSC_ak1(N, *a, *b, a1, a3, a7, &c, d, e, f, g, h, K, u, v, qk);
+     771          73 :     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          73 :     if (vi != 0) {
+     775          73 :       relstp = fabs((-v + vi) / vi);
+     776          73 :       u      = ui;
+     777          73 :       v      = vi;
+     778             :     }                 // End if (vi != 0)
+     779          73 :   } while (vi != 0);  // End do-while loop
+     780             : 
+     781          72 :   return;
+     782             : 
+     783             : }  // End QuadIT_ak1
+     784             : 
+     785          85 : 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          85 :   int    i, j = 0, nm1 = N - 1;
+     793          85 :   double ee, kv, mp, ms, omp, pv, s, t;
+     794             : 
+     795          85 :   *iFlag = *NZ = 0;
+     796          85 :   s            = *sss;
+     797             : 
+     798         847 :   for (;;) {
+     799         466 :     qp[0] = pv = p[0];
+     800             : 
+     801             :     // Evaluate p at s
+     802        4212 :     for (i = 1; i < NN; i++)
+     803        3746 :       qp[i] = pv = pv * s + p[i];
+     804             : 
+     805         466 :     mp = fabs(pv);
+     806             : 
+     807             :     // Compute a rigorous bound on the error in evaluating p
+     808             : 
+     809         466 :     ms = fabs(s);
+     810         466 :     ee = 0.5 * fabs(qp[0]);
+     811        4212 :     for (i = 1; i < NN; i++)
+     812        3746 :       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         466 :     if (mp <= 20.0 * DBL_EPSILON * (2.0 * ee - mp)) {
+     818          57 :       *NZ  = 1;
+     819          57 :       *szr = s;
+     820          57 :       *szi = 0.0;
+     821          57 :       break;
+     822             :     }  // End if (mp <= 20.0*DBL_EPSILON*(2.0*ee - mp))
+     823             : 
+     824         409 :     j++;
+     825             : 
+     826             :     // Stop iteration after 10 steps
+     827             : 
+     828         409 :     if (j > 10)
+     829             :       break;
+     830             : 
+     831         387 :     if (j >= 2) {
+     832         308 :       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           6 :         *iFlag = 1;
+     837           6 :         *sss   = s;
+     838           6 :         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         381 :     omp = mp;
+     846             : 
+     847             :     // Compute t, the next polynomial and the new iterate
+     848         381 :     qk[0] = kv = K[0];
+     849        3142 :     for (i = 1; i < N; i++)
+     850        2761 :       qk[i] = kv = kv * s + K[i];
+     851             : 
+     852         381 :     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         381 :       t    = -(pv / kv);
+     856         381 :       K[0] = qp[0];
+     857        3142 :       for (i = 1; i < N; i++)
+     858        2761 :         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         381 :     kv = K[0];
+     868        3142 :     for (i = 1; i < N; i++)
+     869        2761 :       kv = kv * s + K[i];
+     870             : 
+     871         381 :     t = ((fabs(kv) > (fabs(K[nm1]) * 10.0 * DBL_EPSILON)) ? -(pv / kv) : 0.0);
+     872             : 
+     873         381 :     s += t;
+     874             : 
+     875             :   }  // End infinite for loop
+     876             : 
+     877          85 :   return;
+     878             : 
+     879             : }  // End RealIT_ak1
+     880             : 
+     881         162 : 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         162 :   double b, d, e;
+     890             : 
+     891         162 :   *sr = *si = *lr = *li = 0.0;
+     892             : 
+     893         162 :   if (a == 0) {
+     894           0 :     *sr = ((b1 != 0) ? -(c / b1) : *sr);
+     895           0 :     return;
+     896             :   }  // End if (a == 0))
+     897             : 
+     898         162 :   if (c == 0) {
+     899           0 :     *lr = -(b1 / a);
+     900           0 :     return;
+     901             :   }  // End if (c == 0)
+     902             : 
+     903             :   // Compute discriminant avoiding overflow
+     904             : 
+     905         162 :   b = b1 / 2.0;
+     906         162 :   if (fabs(b) < fabs(c)) {
+     907         111 :     e = ((c >= 0) ? a : -a);
+     908         111 :     e = -e + b * (b / fabs(c));
+     909         111 :     d = sqrt(fabs(e)) * sqrt(fabs(c));
+     910             :   }       // End if (fabs(b) < fabs(c))
+     911             :   else {  // Else (fabs(b) >= fabs(c))
+     912          51 :     e = -((a / b) * (c / b)) + 1.0;
+     913          51 :     d = sqrt(fabs(e)) * (fabs(b));
+     914             :   }  // End else (fabs(b) >= fabs(c))
+     915             : 
+     916         162 :   if (e >= 0) {
+     917             :     // Real zeros
+     918             : 
+     919          84 :     d   = ((b >= 0) ? -d : d);
+     920          84 :     *lr = (-b + d) / a;
+     921          84 :     *sr = ((*lr != 0) ? (c / (*lr)) / a : *sr);
+     922             :   }       // End if (e >= 0)
+     923             :   else {  // Else (e < 0)
+     924             :     // Complex conjugate zeros
+     925             : 
+     926          78 :     *lr = *sr = -(b / a);
+     927          78 :     *si       = fabs(d / a);
+     928          78 :     *li       = -(*si);
+     929             :   }  // End else (e < 0)
+     930             : 
+     931             :   return;
+     932             : }  // End Quad_ak1
+     933             : 
+     934             : 
+     935             : }  // namespace rpoly_impl
+     936             : 
+     937             : //}
+     938             : 
+     939          18 : void rpolyWrapper(double* coefficients_decreasing, int* degree, double* roots_real, double* roots_imag) {
+     940          18 :   rpoly_impl::rpoly_ak1(coefficients_decreasing, degree, roots_real, roots_imag);
+     941          18 : }
+     942             : 
+     943             : }  // namespace eth_trajectory_generation
+
+
+
+ + + + +
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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:2023-12-14 21:42:20Functions: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::operator[](unsigned long) const4
eth_trajectory_generation::Segment::operator[](unsigned long)12
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> >*) const18
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*) const18
eth_trajectory_generation::Segment::computeMinMaxMagnitudeCandidateTimes(int, double, double, std::vector<int, std::allocator<int> > const&, std::vector<double, std::allocator<double> >*) const18
eth_trajectory_generation::Segment::evaluate(double, int) const200
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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:2023-12-14 21:42:20Functions:61346.2 %
Legend: Lines: + hit + not hit +
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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)12
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> >*) const18
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*) const18
eth_trajectory_generation::Segment::computeMinMaxMagnitudeCandidateTimes(int, double, double, std::vector<int, std::allocator<int> > const&, std::vector<double, std::allocator<double> >*) const18
eth_trajectory_generation::Segment::evaluate(double, int) const200
eth_trajectory_generation::Segment::operator==(eth_trajectory_generation::Segment const&) const0
eth_trajectory_generation::Segment::operator[](unsigned long) const4
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_trajectory_generation/src/eth_trajectory_generation/segment.cpp.gcov.frameset.html b/mrs_uav_trajectory_generation/src/eth_trajectory_generation/segment.cpp.gcov.frameset.html new file mode 100644 index 0000000000..e356221b47 --- /dev/null +++ b/mrs_uav_trajectory_generation/src/eth_trajectory_generation/segment.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trajectory_generation/src/eth_trajectory_generation/segment.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_trajectory_generation/src/eth_trajectory_generation/segment.cpp.gcov.html b/mrs_uav_trajectory_generation/src/eth_trajectory_generation/segment.cpp.gcov.html new file mode 100644 index 0000000000..9513a9cfcc --- /dev/null +++ b/mrs_uav_trajectory_generation/src/eth_trajectory_generation/segment.cpp.gcov.html @@ -0,0 +1,399 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trajectory_generation/src/eth_trajectory_generation/segment.cpp + + + + + + + + + + + + + + +
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:2023-12-14 21:42:20Functions: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          12 : Polynomial& Segment::operator[](size_t idx) {
+      49          12 :   CHECK_LT(idx, static_cast<size_t>(D_));
+      50          12 :   return polynomials_[idx];
+      51             : }
+      52             : 
+      53             : //}
+      54             : 
+      55             : /* Segment::operator[](size_t idx) //{ */
+      56             : 
+      57           4 : const Polynomial& Segment::operator[](size_t idx) const {
+      58           4 :   CHECK_LT(idx, static_cast<size_t>(D_));
+      59           4 :   return polynomials_[idx];
+      60             : }
+      61             : 
+      62             : //}
+      63             : 
+      64             : /* evaluate() //{ */
+      65             : 
+      66         200 : Eigen::VectorXd Segment::evaluate(double t, int derivative) const {
+      67         200 :   Eigen::VectorXd result(D_);
+      68         200 :   result.setZero();
+      69        1000 :   for (int d = 0; d < D_; ++d) {
+      70         800 :     result[d] = polynomials_[d].evaluate(t, derivative);
+      71             :   }
+      72         200 :   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          18 : 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          18 :   CHECK_NOTNULL(candidate_times);
+     117          18 :   candidate_times->clear();
+     118             :   // Compute magnitude derivative roots.
+     119          18 :   if (dimensions.empty()) {
+     120           0 :     LOG(WARNING) << "No dimensions specified." << std::endl;
+     121           0 :     return false;
+     122          18 :   } else if (dimensions.size() > 1) {
+     123           6 :     const int       n_d                           = N_ - derivative;
+     124           6 :     const int       n_dd                          = n_d - 1;
+     125           6 :     const int       convolved_coefficients_length = Polynomial::getConvolutionLength(n_d, n_dd);
+     126           6 :     Eigen::VectorXd convolved_coefficients(convolved_coefficients_length);
+     127           6 :     convolved_coefficients.setZero();
+     128          18 :     for (int dim : dimensions) {
+     129          12 :       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          24 :       Eigen::VectorXd d  = polynomials_[dim].getCoefficients(derivative).head(n_d);
+     137          36 :       Eigen::VectorXd dd = polynomials_[dim].getCoefficients(derivative + 1).head(n_dd);
+     138          24 :       convolved_coefficients += Polynomial::convolve(d, dd);
+     139             :     }
+     140          12 :     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           6 :     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          12 :     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          18 : bool Segment::computeMinMaxMagnitudeCandidates(
+     163             : 
+     164             :     int derivative, double t_start, double t_end, const std::vector<int>& dimensions, std::vector<Extremum>* candidates) const {
+     165          18 :   CHECK_NOTNULL(candidates);
+     166             :   // Find candidate times (roots + start + end).
+     167          18 :   std::vector<double> candidate_times;
+     168          18 :   computeMinMaxMagnitudeCandidateTimes(derivative, t_start, t_end, dimensions, &candidate_times);
+     169             : 
+     170             :   // Evaluate candidate times.
+     171          18 :   candidates->resize(candidate_times.size());
+     172         122 :   for (size_t i = 0; i < candidate_times.size(); i++) {
+     173         104 :     double magnitude = 0.0;
+     174         246 :     for (int dim : dimensions) {
+     175         142 :       magnitude += std::pow(polynomials_[dim].evaluate(candidate_times[i], derivative), 2);
+     176             :     }
+     177         104 :     magnitude        = std::sqrt(magnitude);
+     178         104 :     (*candidates)[i] = Extremum(candidate_times[i], magnitude, 0);
+     179             :   }
+     180             : 
+     181          36 :   return true;
+     182             : }
+     183             : 
+     184             : //}
+     185             : 
+     186             : /* selectMinMaxMagnitudeFromCandidates() //{ */
+     187             : 
+     188          18 : 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          18 :   CHECK_NOTNULL(minimum);
+     193          18 :   CHECK_NOTNULL(maximum);
+     194          18 :   if (t_start > t_end) {
+     195           0 :     LOG(WARNING) << "t_start is greater than t_end.";
+     196           0 :     return false;
+     197             :   }
+     198             : 
+     199          18 :   minimum->value = std::numeric_limits<double>::max();
+     200          18 :   maximum->value = std::numeric_limits<double>::lowest();
+     201             : 
+     202             :   // Evaluate passed candidates.
+     203         122 :   for (const Extremum& candidate : candidates) {
+     204         104 :     if (candidate.time < t_start || candidate.time > t_end) {
+     205           0 :       continue;
+     206             :     }
+     207         104 :     *maximum = std::max(*maximum, candidate);
+     208         131 :     *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
+
+
+
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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:2023-12-14 21:42:20Functions: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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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..c89c730c31 --- /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:2023-12-14 21:42:20Functions: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:2023-12-14 21:42:20Functions: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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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:17829859.7 %
Date:2023-12-14 21:42:20Functions: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)1
eth_trajectory_generation::Trajectory::getSegmentTimes() const1
eth_trajectory_generation::Trajectory::computeMaxDerivativesHeading(double*, double*, double*) const1
eth_trajectory_generation::Trajectory::computeMaxDerivativesHeading(double*, double*, double*, int) const1
eth_trajectory_generation::Trajectory::computeMaxDerivativesVertical(double*, double*, double*) const1
eth_trajectory_generation::Trajectory::computeMaxDerivativesVertical(double*, double*, double*, int) const1
eth_trajectory_generation::Trajectory::computeMaxDerivativesHorizontal(double*, double*, double*) const1
eth_trajectory_generation::Trajectory::computeMaxDerivativesHorizontal(double*, double*, double*, int) const1
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> >*) const5
eth_trajectory_generation::Trajectory::computeMinMaxMagnitude(int, std::vector<int, std::allocator<int> > const&, eth_trajectory_generation::Extremum*, eth_trajectory_generation::Extremum*) const9
eth_trajectory_generation::Trajectory::computeMinMaxMagnitude(int, std::vector<int, std::allocator<int> > const&, eth_trajectory_generation::Extremum*, eth_trajectory_generation::Extremum*, int) const9
+
+
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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 - trajectory.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:17829859.7 %
Date:2023-12-14 21:42:20Functions: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::scaleSegmentTimesToMeetConstraints(double, double, double, double, double, double, double, double, double)1
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> >*) const5
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() const1
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*) const9
eth_trajectory_generation::Trajectory::computeMinMaxMagnitude(int, std::vector<int, std::allocator<int> > const&, eth_trajectory_generation::Extremum*, eth_trajectory_generation::Extremum*, int) const9
eth_trajectory_generation::Trajectory::computeMaxDerivativesHeading(double*, double*, double*) const1
eth_trajectory_generation::Trajectory::computeMaxDerivativesHeading(double*, double*, double*, int) const1
eth_trajectory_generation::Trajectory::computeMaxDerivativesVertical(double*, double*, double*) const1
eth_trajectory_generation::Trajectory::computeMaxDerivativesVertical(double*, double*, double*, int) const1
eth_trajectory_generation::Trajectory::computeMaxDerivativesHorizontal(double*, double*, double*) const1
eth_trajectory_generation::Trajectory::computeMaxDerivativesHorizontal(double*, double*, double*, int) const1
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
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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:17829859.7 %
Date:2023-12-14 21:42:20Functions: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           5 : 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           5 :   const size_t expected_number_of_samples = (t_end - t_start) / dt + 1;
+      96             : 
+      97           5 :   result->clear();
+      98           5 :   result->reserve(expected_number_of_samples);
+      99             : 
+     100           5 :   if (sampling_times != nullptr) {
+     101           0 :     sampling_times->clear();
+     102           0 :     sampling_times->reserve(expected_number_of_samples);
+     103             :   }
+     104             : 
+     105           5 :   double accumulated_time = 0.0;
+     106             : 
+     107             :   // Look for the correct segment to start.
+     108           5 :   size_t i = 0;
+     109           5 :   for (i = 0; i < segments_.size(); ++i) {
+     110           5 :     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           5 :     if (accumulated_time > t_start) {
+     118             :       break;
+     119             :     }
+     120             :   }
+     121           5 :   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           5 :   accumulated_time -= segments_[i].getTime();
+     128           5 :   double time_in_segment = t_start - accumulated_time;
+     129             : 
+     130             :   // Get all the samples, incrementing the segments as we go.
+     131         205 :   while (accumulated_time < t_end) {
+     132         200 :     if (time_in_segment > segments_[i].getTime()) {
+     133           0 :       time_in_segment = time_in_segment - segments_[i].getTime();
+     134           0 :       i++;
+     135             :       // Make sure we don't access segments that don't exist!
+     136           0 :       if (i >= segments_.size()) {
+     137             :         break;
+     138             :       }
+     139           0 :       continue;
+     140             :     }
+     141             : 
+     142         400 :     result->push_back(segments_[i].evaluate(time_in_segment, derivative_order));
+     143             : 
+     144         200 :     if (sampling_times != nullptr) {
+     145           0 :       sampling_times->push_back(accumulated_time);
+     146             :     }
+     147             : 
+     148         200 :     time_in_segment += dt;
+     149         200 :     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           9 : bool Trajectory::computeMinMaxMagnitude(int derivative, const std::vector<int>& dimensions, Extremum* minimum, Extremum* maximum, int seg) const {
+     212             : 
+     213           9 :   CHECK_NOTNULL(minimum);
+     214           9 :   CHECK_NOTNULL(maximum);
+     215             : 
+     216           9 :   minimum->value = std::numeric_limits<double>::max();
+     217           9 :   maximum->value = std::numeric_limits<double>::lowest();
+     218             : 
+     219             :   // Compute candidates.
+     220          18 :   std::vector<Extremum> candidates;
+     221           9 :   if (!segments_[seg].computeMinMaxMagnitudeCandidates(derivative, 0.0, segments_[seg].getTime(), dimensions, &candidates)) {
+     222             :     return false;
+     223             :   }
+     224             :   // Evaluate candidates.
+     225           9 :   Extremum minimum_candidate, maximum_candidate;
+     226           9 :   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           9 :   if (minimum_candidate < *minimum) {
+     232           9 :     *minimum             = minimum_candidate;
+     233           9 :     minimum->segment_idx = static_cast<int>(seg);
+     234             :   }
+     235           9 :   if (maximum_candidate > *maximum) {
+     236           9 :     *maximum             = maximum_candidate;
+     237           9 :     maximum->segment_idx = static_cast<int>(seg);
+     238             :   }
+     239             : 
+     240             :   return true;
+     241             : }
+     242             : 
+     243             : //}
+     244             : 
+     245             : /* computeMinMaxMagnitude() //{ */
+     246             : 
+     247           9 : bool Trajectory::computeMinMaxMagnitude(int derivative, const std::vector<int>& dimensions, Extremum* minimum, Extremum* maximum) const {
+     248             : 
+     249           9 :   CHECK_NOTNULL(minimum);
+     250           9 :   CHECK_NOTNULL(maximum);
+     251             : 
+     252           9 :   minimum->value = std::numeric_limits<double>::max();
+     253           9 :   maximum->value = std::numeric_limits<double>::lowest();
+     254             : 
+     255             :   // For all segments in the trajectory:
+     256          18 :   for (size_t segment_idx = 0; segment_idx < segments_.size(); segment_idx++) {
+     257             : 
+     258             :     // Compute candidates.
+     259          18 :     std::vector<Extremum> candidates;
+     260           9 :     if (!segments_[segment_idx].computeMinMaxMagnitudeCandidates(derivative, 0.0, segments_[segment_idx].getTime(), dimensions, &candidates)) {
+     261           0 :       return false;
+     262             :     }
+     263             :     // Evaluate candidates.
+     264           9 :     Extremum minimum_candidate, maximum_candidate;
+     265           9 :     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           9 :     if (minimum_candidate < *minimum) {
+     271           9 :       *minimum             = minimum_candidate;
+     272           9 :       minimum->segment_idx = static_cast<int>(segment_idx);
+     273             :     }
+     274           9 :     if (maximum_candidate > *maximum) {
+     275           9 :       *maximum             = maximum_candidate;
+     276           9 :       maximum->segment_idx = static_cast<int>(segment_idx);
+     277             :     }
+     278             :   }
+     279             :   return true;
+     280             : }
+     281             : 
+     282             : //}
+     283             : 
+     284             : /* getSegmentTimes() //{ */
+     285             : 
+     286           1 : std::vector<double> Trajectory::getSegmentTimes() const {
+     287           1 :   std::vector<double> segment_times(segments_.size());
+     288           2 :   for (size_t i = 0; i < segment_times.size(); ++i) {
+     289           1 :     segment_times[i] = segments_[i].getTime();
+     290             :   }
+     291           1 :   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           1 : 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           1 :   std::vector<int> dimensions;  // Evaluate in whatever dimensions we have.
+     426             : 
+     427           1 :   dimensions.push_back(0);
+     428           1 :   dimensions.push_back(1);
+     429             : 
+     430           1 :   Extremum v_min_traj, v_max_traj, a_min_traj, a_max_traj, j_min_traj, j_max_traj;
+     431             : 
+     432           1 :   bool success = computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::VELOCITY, dimensions, &v_min_traj, &v_max_traj, seg);
+     433           1 :   success &= computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::ACCELERATION, dimensions, &a_min_traj, &a_max_traj, seg);
+     434           1 :   success &= computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::JERK, dimensions, &j_min_traj, &j_max_traj, seg);
+     435             : 
+     436           1 :   *v_max = v_max_traj.value;
+     437           1 :   *a_max = a_max_traj.value;
+     438           1 :   *j_max = j_max_traj.value;
+     439             : 
+     440           2 :   return success;
+     441             : }
+     442             : 
+     443             : //}
+     444             : 
+     445             : /* computeMaxDerivativesHorizontal() //{ */
+     446             : 
+     447             : // compute max velocity, acceleration and jerk
+     448           1 : 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           1 :   std::vector<int> dimensions;  // Evaluate in whatever dimensions we have.
+     452             : 
+     453           1 :   dimensions.push_back(0);
+     454           1 :   dimensions.push_back(1);
+     455             : 
+     456           1 :   Extremum v_min_traj, v_max_traj, a_min_traj, a_max_traj, j_min_traj, j_max_traj;
+     457             : 
+     458           1 :   bool success = computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::VELOCITY, dimensions, &v_min_traj, &v_max_traj);
+     459           1 :   success &= computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::ACCELERATION, dimensions, &a_min_traj, &a_max_traj);
+     460           1 :   success &= computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::JERK, dimensions, &j_min_traj, &j_max_traj);
+     461             : 
+     462           1 :   *v_max = v_max_traj.value;
+     463           1 :   *a_max = a_max_traj.value;
+     464           1 :   *j_max = j_max_traj.value;
+     465             : 
+     466           2 :   return success;
+     467             : }
+     468             : 
+     469             : //}
+     470             : 
+     471             : /* computeMaxDerivativesVertical() //{ */
+     472             : 
+     473             : // compute max velocity, acceleration and jerk
+     474           1 : 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           1 :   std::vector<int> dimensions;  // Evaluate in whatever dimensions we have.
+     478             : 
+     479           1 :   dimensions.push_back(2);
+     480             : 
+     481           1 :   Extremum v_min_traj, v_max_traj, a_min_traj, a_max_traj, j_min_traj, j_max_traj;
+     482             : 
+     483           1 :   bool success = computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::VELOCITY, dimensions, &v_min_traj, &v_max_traj, seg);
+     484           1 :   success &= computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::ACCELERATION, dimensions, &a_min_traj, &a_max_traj, seg);
+     485           1 :   success &= computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::JERK, dimensions, &j_min_traj, &j_max_traj, seg);
+     486             : 
+     487           1 :   *v_max = v_max_traj.value;
+     488           1 :   *a_max = a_max_traj.value;
+     489           1 :   *j_max = j_max_traj.value;
+     490             : 
+     491           2 :   return success;
+     492             : }
+     493             : 
+     494             : //}
+     495             : 
+     496             : /* computeMaxDerivativesVertical() //{ */
+     497             : 
+     498             : // compute max velocity, acceleration and jerk
+     499           1 : 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           1 :   std::vector<int> dimensions;  // Evaluate in whatever dimensions we have.
+     503             : 
+     504           1 :   dimensions.push_back(2);
+     505             : 
+     506           1 :   Extremum v_min_traj, v_max_traj, a_min_traj, a_max_traj, j_min_traj, j_max_traj;
+     507             : 
+     508           1 :   bool success = computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::VELOCITY, dimensions, &v_min_traj, &v_max_traj);
+     509           1 :   success &= computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::ACCELERATION, dimensions, &a_min_traj, &a_max_traj);
+     510           1 :   success &= computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::JERK, dimensions, &j_min_traj, &j_max_traj);
+     511             : 
+     512           1 :   *v_max = v_max_traj.value;
+     513           1 :   *a_max = a_max_traj.value;
+     514           1 :   *j_max = j_max_traj.value;
+     515             : 
+     516           2 :   return success;
+     517             : }
+     518             : 
+     519             : //}
+     520             : 
+     521             : /* computeMaxDerivativesHeading() //{ */
+     522             : 
+     523             : // compute max velocity, acceleration and jerk
+     524           1 : bool Trajectory::computeMaxDerivativesHeading(double* v_max, double* a_max, double* j_max, int seg) const {
+     525             : 
+     526           1 :   std::vector<int> dimensions;  // Evaluate in whatever dimensions we have.
+     527             : 
+     528           1 :   dimensions.push_back(3);  // 3 = heading
+     529             : 
+     530           1 :   Extremum v_min_traj, v_max_traj, a_min_traj, a_max_traj, j_min_traj, j_max_traj;
+     531             : 
+     532           1 :   bool success = computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::VELOCITY, dimensions, &v_min_traj, &v_max_traj, seg);
+     533           1 :   success &= computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::ACCELERATION, dimensions, &a_min_traj, &a_max_traj, seg);
+     534           1 :   success &= computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::JERK, dimensions, &j_min_traj, &j_max_traj, seg);
+     535             : 
+     536           1 :   *v_max = v_max_traj.value;
+     537           1 :   *a_max = a_max_traj.value;
+     538           1 :   *j_max = j_max_traj.value;
+     539             : 
+     540           2 :   return success;
+     541             : }
+     542             : 
+     543             : //}
+     544             : 
+     545             : /* computeMaxDerivativesHeading() //{ */
+     546             : 
+     547             : // compute max velocity, acceleration and jerk
+     548           1 : bool Trajectory::computeMaxDerivativesHeading(double* v_max, double* a_max, double* j_max) const {
+     549             : 
+     550           1 :   std::vector<int> dimensions;  // Evaluate in whatever dimensions we have.
+     551             : 
+     552           1 :   dimensions.push_back(3);  // 3 = heading
+     553             : 
+     554           1 :   Extremum v_min_traj, v_max_traj, a_min_traj, a_max_traj, j_min_traj, j_max_traj;
+     555             : 
+     556           1 :   bool success = computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::VELOCITY, dimensions, &v_min_traj, &v_max_traj);
+     557           1 :   success &= computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::ACCELERATION, dimensions, &a_min_traj, &a_max_traj);
+     558           1 :   success &= computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::JERK, dimensions, &j_min_traj, &j_max_traj);
+     559             : 
+     560           1 :   *v_max = v_max_traj.value;
+     561           1 :   *a_max = a_max_traj.value;
+     562           1 :   *j_max = j_max_traj.value;
+     563             : 
+     564           2 :   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           1 : 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           1 :   constexpr size_t kMaxCounter = 20;
+     604           1 :   constexpr double kTolerance  = 1e-3;
+     605             : 
+     606           1 :   bool within_range = false;
+     607             : 
+     608           1 :   for (size_t i = 0; i < kMaxCounter; i++) {
+     609             : 
+     610           2 :     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           1 :       double v_max_horizontal_actual, a_max_horizontal_actual, j_max_horizontal_actual;
+     616           1 :       computeMaxDerivativesHorizontal(&v_max_horizontal_actual, &a_max_horizontal_actual, &j_max_horizontal_actual, seg);
+     617             : 
+     618           1 :       double v_max_vertical_actual, a_max_vertical_actual, j_max_vertical_actual;
+     619           1 :       computeMaxDerivativesVertical(&v_max_vertical_actual, &a_max_vertical_actual, &j_max_vertical_actual, seg);
+     620             : 
+     621           1 :       double v_max_heading_actual, a_max_heading_actual, j_max_heading_actual;
+     622           1 :       computeMaxDerivativesHeading(&v_max_heading_actual, &a_max_heading_actual, &j_max_heading_actual, seg);
+     623             : 
+     624             :       // Reevaluate constraint/bound violation
+     625           1 :       double velocity_violation_horizontal     = v_max_horizontal_actual / v_max_horizontal;
+     626           1 :       double velocity_violation_vertical       = v_max_vertical_actual / v_max_vertical;
+     627           1 :       double acceleration_violation_horizontal = a_max_horizontal_actual / a_max_horizontal;
+     628           1 :       double acceleration_violation_vertical   = a_max_vertical_actual / a_max_vertical;
+     629           1 :       double jerk_violation_horizontal         = j_max_horizontal_actual / j_max_horizontal;
+     630           1 :       double jerk_violation_vertical           = j_max_vertical_actual / j_max_vertical;
+     631             : 
+     632           1 :       double velocity_violation_heading     = v_max_heading_actual / v_max_heading;
+     633           1 :       double acceleration_violation_heading = a_max_heading_actual / a_max_heading;
+     634           1 :       double jerk_violation_heading         = j_max_heading_actual / j_max_heading;
+     635             : 
+     636           1 :       double velocity_violation     = std::max(std::max(velocity_violation_horizontal, velocity_violation_vertical), velocity_violation_heading);
+     637           1 :       double acceleration_violation = std::max(std::max(acceleration_violation_horizontal, acceleration_violation_vertical), acceleration_violation_heading);
+     638           1 :       double jerk_violation         = std::max(std::max(jerk_violation_horizontal, jerk_violation_vertical), jerk_violation_heading);
+     639             : 
+     640           1 :       within_range = velocity_violation <= 1.0 + kTolerance && acceleration_violation <= 1.0 + kTolerance && jerk_violation <= 1.0 + kTolerance;
+     641             : 
+     642           2 :       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           1 :       double violation_scaling_inverse = 1.0 / violation_scaling;
+     646             : 
+     647             :       // Scale the segment times of each segment.
+     648           1 :       double new_max_time = 0.0;
+     649           1 :       double new_time     = segments_[seg].getTime() * violation_scaling;
+     650             : 
+     651           5 :       for (int d = 0; d < segments_[seg].D(); d++) {
+     652           4 :         (segments_[seg])[d].scalePolynomialInTime(violation_scaling_inverse);
+     653             :       }
+     654             : 
+     655           1 :       segments_[seg].setTime(new_time);
+     656           1 :       new_max_time += new_time;
+     657           1 :       max_time_ = new_max_time;
+     658             :     }
+     659             : 
+     660           1 :     double v_max_horizontal_actual, a_max_horizontal_actual, j_max_horizontal_actual;
+     661           1 :     computeMaxDerivativesHorizontal(&v_max_horizontal_actual, &a_max_horizontal_actual, &j_max_horizontal_actual);
+     662             : 
+     663           1 :     double v_max_vertical_actual, a_max_vertical_actual, j_max_vertical_actual;
+     664           1 :     computeMaxDerivativesVertical(&v_max_vertical_actual, &a_max_vertical_actual, &j_max_vertical_actual);
+     665             : 
+     666           1 :     double v_max_heading_actual, a_max_heading_actual, j_max_heading_actual;
+     667           1 :     computeMaxDerivativesHeading(&v_max_heading_actual, &a_max_heading_actual, &j_max_heading_actual);
+     668             : 
+     669             :     // Reevaluate constraint/bound violation
+     670           1 :     double velocity_violation_horizontal     = v_max_horizontal_actual / v_max_horizontal;
+     671           1 :     double velocity_violation_vertical       = v_max_vertical_actual / v_max_vertical;
+     672           1 :     double acceleration_violation_horizontal = a_max_horizontal_actual / a_max_horizontal;
+     673           1 :     double acceleration_violation_vertical   = a_max_vertical_actual / a_max_vertical;
+     674           1 :     double jerk_violation_horizontal         = j_max_horizontal_actual / j_max_horizontal;
+     675           1 :     double jerk_violation_vertical           = j_max_vertical_actual / j_max_vertical;
+     676             : 
+     677           1 :     double velocity_violation_heading     = v_max_heading_actual / v_max_heading;
+     678           1 :     double acceleration_violation_heading = a_max_heading_actual / a_max_heading;
+     679           1 :     double jerk_violation_heading         = j_max_heading_actual / j_max_heading;
+     680             : 
+     681           1 :     double velocity_violation     = std::max(std::max(velocity_violation_horizontal, velocity_violation_vertical), velocity_violation_heading);
+     682           1 :     double acceleration_violation = std::max(std::max(acceleration_violation_horizontal, acceleration_violation_vertical), acceleration_violation_heading);
+     683           1 :     double jerk_violation         = std::max(std::max(jerk_violation_horizontal, jerk_violation_vertical), jerk_violation_heading);
+     684             : 
+     685           1 :     within_range = velocity_violation <= 1.0 + kTolerance && acceleration_violation <= 1.0 + kTolerance && jerk_violation <= 1.0 + kTolerance;
+     686             : 
+     687           1 :     if (within_range) {
+     688             :       break;
+     689             :     }
+     690             :   }
+     691           1 :   return within_range;
+     692             : }
+     693             : 
+     694             : //}
+     695             : 
+     696             : }  // namespace eth_trajectory_generation
+
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+ + diff --git a/mrs_uav_trajectory_generation/src/eth_trajectory_generation/trajectory.cpp.gcov.png b/mrs_uav_trajectory_generation/src/eth_trajectory_generation/trajectory.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..288e92b4ae2d04242e6c225b8989814f72a4c440 GIT binary patch literal 2544 zcmVZz~W!dw#dwZ$^-B^4sfvaaRh>m464d_APzw~VteYejv|^Y`9oRiBObN# zB1HvIM^W7d3<>4o;@aiT)1m7G#XD<$Lh<$5UbOAu=lj>&8e6wU;IVi#!68dyq-z2A3Lf7g`f-5r zZz6D&hIQ`lIIg|M${chgOdaJfOz}#fca18rH#m3f4Nkb=v!98XF7Vi=$+%B58IyV| z1r!J=WmjP8xq7_5StNF@SO#ou4ZZu&x9wqI>=}?HhF!FHw;p;TO08`$3pQb%*OTdq zHy^|XFzEmjzM@}P^$;W0)DzWM8)FSpdv`PgNK+i!%0YNCNO^%sxFh5{r7R65yelgV zpHFwNEz7jYl#`N*3hQ9>J8wXwlzGypm66PbMPwbOOn#x zJTA;K0WJa27pMI1M3`^N*Gy_Z@CpidiafH5Q_t1;+OtSZT`&&K*LKQPOxYf&7&rIi zYh8*{`t8Vut25z*7R^kkYFN?0nh+L#9OH~fVwG~-qi!}caT0l8TIeTc=^JW857by@ zbyLzkOyhh$hX;1*1RkiE`GkjDl~d?^9Hdq}rYId!?~Y?38HPX@T0<^WCPQNDN`AXp z>US2Y1vQ>NDru=34|5g(pHo#}HMn zG*$GT_7r#7Ff0#2QptWdU%lQTYsTUqWKgE?%~exu;;fWXh?~)LUi3$W4fX!Ga;Y7= zOmN^l;qgeAi+L1VHhMn{d!aN$o%La1&jKnG*NTgi29uA&g^GsBM?RY=0dESV$DQlr zZ zeX8rw^Qd1}jL*T^hDu0a1*bEC0$FVs8!K8_%W(L&7=11`O z@3u+l+nwp-s+I0&g~TX{(MhmRka=i!@zJel6H8C26VY1pRHEjA`gu=`zg3`;V8bls z3APr>VZ1N|FYNico)t8x06eHNg*>BcP)qUrV>Lxs!-5hCZ08hqGa(RFZsH+?u!D%1 zcZG7{h6}Fc!VvJa$Cn+xwFjp5R|4Fz{J1&cTp4oPUi%$o9GLhVJ-K$IT3FIxR5cld8hSkKC{6^hz%{Tm8ZiZ=`eX)J8?mvJRm;kS^v+$jW3Bpo?4K5hZ? znNv6(H5-8*wO)AHae&;`J9`@}lSx4Dj%iC%hZ^qVZN># zKc)*}W%aZGqb>Fb_siod;7g#0c8p))CvS3L0JLQcHvp9l4?!M=6Y98CimNPS_O*1? zKDNZ@4HKlxDe9XY27P}##u`?{`7VaC)S1RN@mrOpbFQD3XRfO${=chSe-cPH`pQE} z)z+zrUF4BYIguB#M(_$u0{e&iahne12Z8IC8#GY-;?=!RQ#Ra()syF8+;bjomv`wKwxP!x z$>X*0;k8GgLDmMmqB}e6R9gk0_Y_uQcmk}58KfNKh)~f_2qRD$=;KA?^g^4Fb3K*r zI7)!CO=1P0HqVTqQ+H6R2Gmnb&(Fwr{WaZC6-RTeqHZ+=D?F(%WubO z*Oc8>Tcdr0)$-ArTgGxUvdOXiAOc4Ybnj(~$#lC&@l8`jaU69#jwui+o;0DG?#>Cl zk}$Id=mxV4JjEmDk2Ilc4KU>|0k-hCP&bHSZRP>sl+=N4=6B6w1`@lW&*g^g)64Ye zy3dc&p6L2$CQiFPy7qR#$Fn(MmGIf7aGTWFjkZFXa}-5)VQqFm)uW+)?jiJCJp{eL z?TxD_YOwO6h!S$H&TTPP>P0pOFU7yQb%A7gYx@PP)U+Hj|Gjq!< zV$NJ7;3(uH5x6XQ&MW|R6vt7= + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trajectory_generation/src/eth_trajectory_generation/trajectory_sampling.cpp - functions + + + + + + + + + + + + + + +
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:2023-12-14 21:42:20Functions: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> >*)1
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> >*)1
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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:2023-12-14 21:42:20Functions: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> >*)1
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> >*)1
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:2023-12-14 21:42:20Functions: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           1 : bool sampleTrajectoryInRange(const Trajectory& trajectory, double min_time, double max_time, double sampling_interval,
+      50             :                              eth_mav_msgs::EigenTrajectoryPointVector* states) {
+      51           1 :   CHECK_NOTNULL(states);
+      52           1 :   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           1 :   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           2 :   std::vector<Eigen::VectorXd> position, velocity, acceleration, jerk, snap, yaw, yaw_rate;
+      64             : 
+      65           1 :   trajectory.evaluateRange(min_time, max_time, sampling_interval, derivative_order::POSITION, &position);
+      66           1 :   trajectory.evaluateRange(min_time, max_time, sampling_interval, derivative_order::VELOCITY, &velocity);
+      67           1 :   trajectory.evaluateRange(min_time, max_time, sampling_interval, derivative_order::ACCELERATION, &acceleration);
+      68           1 :   trajectory.evaluateRange(min_time, max_time, sampling_interval, derivative_order::JERK, &jerk);
+      69           1 :   trajectory.evaluateRange(min_time, max_time, sampling_interval, derivative_order::SNAP, &snap);
+      70             : 
+      71           1 :   size_t n_samples = position.size();
+      72             : 
+      73           1 :   states->resize(n_samples);
+      74          41 :   for (size_t i = 0; i < n_samples; ++i) {
+      75          40 :     eth_mav_msgs::EigenTrajectoryPoint& state = (*states)[i];
+      76             : 
+      77             :     /* state.degrees_of_freedom = eth_mav_msgs::MavActuation::DOF4; */
+      78          40 :     state.position_W         = position[i].head<3>();
+      79          40 :     state.velocity_W         = velocity[i].head<3>();
+      80          40 :     state.acceleration_W     = acceleration[i].head<3>();
+      81          40 :     state.jerk_W             = jerk[i].head<3>();
+      82          40 :     state.snap_W             = snap[i].head<3>();
+      83          40 :     state.time_from_start_ns = static_cast<int64_t>((min_time + sampling_interval * i) * kNumNanosecondsPerSecond);
+      84          40 :     if (trajectory.D() == 4) {
+      85          40 :       state.setFromYaw(position[i](3));
+      86          40 :       state.setFromYawRate(velocity[i](3));
+      87          40 :       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           1 :   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           1 : bool sampleWholeTrajectory(const Trajectory& trajectory, double sampling_interval, eth_mav_msgs::EigenTrajectoryPoint::Vector* states) {
+     120           1 :   const double min_time = trajectory.getMinTime();
+     121           1 :   const double max_time = trajectory.getMaxTime();
+     122             : 
+     123           1 :   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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Current view:top level - mrs_uav_trajectory_generation/src/eth_trajectory_generation - vertex.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:10626240.5 %
Date:2023-12-14 21:42:20Functions: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)1
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)1
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)1
eth_trajectory_generation::Vertex::makeStartOrEnd(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, int)2
eth_trajectory_generation::Vertex::addConstraint(int, Eigen::Matrix<double, -1, 1, 0, -1, 1> const&)14
eth_trajectory_generation::Vertex::getConstraint(int, Eigen::Matrix<double, -1, 1, 0, -1, 1>*) const14
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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 - vertex.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:10626240.5 %
Date:2023-12-14 21:42:20Functions: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)1
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)1
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)1
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&)14
eth_trajectory_generation::Vertex::makeStartOrEnd(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, int)2
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>*) const14
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:10626240.5 %
Date:2023-12-14 21:42:20Functions: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          14 : void Vertex::addConstraint(int derivative_order, const Eigen::VectorXd& constraint) {
+     135          14 :   CHECK_EQ(constraint.rows(), static_cast<long>(D_));
+     136          14 :   constraints_[derivative_order] = constraint;
+     137          14 : }
+     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           2 : void Vertex::makeStartOrEnd(const Eigen::VectorXd& constraint, int up_to_derivative) {
+     159           2 :   addConstraint(derivative_order::POSITION, constraint);
+     160           6 :   for (int i = 1; i <= up_to_derivative; ++i) {
+     161           4 :     constraints_[i] = ConstraintValue::Zero(static_cast<int>(D_));
+     162             :   }
+     163           2 : }
+     164             : 
+     165             : //}
+     166             : 
+     167             : /* getConstraint() //{ */
+     168             : 
+     169          14 : bool Vertex::getConstraint(int derivative_order, Eigen::VectorXd* value) const {
+     170          14 :   CHECK_NOTNULL(value);
+     171          14 :   typename Constraints::const_iterator it = constraints_.find(derivative_order);
+     172          14 :   if (it != constraints_.end()) {
+     173          11 :     *value = it->second;
+     174          11 :     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           1 : 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           1 :   return estimateSegmentTimesEuclidean(vertices, v_max_horizontal, v_max_vertical, a_max_horizontal, a_max_vertical, j_max_horizontal, j_max_vertical,
+     270           1 :                                        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           1 : 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           1 :   CHECK_GE(vertices.size(), 2);
+     306           1 :   std::vector<double> segment_times;
+     307           1 :   segment_times.reserve(vertices.size() - 1);
+     308             : 
+     309             :   // for each vertex in the path
+     310           2 :   for (size_t i = 0; i < vertices.size() - 1; ++i) {
+     311             : 
+     312           2 :     Eigen::VectorXd start4d, end4d;
+     313             : 
+     314           1 :     vertices[i].getConstraint(derivative_order::POSITION, &start4d);
+     315           1 :     vertices[i + 1].getConstraint(derivative_order::POSITION, &end4d);
+     316             : 
+     317           1 :     Eigen::Vector3d start     = start4d.head(3);
+     318           1 :     Eigen::Vector3d end       = end4d.head(3);
+     319           1 :     double          start_hdg = start4d(3);
+     320           1 :     double          end_hdg   = end4d(3);
+     321             : 
+     322           1 :     double acceleration_time_1 = 0;
+     323           1 :     double acceleration_time_2 = 0;
+     324             : 
+     325           1 :     double jerk_time_1 = 0;
+     326           1 :     double jerk_time_2 = 0;
+     327             : 
+     328           1 :     double acc_1_coeff = 0;
+     329           1 :     double acc_2_coeff = 0;
+     330             : 
+     331           1 :     double distance = (end - start).norm();
+     332             : 
+     333           1 :     double inclinator = atan2(end(2) - start(2), sqrt(pow(end(0) - start(0), 2) + pow(end(1) - start(1), 2)));
+     334             : 
+     335           1 :     double v_max, a_max, j_max;
+     336             : 
+     337           1 :     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           1 :       v_max = fabs(v_max_horizontal / cos(inclinator));
+     341             :     }
+     342             : 
+     343           1 :     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           1 :       a_max = fabs(a_max_horizontal / cos(inclinator));
+     347             :     }
+     348             : 
+     349           1 :     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           1 :       j_max = fabs(j_max_horizontal / cos(inclinator));
+     353             :     }
+     354             : 
+     355           1 :     if (i >= 1) {
+     356             : 
+     357           0 :       Eigen::VectorXd pre4d;
+     358             : 
+     359           0 :       vertices[i - 1].getConstraint(derivative_order::POSITION, &pre4d);
+     360             : 
+     361           0 :       Eigen::Vector3d pre = pre4d.head(3);
+     362             : 
+     363           0 :       Eigen::Vector3d vec1 = start - pre;
+     364           0 :       Eigen::Vector3d vec2 = end - start;
+     365             : 
+     366           0 :       vec1.normalize();
+     367           0 :       vec2.normalize();
+     368             : 
+     369           0 :       double scalar = vec1.dot(vec2) < 0 ? 0.0 : vec1.dot(vec2);
+     370             : 
+     371           0 :       acc_1_coeff = (1 - scalar);
+     372             : 
+     373           0 :       acceleration_time_1 = acc_1_coeff * ((v_max / a_max) + (a_max / j_max));
+     374             : 
+     375           0 :       jerk_time_1 = acc_1_coeff * (2 * (a_max / j_max));
+     376             :     }
+     377             : 
+     378             :     // the first vertex
+     379           1 :     if (i == 0) {
+     380           1 :       acc_1_coeff         = 1.0;
+     381           1 :       acceleration_time_1 = (v_max / a_max) + (a_max / j_max);
+     382           1 :       jerk_time_1         = (2 * (a_max / j_max));
+     383             :     }
+     384             : 
+     385             :     // last vertex
+     386           1 :     if (i == vertices.size() - 2) {
+     387           1 :       acc_2_coeff         = 1.0;
+     388           1 :       acceleration_time_2 = (v_max / a_max) + (a_max / j_max);
+     389           1 :       jerk_time_2         = (2 * (a_max / j_max));
+     390             :     }
+     391             : 
+     392             :     // a vertex
+     393           1 :     if (i < vertices.size() - 2) {
+     394             : 
+     395           0 :       Eigen::VectorXd post4d;
+     396             : 
+     397           0 :       vertices[i + 2].getConstraint(derivative_order::POSITION, &post4d);
+     398             : 
+     399           0 :       Eigen::Vector3d post = post4d.head(3);
+     400             : 
+     401           0 :       Eigen::Vector3d vec1 = end - start;
+     402           0 :       Eigen::Vector3d vec2 = post - end;
+     403             : 
+     404           0 :       vec1.normalize();
+     405           0 :       vec2.normalize();
+     406             : 
+     407           0 :       double scalar = vec1.dot(vec2) < 0 ? 0.0 : vec1.dot(vec2);
+     408             : 
+     409           0 :       acc_2_coeff = (1 - scalar);
+     410             : 
+     411           0 :       acceleration_time_2 = acc_2_coeff * ((v_max / a_max) + (a_max / j_max));
+     412             : 
+     413           0 :       jerk_time_2 = acc_2_coeff * (2 * (a_max / j_max));
+     414             :     }
+     415             : 
+     416           1 :     if (acceleration_time_1 > sqrt(2 * distance / a_max)) {
+     417           0 :       acceleration_time_1 = sqrt(2 * distance / a_max);
+     418             :     }
+     419             : 
+     420           1 :     if (jerk_time_1 > sqrt(2 * v_max / j_max)) {
+     421           0 :       jerk_time_1 = sqrt(2 * v_max / j_max);
+     422             :     }
+     423             : 
+     424           1 :     if (acceleration_time_2 > sqrt(2 * distance / a_max)) {
+     425           0 :       acceleration_time_2 = sqrt(2 * distance / a_max);
+     426             :     }
+     427             : 
+     428           1 :     if (jerk_time_2 > sqrt(2 * v_max / j_max)) {
+     429           0 :       jerk_time_2 = sqrt(2 * v_max / j_max);
+     430             :     }
+     431             : 
+     432           1 :     double max_velocity_time;
+     433             : 
+     434           1 :     if (((distance - (2 * (v_max * v_max) / a_max)) / v_max) < 0) {
+     435           0 :       max_velocity_time = ((distance) / v_max);
+     436             :     } else {
+     437             :       max_velocity_time = ((distance - (2 * (v_max * v_max) / a_max)) / v_max);
+     438             :     }
+     439             : 
+     440             :     /* double t = max_velocity_time + acceleration_time_1 + acceleration_time_2 + jerk_time_1 + jerk_time_2; */
+     441           1 :     double t = max_velocity_time + acceleration_time_1 + acceleration_time_2;
+     442             : 
+     443             :     /* 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); */
+     444             :     /* printf("segment %d time %.2f, distance %.2f, %.2f, %.2f, %.2f, vmax: %.2f, amax: %.2f, jmax: %.2f\n", i, t, distance, max_velocity_time, */
+     445             :     /*        acceleration_time_1, acceleration_time_2, v_max, a_max, j_max); */
+     446             : 
+     447           1 :     if (t < 0.01) {
+     448           0 :       t = 0.01;
+     449             :     }
+     450             : 
+     451             :     // | ------------- check the heading rotation time ------------ |
+     452             : 
+     453           1 :     double angular_distance = fabs(mrs_lib::geometry::radians::dist(start_hdg, end_hdg));
+     454             : 
+     455           1 :     double hdg_velocity_time     = 0;
+     456           1 :     double hdg_acceleration_time = 0;
+     457             : 
+     458           1 :     if (heading_speed_max < std::numeric_limits<float>::max() && heading_acc_max < std::numeric_limits<float>::max()) {
+     459             : 
+     460           1 :       if (((angular_distance - (2 * (heading_speed_max * heading_speed_max) / heading_acc_max)) / heading_speed_max) < 0) {
+     461           0 :         hdg_velocity_time = ((angular_distance) / heading_speed_max);
+     462             :       } else {
+     463             :         hdg_velocity_time = ((angular_distance - (2 * (heading_speed_max * heading_speed_max) / heading_acc_max)) / heading_speed_max);
+     464             :       }
+     465             : 
+     466           1 :       if (angular_distance > M_PI / 4) {
+     467           1 :         hdg_acceleration_time = 2 * (heading_speed_max / heading_acc_max);
+     468             :       }
+     469             :     }
+     470             : 
+     471             :     // what will take longer? to fix the lateral or the heading
+     472           1 :     double heading_fix_time = 1.5 * (hdg_velocity_time + hdg_acceleration_time);
+     473             : 
+     474           1 :     if (heading_fix_time > t) {
+     475           0 :       t = heading_fix_time;
+     476             :     }
+     477             : 
+     478           1 :     segment_times.push_back(t);
+     479             :   }
+     480           1 :   return segment_times;
+     481             : }
+     482             : 
+     483             : //}
+     484             : 
+     485             : /* estimateSegmentTimesEuclidean() //{ */
+     486             : 
+     487           1 : std::vector<double> estimateSegmentTimesEuclidean(const Vertex::Vector& vertices, const double v_max_horizontal, const double v_max_vertical,
+     488             :                                                   const double a_max_horizontal, const double a_max_vertical, const double j_max_horizontal,
+     489             :                                                   const double j_max_vertical, const double heading_speed_max, const double heading_acc_max) {
+     490             : 
+     491           1 :   double v_max = std::min(v_max_horizontal, v_max_vertical);
+     492             : 
+     493           1 :   CHECK_GE(vertices.size(), 2);
+     494           1 :   std::vector<double> segment_times;
+     495           1 :   segment_times.reserve(vertices.size() - 1);
+     496             : 
+     497             :   // for each vertex in the path
+     498           2 :   for (size_t i = 0; i < vertices.size() - 1; ++i) {
+     499             : 
+     500           2 :     Eigen::VectorXd start4d, end4d;
+     501             : 
+     502           1 :     vertices[i].getConstraint(derivative_order::POSITION, &start4d);
+     503           1 :     vertices[i + 1].getConstraint(derivative_order::POSITION, &end4d);
+     504             : 
+     505           1 :     Eigen::Vector3d start = start4d.head(3);
+     506           1 :     Eigen::Vector3d end   = end4d.head(3);
+     507             : 
+     508           1 :     double inclinator = atan2(end(2) - start(2), sqrt(pow(end(0) - start(0), 2) + pow(end(1) - start(1), 2)));
+     509             : 
+     510           1 :     double v_max;
+     511             : 
+     512           1 :     if (inclinator > atan2(v_max_vertical, v_max_horizontal) || inclinator < -atan2(v_max_vertical, v_max_horizontal)) {
+     513           0 :       v_max = fabs(v_max_vertical / sin(inclinator));
+     514             :     } else {
+     515           1 :       v_max = fabs(v_max_horizontal / cos(inclinator));
+     516             :     }
+     517             : 
+     518           1 :     double start_hdg = start4d(3);
+     519           1 :     double end_hdg   = end4d(3);
+     520             : 
+     521           1 :     double distance = (end - start).norm();
+     522             : 
+     523           1 :     double t = distance / v_max;
+     524             : 
+     525           1 :     if (t < 0.01) {
+     526           0 :       t = 0.01;
+     527             :     }
+     528             : 
+     529             :     // | ------------- check the heading rotation time ------------ |
+     530             : 
+     531             : 
+     532           1 :     double angular_distance = fabs(mrs_lib::geometry::radians::dist(start_hdg, end_hdg));
+     533             : 
+     534           1 :     double hdg_velocity_time     = 0;
+     535           1 :     double hdg_acceleration_time = 0;
+     536             : 
+     537           1 :     if (heading_speed_max < std::numeric_limits<float>::max() && heading_acc_max < std::numeric_limits<float>::max()) {
+     538             : 
+     539           1 :       if (((angular_distance - ((heading_speed_max * heading_speed_max) / heading_acc_max)) / heading_speed_max) < 0) {
+     540           0 :         hdg_velocity_time = ((angular_distance) / heading_speed_max);
+     541             :       } else {
+     542             :         hdg_velocity_time = ((angular_distance - ((heading_speed_max * heading_speed_max) / heading_acc_max)) / heading_speed_max);
+     543             :       }
+     544             : 
+     545           1 :       if (angular_distance > M_PI / 4) {
+     546           1 :         hdg_acceleration_time = 2 * (heading_speed_max / heading_acc_max);
+     547             :       }
+     548             :     }
+     549             : 
+     550             :     // what will take longer? to fix the lateral or the heading
+     551           1 :     double heading_fix_time = 1.5 * (hdg_velocity_time + hdg_acceleration_time);
+     552             : 
+     553           1 :     if (heading_fix_time > t) {
+     554           1 :       t = heading_fix_time;
+     555             :     }
+     556             : 
+     557           1 :     segment_times.push_back(t);
+     558             :   }
+     559             : 
+     560           1 :   return segment_times;
+     561             : }
+     562             : 
+     563             : //}
+     564             : 
+     565             : /* computeTimeVelocityRamp() //{ */
+     566             : 
+     567           0 : double computeTimeVelocityRamp(const Eigen::VectorXd& start, const Eigen::VectorXd& goal, double v_max, double a_max) {
+     568             : 
+     569           0 :   const double distance = (start - goal).norm();
+     570             :   // Time to accelerate or decelerate to or from maximum velocity:
+     571           0 :   const double acc_time = v_max / a_max;
+     572             :   // Distance covered during complete acceleration or decelerate:
+     573           0 :   const double acc_distance = 0.5 * v_max * acc_time;
+     574             :   // Compute total segment time:
+     575           0 :   if (distance < 2.0 * acc_distance) {
+     576             :     // Case 1: Distance too small to accelerate to maximum velocity.
+     577           0 :     return 2.0 * std::sqrt(distance / a_max);
+     578             :   } else {
+     579             :     // Case 2: Distance long enough to accelerate to maximum velocity.
+     580           0 :     return 2.0 * acc_time + (distance - 2.0 * acc_distance) / v_max;
+     581             :   }
+     582             : }
+     583             : 
+     584             : //}
+     585             : 
+     586             : }  // namespace eth_trajectory_generation
+
+
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mrs_uav_trajectory_generation::MrsTrajectoryGeneration::callbackPath(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const> const&)0
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::interpolatePoint(Waypoint_t const&, Waypoint_t const&, double const&)0
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::callbackGetPathSrv(mrs_msgs::GetPathSrvRequest_<std::allocator<void> >&, mrs_msgs::GetPathSrvResponse_<std::allocator<void> >&)0
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::findTrajectoryFallback(std::vector<Waypoint_t, std::allocator<Waypoint_t> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&, double const&, bool const&)0
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::getTrajectorySegmentCenterIdxs(std::vector<eth_mav_msgs::EigenTrajectoryPoint, Eigen::aligned_allocator<eth_mav_msgs::EigenTrajectoryPoint> > const&, std::vector<Waypoint_t, std::allocator<Waypoint_t> > const&)0
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::trajectorySrv(mrs_msgs::TrajectoryReference_<std::allocator<void> > const&)1
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&)1
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::findTrajectory(std::vector<Waypoint_t, std::allocator<Waypoint_t> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&, double const&, bool const&)1
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::preprocessPath(std::vector<Waypoint_t, std::allocator<Waypoint_t> > const&)1
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::callbackPathSrv(mrs_msgs::PathSrvRequest_<std::allocator<void> >&, mrs_msgs::PathSrvResponse_<std::allocator<void> >&)1
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::findTrajectoryAsync(std::vector<Waypoint_t, std::allocator<Waypoint_t> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&, double const&, bool const&)1
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::getTrajectoryReference(std::vector<eth_mav_msgs::EigenTrajectoryPoint, Eigen::aligned_allocator<eth_mav_msgs::EigenTrajectoryPoint> > const&, ros::Time const&, double const&)1
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&)1
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::checkNaN(Waypoint_t const&)1
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::optimize[abi:cxx11](std::vector<Waypoint_t, std::allocator<Waypoint_t> > const&, std_msgs::Header_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&, mrs_msgs::MpcPredictionFullState_<std::allocator<void> > const&, bool, bool)1
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::timeLeft()1
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::overtime()4
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::callbackDrs(mrs_uav_trajectory_generation::drsConfig&, unsigned int)48
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::onInit()48
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&)78
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::callbackConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraints_<std::allocator<void> > const> const&)5060
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::callbackControlManagerDiag(boost::shared_ptr<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > const> const&)6379
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::callbackTrackerCmd(boost::shared_ptr<mrs_msgs::TrackerCommand_<std::allocator<void> > const> const&)40662
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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..ebaea9a018 --- /dev/null +++ b/mrs_uav_trajectory_generation/src/mrs_trajectory_generation.cpp.func.html @@ -0,0 +1,172 @@ + + + + + + + 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:449103443.4 %
Date:2023-12-14 21:42:20Functions:182378.3 %
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)48
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::callbackPath(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const> const&)0
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::trajectorySrv(mrs_msgs::TrajectoryReference_<std::allocator<void> > const&)1
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&)1
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::findTrajectory(std::vector<Waypoint_t, std::allocator<Waypoint_t> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&, double const&, bool const&)1
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::preprocessPath(std::vector<Waypoint_t, std::allocator<Waypoint_t> > const&)1
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::callbackPathSrv(mrs_msgs::PathSrvRequest_<std::allocator<void> >&, mrs_msgs::PathSrvResponse_<std::allocator<void> >&)1
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&)78
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::interpolatePoint(Waypoint_t const&, Waypoint_t const&, double const&)0
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::callbackGetPathSrv(mrs_msgs::GetPathSrvRequest_<std::allocator<void> >&, mrs_msgs::GetPathSrvResponse_<std::allocator<void> >&)0
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::callbackTrackerCmd(boost::shared_ptr<mrs_msgs::TrackerCommand_<std::allocator<void> > const> const&)40662
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::callbackConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraints_<std::allocator<void> > const> const&)5060
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::findTrajectoryAsync(std::vector<Waypoint_t, std::allocator<Waypoint_t> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&, double const&, bool const&)1
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::findTrajectoryFallback(std::vector<Waypoint_t, std::allocator<Waypoint_t> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&, double const&, bool const&)0
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::getTrajectoryReference(std::vector<eth_mav_msgs::EigenTrajectoryPoint, Eigen::aligned_allocator<eth_mav_msgs::EigenTrajectoryPoint> > const&, ros::Time const&, double const&)1
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&)1
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::callbackControlManagerDiag(boost::shared_ptr<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > const> const&)6379
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::getTrajectorySegmentCenterIdxs(std::vector<eth_mav_msgs::EigenTrajectoryPoint, Eigen::aligned_allocator<eth_mav_msgs::EigenTrajectoryPoint> > const&, std::vector<Waypoint_t, std::allocator<Waypoint_t> > const&)0
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::onInit()48
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::checkNaN(Waypoint_t const&)1
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::optimize[abi:cxx11](std::vector<Waypoint_t, std::allocator<Waypoint_t> > const&, std_msgs::Header_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&, mrs_msgs::MpcPredictionFullState_<std::allocator<void> > const&, bool, bool)1
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::overtime()4
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::timeLeft()1
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_trajectory_generation/src/mrs_trajectory_generation.cpp.gcov.frameset.html b/mrs_uav_trajectory_generation/src/mrs_trajectory_generation.cpp.gcov.frameset.html new file mode 100644 index 0000000000..492e4b05ac --- /dev/null +++ b/mrs_uav_trajectory_generation/src/mrs_trajectory_generation.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trajectory_generation/src/mrs_trajectory_generation.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_trajectory_generation/src/mrs_trajectory_generation.cpp.gcov.html b/mrs_uav_trajectory_generation/src/mrs_trajectory_generation.cpp.gcov.html new file mode 100644 index 0000000000..476e33c82b --- /dev/null +++ b/mrs_uav_trajectory_generation/src/mrs_trajectory_generation.cpp.gcov.html @@ -0,0 +1,2416 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trajectory_generation/src/mrs_trajectory_generation.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_trajectory_generation/src - mrs_trajectory_generation.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:449103443.4 %
Date:2023-12-14 21:42:20Functions:182378.3 %
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             : #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             : 
+      23             : #include <eth_trajectory_generation/impl/polynomial_optimization_nonlinear_impl.h>
+      24             : #include <eth_trajectory_generation/trajectory.h>
+      25             : #include <eth_trajectory_generation/trajectory_sampling.h>
+      26             : 
+      27             : #include <mrs_lib/param_loader.h>
+      28             : #include <mrs_lib/geometry/cyclic.h>
+      29             : #include <mrs_lib/geometry/misc.h>
+      30             : #include <mrs_lib/mutex.h>
+      31             : #include <mrs_lib/batch_visualizer.h>
+      32             : #include <mrs_lib/transformer.h>
+      33             : #include <mrs_lib/utils.h>
+      34             : #include <mrs_lib/scope_timer.h>
+      35             : #include <mrs_lib/attitude_converter.h>
+      36             : #include <mrs_lib/publisher_handler.h>
+      37             : 
+      38             : #include <dynamic_reconfigure/server.h>
+      39             : #include <mrs_uav_trajectory_generation/drsConfig.h>
+      40             : 
+      41             : #include <future>
+      42             : 
+      43             : //}
+      44             : 
+      45             : /* using //{ */
+      46             : 
+      47             : using vec2_t = mrs_lib::geometry::vec_t<2>;
+      48             : using vec3_t = mrs_lib::geometry::vec_t<3>;
+      49             : using mat3_t = Eigen::Matrix3Xd;
+      50             : 
+      51             : using radians  = mrs_lib::geometry::radians;
+      52             : using sradians = mrs_lib::geometry::sradians;
+      53             : 
+      54             : //}
+      55             : 
+      56             : /* defines //{ */
+      57             : 
+      58             : #define FUTURIZATION_EXEC_TIME_FACTOR 0.5        // [0, 1]
+      59             : #define FUTURIZATION_FIRST_WAYPOINT_FACTOR 0.50  // [0, 1]
+      60             : #define OVERTIME_SAFETY_FACTOR 0.95              // [0, 1]
+      61             : #define OVERTIME_SAFETY_OFFSET 0.01              // [s]
+      62             : #define NLOPT_EXEC_TIME_FACTOR 0.95              // [0, 1]
+      63             : 
+      64             : typedef struct
+      65             : {
+      66             :   Eigen::Vector4d coords;
+      67             :   bool            stop_at;
+      68           9 : } Waypoint_t;
+      69             : 
+      70             : //}
+      71             : 
+      72             : namespace mrs_uav_trajectory_generation
+      73             : {
+      74             : 
+      75             : /* class MrsTrajectoryGeneration //{ */
+      76             : class MrsTrajectoryGeneration : public nodelet::Nodelet {
+      77             : 
+      78             : public:
+      79             :   virtual void onInit();
+      80             : 
+      81             : private:
+      82             :   ros::NodeHandle nh_;
+      83             : 
+      84             :   bool is_initialized_ = false;
+      85             : 
+      86             :   // | ----------------------- parameters ----------------------- |
+      87             : 
+      88             :   double _sampling_dt_;
+      89             : 
+      90             :   double _max_trajectory_len_factor_;
+      91             :   double _min_trajectory_len_factor_;
+      92             : 
+      93             :   int _n_attempts_;
+      94             : 
+      95             :   double _min_waypoint_distance_;
+      96             : 
+      97             :   bool   _fallback_sampling_enabled_;
+      98             :   double _fallback_sampling_speed_factor_;
+      99             :   double _fallback_sampling_accel_factor_;
+     100             :   double _fallback_sampling_stopping_time_;
+     101             :   bool   _fallback_sampling_first_waypoint_additional_stop_;
+     102             : 
+     103             :   std::string _uav_name_;
+     104             : 
+     105             :   bool   _trajectory_max_segment_deviation_enabled_;
+     106             :   double _trajectory_max_segment_deviation_;
+     107             :   int    _trajectory_max_segment_deviation_max_iterations_;
+     108             : 
+     109             :   bool   _path_straightener_enabled_;
+     110             :   double _path_straightener_max_deviation_;
+     111             :   double _path_straightener_max_hdg_deviation_;
+     112             : 
+     113             :   // | -------- variable parameters (come with the path) -------- |
+     114             : 
+     115             :   std::string frame_id_;
+     116             :   bool        fly_now_                              = false;
+     117             :   bool        use_heading_                          = false;
+     118             :   bool        stop_at_waypoints_                    = false;
+     119             :   bool        override_constraints_                 = false;
+     120             :   bool        loop_                                 = false;
+     121             :   double      override_max_velocity_horizontal_     = 0.0;
+     122             :   double      override_max_velocity_vertical_       = 0.0;
+     123             :   double      override_max_acceleration_horizontal_ = 0.0;
+     124             :   double      override_max_acceleration_vertical_   = 0.0;
+     125             :   double      override_max_jerk_horizontal_         = 0.0;
+     126             :   double      override_max_jerk_vertical_           = 0.0;
+     127             : 
+     128             :   // | -------------- variable parameters (deduced) ------------- |
+     129             : 
+     130             :   double     max_execution_time_ = 0;
+     131             :   std::mutex mutex_max_execution_time_;
+     132             : 
+     133             :   bool max_deviation_first_segment_;
+     134             : 
+     135             :   // | -------------------- the transformer  -------------------- |
+     136             : 
+     137             :   std::shared_ptr<mrs_lib::Transformer> transformer_;
+     138             : 
+     139             :   // | ------------------- scope timer logger ------------------- |
+     140             : 
+     141             :   bool                                       scope_timer_enabled_ = false;
+     142             :   std::shared_ptr<mrs_lib::ScopeTimerLogger> scope_timer_logger_;
+     143             : 
+     144             :   // service client for input
+     145             :   bool               callbackPathSrv(mrs_msgs::PathSrv::Request& req, mrs_msgs::PathSrv::Response& res);
+     146             :   ros::ServiceServer service_server_path_;
+     147             : 
+     148             :   // service client for returning result to the user
+     149             :   bool               callbackGetPathSrv(mrs_msgs::GetPathSrv::Request& req, mrs_msgs::GetPathSrv::Response& res);
+     150             :   ros::ServiceServer service_server_get_path_;
+     151             : 
+     152             :   // subscriber for input
+     153             :   void            callbackPath(const mrs_msgs::PathConstPtr& msg);
+     154             :   ros::Subscriber subscriber_path_;
+     155             : 
+     156             :   void                          callbackConstraints(const mrs_msgs::DynamicsConstraintsConstPtr& msg);
+     157             :   ros::Subscriber               subscriber_constraints_;
+     158             :   bool                          got_constraints_ = false;
+     159             :   mrs_msgs::DynamicsConstraints constraints_;
+     160             :   std::mutex                    mutex_constraints_;
+     161             : 
+     162             :   void                     callbackTrackerCmd(const mrs_msgs::TrackerCommandConstPtr& msg);
+     163             :   ros::Subscriber          subscriber_tracker_cmd_;
+     164             :   bool                     got_tracker_cmd_ = false;
+     165             :   mrs_msgs::TrackerCommand tracker_cmd_;
+     166             :   std::mutex               mutex_tracker_cmd_;
+     167             : 
+     168             :   void                                callbackControlManagerDiag(const mrs_msgs::ControlManagerDiagnosticsConstPtr& msg);
+     169             :   ros::Subscriber                     subscriber_control_manager_diag_;
+     170             :   bool                                got_control_manager_diag_ = false;
+     171             :   mrs_msgs::ControlManagerDiagnostics control_manager_diag_;
+     172             :   std::mutex                          mutex_control_manager_diag_;
+     173             : 
+     174             :   // service client for publishing trajectory out
+     175             :   ros::ServiceClient service_client_trajectory_reference_;
+     176             : 
+     177             :   // solve the whole problem
+     178             :   std::tuple<bool, std::string, mrs_msgs::TrajectoryReference> optimize(const std::vector<Waypoint_t>& waypoints_in, const std_msgs::Header& waypoints_stamp,
+     179             :                                                                         const mrs_msgs::TrackerCommand&         initial_condition,
+     180             :                                                                         const mrs_msgs::MpcPredictionFullState& current_prediction, bool fallback_sampling,
+     181             :                                                                         const bool relax_heading);
+     182             : 
+     183             :   // batch vizualizer
+     184             :   mrs_lib::BatchVisualizer bw_original_;
+     185             :   mrs_lib::BatchVisualizer bw_final_;
+     186             : 
+     187             :   // transforming TrackerCommand
+     188             :   std::optional<mrs_msgs::Path> transformPath(const mrs_msgs::Path& path, const std::string& target_frame);
+     189             : 
+     190             :   // | ------------------ trajectory validation ----------------- |
+     191             : 
+     192             :   /**
+     193             :    * @brief validates samples of a trajectory agains a path of waypoints
+     194             :    *
+     195             :    * @param trajectory
+     196             :    * @param segments
+     197             :    *
+     198             :    * @return <success, traj_fail_idx, path_fail_segment>
+     199             :    */
+     200             :   std::tuple<bool, int, std::vector<bool>, double> validateTrajectorySpatial(const eth_mav_msgs::EigenTrajectoryPoint::Vector& trajectory,
+     201             :                                                                              const std::vector<Waypoint_t>&                    waypoints);
+     202             : 
+     203             :   std::vector<int> getTrajectorySegmentCenterIdxs(const eth_mav_msgs::EigenTrajectoryPoint::Vector& trajectory, const std::vector<Waypoint_t>& waypoints);
+     204             : 
+     205             :   std::optional<eth_mav_msgs::EigenTrajectoryPoint::Vector> findTrajectory(const std::vector<Waypoint_t>&  waypoints,
+     206             :                                                                            const mrs_msgs::TrackerCommand& initial_state, const double& sampling_dt,
+     207             :                                                                            const bool& relax_heading);
+     208             : 
+     209             :   std::optional<eth_mav_msgs::EigenTrajectoryPoint::Vector>              findTrajectoryFallback(const std::vector<Waypoint_t>&  waypoints,
+     210             :                                                                                                 const mrs_msgs::TrackerCommand& initial_state, const double& sampling_dt,
+     211             :                                                                                                 const bool& relax_heading);
+     212             :   std::future<std::optional<eth_mav_msgs::EigenTrajectoryPoint::Vector>> future_trajectory_result_;
+     213             :   std::atomic<bool>                                                      running_async_planning_ = false;
+     214             : 
+     215             :   std::optional<eth_mav_msgs::EigenTrajectoryPoint::Vector> findTrajectoryAsync(const std::vector<Waypoint_t>&  waypoints,
+     216             :                                                                                 const mrs_msgs::TrackerCommand& initial_state, const double& sampling_dt,
+     217             :                                                                                 const bool& relax_heading);
+     218             : 
+     219             :   std::vector<Waypoint_t> preprocessPath(const std::vector<Waypoint_t>& waypoints_in);
+     220             : 
+     221             :   mrs_msgs::TrajectoryReference getTrajectoryReference(const eth_mav_msgs::EigenTrajectoryPoint::Vector& trajectory, const ros::Time& stamp,
+     222             :                                                        const double& sampling_dt);
+     223             : 
+     224             :   Waypoint_t interpolatePoint(const Waypoint_t& a, const Waypoint_t& b, const double& coeff);
+     225             : 
+     226             :   bool checkNaN(const Waypoint_t& a);
+     227             : 
+     228             :   double distFromSegment(const vec3_t& point, const vec3_t& seg1, const vec3_t& seg2);
+     229             : 
+     230             :   bool trajectorySrv(const mrs_msgs::TrajectoryReference& msg);
+     231             : 
+     232             :   // | --------------- dynamic reconfigure server --------------- |
+     233             : 
+     234             :   boost::recursive_mutex                           mutex_drs_;
+     235             :   typedef mrs_uav_trajectory_generation::drsConfig DrsParams_t;
+     236             :   typedef dynamic_reconfigure::Server<DrsParams_t> Drs_t;
+     237             :   boost::shared_ptr<Drs_t>                         drs_;
+     238             :   void                                             callbackDrs(mrs_uav_trajectory_generation::drsConfig& params, uint32_t level);
+     239             :   DrsParams_t                                      params_;
+     240             :   std::mutex                                       mutex_params_;
+     241             : 
+     242             :   // | ------------ Republisher for the desired path ------------ |
+     243             : 
+     244             :   mrs_lib::PublisherHandler<mrs_msgs::Path> ph_original_path_;
+     245             : 
+     246             :   // | ------------- measuring the time of execution ------------ |
+     247             : 
+     248             :   ros::Time  start_time_total_;
+     249             :   std::mutex mutex_start_time_total_;
+     250             :   bool       overtime(void);
+     251             :   double     timeLeft(void);
+     252             : };
+     253             : 
+     254             : //}
+     255             : 
+     256             : /* onInit() //{ */
+     257             : 
+     258          48 : void MrsTrajectoryGeneration::onInit() {
+     259             : 
+     260             :   /* obtain node handle */
+     261          48 :   nh_ = nodelet::Nodelet::getMTPrivateNodeHandle();
+     262             : 
+     263             :   /* waits for the ROS to publish clock */
+     264          48 :   ros::Time::waitForValid();
+     265             : 
+     266             :   // | ----------------------- publishers ----------------------- |
+     267             : 
+     268         144 :   ph_original_path_ = mrs_lib::PublisherHandler<mrs_msgs::Path>(nh_, "original_path_out", 1);
+     269             : 
+     270             :   // | ----------------------- subscribers ---------------------- |
+     271             : 
+     272          48 :   subscriber_constraints_ = nh_.subscribe("constraints_in", 1, &MrsTrajectoryGeneration::callbackConstraints, this, ros::TransportHints().tcpNoDelay());
+     273          48 :   subscriber_tracker_cmd_ = nh_.subscribe("tracker_cmd_in", 1, &MrsTrajectoryGeneration::callbackTrackerCmd, this, ros::TransportHints().tcpNoDelay());
+     274          48 :   subscriber_control_manager_diag_ =
+     275          96 :       nh_.subscribe("control_manager_diag_in", 1, &MrsTrajectoryGeneration::callbackControlManagerDiag, this, ros::TransportHints().tcpNoDelay());
+     276          48 :   subscriber_path_ = nh_.subscribe("path_in", 1, &MrsTrajectoryGeneration::callbackPath, this, ros::TransportHints().tcpNoDelay());
+     277             : 
+     278             :   // | --------------------- service servers -------------------- |
+     279             : 
+     280          48 :   service_server_path_ = nh_.advertiseService("path_in", &MrsTrajectoryGeneration::callbackPathSrv, this);
+     281             : 
+     282          48 :   service_server_get_path_ = nh_.advertiseService("get_path_in", &MrsTrajectoryGeneration::callbackGetPathSrv, this);
+     283             : 
+     284          96 :   service_client_trajectory_reference_ = nh_.serviceClient<mrs_msgs::TrajectoryReferenceSrv>("trajectory_reference_out");
+     285             : 
+     286             :   // | ----------------------- parameters ----------------------- |
+     287             : 
+     288          48 :   mrs_lib::ParamLoader param_loader(nh_, "MrsTrajectoryGeneration");
+     289             : 
+     290          96 :   std::string custom_config_path;
+     291          48 :   std::string platform_config_path;
+     292             : 
+     293          48 :   param_loader.loadParam("custom_config", custom_config_path);
+     294          48 :   param_loader.loadParam("platform_config", platform_config_path);
+     295             : 
+     296          48 :   if (custom_config_path != "") {
+     297          48 :     param_loader.addYamlFile(custom_config_path);
+     298             :   }
+     299             : 
+     300          48 :   if (platform_config_path != "") {
+     301          48 :     param_loader.addYamlFile(platform_config_path);
+     302             :   }
+     303             : 
+     304          48 :   param_loader.addYamlFileFromParam("private_config");
+     305          48 :   param_loader.addYamlFileFromParam("public_config");
+     306             : 
+     307          96 :   const std::string yaml_prefix = "mrs_uav_trajectory_generation/";
+     308             : 
+     309          48 :   param_loader.loadParam("uav_name", _uav_name_);
+     310             : 
+     311          96 :   param_loader.loadParam(yaml_prefix + "sampling_dt", _sampling_dt_);
+     312             : 
+     313          96 :   param_loader.loadParam(yaml_prefix + "enforce_fallback_solver", params_.enforce_fallback_solver);
+     314             : 
+     315          96 :   param_loader.loadParam(yaml_prefix + "max_trajectory_len_factor", _max_trajectory_len_factor_);
+     316          96 :   param_loader.loadParam(yaml_prefix + "min_trajectory_len_factor", _min_trajectory_len_factor_);
+     317             : 
+     318          96 :   param_loader.loadParam(yaml_prefix + "n_attempts", _n_attempts_);
+     319          96 :   param_loader.loadParam(yaml_prefix + "fallback_sampling/enabled", _fallback_sampling_enabled_);
+     320          96 :   param_loader.loadParam(yaml_prefix + "fallback_sampling/speed_factor", _fallback_sampling_speed_factor_);
+     321          96 :   param_loader.loadParam(yaml_prefix + "fallback_sampling/accel_factor", _fallback_sampling_accel_factor_);
+     322          96 :   param_loader.loadParam(yaml_prefix + "fallback_sampling/stopping_time", _fallback_sampling_stopping_time_);
+     323          96 :   param_loader.loadParam(yaml_prefix + "fallback_sampling/first_waypoint_additional_stop", _fallback_sampling_first_waypoint_additional_stop_);
+     324             : 
+     325          96 :   param_loader.loadParam(yaml_prefix + "check_trajectory_deviation/enabled", _trajectory_max_segment_deviation_enabled_);
+     326          96 :   param_loader.loadParam(yaml_prefix + "check_trajectory_deviation/max_deviation", _trajectory_max_segment_deviation_);
+     327          96 :   param_loader.loadParam(yaml_prefix + "check_trajectory_deviation/max_iterations", _trajectory_max_segment_deviation_max_iterations_);
+     328             : 
+     329          96 :   param_loader.loadParam(yaml_prefix + "path_straightener/enabled", _path_straightener_enabled_);
+     330          96 :   param_loader.loadParam(yaml_prefix + "path_straightener/max_deviation", _path_straightener_max_deviation_);
+     331          96 :   param_loader.loadParam(yaml_prefix + "path_straightener/max_hdg_deviation", _path_straightener_max_hdg_deviation_);
+     332             : 
+     333          96 :   param_loader.loadParam(yaml_prefix + "min_waypoint_distance", _min_waypoint_distance_);
+     334             : 
+     335             :   // | --------------------- tf transformer --------------------- |
+     336             : 
+     337          48 :   transformer_ = std::make_shared<mrs_lib::Transformer>(nh_, "TrajectoryGeneration");
+     338          48 :   transformer_->setDefaultPrefix(_uav_name_);
+     339          48 :   transformer_->retryLookupNewest(true);
+     340             : 
+     341             :   // | ------------------- scope timer logger ------------------- |
+     342             : 
+     343          96 :   param_loader.loadParam(yaml_prefix + "scope_timer/enabled", scope_timer_enabled_);
+     344         144 :   const std::string scope_timer_log_filename = param_loader.loadParam2("scope_timer/log_filename", std::string(""));
+     345          48 :   scope_timer_logger_                        = std::make_shared<mrs_lib::ScopeTimerLogger>(scope_timer_log_filename, scope_timer_enabled_);
+     346             : 
+     347             :   // | --------------------- service clients -------------------- |
+     348             : 
+     349          96 :   param_loader.loadParam(yaml_prefix + "time_penalty", params_.time_penalty);
+     350          96 :   param_loader.loadParam(yaml_prefix + "soft_constraints_enabled", params_.soft_constraints_enabled);
+     351          96 :   param_loader.loadParam(yaml_prefix + "soft_constraints_weight", params_.soft_constraints_weight);
+     352          96 :   param_loader.loadParam(yaml_prefix + "time_allocation", params_.time_allocation);
+     353          96 :   param_loader.loadParam(yaml_prefix + "equality_constraint_tolerance", params_.equality_constraint_tolerance);
+     354          96 :   param_loader.loadParam(yaml_prefix + "inequality_constraint_tolerance", params_.inequality_constraint_tolerance);
+     355          96 :   param_loader.loadParam(yaml_prefix + "max_iterations", params_.max_iterations);
+     356          96 :   param_loader.loadParam(yaml_prefix + "derivative_to_optimize", params_.derivative_to_optimize);
+     357             : 
+     358          96 :   param_loader.loadParam(yaml_prefix + "max_time", params_.max_time);
+     359          48 :   max_execution_time_ = params_.max_time;
+     360             : 
+     361          48 :   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          96 :   bw_original_ = mrs_lib::BatchVisualizer(nh_, "markers/original", "");
+     369             : 
+     370          48 :   bw_original_.clearBuffers();
+     371          48 :   bw_original_.clearVisuals();
+     372             : 
+     373          48 :   bw_final_ = mrs_lib::BatchVisualizer(nh_, "markers/final", "");
+     374             : 
+     375          48 :   bw_final_.clearBuffers();
+     376          48 :   bw_final_.clearVisuals();
+     377             : 
+     378             :   // | --------------- dynamic reconfigure server --------------- |
+     379             : 
+     380          48 :   drs_.reset(new Drs_t(mutex_drs_, nh_));
+     381          48 :   drs_->updateConfig(params_);
+     382          96 :   Drs_t::CallbackType f = boost::bind(&MrsTrajectoryGeneration::callbackDrs, this, _1, _2);
+     383          48 :   drs_->setCallback(f);
+     384             : 
+     385             :   // | --------------------- finish the init -------------------- |
+     386             : 
+     387          96 :   ROS_INFO_ONCE("[MrsTrajectoryGeneration]: initialized");
+     388             : 
+     389          48 :   is_initialized_ = true;
+     390          48 : }
+     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           1 : std::vector<Waypoint_t> MrsTrajectoryGeneration::preprocessPath(const std::vector<Waypoint_t>& waypoints_in) {
+     410             : 
+     411           2 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MrsTrajectoryGeneration::preprocessPath", scope_timer_logger_, scope_timer_enabled_);
+     412             : 
+     413           1 :   std::vector<Waypoint_t> waypoints;
+     414             : 
+     415           1 :   size_t last_added_idx = 0;  // in "waypoints_in"
+     416             : 
+     417           3 :   for (size_t i = 0; i < waypoints_in.size(); i++) {
+     418             : 
+     419           2 :     double x       = waypoints_in.at(i).coords[0];
+     420           2 :     double y       = waypoints_in.at(i).coords[1];
+     421           2 :     double z       = waypoints_in.at(i).coords[2];
+     422           2 :     double heading = waypoints_in.at(i).coords[3];
+     423             : 
+     424           2 :     bw_original_.addPoint(vec3_t(x, y, z), 1.0, 0.0, 0.0, 1.0);
+     425             : 
+     426           2 :     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           2 :     if (i > 0 && i < (waypoints_in.size() - 1)) {
+     458             : 
+     459           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]);
+     460           0 :       vec3_t last(waypoints_in.at(i).coords[0], waypoints_in.at(i).coords[1], waypoints_in.at(i).coords[2]);
+     461             : 
+     462           0 :       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           2 :     Waypoint_t wp;
+     470           2 :     wp.coords  = Eigen::Vector4d(x, y, z, heading);
+     471           2 :     wp.stop_at = waypoints_in.at(i).stop_at;
+     472           2 :     waypoints.push_back(wp);
+     473             : 
+     474           2 :     last_added_idx = i;
+     475             :   }
+     476             : 
+     477           1 :   return waypoints;
+     478             : }
+     479             : 
+     480             : //}
+     481             : 
+     482             : /* optimize() //{ */
+     483             : 
+     484           1 : std::tuple<bool, std::string, mrs_msgs::TrajectoryReference> MrsTrajectoryGeneration::optimize(const std::vector<Waypoint_t>&          waypoints_in,
+     485             :                                                                                                const std_msgs::Header&                 waypoints_header,
+     486             :                                                                                                const mrs_msgs::TrackerCommand&         tracker_cmd,
+     487             :                                                                                                const mrs_msgs::MpcPredictionFullState& current_prediction,
+     488             :                                                                                                const bool fallback_sampling, const bool relax_heading) {
+     489             : 
+     490           3 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MrsTrajectoryGeneration::optimize", scope_timer_logger_, scope_timer_enabled_);
+     491             : 
+     492           1 :   ros::Time optimize_time_start = ros::Time::now();
+     493             : 
+     494             :   // | ------------- prepare the initial conditions ------------- |
+     495             : 
+     496           2 :   mrs_msgs::TrackerCommand initial_condition;
+     497             : 
+     498           1 :   bool path_from_future = false;
+     499             : 
+     500             :   // positive = in the future
+     501           1 :   double path_time_offset = 0;
+     502             : 
+     503           1 :   if (waypoints_header.stamp != ros::Time(0)) {
+     504           0 :     path_time_offset = (waypoints_header.stamp - ros::Time::now()).toSec();
+     505             :   }
+     506             : 
+     507           1 :   int path_sample_offset = 0;
+     508             : 
+     509             :   // if the desired path starts in the future, more than one MPC step ahead
+     510           1 :   if (path_time_offset > 0.2) {
+     511             : 
+     512           0 :     ROS_INFO("[MrsTrajectoryGeneration]: desired path is from the future by %.2f s", path_time_offset);
+     513             : 
+     514             :     // calculate the offset in samples in the predicted trajectory
+     515             :     // 0.01 is subtracted for the first sample, which is smaller
+     516             :     // +1 is added due to the first sample, which was subtarcted
+     517           0 :     path_sample_offset = int(ceil((path_time_offset * FUTURIZATION_FIRST_WAYPOINT_FACTOR - 0.01) / 0.2)) + 1;
+     518             : 
+     519           0 :     if (path_sample_offset > (int(current_prediction.position.size()) - 1)) {
+     520             : 
+     521           0 :       ROS_ERROR("[MrsTrajectoryGeneration]: can not extrapolate into the waypoints, using tracker_cmd instead");
+     522           0 :       initial_condition = tracker_cmd;
+     523             : 
+     524             :     } else {
+     525             : 
+     526             :       // copy the sample from the current prediction into TrackerCommand, so that we can easily transform it
+     527           0 :       mrs_msgs::TrackerCommand full_state;
+     528             : 
+     529           0 :       full_state.header = current_prediction.header;
+     530             : 
+     531           0 :       full_state.position     = current_prediction.position[path_sample_offset];
+     532           0 :       full_state.velocity     = current_prediction.velocity[path_sample_offset];
+     533           0 :       full_state.acceleration = current_prediction.acceleration[path_sample_offset];
+     534           0 :       full_state.jerk         = current_prediction.jerk[path_sample_offset];
+     535             : 
+     536           0 :       full_state.heading              = current_prediction.heading[path_sample_offset];
+     537           0 :       full_state.heading_rate         = current_prediction.heading_rate[path_sample_offset];
+     538           0 :       full_state.heading_acceleration = current_prediction.heading_acceleration[path_sample_offset];
+     539           0 :       full_state.heading_jerk         = current_prediction.heading_jerk[path_sample_offset];
+     540             : 
+     541           0 :       ROS_INFO("[MrsTrajectoryGeneration]: getting initial condition from the %d-th sample of the MPC prediction", path_sample_offset);
+     542             : 
+     543           0 :       initial_condition.header = full_state.header;
+     544             : 
+     545           0 :       initial_condition.position     = full_state.position;
+     546           0 :       initial_condition.velocity     = full_state.velocity;
+     547           0 :       initial_condition.acceleration = full_state.acceleration;
+     548           0 :       initial_condition.jerk         = full_state.jerk;
+     549             : 
+     550           0 :       initial_condition.heading              = full_state.heading;
+     551           0 :       initial_condition.heading_rate         = full_state.heading_rate;
+     552           0 :       initial_condition.heading_acceleration = full_state.heading_acceleration;
+     553           0 :       initial_condition.heading_jerk         = full_state.heading_jerk;
+     554             : 
+     555           0 :       path_from_future = true;
+     556             :     }
+     557             : 
+     558             :   } else {
+     559             : 
+     560           2 :     ROS_INFO("[MrsTrajectoryGeneration]: desired path is NOT from the future, using tracker_cmd as the initial condition");
+     561             : 
+     562           1 :     initial_condition = tracker_cmd;
+     563             :   }
+     564             : 
+     565           1 :   auto control_manager_diag = mrs_lib::get_mutexed(mutex_control_manager_diag_, control_manager_diag_);
+     566             : 
+     567           1 :   if (waypoints_header.stamp == ros::Time(0)) {
+     568           1 :     if (!control_manager_diag.tracker_status.have_goal) {
+     569           1 :       initial_condition.header.stamp = ros::Time(0);
+     570             :     }
+     571             :   }
+     572             : 
+     573             :   // | ---------------- reset the visual markers ---------------- |
+     574             : 
+     575           1 :   bw_original_.clearBuffers();
+     576           1 :   bw_original_.clearVisuals();
+     577           1 :   bw_final_.clearBuffers();
+     578           1 :   bw_final_.clearVisuals();
+     579             : 
+     580           1 :   bw_original_.setParentFrame(transformer_->resolveFrame(frame_id_));
+     581           1 :   bw_final_.setParentFrame(transformer_->resolveFrame(frame_id_));
+     582             : 
+     583           1 :   bw_original_.setPointsScale(0.4);
+     584           1 :   bw_final_.setPointsScale(0.35);
+     585             : 
+     586             :   // empty path is invalid
+     587           1 :   if (waypoints_in.size() == 0) {
+     588           0 :     std::stringstream ss;
+     589           0 :     ss << "the path is empty (before postprocessing)";
+     590           0 :     ROS_ERROR_STREAM("[MrsTrajectoryGeneration]: " << ss.str());
+     591           0 :     return std::tuple(false, ss.str(), mrs_msgs::TrajectoryReference());
+     592             :   }
+     593             : 
+     594           2 :   std::vector<Waypoint_t> waypoints_in_with_init = waypoints_in;
+     595             : 
+     596           1 :   if (path_time_offset > 0.2 && waypoints_in_with_init.size() >= 2) {
+     597           0 :     waypoints_in_with_init.erase(waypoints_in_with_init.begin());
+     598             :   }
+     599             : 
+     600             :   // prepend the initial condition
+     601           1 :   Waypoint_t initial_waypoint;
+     602           1 :   initial_waypoint.coords =
+     603           1 :       Eigen::Vector4d(initial_condition.position.x, initial_condition.position.y, initial_condition.position.z, initial_condition.heading);
+     604           1 :   initial_waypoint.stop_at = false;
+     605           1 :   waypoints_in_with_init.insert(waypoints_in_with_init.begin(), initial_waypoint);
+     606             : 
+     607           2 :   std::vector<Waypoint_t> waypoints = preprocessPath(waypoints_in_with_init);
+     608             : 
+     609           1 :   if (waypoints.size() <= 1) {
+     610           0 :     std::stringstream ss;
+     611           0 :     ss << "the path is empty (after postprocessing)";
+     612           0 :     ROS_ERROR_STREAM("[MrsTrajectoryGeneration]: " << ss.str());
+     613           0 :     return std::tuple(false, ss.str(), mrs_msgs::TrajectoryReference());
+     614             :   }
+     615             : 
+     616           1 :   bool              safe = false;
+     617           1 :   int               traj_idx;
+     618           2 :   std::vector<bool> segment_safeness;
+     619           1 :   double            max_deviation;
+     620             : 
+     621           2 :   eth_mav_msgs::EigenTrajectoryPoint::Vector trajectory;
+     622             : 
+     623           1 :   double sampling_dt = 0;
+     624             : 
+     625           1 :   if (path_from_future) {
+     626           0 :     ROS_INFO("[MrsTrajectoryGeneration]: changing dt = 0.2, cause the path is from the future");
+     627           0 :     sampling_dt = 0.2;
+     628             :   } else {
+     629           1 :     sampling_dt = _sampling_dt_;
+     630             :   }
+     631             : 
+     632           1 :   std::optional<eth_mav_msgs::EigenTrajectoryPoint::Vector> result;
+     633             : 
+     634           2 :   auto params = mrs_lib::get_mutexed(mutex_params_, params_);
+     635             : 
+     636           1 :   if (params.enforce_fallback_solver) {
+     637           0 :     ROS_WARN("[MrsTrajectoryGeneration]: fallback sampling enforced");
+     638           0 :     result = findTrajectoryFallback(waypoints, initial_condition, sampling_dt, relax_heading);
+     639           1 :   } else if (fallback_sampling) {
+     640           0 :     ROS_WARN("[MrsTrajectoryGeneration]: executing fallback sampling");
+     641           0 :     result = findTrajectoryFallback(waypoints, initial_condition, sampling_dt, relax_heading);
+     642           1 :   } else if (running_async_planning_) {
+     643           0 :     ROS_WARN("[MrsTrajectoryGeneration]: executing fallback sampling, the previous async task is still running");
+     644           0 :     result = findTrajectoryFallback(waypoints, initial_condition, sampling_dt, relax_heading);
+     645           1 :   } else if (overtime()) {
+     646           0 :     ROS_WARN("[MrsTrajectoryGeneration]: executing fallback sampling, we are running over time");
+     647           0 :     result = findTrajectoryFallback(waypoints, initial_condition, sampling_dt, relax_heading);
+     648             :   } else {
+     649           3 :     result = findTrajectoryAsync(waypoints, initial_condition, sampling_dt, relax_heading);
+     650             :   }
+     651             : 
+     652           1 :   if (result) {
+     653           1 :     trajectory = result.value();
+     654             :   } else {
+     655           0 :     std::stringstream ss;
+     656           0 :     ss << "failed to find trajectory";
+     657           0 :     ROS_ERROR_STREAM("[MrsTrajectoryGeneration]: " << ss.str());
+     658           0 :     return std::tuple(false, ss.str(), mrs_msgs::TrajectoryReference());
+     659             :   }
+     660             : 
+     661           1 :   for (int k = 0; k < _trajectory_max_segment_deviation_max_iterations_; k++) {
+     662             : 
+     663           2 :     ROS_DEBUG("[MrsTrajectoryGeneration]: revalidation cycle #%d", k);
+     664             : 
+     665           1 :     std::tie(safe, traj_idx, segment_safeness, max_deviation) = validateTrajectorySpatial(trajectory, waypoints);
+     666             : 
+     667           1 :     if (_trajectory_max_segment_deviation_enabled_ && !safe) {
+     668             : 
+     669           0 :       ROS_DEBUG("[MrsTrajectoryGeneration]: trajectory is not safe, max deviation %.3f m", max_deviation);
+     670             : 
+     671           0 :       std::vector<Waypoint_t>::iterator waypoint = waypoints.begin();
+     672           0 :       std::vector<bool>::iterator       safeness = segment_safeness.begin();
+     673             : 
+     674           0 :       for (; waypoint < waypoints.end() - 1; waypoint++) {
+     675             : 
+     676           0 :         if (!(*safeness)) {
+     677             : 
+     678           0 :           if (waypoint > waypoints.begin() || max_deviation_first_segment_ || int(waypoints.size()) <= 2) {
+     679           0 :             Waypoint_t midpoint2 = interpolatePoint(*waypoint, *(waypoint + 1), 0.5);
+     680           0 :             waypoint             = waypoints.insert(waypoint + 1, midpoint2);
+     681             :           }
+     682             :         }
+     683             : 
+     684           0 :         safeness++;
+     685             :       }
+     686             : 
+     687           0 :       if (params.enforce_fallback_solver) {
+     688           0 :         ROS_WARN("[MrsTrajectoryGeneration]: fallback sampling enforced");
+     689           0 :         result = findTrajectoryFallback(waypoints, initial_condition, sampling_dt, relax_heading);
+     690           0 :       } else if (fallback_sampling) {
+     691           0 :         ROS_WARN("[MrsTrajectoryGeneration]: executing fallback sampling");
+     692           0 :         result = findTrajectoryFallback(waypoints, initial_condition, sampling_dt, relax_heading);
+     693           0 :       } else if (running_async_planning_) {
+     694           0 :         ROS_WARN("[MrsTrajectoryGeneration]: executing fallback sampling, the previous async task is still running");
+     695           0 :         result = findTrajectoryFallback(waypoints, initial_condition, sampling_dt, relax_heading);
+     696           0 :       } else if (overtime()) {
+     697           0 :         ROS_WARN("[MrsTrajectoryGeneration]: executing fallback sampling, we are running over time");
+     698           0 :         result = findTrajectoryFallback(waypoints, initial_condition, sampling_dt, relax_heading);
+     699             :       } else {
+     700           0 :         result = findTrajectoryAsync(waypoints, initial_condition, sampling_dt, relax_heading);
+     701             :       }
+     702             : 
+     703           0 :       if (result) {
+     704           0 :         trajectory = result.value();
+     705             :       } else {
+     706           0 :         std::stringstream ss;
+     707           0 :         ss << "failed to find trajectory";
+     708           0 :         ROS_WARN_STREAM("[MrsTrajectoryGeneration]: " << ss.str());
+     709           0 :         return std::tuple(false, ss.str(), mrs_msgs::TrajectoryReference());
+     710             :       }
+     711             : 
+     712             :     } else {
+     713           2 :       ROS_DEBUG("[MrsTrajectoryGeneration]: trajectory is safe (%.2f)", max_deviation);
+     714           1 :       safe = true;
+     715           1 :       break;
+     716             :     }
+     717             :   }
+     718             : 
+     719           2 :   ROS_INFO("[MrsTrajectoryGeneration]: final max trajectory-path deviation: %.2f m, total trajectory time: %.2fs ", max_deviation,
+     720             :            trajectory.size() * sampling_dt);
+     721             : 
+     722             :   // prepare rviz markers
+     723           3 :   for (int i = 0; i < int(waypoints.size()); i++) {
+     724           2 :     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);
+     725             :   }
+     726             : 
+     727           2 :   mrs_msgs::TrajectoryReference mrs_trajectory;
+     728             : 
+     729             :   // convert the optimized trajectory to mrs_msgs::TrajectoryReference
+     730           1 :   mrs_trajectory = getTrajectoryReference(trajectory, initial_condition.header.stamp, sampling_dt);
+     731             : 
+     732             :   // insert part of the MPC prediction in the front of the generated trajectory to compensate for the future
+     733           1 :   if (path_from_future) {
+     734             : 
+     735             :     // calculate the starting idx that we will use from the current_prediction
+     736           0 :     double path_time_offset_2   = (ros::Time::now() - current_prediction.header.stamp).toSec();  // = how long did it take to optimize
+     737           0 :     int    path_sample_offset_2 = int(floor((path_time_offset_2 - 0.01) / 0.2)) + 1;
+     738             : 
+     739             :     // if there is anything to insert
+     740           0 :     if (path_sample_offset > path_sample_offset_2) {
+     741             : 
+     742           0 :       ROS_INFO("[MrsTrajectoryGeneration]: inserting pre-trajectory from the prediction, idxs %d to %d", path_sample_offset_2, path_sample_offset);
+     743             : 
+     744           0 :       for (int i = path_sample_offset - 1; i >= 0; i--) {
+     745             : 
+     746           0 :         ROS_DEBUG("[MrsTrajectoryGeneration]: inserting idx %d", i);
+     747             : 
+     748           0 :         mrs_msgs::ReferenceStamped reference;
+     749             : 
+     750           0 :         reference.header = current_prediction.header;
+     751             : 
+     752           0 :         reference.reference.heading  = current_prediction.heading[i];
+     753           0 :         reference.reference.position = current_prediction.position[i];
+     754             : 
+     755           0 :         auto res = transformer_->transformSingle(reference, waypoints_header.frame_id);
+     756             : 
+     757           0 :         if (res) {
+     758           0 :           reference = res.value();
+     759             :         } else {
+     760           0 :           std::stringstream ss;
+     761           0 :           ss << "could not transform reference to the path frame";
+     762           0 :           ROS_ERROR_STREAM("[MrsTrajectoryGeneration]: " << ss.str());
+     763           0 :           return std::tuple(false, ss.str(), mrs_msgs::TrajectoryReference());
+     764             :         }
+     765             : 
+     766           0 :         mrs_trajectory.points.insert(mrs_trajectory.points.begin(), reference.reference);
+     767             :       }
+     768             :     }
+     769             :   }
+     770             : 
+     771           1 :   bw_original_.publish();
+     772           1 :   bw_final_.publish();
+     773             : 
+     774           2 :   std::stringstream ss;
+     775           1 :   ss << "trajectory generated";
+     776             : 
+     777           2 :   ROS_DEBUG("[MrsTrajectoryGeneration]: trajectory generated, took %.3f s", (ros::Time::now() - optimize_time_start).toSec());
+     778             : 
+     779           2 :   return std::tuple(true, ss.str(), mrs_trajectory);
+     780             : }
+     781             : 
+     782             : //}
+     783             : 
+     784             : /* findTrajectory() //{ */
+     785             : 
+     786           1 : std::optional<eth_mav_msgs::EigenTrajectoryPoint::Vector> MrsTrajectoryGeneration::findTrajectory(const std::vector<Waypoint_t>&  waypoints,
+     787             :                                                                                                   const mrs_msgs::TrackerCommand& initial_state,
+     788             :                                                                                                   const double& sampling_dt, const bool& relax_heading) {
+     789             : 
+     790           3 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MrsTrajectoryGeneration::findTrajectory", scope_timer_logger_, scope_timer_enabled_);
+     791             : 
+     792           1 :   mrs_lib::AtomicScopeFlag unset_running(running_async_planning_);
+     793             : 
+     794           2 :   ROS_DEBUG("[MrsTrajectoryGeneration]: findTrajectory() started");
+     795             : 
+     796           1 :   ros::Time find_trajectory_time_start = ros::Time::now();
+     797             : 
+     798           2 :   auto params      = mrs_lib::get_mutexed(mutex_params_, params_);
+     799           1 :   auto constraints = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+     800             : 
+     801           2 :   auto control_manager_diag = mrs_lib::get_mutexed(mutex_control_manager_diag_, control_manager_diag_);
+     802             : 
+     803           1 :   if ((initial_state.header.stamp - ros::Time::now()).toSec() < 0.2 && control_manager_diag.tracker_status.have_goal) {
+     804           0 :     max_deviation_first_segment_ = false;
+     805             :   } else {
+     806           1 :     max_deviation_first_segment_ = true;
+     807             :   }
+     808             : 
+     809             :   // optimizer
+     810             : 
+     811           1 :   eth_trajectory_generation::NonlinearOptimizationParameters parameters;
+     812             : 
+     813           1 :   parameters.f_rel                  = 0.05;
+     814           1 :   parameters.x_rel                  = 0.1;
+     815           1 :   parameters.time_penalty           = params.time_penalty;
+     816           1 :   parameters.use_soft_constraints   = params.soft_constraints_enabled;
+     817           1 :   parameters.soft_constraint_weight = params.soft_constraints_weight;
+     818           1 :   parameters.time_alloc_method      = static_cast<eth_trajectory_generation::NonlinearOptimizationParameters::TimeAllocMethod>(params.time_allocation);
+     819           1 :   if (params.time_allocation == 2) {
+     820           1 :     parameters.algorithm = nlopt::LD_LBFGS;
+     821             :   }
+     822           1 :   parameters.initial_stepsize_rel            = 0.1;
+     823           1 :   parameters.inequality_constraint_tolerance = params.inequality_constraint_tolerance;
+     824           1 :   parameters.equality_constraint_tolerance   = params.equality_constraint_tolerance;
+     825           1 :   parameters.max_iterations                  = params.max_iterations;
+     826           1 :   parameters.max_time                        = NLOPT_EXEC_TIME_FACTOR * timeLeft();
+     827             : 
+     828           1 :   eth_trajectory_generation::Vertex::Vector vertices;
+     829           1 :   const int                                 dimension = 4;
+     830             : 
+     831           1 :   int derivative_to_optimize = eth_trajectory_generation::derivative_order::ACCELERATION;
+     832             : 
+     833           1 :   switch (params.derivative_to_optimize) {
+     834             :     case 0: {
+     835             :       derivative_to_optimize = eth_trajectory_generation::derivative_order::ACCELERATION;
+     836             :       break;
+     837             :     }
+     838           0 :     case 1: {
+     839           0 :       derivative_to_optimize = eth_trajectory_generation::derivative_order::JERK;
+     840           0 :       break;
+     841             :     }
+     842           0 :     case 2: {
+     843           0 :       derivative_to_optimize = eth_trajectory_generation::derivative_order::SNAP;
+     844           0 :       break;
+     845             :     }
+     846             :   }
+     847             : 
+     848             :   // | --------------- add constraints to vertices -------------- |
+     849             : 
+     850           1 :   double last_heading = initial_state.heading;
+     851             : 
+     852           3 :   for (size_t i = 0; i < waypoints.size(); i++) {
+     853           2 :     double x       = waypoints.at(i).coords[0];
+     854           2 :     double y       = waypoints.at(i).coords[1];
+     855           2 :     double z       = waypoints.at(i).coords[2];
+     856           2 :     double heading = sradians::unwrap(waypoints.at(i).coords[3], last_heading);
+     857           2 :     last_heading   = heading;
+     858             : 
+     859           4 :     eth_trajectory_generation::Vertex vertex(dimension);
+     860             : 
+     861           2 :     if (i == 0) {
+     862             : 
+     863           2 :       vertex.makeStartOrEnd(Eigen::Vector4d(x, y, z, heading), derivative_to_optimize);
+     864             : 
+     865           2 :       vertex.addConstraint(eth_trajectory_generation::derivative_order::POSITION, Eigen::Vector4d(x, y, z, heading));
+     866             : 
+     867           1 :       vertex.addConstraint(eth_trajectory_generation::derivative_order::VELOCITY,
+     868           1 :                            Eigen::Vector4d(initial_state.velocity.x, initial_state.velocity.y, initial_state.velocity.z, initial_state.heading_rate));
+     869             : 
+     870           1 :       vertex.addConstraint(
+     871             :           eth_trajectory_generation::derivative_order::ACCELERATION,
+     872           1 :           Eigen::Vector4d(initial_state.acceleration.x, initial_state.acceleration.y, initial_state.acceleration.z, initial_state.heading_acceleration));
+     873             : 
+     874           1 :       vertex.addConstraint(eth_trajectory_generation::derivative_order::JERK,
+     875           2 :                            Eigen::Vector4d(initial_state.jerk.x, initial_state.jerk.y, initial_state.jerk.z, initial_state.heading_jerk));
+     876             : 
+     877           1 :     } else if (i == (waypoints.size() - 1)) {  // the last point
+     878             : 
+     879           2 :       vertex.makeStartOrEnd(Eigen::Vector4d(x, y, z, heading), derivative_to_optimize);
+     880             : 
+     881           2 :       vertex.addConstraint(eth_trajectory_generation::derivative_order::POSITION, Eigen::Vector4d(x, y, z, heading));
+     882             : 
+     883             :     } else {  // mid points
+     884             : 
+     885           0 :       vertex.addConstraint(eth_trajectory_generation::derivative_order::POSITION, Eigen::Vector4d(x, y, z, heading));
+     886             : 
+     887           0 :       if (waypoints.at(i).stop_at) {
+     888           0 :         vertex.addConstraint(eth_trajectory_generation::derivative_order::VELOCITY, Eigen::Vector4d(0, 0, 0, 0));
+     889           0 :         vertex.addConstraint(eth_trajectory_generation::derivative_order::ACCELERATION, Eigen::Vector4d(0, 0, 0, 0));
+     890           0 :         vertex.addConstraint(eth_trajectory_generation::derivative_order::JERK, Eigen::Vector4d(0, 0, 0, 0));
+     891             :       }
+     892             :     }
+     893             : 
+     894           2 :     vertices.push_back(vertex);
+     895             :   }
+     896             : 
+     897             :   // | ---------------- compute the segment times --------------- |
+     898             : 
+     899           1 :   double v_max_horizontal, a_max_horizontal, j_max_horizontal;
+     900           1 :   double v_max_vertical, a_max_vertical, j_max_vertical;
+     901             : 
+     902             :   // use the small of the ascending/descending values
+     903           1 :   double vertical_speed_lim        = std::min(constraints.vertical_ascending_speed, constraints.vertical_descending_speed);
+     904           1 :   double vertical_acceleration_lim = std::min(constraints.vertical_ascending_acceleration, constraints.vertical_descending_acceleration);
+     905             : 
+     906           1 :   if (override_constraints_) {
+     907             : 
+     908           0 :     bool can_change = (hypot(initial_state.velocity.x, initial_state.velocity.y) < override_max_velocity_horizontal_) &&
+     909           0 :                       (hypot(initial_state.acceleration.x, initial_state.acceleration.y) < override_max_acceleration_horizontal_) &&
+     910           0 :                       (hypot(initial_state.jerk.x, initial_state.jerk.y) < override_max_jerk_horizontal_) &&
+     911           0 :                       (fabs(initial_state.velocity.z) < override_max_velocity_vertical_) &&
+     912           0 :                       (fabs(initial_state.acceleration.z) < override_max_acceleration_vertical_) && (fabs(initial_state.jerk.z) < override_max_jerk_vertical_);
+     913             : 
+     914           0 :     if (can_change) {
+     915             : 
+     916           0 :       v_max_horizontal = override_max_velocity_horizontal_;
+     917           0 :       a_max_horizontal = override_max_acceleration_horizontal_;
+     918           0 :       j_max_horizontal = override_max_jerk_horizontal_;
+     919             : 
+     920           0 :       v_max_vertical = override_max_velocity_vertical_;
+     921           0 :       a_max_vertical = override_max_acceleration_vertical_;
+     922           0 :       j_max_vertical = override_max_jerk_vertical_;
+     923             : 
+     924           0 :       ROS_DEBUG("[MrsTrajectoryGeneration]: overriding constraints by a user");
+     925             : 
+     926             :     } else {
+     927             : 
+     928           0 :       ROS_WARN("[MrsTrajectoryGeneration]: overrifing constraints refused due to possible infeasibility");
+     929             :     }
+     930             : 
+     931             :   } else {
+     932             : 
+     933           1 :     v_max_horizontal = constraints.horizontal_speed;
+     934           1 :     a_max_horizontal = constraints.horizontal_acceleration;
+     935             : 
+     936           1 :     v_max_vertical = vertical_speed_lim;
+     937           1 :     a_max_vertical = vertical_acceleration_lim;
+     938             : 
+     939           1 :     j_max_horizontal = constraints.horizontal_jerk;
+     940           1 :     j_max_vertical   = std::min(constraints.vertical_ascending_jerk, constraints.vertical_descending_jerk);
+     941             :   }
+     942             : 
+     943             : 
+     944           1 :   double v_max_heading, a_max_heading, j_max_heading;
+     945             : 
+     946           1 :   if (relax_heading) {
+     947             :     v_max_heading = std::numeric_limits<float>::max();
+     948             :     a_max_heading = std::numeric_limits<float>::max();
+     949             :     j_max_heading = std::numeric_limits<float>::max();
+     950             :   } else {
+     951           1 :     v_max_heading = constraints.heading_speed;
+     952           1 :     a_max_heading = constraints.heading_acceleration;
+     953           1 :     j_max_heading = constraints.heading_jerk;
+     954             :   }
+     955             : 
+     956           2 :   ROS_DEBUG("[MrsTrajectoryGeneration]: using constraints:");
+     957           2 :   ROS_DEBUG("[MrsTrajectoryGeneration]: horizontal: vel = %.2f, acc = %.2f, jerk = %.2f", v_max_horizontal, a_max_horizontal, j_max_horizontal);
+     958           2 :   ROS_DEBUG("[MrsTrajectoryGeneration]: vertical: vel = %.2f, acc = %.2f, jerk = %.2f", v_max_vertical, a_max_vertical, j_max_vertical);
+     959           2 :   ROS_DEBUG("[MrsTrajectoryGeneration]: heading: vel = %.2f, acc = %.2f, jerk = %.2f", v_max_heading, a_max_heading, j_max_heading);
+     960             : 
+     961           3 :   std::vector<double> segment_times, segment_times_baca;
+     962           1 :   segment_times      = estimateSegmentTimes(vertices, v_max_horizontal, v_max_vertical, a_max_horizontal, a_max_vertical, j_max_horizontal, j_max_vertical,
+     963           1 :                                        v_max_heading, a_max_heading);
+     964           1 :   segment_times_baca = estimateSegmentTimesBaca(vertices, v_max_horizontal, v_max_vertical, a_max_horizontal, a_max_vertical, j_max_horizontal, j_max_vertical,
+     965           1 :                                                 v_max_heading, a_max_heading);
+     966             : 
+     967           1 :   double initial_total_time      = 0;
+     968           1 :   double initial_total_time_baca = 0;
+     969           2 :   for (int i = 0; i < int(segment_times_baca.size()); i++) {
+     970           1 :     initial_total_time += segment_times[i];
+     971           1 :     initial_total_time_baca += segment_times_baca[i];
+     972             :   }
+     973             : 
+     974           2 :   ROS_DEBUG("[MrsTrajectoryGeneration]: initial total time (Euclidean): %.2f", initial_total_time);
+     975           2 :   ROS_DEBUG("[MrsTrajectoryGeneration]: initial total time (Baca): %.2f", initial_total_time_baca);
+     976             : 
+     977             :   // | --------- create an optimizer object and solve it -------- |
+     978             : 
+     979           1 :   const int                                                     N = 10;
+     980           2 :   eth_trajectory_generation::PolynomialOptimizationNonLinear<N> opt(dimension, parameters);
+     981           1 :   opt.setupFromVertices(vertices, segment_times, derivative_to_optimize);
+     982             : 
+     983           1 :   opt.addMaximumMagnitudeConstraint(0, eth_trajectory_generation::derivative_order::VELOCITY, v_max_horizontal);
+     984           1 :   opt.addMaximumMagnitudeConstraint(0, eth_trajectory_generation::derivative_order::ACCELERATION, a_max_horizontal);
+     985           1 :   opt.addMaximumMagnitudeConstraint(0, eth_trajectory_generation::derivative_order::JERK, j_max_horizontal);
+     986             : 
+     987           1 :   opt.addMaximumMagnitudeConstraint(1, eth_trajectory_generation::derivative_order::VELOCITY, v_max_horizontal);
+     988           1 :   opt.addMaximumMagnitudeConstraint(1, eth_trajectory_generation::derivative_order::ACCELERATION, a_max_horizontal);
+     989           1 :   opt.addMaximumMagnitudeConstraint(1, eth_trajectory_generation::derivative_order::JERK, j_max_horizontal);
+     990             : 
+     991           1 :   opt.addMaximumMagnitudeConstraint(2, eth_trajectory_generation::derivative_order::VELOCITY, v_max_vertical);
+     992           1 :   opt.addMaximumMagnitudeConstraint(2, eth_trajectory_generation::derivative_order::ACCELERATION, a_max_vertical);
+     993           1 :   opt.addMaximumMagnitudeConstraint(2, eth_trajectory_generation::derivative_order::JERK, j_max_vertical);
+     994             : 
+     995           1 :   opt.addMaximumMagnitudeConstraint(3, eth_trajectory_generation::derivative_order::VELOCITY, v_max_heading);
+     996           1 :   opt.addMaximumMagnitudeConstraint(3, eth_trajectory_generation::derivative_order::ACCELERATION, a_max_heading);
+     997           1 :   opt.addMaximumMagnitudeConstraint(3, eth_trajectory_generation::derivative_order::JERK, j_max_heading);
+     998             : 
+     999           1 :   opt.optimize();
+    1000             : 
+    1001           1 :   if (overtime()) {
+    1002           0 :     return {};
+    1003             :   }
+    1004             : 
+    1005           2 :   std::string result_str;
+    1006             : 
+    1007           2 :   switch (opt.getOptimizationInfo().stopping_reason) {
+    1008           0 :     case nlopt::FAILURE: {
+    1009           0 :       result_str = "generic failure";
+    1010             :       break;
+    1011             :     }
+    1012           0 :     case nlopt::INVALID_ARGS: {
+    1013           0 :       result_str = "invalid args";
+    1014             :       break;
+    1015             :     }
+    1016           0 :     case nlopt::OUT_OF_MEMORY: {
+    1017           0 :       result_str = "out of memory";
+    1018             :       break;
+    1019             :     }
+    1020           0 :     case nlopt::ROUNDOFF_LIMITED: {
+    1021           0 :       result_str = "roundoff limited";
+    1022             :       break;
+    1023             :     }
+    1024           0 :     case nlopt::FORCED_STOP: {
+    1025           0 :       result_str = "forced stop";
+    1026             :       break;
+    1027             :     }
+    1028           0 :     case nlopt::STOPVAL_REACHED: {
+    1029           0 :       result_str = "stopval reached";
+    1030             :       break;
+    1031             :     }
+    1032           0 :     case nlopt::FTOL_REACHED: {
+    1033           0 :       result_str = "ftol reached";
+    1034             :       break;
+    1035             :     }
+    1036           0 :     case nlopt::XTOL_REACHED: {
+    1037           0 :       result_str = "xtol reached";
+    1038             :       break;
+    1039             :     }
+    1040           0 :     case nlopt::MAXEVAL_REACHED: {
+    1041           0 :       result_str = "maxeval reached";
+    1042             :       break;
+    1043             :     }
+    1044           0 :     case nlopt::MAXTIME_REACHED: {
+    1045           0 :       result_str = "maxtime reached";
+    1046             :       break;
+    1047             :     }
+    1048           1 :     default: {
+    1049           1 :       result_str = "UNKNOWN FAILURE CODE";
+    1050             :       break;
+    1051             :     }
+    1052             :   }
+    1053             : 
+    1054           4 :   if (opt.getOptimizationInfo().stopping_reason >= 1 && opt.getOptimizationInfo().stopping_reason != 6) {
+    1055           2 :     ROS_DEBUG("[MrsTrajectoryGeneration]: optimization finished successfully with code %d, '%s'", opt.getOptimizationInfo().stopping_reason,
+    1056             :               result_str.c_str());
+    1057             : 
+    1058           0 :   } else if (opt.getOptimizationInfo().stopping_reason == -1) {
+    1059           0 :     ROS_DEBUG("[MrsTrajectoryGeneration]: optimization finished with a generic error code %d, '%s'", opt.getOptimizationInfo().stopping_reason,
+    1060             :               result_str.c_str());
+    1061             : 
+    1062             :   } else {
+    1063           0 :     ROS_WARN("[MrsTrajectoryGeneration]: optimization failed with code %d, '%s', took %.3f s", opt.getOptimizationInfo().stopping_reason, result_str.c_str(),
+    1064             :              (ros::Time::now() - find_trajectory_time_start).toSec());
+    1065           1 :     return {};
+    1066             :   }
+    1067             : 
+    1068             :   // | ------------- obtain the polynomial segments ------------- |
+    1069             : 
+    1070           1 :   eth_trajectory_generation::Segment::Vector segments;
+    1071           1 :   opt.getPolynomialOptimizationRef().getSegments(&segments);
+    1072             : 
+    1073           1 :   if (overtime()) {
+    1074           0 :     return {};
+    1075             :   }
+    1076             : 
+    1077             :   // | --------------- create the trajectory class -------------- |
+    1078             : 
+    1079           2 :   eth_trajectory_generation::Trajectory trajectory;
+    1080           1 :   opt.getTrajectory(&trajectory);
+    1081             : 
+    1082           2 :   eth_mav_msgs::EigenTrajectoryPoint::Vector states;
+    1083             : 
+    1084           2 :   ROS_DEBUG("[MrsTrajectoryGeneration]: starting eth sampling with dt = %.2f s ", sampling_dt);
+    1085             : 
+    1086           1 :   bool success = eth_trajectory_generation::sampleWholeTrajectory(trajectory, sampling_dt, &states);
+    1087             : 
+    1088           1 :   if (overtime()) {
+    1089           0 :     return {};
+    1090             :   }
+    1091             : 
+    1092             :   // validate the temporal sampling of the trajectory
+    1093             : 
+    1094             :   // only check this if the trajectory is > 1.0 sec, this check does not make much sense for the short ones
+    1095           1 :   if ((states.size() * sampling_dt) > 1.0 && (states.size() * sampling_dt) > (_max_trajectory_len_factor_ * initial_total_time_baca)) {
+    1096           0 :     ROS_ERROR("[MrsTrajectoryGeneration]: the final trajectory sampling is too long = %.2f, initial 'baca' estimate = %.2f, allowed factor %.2f, aborting",
+    1097             :               (states.size() * sampling_dt), initial_total_time_baca, _max_trajectory_len_factor_);
+    1098             : 
+    1099           0 :     std::stringstream ss;
+    1100           0 :     ss << "trajectory sampling failed";
+    1101           0 :     ROS_ERROR_STREAM("[MrsTrajectoryGeneration]: " << ss.str());
+    1102           0 :     return {};
+    1103             : 
+    1104           1 :   } else if ((states.size() * sampling_dt) > 1.0 && (states.size() * sampling_dt) < (_min_trajectory_len_factor_ * initial_total_time_baca)) {
+    1105           0 :     ROS_ERROR("[MrsTrajectoryGeneration]: the final trajectory sampling is too short = %.2f, initial 'baca' estimate = %.2f, allowed factor %.2f, aborting",
+    1106             :               (states.size() * sampling_dt), initial_total_time_baca, _min_trajectory_len_factor_);
+    1107             : 
+    1108           0 :     std::stringstream ss;
+    1109           0 :     ss << "trajectory sampling failed";
+    1110           0 :     ROS_ERROR_STREAM("[MrsTrajectoryGeneration]: " << ss.str());
+    1111           0 :     return {};
+    1112             : 
+    1113             :   } else {
+    1114           2 :     ROS_DEBUG("[MrsTrajectoryGeneration]: estimated/final trajectory length ratio (final/estimated) %.2f",
+    1115             :               (states.size() * sampling_dt) / initial_total_time_baca);
+    1116             :   }
+    1117             : 
+    1118           1 :   if (success) {
+    1119           2 :     ROS_DEBUG("[MrsTrajectoryGeneration]: eth sampling finished, took %.3f s", (ros::Time::now() - find_trajectory_time_start).toSec());
+    1120           1 :     return std::optional(states);
+    1121             : 
+    1122             :   } else {
+    1123           0 :     ROS_ERROR("[MrsTrajectoryGeneration]: eth could not sample the trajectory, took %.3f s", (ros::Time::now() - find_trajectory_time_start).toSec());
+    1124           1 :     return {};
+    1125             :   }
+    1126             : }
+    1127             : 
+    1128             : //}
+    1129             : 
+    1130             : /* findTrajectoryFallback() //{ */
+    1131             : 
+    1132           0 : std::optional<eth_mav_msgs::EigenTrajectoryPoint::Vector> MrsTrajectoryGeneration::findTrajectoryFallback(const std::vector<Waypoint_t>&  waypoints,
+    1133             :                                                                                                           const mrs_msgs::TrackerCommand& initial_state,
+    1134             :                                                                                                           const double&                   sampling_dt,
+    1135             :                                                                                                           const bool&                     relax_heading) {
+    1136             : 
+    1137           0 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MrsTrajectoryGeneration::findTrajectoryFallback", scope_timer_logger_, scope_timer_enabled_);
+    1138             : 
+    1139           0 :   ros::Time time_start = ros::Time::now();
+    1140             : 
+    1141           0 :   ROS_WARN("[MrsTrajectoryGeneration]: fallback sampling started");
+    1142             : 
+    1143           0 :   auto params      = mrs_lib::get_mutexed(mutex_params_, params_);
+    1144           0 :   auto constraints = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+    1145             : 
+    1146           0 :   eth_trajectory_generation::Vertex::Vector vertices;
+    1147           0 :   const int                                 dimension = 4;
+    1148             : 
+    1149             :   // | --------------- add constraints to vertices -------------- |
+    1150             : 
+    1151           0 :   double last_heading = initial_state.heading;
+    1152             : 
+    1153           0 :   for (size_t i = 0; i < waypoints.size(); i++) {
+    1154             : 
+    1155           0 :     double x       = waypoints.at(i).coords[0];
+    1156           0 :     double y       = waypoints.at(i).coords[1];
+    1157           0 :     double z       = waypoints.at(i).coords[2];
+    1158           0 :     double heading = sradians::unwrap(waypoints.at(i).coords[3], last_heading);
+    1159           0 :     last_heading   = heading;
+    1160             : 
+    1161           0 :     eth_trajectory_generation::Vertex vertex(dimension);
+    1162             : 
+    1163           0 :     vertex.addConstraint(eth_trajectory_generation::derivative_order::POSITION, Eigen::Vector4d(x, y, z, heading));
+    1164             : 
+    1165           0 :     vertices.push_back(vertex);
+    1166             :   }
+    1167             : 
+    1168             :   // | ---------------- compute the segment times --------------- |
+    1169             : 
+    1170           0 :   double v_max_horizontal, a_max_horizontal, j_max_horizontal;
+    1171           0 :   double v_max_vertical, a_max_vertical, j_max_vertical;
+    1172             : 
+    1173             :   // use the small of the ascending/descending values
+    1174           0 :   double vertical_speed_lim        = std::min(constraints.vertical_ascending_speed, constraints.vertical_descending_speed);
+    1175           0 :   double vertical_acceleration_lim = std::min(constraints.vertical_ascending_acceleration, constraints.vertical_descending_acceleration);
+    1176             : 
+    1177           0 :   if (override_constraints_) {
+    1178             : 
+    1179           0 :     v_max_horizontal = override_max_velocity_horizontal_;
+    1180           0 :     a_max_horizontal = override_max_acceleration_horizontal_;
+    1181           0 :     j_max_horizontal = override_max_jerk_horizontal_;
+    1182             : 
+    1183           0 :     v_max_vertical = override_max_velocity_vertical_;
+    1184           0 :     a_max_vertical = override_max_acceleration_vertical_;
+    1185           0 :     j_max_vertical = override_max_jerk_vertical_;
+    1186             : 
+    1187           0 :     ROS_DEBUG("[MrsTrajectoryGeneration]: overriding constraints by a user");
+    1188             :   } else {
+    1189             : 
+    1190           0 :     v_max_horizontal = constraints.horizontal_speed;
+    1191           0 :     a_max_horizontal = constraints.horizontal_acceleration;
+    1192             : 
+    1193           0 :     v_max_vertical = vertical_speed_lim;
+    1194           0 :     a_max_vertical = vertical_acceleration_lim;
+    1195             : 
+    1196           0 :     j_max_horizontal = constraints.horizontal_jerk;
+    1197           0 :     j_max_vertical   = std::min(constraints.vertical_ascending_jerk, constraints.vertical_descending_jerk);
+    1198             :   }
+    1199             : 
+    1200             : 
+    1201           0 :   double v_max_heading, a_max_heading, j_max_heading;
+    1202             : 
+    1203           0 :   if (relax_heading) {
+    1204             :     v_max_heading = std::numeric_limits<float>::max();
+    1205             :     a_max_heading = std::numeric_limits<float>::max();
+    1206             :     j_max_heading = std::numeric_limits<float>::max();
+    1207             :   } else {
+    1208           0 :     v_max_heading = constraints.heading_speed;
+    1209           0 :     a_max_heading = constraints.heading_acceleration;
+    1210           0 :     j_max_heading = constraints.heading_jerk;
+    1211             :   }
+    1212             : 
+    1213           0 :   v_max_horizontal *= _fallback_sampling_speed_factor_;
+    1214           0 :   v_max_vertical *= _fallback_sampling_speed_factor_;
+    1215             : 
+    1216           0 :   a_max_horizontal *= _fallback_sampling_accel_factor_;
+    1217           0 :   a_max_vertical *= _fallback_sampling_accel_factor_;
+    1218             : 
+    1219           0 :   ROS_DEBUG("[MrsTrajectoryGeneration]: using constraints:");
+    1220           0 :   ROS_DEBUG("[MrsTrajectoryGeneration]: horizontal: vel = %.2f, acc = %.2f, jerk = %.2f", v_max_horizontal, a_max_horizontal, j_max_horizontal);
+    1221           0 :   ROS_DEBUG("[MrsTrajectoryGeneration]: vertical: vel = %.2f, acc = %.2f, jerk = %.2f", v_max_vertical, a_max_vertical, j_max_vertical);
+    1222           0 :   ROS_DEBUG("[MrsTrajectoryGeneration]: heading: vel = %.2f, acc = %.2f, jerk = %.2f", v_max_heading, a_max_heading, j_max_heading);
+    1223             : 
+    1224           0 :   std::vector<double> segment_times, segment_times_baca;
+    1225           0 :   segment_times      = estimateSegmentTimes(vertices, v_max_horizontal, v_max_vertical, a_max_horizontal, a_max_vertical, j_max_horizontal, j_max_vertical,
+    1226           0 :                                        v_max_heading, a_max_heading);
+    1227           0 :   segment_times_baca = estimateSegmentTimesBaca(vertices, v_max_horizontal, v_max_vertical, a_max_horizontal, a_max_vertical, j_max_horizontal, j_max_vertical,
+    1228           0 :                                                 v_max_heading, a_max_heading);
+    1229             : 
+    1230           0 :   double initial_total_time      = 0;
+    1231           0 :   double initial_total_time_baca = 0;
+    1232           0 :   for (int i = 0; i < int(segment_times_baca.size()); i++) {
+    1233           0 :     initial_total_time += segment_times[i];
+    1234           0 :     initial_total_time_baca += segment_times_baca[i];
+    1235             :   }
+    1236             : 
+    1237           0 :   ROS_WARN("[MrsTrajectoryGeneration]: fallback: initial total time (Euclidean): %.2f", initial_total_time);
+    1238           0 :   ROS_WARN("[MrsTrajectoryGeneration]: fallback: initial total time (Baca): %.2f", initial_total_time_baca);
+    1239             : 
+    1240             :   // | --------- create an optimizer object and solve it -------- |
+    1241             : 
+    1242           0 :   eth_mav_msgs::EigenTrajectoryPoint::Vector states;
+    1243             : 
+    1244             :   // interpolate each segment
+    1245           0 :   for (size_t i = 0; i < waypoints.size() - 1; i++) {
+    1246             : 
+    1247           0 :     Eigen::VectorXd start, end;
+    1248             : 
+    1249           0 :     const double segment_time = segment_times_baca[i];
+    1250             : 
+    1251           0 :     int    n_samples;
+    1252           0 :     double interp_step;
+    1253             : 
+    1254           0 :     if (segment_time > 1e-1) {
+    1255             : 
+    1256           0 :       n_samples = floor(segment_time / sampling_dt);
+    1257             : 
+    1258             :       // important
+    1259           0 :       if (n_samples > 0) {
+    1260           0 :         interp_step = 1.0 / double(n_samples);
+    1261             :       } else {
+    1262             :         interp_step = 0.5;
+    1263             :       }
+    1264             : 
+    1265             :     } else {
+    1266             :       n_samples   = 0;
+    1267             :       interp_step = 0;
+    1268             :     }
+    1269             : 
+    1270             :     // for the last segment, git the last waypoint completely
+    1271             :     // otherwise, it is hit as the first sample of the following segment
+    1272           0 :     if (n_samples > 0 && i == waypoints.size() - 2) {
+    1273           0 :       n_samples++;
+    1274             :     }
+    1275             : 
+    1276           0 :     for (int j = 0; j < n_samples; j++) {
+    1277             : 
+    1278           0 :       Waypoint_t point = interpolatePoint(waypoints[i], waypoints[i + 1], j * interp_step);
+    1279             : 
+    1280           0 :       eth_mav_msgs::EigenTrajectoryPoint eth_point;
+    1281           0 :       eth_point.position_W[0] = point.coords[0];
+    1282           0 :       eth_point.position_W[1] = point.coords[1];
+    1283           0 :       eth_point.position_W[2] = point.coords[2];
+    1284           0 :       eth_point.setFromYaw(point.coords[3]);
+    1285             : 
+    1286           0 :       states.push_back(eth_point);
+    1287             : 
+    1288           0 :       auto control_manager_diag = mrs_lib::get_mutexed(mutex_control_manager_diag_, control_manager_diag_);
+    1289             : 
+    1290             :       // the first sample of the first waypoint
+    1291             :       // we should stop for a little bit to give the transition
+    1292             :       // from the initial cooordinates more time
+    1293           0 :       if (((control_manager_diag.tracker_status.have_goal && i == 0) || (!control_manager_diag.tracker_status.have_goal && i == 1)) && j == 0) {
+    1294             : 
+    1295           0 :         double time_to_stop = 0;
+    1296             : 
+    1297           0 :         time_to_stop += fabs(initial_state.acceleration.x) / j_max_horizontal + fabs(initial_state.acceleration.y) / j_max_horizontal +
+    1298           0 :                         fabs(initial_state.acceleration.z) / j_max_vertical;
+    1299             : 
+    1300           0 :         int samples_to_stop = int(round(1.0 * (time_to_stop / sampling_dt)));
+    1301             : 
+    1302           0 :         if (_fallback_sampling_first_waypoint_additional_stop_) {
+    1303           0 :           if (control_manager_diag.tracker_status.have_goal) {
+    1304           0 :             samples_to_stop += int(round(1.0 / sampling_dt));
+    1305             :           }
+    1306             :         }
+    1307             : 
+    1308           0 :         ROS_DEBUG("[MrsTrajectoryGeneration]: pre-inserting %d samples of the first point", samples_to_stop);
+    1309             : 
+    1310           0 :         for (int k = 0; k < samples_to_stop; k++) {
+    1311           0 :           states.push_back(eth_point);
+    1312             :         }
+    1313             :       }
+    1314             : 
+    1315           0 :       if (j == 0 && i > 0 && waypoints[i].stop_at) {
+    1316             : 
+    1317           0 :         int insert_samples = int(round(_fallback_sampling_stopping_time_ / sampling_dt));
+    1318             : 
+    1319           0 :         for (int k = 0; k < insert_samples; k++) {
+    1320           0 :           states.push_back(eth_point);
+    1321             :         }
+    1322             :       }
+    1323             :     }
+    1324             :   }
+    1325             : 
+    1326           0 :   bool success = true;
+    1327             : 
+    1328           0 :   ROS_WARN("[MrsTrajectoryGeneration]: fallback: sampling finished, took %.3f s", (ros::Time::now() - time_start).toSec());
+    1329             : 
+    1330             :   // | --------------- create the trajectory class -------------- |
+    1331             : 
+    1332           0 :   if (success) {
+    1333           0 :     return std::optional(states);
+    1334             :   } else {
+    1335             :     ROS_ERROR("[MrsTrajectoryGeneration]: fallback: sampling failed");
+    1336           0 :     return {};
+    1337             :   }
+    1338             : }
+    1339             : 
+    1340             : //}
+    1341             : 
+    1342             : /* validateTrajectorySpatial() //{ */
+    1343             : 
+    1344           1 : std::tuple<bool, int, std::vector<bool>, double> MrsTrajectoryGeneration::validateTrajectorySpatial(
+    1345             :     const eth_mav_msgs::EigenTrajectoryPoint::Vector& trajectory, const std::vector<Waypoint_t>& waypoints) {
+    1346             : 
+    1347           2 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MrsTrajectoryGeneration::validateTrajectorySpatial", scope_timer_logger_, scope_timer_enabled_);
+    1348             : 
+    1349             :   // prepare the output
+    1350             : 
+    1351           2 :   std::vector<bool> segments;
+    1352           2 :   for (size_t i = 0; i < waypoints.size() - 1; i++) {
+    1353           1 :     segments.push_back(true);
+    1354             :   }
+    1355             : 
+    1356             :   int waypoint_idx = 0;
+    1357             : 
+    1358             :   bool   is_safe       = true;
+    1359             :   double max_deviation = 0;
+    1360             : 
+    1361          40 :   for (size_t i = 0; i < trajectory.size() - 1; i++) {
+    1362             : 
+    1363             :     // the trajectory sample
+    1364          39 :     const vec3_t sample = vec3_t(trajectory[i].position_W[0], trajectory[i].position_W[1], trajectory[i].position_W[2]);
+    1365             : 
+    1366             :     // next sample
+    1367          39 :     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]);
+    1368             : 
+    1369             :     // segment start
+    1370          39 :     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]);
+    1371             : 
+    1372             :     // segment end
+    1373          39 :     const vec3_t segment_end =
+    1374          39 :         vec3_t(waypoints.at(waypoint_idx + 1).coords[0], waypoints.at(waypoint_idx + 1).coords[1], waypoints.at(waypoint_idx + 1).coords[2]);
+    1375             : 
+    1376          39 :     const double distance_from_segment = distFromSegment(sample, segment_start, segment_end);
+    1377             : 
+    1378          39 :     const double segment_end_dist = distFromSegment(segment_end, sample, next_sample);
+    1379             : 
+    1380          39 :     if (waypoint_idx > 0 || max_deviation_first_segment_ || int(waypoints.size()) <= 2) {
+    1381             : 
+    1382          39 :       if (distance_from_segment > max_deviation) {
+    1383          10 :         max_deviation = distance_from_segment;
+    1384             :       }
+    1385             : 
+    1386          39 :       if (distance_from_segment > _trajectory_max_segment_deviation_) {
+    1387           0 :         segments.at(waypoint_idx) = false;
+    1388           0 :         is_safe                   = false;
+    1389             :       }
+    1390             :     }
+    1391             : 
+    1392          39 :     if (segment_end_dist < 0.05 && waypoint_idx < (int(waypoints.size()) - 2)) {
+    1393             :       waypoint_idx++;
+    1394             :     }
+    1395             :   }
+    1396             : 
+    1397           2 :   return std::tuple(is_safe, trajectory.size(), segments, max_deviation);
+    1398             : }
+    1399             : 
+    1400             : //}
+    1401             : 
+    1402             : /* getTrajectorySegmentCenterIdxs() //{ */
+    1403             : 
+    1404           0 : std::vector<int> MrsTrajectoryGeneration::getTrajectorySegmentCenterIdxs(const eth_mav_msgs::EigenTrajectoryPoint::Vector& trajectory,
+    1405             :                                                                          const std::vector<Waypoint_t>&                    waypoints) {
+    1406             : 
+    1407           0 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MrsTrajectoryGeneration::getTrajectorySegmentCenterIdxs", scope_timer_logger_, scope_timer_enabled_);
+    1408             : 
+    1409             :   // prepare the output
+    1410             : 
+    1411           0 :   std::vector<int> segment_centers;
+    1412             : 
+    1413             :   // index in the path
+    1414           0 :   int last_segment_start = 0;
+    1415             : 
+    1416             :   // index in the trajectory
+    1417           0 :   int last_segment_start_sample = 0;
+    1418             : 
+    1419           0 :   for (size_t i = 0; i < trajectory.size() - 1; i++) {
+    1420             : 
+    1421             :     // the trajectory sample
+    1422           0 :     const vec3_t sample = vec3_t(trajectory[i].position_W[0], trajectory[i].position_W[1], trajectory[i].position_W[2]);
+    1423             : 
+    1424             :     // next sample
+    1425           0 :     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]);
+    1426             : 
+    1427             :     // segment start
+    1428           0 :     const vec3_t segment_start =
+    1429           0 :         vec3_t(waypoints.at(last_segment_start).coords[0], waypoints.at(last_segment_start).coords[1], waypoints.at(last_segment_start).coords[2]);
+    1430             : 
+    1431             :     // segment end
+    1432           0 :     const vec3_t segment_end =
+    1433           0 :         vec3_t(waypoints.at(last_segment_start + 1).coords[0], waypoints.at(last_segment_start + 1).coords[1], waypoints.at(last_segment_start + 1).coords[2]);
+    1434             : 
+    1435           0 :     const double distance_from_segment = distFromSegment(sample, segment_start, segment_end);
+    1436             : 
+    1437           0 :     const double segment_end_dist = distFromSegment(segment_end, sample, next_sample);
+    1438             : 
+    1439           0 :     if (segment_end_dist < 0.05 && last_segment_start < (int(waypoints.size()) - 2)) {
+    1440           0 :       last_segment_start++;
+    1441             : 
+    1442           0 :       segment_centers.push_back(int(floor(double(i - last_segment_start_sample) / 2.0)));
+    1443             :     }
+    1444             :   }
+    1445             : 
+    1446           0 :   return segment_centers;
+    1447             : }
+    1448             : 
+    1449             : //}
+    1450             : 
+    1451             : // | --------------------- minor routines --------------------- |
+    1452             : 
+    1453             : /* findTrajectoryAsync() //{ */
+    1454             : 
+    1455           1 : std::optional<eth_mav_msgs::EigenTrajectoryPoint::Vector> MrsTrajectoryGeneration::findTrajectoryAsync(const std::vector<Waypoint_t>&  waypoints,
+    1456             :                                                                                                        const mrs_msgs::TrackerCommand& initial_state,
+    1457             :                                                                                                        const double& sampling_dt, const bool& relax_heading) {
+    1458             : 
+    1459           2 :   ROS_DEBUG("[MrsTrajectoryGeneration]: starting the async planning task");
+    1460             : 
+    1461           1 :   future_trajectory_result_ =
+    1462           1 :       std::async(std::launch::async, &MrsTrajectoryGeneration::findTrajectory, this, waypoints, initial_state, sampling_dt, relax_heading);
+    1463             : 
+    1464           1 :   while (ros::ok() && future_trajectory_result_.wait_for(std::chrono::milliseconds(1)) != std::future_status::ready) {
+    1465             : 
+    1466           0 :     if (overtime()) {
+    1467           0 :       ROS_WARN("[MrsTrajectoryGeneration]: async task planning timeout, breaking");
+    1468           1 :       return {};
+    1469             :     }
+    1470             :   }
+    1471             : 
+    1472           2 :   ROS_DEBUG("[MrsTrajectoryGeneration]: async planning task finished successfully");
+    1473             : 
+    1474           1 :   return future_trajectory_result_.get();
+    1475             : }
+    1476             : 
+    1477             : //}
+    1478             : 
+    1479             : /* distFromSegment() //{ */
+    1480             : 
+    1481          78 : double MrsTrajectoryGeneration::distFromSegment(const vec3_t& point, const vec3_t& seg1, const vec3_t& seg2) {
+    1482             : 
+    1483          78 :   vec3_t segment_vector = seg2 - seg1;
+    1484          78 :   double segment_len    = segment_vector.norm();
+    1485             : 
+    1486          78 :   vec3_t segment_vector_norm = segment_vector;
+    1487          78 :   segment_vector_norm.normalize();
+    1488             : 
+    1489          78 :   double point_coordinate = segment_vector_norm.dot(point - seg1);
+    1490             : 
+    1491          78 :   if (point_coordinate < 0) {
+    1492           0 :     return (point - seg1).norm();
+    1493          78 :   } else if (point_coordinate > segment_len) {
+    1494          78 :     return (point - seg2).norm();
+    1495             :   } else {
+    1496             : 
+    1497          78 :     mat3_t segment_projector = segment_vector_norm * segment_vector_norm.transpose();
+    1498          39 :     vec3_t projection        = seg1 + segment_projector * (point - seg1);
+    1499             : 
+    1500          78 :     return (point - projection).norm();
+    1501             :   }
+    1502             : }
+    1503             : 
+    1504             : //}
+    1505             : 
+    1506             : /* getTrajectoryReference() //{ */
+    1507             : 
+    1508           1 : mrs_msgs::TrajectoryReference MrsTrajectoryGeneration::getTrajectoryReference(const eth_mav_msgs::EigenTrajectoryPoint::Vector& trajectory,
+    1509             :                                                                               const ros::Time& stamp, const double& sampling_dt) {
+    1510             : 
+    1511           1 :   mrs_msgs::TrajectoryReference msg;
+    1512             : 
+    1513           1 :   msg.header.frame_id = frame_id_;
+    1514           1 :   msg.header.stamp    = stamp;
+    1515           1 :   msg.fly_now         = fly_now_;
+    1516           1 :   msg.loop            = loop_;
+    1517           1 :   msg.use_heading     = use_heading_;
+    1518           1 :   msg.dt              = sampling_dt;
+    1519             : 
+    1520          41 :   for (size_t it = 0; it < trajectory.size(); it++) {
+    1521             : 
+    1522          40 :     mrs_msgs::Reference point;
+    1523          40 :     point.heading    = 0;
+    1524          40 :     point.position.x = trajectory[it].position_W[0];
+    1525          40 :     point.position.y = trajectory[it].position_W[1];
+    1526          40 :     point.position.z = trajectory[it].position_W[2];
+    1527          40 :     point.heading    = trajectory[it].getYaw();
+    1528             : 
+    1529          40 :     msg.points.push_back(point);
+    1530             :   }
+    1531             : 
+    1532           1 :   return msg;
+    1533             : }
+    1534             : 
+    1535             : //}
+    1536             : 
+    1537             : /* interpolatePoint() //{ */
+    1538             : 
+    1539           0 : Waypoint_t MrsTrajectoryGeneration::interpolatePoint(const Waypoint_t& a, const Waypoint_t& b, const double& coeff) {
+    1540             : 
+    1541           0 :   Waypoint_t      out;
+    1542           0 :   Eigen::Vector4d diff = b.coords - a.coords;
+    1543             : 
+    1544           0 :   out.coords[0] = a.coords[0] + coeff * diff[0];
+    1545           0 :   out.coords[1] = a.coords[1] + coeff * diff[1];
+    1546           0 :   out.coords[2] = a.coords[2] + coeff * diff[2];
+    1547           0 :   out.coords[3] = radians::interp(a.coords[3], b.coords[3], coeff);
+    1548             : 
+    1549           0 :   out.stop_at = false;
+    1550             : 
+    1551           0 :   return out;
+    1552             : }
+    1553             : 
+    1554             : //}
+    1555             : 
+    1556             : /* checkNaN() //{ */
+    1557             : 
+    1558           1 : bool MrsTrajectoryGeneration::checkNaN(const Waypoint_t& a) {
+    1559             : 
+    1560           1 :   if (!std::isfinite(a.coords[0])) {
+    1561           0 :     ROS_ERROR("NaN detected in variable \"a.coords[0]\"!!!");
+    1562           0 :     return false;
+    1563             :   }
+    1564             : 
+    1565           1 :   if (!std::isfinite(a.coords[1])) {
+    1566           0 :     ROS_ERROR("NaN detected in variable \"a.coords[1]\"!!!");
+    1567           0 :     return false;
+    1568             :   }
+    1569             : 
+    1570           1 :   if (!std::isfinite(a.coords[2])) {
+    1571           0 :     ROS_ERROR("NaN detected in variable \"a.coords[2]\"!!!");
+    1572           0 :     return false;
+    1573             :   }
+    1574             : 
+    1575           1 :   if (!std::isfinite(a.coords[3])) {
+    1576           0 :     ROS_ERROR("NaN detected in variable \"a.coords[3]\"!!!");
+    1577           0 :     return false;
+    1578             :   }
+    1579             : 
+    1580             :   return true;
+    1581             : }
+    1582             : 
+    1583             : //}
+    1584             : 
+    1585             : /* trajectorySrv() //{ */
+    1586             : 
+    1587           1 : bool MrsTrajectoryGeneration::trajectorySrv(const mrs_msgs::TrajectoryReference& msg) {
+    1588             : 
+    1589           2 :   mrs_msgs::TrajectoryReferenceSrv srv;
+    1590           1 :   srv.request.trajectory = msg;
+    1591             : 
+    1592           1 :   bool res = service_client_trajectory_reference_.call(srv);
+    1593             : 
+    1594           1 :   if (res) {
+    1595             : 
+    1596           1 :     if (!srv.response.success) {
+    1597           0 :       ROS_WARN("[MrsTrajectoryGeneration]: service call for trajectory_reference returned: '%s'", srv.response.message.c_str());
+    1598             :     }
+    1599             : 
+    1600           1 :     return srv.response.success;
+    1601             : 
+    1602             :   } else {
+    1603             : 
+    1604           0 :     ROS_ERROR("[MrsTrajectoryGeneration]: service call for trajectory_reference failed!");
+    1605             : 
+    1606           0 :     return false;
+    1607             :   }
+    1608             : }
+    1609             : 
+    1610             : //}
+    1611             : 
+    1612             : /* transformTrackerCmd() //{ */
+    1613             : 
+    1614           1 : std::optional<mrs_msgs::Path> MrsTrajectoryGeneration::transformPath(const mrs_msgs::Path& path_in, const std::string& target_frame) {
+    1615             : 
+    1616             :   // if we transform to the current control frame, which is in fact the same frame as the tracker_cmd is in
+    1617           1 :   if (target_frame == path_in.header.frame_id) {
+    1618           1 :     return path_in;
+    1619             :   }
+    1620             : 
+    1621             :   // find the transformation
+    1622           1 :   auto tf = transformer_->getTransform(path_in.header.frame_id, target_frame, path_in.header.stamp);
+    1623             : 
+    1624           0 :   if (!tf) {
+    1625           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(),
+    1626             :               path_in.header.stamp.toSec());
+    1627           0 :     return {};
+    1628             :   }
+    1629             : 
+    1630           0 :   mrs_msgs::Path path_out = path_in;
+    1631             : 
+    1632           0 :   path_out.header.stamp    = tf.value().header.stamp;
+    1633           0 :   path_out.header.frame_id = transformer_->frame_to(tf.value());
+    1634             : 
+    1635           0 :   for (size_t i = 0; i < path_in.points.size(); i++) {
+    1636             : 
+    1637           0 :     mrs_msgs::ReferenceStamped waypoint;
+    1638             : 
+    1639           0 :     waypoint.header    = path_in.header;
+    1640           0 :     waypoint.reference = path_in.points[i];
+    1641             : 
+    1642           0 :     if (auto ret = transformer_->transform(waypoint, tf.value())) {
+    1643             : 
+    1644           0 :       path_out.points[i] = ret.value().reference;
+    1645             : 
+    1646             :     } else {
+    1647           0 :       return {};
+    1648             :     }
+    1649             :   }
+    1650             : 
+    1651             :   //}
+    1652             : 
+    1653           0 :   return path_out;
+    1654             : }
+    1655             : 
+    1656             : //}
+    1657             : 
+    1658             : /* overtime() //{ */
+    1659             : 
+    1660           4 : bool MrsTrajectoryGeneration::overtime(void) {
+    1661             : 
+    1662           4 :   auto start_time_total   = mrs_lib::get_mutexed(mutex_start_time_total_, start_time_total_);
+    1663           4 :   auto max_execution_time = mrs_lib::get_mutexed(mutex_max_execution_time_, max_execution_time_);
+    1664             : 
+    1665           4 :   double overtime = (ros::Time::now() - start_time_total).toSec();
+    1666             : 
+    1667           4 :   if (overtime > (OVERTIME_SAFETY_FACTOR * max_execution_time - OVERTIME_SAFETY_OFFSET)) {
+    1668           0 :     return true;
+    1669             :   }
+    1670             : 
+    1671             :   return false;
+    1672             : }
+    1673             : 
+    1674             : //}
+    1675             : 
+    1676             : /* timeLeft() //{ */
+    1677             : 
+    1678           1 : double MrsTrajectoryGeneration::timeLeft(void) {
+    1679             : 
+    1680           1 :   auto start_time_total   = mrs_lib::get_mutexed(mutex_start_time_total_, start_time_total_);
+    1681           1 :   auto max_execution_time = mrs_lib::get_mutexed(mutex_max_execution_time_, max_execution_time_);
+    1682             : 
+    1683           1 :   double current_execution_time = (ros::Time::now() - start_time_total).toSec();
+    1684             : 
+    1685           1 :   if (current_execution_time >= max_execution_time) {
+    1686             :     return 0;
+    1687             :   } else {
+    1688           1 :     return max_execution_time - current_execution_time;
+    1689             :   }
+    1690             : }
+    1691             : 
+    1692             : //}
+    1693             : 
+    1694             : // | ------------------------ callbacks ----------------------- |
+    1695             : 
+    1696             : /* callbackPath() //{ */
+    1697             : 
+    1698           0 : void MrsTrajectoryGeneration::callbackPath(const mrs_msgs::PathConstPtr& msg) {
+    1699             : 
+    1700           0 :   if (!is_initialized_) {
+    1701           0 :     return;
+    1702             :   }
+    1703             : 
+    1704             :   /* preconditions //{ */
+    1705             : 
+    1706           0 :   if (!got_constraints_) {
+    1707           0 :     std::stringstream ss;
+    1708           0 :     ss << "missing constraints";
+    1709           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MrsTrajectoryGeneration]: " << ss.str());
+    1710           0 :     return;
+    1711             :   }
+    1712             : 
+    1713           0 :   if (!got_tracker_cmd_) {
+    1714           0 :     std::stringstream ss;
+    1715           0 :     ss << "missing position cmd";
+    1716           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MrsTrajectoryGeneration]: " << ss.str());
+    1717           0 :     return;
+    1718             :   }
+    1719             : 
+    1720           0 :   if (!got_control_manager_diag_) {
+    1721           0 :     std::stringstream ss;
+    1722           0 :     ss << "missing control manager diagnostics";
+    1723           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MrsTrajectoryGeneration]: " << ss.str());
+    1724           0 :     return;
+    1725             :   }
+    1726             : 
+    1727             :   //}
+    1728             : 
+    1729           0 :   {
+    1730           0 :     std::scoped_lock lock(mutex_start_time_total_);
+    1731             : 
+    1732           0 :     start_time_total_ = ros::Time::now();
+    1733             :   }
+    1734             : 
+    1735           0 :   double path_time_offset = 0;
+    1736             : 
+    1737           0 :   if (msg->header.stamp != ros::Time(0)) {
+    1738           0 :     path_time_offset = (msg->header.stamp - ros::Time::now()).toSec();
+    1739             :   }
+    1740             : 
+    1741           0 :   if (path_time_offset > 1e-3) {
+    1742             : 
+    1743           0 :     std::scoped_lock lock(mutex_max_execution_time_);
+    1744             : 
+    1745           0 :     max_execution_time_ = std::min(FUTURIZATION_EXEC_TIME_FACTOR * path_time_offset, params_.max_time);
+    1746             : 
+    1747           0 :     ROS_INFO("[MrsTrajectoryGeneration]: setting the max execution time to %.3f s = %.1f * %.3f", max_execution_time_, FUTURIZATION_EXEC_TIME_FACTOR,
+    1748             :              path_time_offset);
+    1749             :   } else {
+    1750             : 
+    1751           0 :     std::scoped_lock lock(mutex_max_execution_time_, mutex_params_);
+    1752             : 
+    1753           0 :     max_execution_time_ = params_.max_time;
+    1754             :   }
+    1755             : 
+    1756           0 :   ROS_INFO("[MrsTrajectoryGeneration]: got path from message");
+    1757             : 
+    1758           0 :   ph_original_path_.publish(msg);
+    1759             : 
+    1760           0 :   if (msg->points.empty()) {
+    1761           0 :     std::stringstream ss;
+    1762           0 :     ss << "received an empty message";
+    1763           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MrsTrajectoryGeneration]: " << ss.str());
+    1764           0 :     return;
+    1765             :   }
+    1766             : 
+    1767           0 :   auto transformed_path = transformPath(*msg, "");
+    1768             : 
+    1769           0 :   if (!transformed_path) {
+    1770           0 :     std::stringstream ss;
+    1771           0 :     ss << "could not transform the path to the current control frame";
+    1772           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MrsTrajectoryGeneration]: " << ss.str());
+    1773           0 :     return;
+    1774             :   }
+    1775             : 
+    1776           0 :   fly_now_                              = transformed_path->fly_now;
+    1777           0 :   use_heading_                          = transformed_path->use_heading;
+    1778           0 :   frame_id_                             = transformed_path->header.frame_id;
+    1779           0 :   override_constraints_                 = transformed_path->override_constraints;
+    1780           0 :   loop_                                 = transformed_path->loop;
+    1781           0 :   override_max_velocity_horizontal_     = transformed_path->override_max_velocity_horizontal;
+    1782           0 :   override_max_velocity_vertical_       = transformed_path->override_max_velocity_vertical;
+    1783           0 :   override_max_acceleration_horizontal_ = transformed_path->override_max_acceleration_horizontal;
+    1784           0 :   override_max_acceleration_vertical_   = transformed_path->override_max_acceleration_vertical;
+    1785           0 :   override_max_jerk_horizontal_         = transformed_path->override_max_jerk_horizontal;
+    1786           0 :   override_max_jerk_vertical_           = transformed_path->override_max_jerk_horizontal;
+    1787           0 :   stop_at_waypoints_                    = transformed_path->stop_at_waypoints;
+    1788             : 
+    1789           0 :   std::vector<Waypoint_t> waypoints;
+    1790             : 
+    1791           0 :   for (size_t i = 0; i < transformed_path->points.size(); i++) {
+    1792             : 
+    1793           0 :     double x       = transformed_path->points[i].position.x;
+    1794           0 :     double y       = transformed_path->points[i].position.y;
+    1795           0 :     double z       = transformed_path->points[i].position.z;
+    1796           0 :     double heading = transformed_path->points[i].heading;
+    1797             : 
+    1798           0 :     Waypoint_t wp;
+    1799           0 :     wp.coords  = Eigen::Vector4d(x, y, z, heading);
+    1800           0 :     wp.stop_at = stop_at_waypoints_;
+    1801             : 
+    1802           0 :     if (!checkNaN(wp)) {
+    1803           0 :       ROS_ERROR("[MrsTrajectoryGeneration]: NaN detected in waypoint #%d", int(i));
+    1804           0 :       return;
+    1805             :     }
+    1806             : 
+    1807           0 :     waypoints.push_back(wp);
+    1808             :   }
+    1809             : 
+    1810           0 :   if (loop_) {
+    1811           0 :     waypoints.push_back(waypoints[0]);
+    1812             :   }
+    1813             : 
+    1814           0 :   bool                          success = false;
+    1815           0 :   std::string                   message;
+    1816           0 :   mrs_msgs::TrajectoryReference trajectory;
+    1817             : 
+    1818           0 :   for (int i = 0; i < _n_attempts_; i++) {
+    1819             : 
+    1820           0 :     auto tracker_cmd = mrs_lib::get_mutexed(mutex_tracker_cmd_, tracker_cmd_);
+    1821             : 
+    1822             :     // the last iteration and the fallback sampling is enabled
+    1823           0 :     bool fallback_sampling = (_n_attempts_ > 1) && (i == (_n_attempts_ - 1)) && _fallback_sampling_enabled_;
+    1824             : 
+    1825           0 :     std::tie(success, message, trajectory) =
+    1826           0 :         optimize(waypoints, transformed_path->header, tracker_cmd, tracker_cmd.full_state_prediction, fallback_sampling, transformed_path->relax_heading);
+    1827             : 
+    1828           0 :     if (success) {
+    1829             :       break;
+    1830             :     } else {
+    1831           0 :       if (i < _n_attempts_) {
+    1832           0 :         ROS_WARN("[MrsTrajectoryGeneration]: failed to calculate a feasible trajectory, trying again with different initial conditions!");
+    1833             :       } else {
+    1834           0 :         ROS_WARN("[MrsTrajectoryGeneration]: failed to calculate a feasible trajectory");
+    1835             :       }
+    1836             :     }
+    1837             :   }
+    1838             : 
+    1839           0 :   double total_time = (ros::Time::now() - start_time_total_).toSec();
+    1840             : 
+    1841           0 :   auto max_execution_time = mrs_lib::get_mutexed(mutex_max_execution_time_, max_execution_time_);
+    1842             : 
+    1843           0 :   if (total_time > max_execution_time) {
+    1844           0 :     ROS_ERROR("[MrsTrajectoryGeneration]: trajectory ready, took %.3f s in total (exceeding maxtime %.3f s by %.3f s)", total_time, max_execution_time,
+    1845             :               total_time - max_execution_time);
+    1846             :   } else {
+    1847           0 :     ROS_INFO("[MrsTrajectoryGeneration]: trajectory ready, took %.3f s in total (out of %.3f)", total_time, max_execution_time);
+    1848             :   }
+    1849             : 
+    1850           0 :   trajectory.input_id = transformed_path->input_id;
+    1851             : 
+    1852           0 :   if (success) {
+    1853             : 
+    1854           0 :     bool published = trajectorySrv(trajectory);
+    1855             : 
+    1856           0 :     if (published) {
+    1857             : 
+    1858           0 :       ROS_INFO("[MrsTrajectoryGeneration]: trajectory successfully published");
+    1859             : 
+    1860             :     } else {
+    1861             : 
+    1862           0 :       ROS_ERROR("[MrsTrajectoryGeneration]: could not publish the trajectory");
+    1863             :     }
+    1864             : 
+    1865             :   } else {
+    1866             : 
+    1867           0 :     ROS_ERROR("[MrsTrajectoryGeneration]: failed to calculate a feasible trajectory, no publishing a result");
+    1868             :   }
+    1869             : }
+    1870             : 
+    1871             : //}
+    1872             : 
+    1873             : /* callbackPathSrv() //{ */
+    1874             : 
+    1875           1 : bool MrsTrajectoryGeneration::callbackPathSrv(mrs_msgs::PathSrv::Request& req, mrs_msgs::PathSrv::Response& res) {
+    1876             : 
+    1877           1 :   if (!is_initialized_) {
+    1878             :     return false;
+    1879             :   }
+    1880             : 
+    1881             :   /* mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("callback()"); */
+    1882             : 
+    1883             :   /* precondition //{ */
+    1884             : 
+    1885           1 :   if (!got_constraints_) {
+    1886           0 :     std::stringstream ss;
+    1887           0 :     ss << "missing constraints";
+    1888           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MrsTrajectoryGeneration]: " << ss.str());
+    1889             : 
+    1890           0 :     res.message = ss.str();
+    1891           0 :     res.success = false;
+    1892           0 :     return true;
+    1893             :   }
+    1894             : 
+    1895           1 :   if (!got_tracker_cmd_) {
+    1896           0 :     std::stringstream ss;
+    1897           0 :     ss << "missing position cmd";
+    1898           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MrsTrajectoryGeneration]: " << ss.str());
+    1899             : 
+    1900           0 :     res.message = ss.str();
+    1901           0 :     res.success = false;
+    1902           0 :     return true;
+    1903             :   }
+    1904             : 
+    1905           1 :   if (!got_control_manager_diag_) {
+    1906           0 :     std::stringstream ss;
+    1907           0 :     ss << "missing control manager diagnostics";
+    1908           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MrsTrajectoryGeneration]: " << ss.str());
+    1909             : 
+    1910           0 :     res.message = ss.str();
+    1911           0 :     res.success = false;
+    1912           0 :     return true;
+    1913             :   }
+    1914             : 
+    1915             :   //}
+    1916             : 
+    1917           1 :   {
+    1918           1 :     std::scoped_lock lock(mutex_start_time_total_);
+    1919             : 
+    1920           1 :     start_time_total_ = ros::Time::now();
+    1921             :   }
+    1922             : 
+    1923           1 :   double path_time_offset = 0;
+    1924             : 
+    1925           1 :   if (req.path.header.stamp != ros::Time(0)) {
+    1926           0 :     path_time_offset = (req.path.header.stamp - ros::Time::now()).toSec();
+    1927             :   }
+    1928             : 
+    1929           1 :   if (path_time_offset > 1e-3) {
+    1930             : 
+    1931           0 :     std::scoped_lock lock(mutex_max_execution_time_);
+    1932             : 
+    1933           0 :     max_execution_time_ = std::min(FUTURIZATION_EXEC_TIME_FACTOR * path_time_offset, params_.max_time);
+    1934             : 
+    1935           0 :     ROS_INFO("[MrsTrajectoryGeneration]: setting the max execution time to %.3f s = %.1f * %.3f", max_execution_time_, FUTURIZATION_EXEC_TIME_FACTOR,
+    1936             :              path_time_offset);
+    1937             :   } else {
+    1938             : 
+    1939           2 :     std::scoped_lock lock(mutex_max_execution_time_, mutex_params_);
+    1940             : 
+    1941           1 :     max_execution_time_ = params_.max_time;
+    1942             :   }
+    1943             : 
+    1944           2 :   ROS_INFO("[MrsTrajectoryGeneration]: got path from service");
+    1945             : 
+    1946           1 :   ph_original_path_.publish(req.path);
+    1947             : 
+    1948           1 :   if (req.path.points.empty()) {
+    1949           0 :     std::stringstream ss;
+    1950           0 :     ss << "received an empty message";
+    1951           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MrsTrajectoryGeneration]: " << ss.str());
+    1952             : 
+    1953           0 :     res.message = ss.str();
+    1954           0 :     res.success = false;
+    1955           0 :     return true;
+    1956             :   }
+    1957             : 
+    1958           2 :   auto transformed_path = transformPath(req.path, "");
+    1959             : 
+    1960           1 :   if (!transformed_path) {
+    1961           0 :     std::stringstream ss;
+    1962           0 :     ss << "could not transform the path to the current control frame";
+    1963           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MrsTrajectoryGeneration]: " << ss.str());
+    1964             : 
+    1965           0 :     res.message = ss.str();
+    1966           0 :     res.success = false;
+    1967           0 :     return true;
+    1968             :   }
+    1969             : 
+    1970           1 :   fly_now_                              = transformed_path->fly_now;
+    1971           1 :   use_heading_                          = transformed_path->use_heading;
+    1972           1 :   frame_id_                             = transformed_path->header.frame_id;
+    1973           1 :   override_constraints_                 = transformed_path->override_constraints;
+    1974           1 :   loop_                                 = transformed_path->loop;
+    1975           1 :   override_max_velocity_horizontal_     = transformed_path->override_max_velocity_horizontal;
+    1976           1 :   override_max_velocity_vertical_       = transformed_path->override_max_velocity_vertical;
+    1977           1 :   override_max_acceleration_horizontal_ = transformed_path->override_max_acceleration_horizontal;
+    1978           1 :   override_max_acceleration_vertical_   = transformed_path->override_max_acceleration_vertical;
+    1979           1 :   override_max_jerk_horizontal_         = transformed_path->override_max_jerk_horizontal;
+    1980           1 :   override_max_jerk_vertical_           = transformed_path->override_max_jerk_horizontal;
+    1981           1 :   stop_at_waypoints_                    = transformed_path->stop_at_waypoints;
+    1982             : 
+    1983           2 :   std::vector<Waypoint_t> waypoints;
+    1984             : 
+    1985           2 :   for (size_t i = 0; i < req.path.points.size(); i++) {
+    1986             : 
+    1987           1 :     double x       = transformed_path->points[i].position.x;
+    1988           1 :     double y       = transformed_path->points[i].position.y;
+    1989           1 :     double z       = transformed_path->points[i].position.z;
+    1990           1 :     double heading = transformed_path->points[i].heading;
+    1991             : 
+    1992           1 :     Waypoint_t wp;
+    1993           1 :     wp.coords  = Eigen::Vector4d(x, y, z, heading);
+    1994           1 :     wp.stop_at = stop_at_waypoints_;
+    1995             : 
+    1996           1 :     if (!checkNaN(wp)) {
+    1997           0 :       ROS_ERROR("[MrsTrajectoryGeneration]: NaN detected in waypoint #%d", int(i));
+    1998           0 :       res.success = false;
+    1999           0 :       res.message = "invalid path";
+    2000           0 :       return true;
+    2001             :     }
+    2002             : 
+    2003           1 :     waypoints.push_back(wp);
+    2004             :   }
+    2005             : 
+    2006           1 :   if (loop_) {
+    2007           0 :     waypoints.push_back(waypoints[0]);
+    2008             :   }
+    2009             : 
+    2010           1 :   bool                          success = false;
+    2011           2 :   std::string                   message;
+    2012           2 :   mrs_msgs::TrajectoryReference trajectory;
+    2013             : 
+    2014           1 :   for (int i = 0; i < _n_attempts_; i++) {
+    2015             : 
+    2016           1 :     auto tracker_cmd = mrs_lib::get_mutexed(mutex_tracker_cmd_, tracker_cmd_);
+    2017             : 
+    2018             :     // the last iteration and the fallback sampling is enabled
+    2019           1 :     bool fallback_sampling = (_n_attempts_ > 1) && (i == (_n_attempts_ - 1)) && _fallback_sampling_enabled_;
+    2020             : 
+    2021           1 :     std::tie(success, message, trajectory) =
+    2022           2 :         optimize(waypoints, transformed_path->header, tracker_cmd, tracker_cmd.full_state_prediction, fallback_sampling, transformed_path->relax_heading);
+    2023             : 
+    2024           1 :     if (success) {
+    2025             :       break;
+    2026             :     } else {
+    2027           0 :       if (i < _n_attempts_) {
+    2028           0 :         ROS_WARN("[MrsTrajectoryGeneration]: failed to calculate a feasible trajectory, trying again with different initial conditions!");
+    2029             :       } else {
+    2030           0 :         ROS_WARN("[MrsTrajectoryGeneration]: failed to calculate a feasible trajectory");
+    2031             :       }
+    2032             :     }
+    2033             :   }
+    2034             : 
+    2035           1 :   double total_time = (ros::Time::now() - start_time_total_).toSec();
+    2036             : 
+    2037           1 :   auto max_execution_time = mrs_lib::get_mutexed(mutex_max_execution_time_, max_execution_time_);
+    2038             : 
+    2039           1 :   if (total_time > max_execution_time) {
+    2040           0 :     ROS_ERROR("[MrsTrajectoryGeneration]: trajectory ready, took %.3f s in total (exceeding maxtime %.3f s by %.3f s)", total_time, max_execution_time,
+    2041             :               total_time - max_execution_time);
+    2042             :   } else {
+    2043           2 :     ROS_INFO("[MrsTrajectoryGeneration]: trajectory ready, took %.3f s in total (out of %.3f)", total_time, max_execution_time);
+    2044             :   }
+    2045             : 
+    2046           1 :   trajectory.input_id = transformed_path->input_id;
+    2047             : 
+    2048           1 :   if (success) {
+    2049             : 
+    2050           1 :     bool published = trajectorySrv(trajectory);
+    2051             : 
+    2052           1 :     if (published) {
+    2053             : 
+    2054           1 :       res.success = success;
+    2055           1 :       res.message = message;
+    2056             : 
+    2057             :     } else {
+    2058             : 
+    2059           0 :       std::stringstream ss;
+    2060           0 :       ss << "could not publish the trajectory";
+    2061             : 
+    2062           0 :       res.success = false;
+    2063           0 :       res.message = ss.str();
+    2064             : 
+    2065           0 :       ROS_ERROR_STREAM("[MrsTrajectoryGeneration]: " << ss.str());
+    2066             :     }
+    2067             : 
+    2068             :   } else {
+    2069             : 
+    2070           0 :     ROS_ERROR("[MrsTrajectoryGeneration]: failed to calculate a feasible trajectory, not publishing a result");
+    2071             : 
+    2072           0 :     res.success = success;
+    2073           0 :     res.message = message;
+    2074             :   }
+    2075             : 
+    2076           1 :   return true;
+    2077             : }
+    2078             : 
+    2079             : //}
+    2080             : 
+    2081             : /* callbackGetPathSrv() //{ */
+    2082             : 
+    2083           0 : bool MrsTrajectoryGeneration::callbackGetPathSrv(mrs_msgs::GetPathSrv::Request& req, mrs_msgs::GetPathSrv::Response& res) {
+    2084             : 
+    2085           0 :   if (!is_initialized_) {
+    2086             :     return false;
+    2087             :   }
+    2088             : 
+    2089             :   /* precondition //{ */
+    2090             : 
+    2091           0 :   if (!got_constraints_) {
+    2092           0 :     std::stringstream ss;
+    2093           0 :     ss << "missing constraints";
+    2094           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MrsTrajectoryGeneration]: " << ss.str());
+    2095             : 
+    2096           0 :     res.message = ss.str();
+    2097           0 :     res.success = false;
+    2098           0 :     return true;
+    2099             :   }
+    2100             : 
+    2101           0 :   if (!got_tracker_cmd_) {
+    2102           0 :     std::stringstream ss;
+    2103           0 :     ss << "missing position cmd";
+    2104           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MrsTrajectoryGeneration]: " << ss.str());
+    2105             : 
+    2106           0 :     res.message = ss.str();
+    2107           0 :     res.success = false;
+    2108           0 :     return true;
+    2109             :   }
+    2110             : 
+    2111           0 :   if (!got_control_manager_diag_) {
+    2112           0 :     std::stringstream ss;
+    2113           0 :     ss << "missing control manager diagnostics";
+    2114           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MrsTrajectoryGeneration]: " << ss.str());
+    2115             : 
+    2116           0 :     res.message = ss.str();
+    2117           0 :     res.success = false;
+    2118           0 :     return true;
+    2119             :   }
+    2120             : 
+    2121             :   //}
+    2122             : 
+    2123           0 :   {
+    2124           0 :     std::scoped_lock lock(mutex_start_time_total_);
+    2125             : 
+    2126           0 :     start_time_total_ = ros::Time::now();
+    2127             :   }
+    2128             : 
+    2129           0 :   double path_time_offset = 0;
+    2130             : 
+    2131           0 :   if (req.path.header.stamp != ros::Time(0)) {
+    2132           0 :     path_time_offset = (req.path.header.stamp - ros::Time::now()).toSec();
+    2133             :   }
+    2134             : 
+    2135           0 :   if (path_time_offset > 1e-3) {
+    2136             : 
+    2137           0 :     std::scoped_lock lock(mutex_max_execution_time_);
+    2138             : 
+    2139           0 :     max_execution_time_ = FUTURIZATION_EXEC_TIME_FACTOR * path_time_offset;
+    2140             : 
+    2141           0 :     ROS_INFO("[MrsTrajectoryGeneration]: setting the max execution time to %.3f s = %.1f * %.3f", max_execution_time_, FUTURIZATION_EXEC_TIME_FACTOR,
+    2142             :              path_time_offset);
+    2143             :   } else {
+    2144             : 
+    2145           0 :     std::scoped_lock lock(mutex_max_execution_time_, mutex_params_);
+    2146             : 
+    2147           0 :     max_execution_time_ = params_.max_time;
+    2148             :   }
+    2149             : 
+    2150           0 :   ROS_INFO("[MrsTrajectoryGeneration]: got path from service");
+    2151             : 
+    2152           0 :   ph_original_path_.publish(req.path);
+    2153             : 
+    2154           0 :   if (req.path.points.empty()) {
+    2155           0 :     std::stringstream ss;
+    2156           0 :     ss << "received an empty message";
+    2157           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MrsTrajectoryGeneration]: " << ss.str());
+    2158             : 
+    2159           0 :     res.message = ss.str();
+    2160           0 :     res.success = false;
+    2161           0 :     return true;
+    2162             :   }
+    2163             : 
+    2164           0 :   fly_now_                              = req.path.fly_now;
+    2165           0 :   use_heading_                          = req.path.use_heading;
+    2166           0 :   frame_id_                             = req.path.header.frame_id;
+    2167           0 :   override_constraints_                 = req.path.override_constraints;
+    2168           0 :   loop_                                 = req.path.loop;
+    2169           0 :   override_max_velocity_horizontal_     = req.path.override_max_velocity_horizontal;
+    2170           0 :   override_max_velocity_vertical_       = req.path.override_max_velocity_vertical;
+    2171           0 :   override_max_acceleration_horizontal_ = req.path.override_max_acceleration_horizontal;
+    2172           0 :   override_max_acceleration_vertical_   = req.path.override_max_acceleration_vertical;
+    2173           0 :   override_max_jerk_horizontal_         = req.path.override_max_jerk_horizontal;
+    2174           0 :   override_max_jerk_vertical_           = req.path.override_max_jerk_horizontal;
+    2175           0 :   stop_at_waypoints_                    = req.path.stop_at_waypoints;
+    2176             : 
+    2177           0 :   std::vector<Waypoint_t> waypoints;
+    2178             : 
+    2179           0 :   for (size_t i = 0; i < req.path.points.size(); i++) {
+    2180             : 
+    2181           0 :     double x       = req.path.points[i].position.x;
+    2182           0 :     double y       = req.path.points[i].position.y;
+    2183           0 :     double z       = req.path.points[i].position.z;
+    2184           0 :     double heading = req.path.points[i].heading;
+    2185             : 
+    2186           0 :     Waypoint_t wp;
+    2187           0 :     wp.coords  = Eigen::Vector4d(x, y, z, heading);
+    2188           0 :     wp.stop_at = stop_at_waypoints_;
+    2189             : 
+    2190           0 :     if (!checkNaN(wp)) {
+    2191           0 :       ROS_ERROR("[MrsTrajectoryGeneration]: NaN detected in waypoint #%d", int(i));
+    2192           0 :       res.success = false;
+    2193           0 :       res.message = "invalid path";
+    2194           0 :       return true;
+    2195             :     }
+    2196             : 
+    2197           0 :     waypoints.push_back(wp);
+    2198             :   }
+    2199             : 
+    2200           0 :   if (loop_) {
+    2201           0 :     waypoints.push_back(waypoints[0]);
+    2202             :   }
+    2203             : 
+    2204           0 :   bool                          success = false;
+    2205           0 :   std::string                   message;
+    2206           0 :   mrs_msgs::TrajectoryReference trajectory;
+    2207             : 
+    2208           0 :   for (int i = 0; i < _n_attempts_; i++) {
+    2209             : 
+    2210           0 :     auto tracker_cmd = mrs_lib::get_mutexed(mutex_tracker_cmd_, tracker_cmd_);
+    2211             : 
+    2212             :     // the last iteration and the fallback sampling is enabled
+    2213           0 :     bool fallback_sampling = (_n_attempts_ > 1) && (i == (_n_attempts_ - 1)) && _fallback_sampling_enabled_;
+    2214             : 
+    2215           0 :     std::tie(success, message, trajectory) =
+    2216           0 :         optimize(waypoints, req.path.header, tracker_cmd, tracker_cmd.full_state_prediction, fallback_sampling, req.path.relax_heading);
+    2217             : 
+    2218           0 :     if (success) {
+    2219             :       break;
+    2220             :     } else {
+    2221           0 :       if (i < _n_attempts_) {
+    2222           0 :         ROS_WARN("[MrsTrajectoryGeneration]: failed to calculate a feasible trajectory, trying again with different initial conditions!");
+    2223             :       } else {
+    2224           0 :         ROS_WARN("[MrsTrajectoryGeneration]: failed to calculate a feasible trajectory");
+    2225             :       }
+    2226             :     }
+    2227             :   }
+    2228             : 
+    2229           0 :   double total_time = (ros::Time::now() - start_time_total_).toSec();
+    2230             : 
+    2231           0 :   auto max_execution_time = mrs_lib::get_mutexed(mutex_max_execution_time_, max_execution_time_);
+    2232             : 
+    2233           0 :   if (total_time > max_execution_time) {
+    2234           0 :     ROS_ERROR("[MrsTrajectoryGeneration]: trajectory ready, took %.3f s in total (exceeding maxtime %.3f s by %.3f s)", total_time, max_execution_time,
+    2235             :               total_time - max_execution_time);
+    2236             :   } else {
+    2237           0 :     ROS_INFO("[MrsTrajectoryGeneration]: trajectory ready, took %.3f s in total (out of %.3f)", total_time, max_execution_time);
+    2238             :   }
+    2239             : 
+    2240           0 :   if (success) {
+    2241             : 
+    2242           0 :     res.trajectory = trajectory;
+    2243           0 :     res.success    = success;
+    2244           0 :     res.message    = message;
+    2245             : 
+    2246             :   } else {
+    2247             : 
+    2248           0 :     ROS_ERROR("[MrsTrajectoryGeneration]: failed to calculate a feasible trajectory");
+    2249             : 
+    2250           0 :     res.success = success;
+    2251           0 :     res.message = message;
+    2252             :   }
+    2253             : 
+    2254           0 :   return true;
+    2255             : }
+    2256             : 
+    2257             : //}
+    2258             : 
+    2259             : /* callbackConstraints() //{ */
+    2260             : 
+    2261        5060 : void MrsTrajectoryGeneration::callbackConstraints(const mrs_msgs::DynamicsConstraintsConstPtr& msg) {
+    2262             : 
+    2263        5060 :   if (!is_initialized_) {
+    2264             :     return;
+    2265             :   }
+    2266             : 
+    2267        5108 :   ROS_INFO_ONCE("[MrsTrajectoryGeneration]: got constraints");
+    2268             : 
+    2269        5060 :   mrs_lib::set_mutexed(mutex_constraints_, *msg, constraints_);
+    2270             : 
+    2271        5060 :   got_constraints_ = true;
+    2272             : }
+    2273             : 
+    2274             : //}
+    2275             : 
+    2276             : /* callbackTrackerCmd() //{ */
+    2277             : 
+    2278       40662 : void MrsTrajectoryGeneration::callbackTrackerCmd(const mrs_msgs::TrackerCommandConstPtr& msg) {
+    2279             : 
+    2280       40662 :   if (!is_initialized_) {
+    2281             :     return;
+    2282             :   }
+    2283             : 
+    2284       40707 :   ROS_INFO_ONCE("[MrsTrajectoryGeneration]: got position cmd");
+    2285             : 
+    2286       40662 :   got_tracker_cmd_ = true;
+    2287             : 
+    2288       40662 :   transformer_->setDefaultFrame(msg->header.frame_id);
+    2289             : 
+    2290       40662 :   mrs_lib::set_mutexed(mutex_tracker_cmd_, *msg, tracker_cmd_);
+    2291             : }
+    2292             : 
+    2293             : //}
+    2294             : 
+    2295             : /* callbackControlManagerDiag() //{ */
+    2296             : 
+    2297        6379 : void MrsTrajectoryGeneration::callbackControlManagerDiag(const mrs_msgs::ControlManagerDiagnosticsConstPtr& msg) {
+    2298             : 
+    2299        6379 :   if (!is_initialized_) {
+    2300             :     return;
+    2301             :   }
+    2302             : 
+    2303        6427 :   ROS_INFO_ONCE("[MrsTrajectoryGeneration]: got control manager diagnostics");
+    2304             : 
+    2305        6379 :   got_control_manager_diag_ = true;
+    2306             : 
+    2307        6379 :   mrs_lib::set_mutexed(mutex_control_manager_diag_, *msg, control_manager_diag_);
+    2308             : }
+    2309             : 
+    2310             : //}
+    2311             : 
+    2312             : /* //{ callbackDrs() */
+    2313             : 
+    2314          48 : void MrsTrajectoryGeneration::callbackDrs(mrs_uav_trajectory_generation::drsConfig& params, [[maybe_unused]] uint32_t level) {
+    2315             : 
+    2316          96 :   mrs_lib::set_mutexed(mutex_params_, params, params_);
+    2317             : 
+    2318          48 :   {
+    2319          48 :     std::scoped_lock lock(mutex_max_execution_time_);
+    2320             : 
+    2321          48 :     max_execution_time_ = params.max_time;
+    2322             :   }
+    2323             : 
+    2324          96 :   ROS_INFO("[MrsTrajectoryGeneration]: DRS updated");
+    2325          48 : }
+    2326             : 
+    2327             : //}
+    2328             : 
+    2329             : }  // namespace mrs_uav_trajectory_generation
+    2330             : 
+    2331             : #include <pluginlib/class_list_macros.h>
+    2332             : 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..6841a81f7d --- /dev/null +++ b/mrs_uav_trajectory_generation/src/mrs_trajectory_generation.cpp.gcov.overview.html @@ -0,0 +1,603 @@ + + + + + + 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 +
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